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移除device的父节点关联

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Xuwznln
2025-06-17 15:34:03 +08:00
parent 678ace6109
commit 183579fd7f
1 changed files with 11 additions and 11 deletions
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22
unilabos/ros/nodes/presets/host_node.py
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@@ -195,18 +195,18 @@ class HostNode(BaseROS2DeviceNode):
resource_ids_to_instance = {i["id"]: i for i in resources_config}
resource_name_to_with_parent_name = {}
for res in resources_config:
if res.get("parent") and res.get("type") == "device" and res.get("class"):
parent_id = res.get("parent")
parent_res = resource_ids_to_instance[parent_id]
if parent_res.get("type") == "device" and parent_res.get("class"):
resource_with_parent_name.append(copy.deepcopy(res))
resource_name_to_with_parent_name[resource_with_parent_name[-1]["id"]] = f"{parent_res['id']}/{res['id']}"
resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
continue
# if res.get("parent") and res.get("type") == "device" and res.get("class"):
# parent_id = res.get("parent")
# parent_res = resource_ids_to_instance[parent_id]
# if parent_res.get("type") == "device" and parent_res.get("class"):
# resource_with_parent_name.append(copy.deepcopy(res))
# resource_name_to_with_parent_name[resource_with_parent_name[-1]["id"]] = f"{parent_res['id']}/{res['id']}"
# resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
# continue
resource_with_parent_name.append(copy.deepcopy(res))
for edge in self.resources_edge_config:
edge["source"] = resource_name_to_with_parent_name.get(edge.get("source"), edge.get("source"))
edge["target"] = resource_name_to_with_parent_name.get(edge.get("target"), edge.get("target"))
# for edge in self.resources_edge_config:
# edge["source"] = resource_name_to_with_parent_name.get(edge.get("source"), edge.get("source"))
# edge["target"] = resource_name_to_with_parent_name.get(edge.get("target"), edge.get("target"))
try:
for bridge in self.bridges:
if hasattr(bridge, "resource_add"):