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Merge branch 'main' into 24-high-level-liquidhandler

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Xuwznln
2025-05-16 19:44:53 +08:00
committed by GitHub
parent c04202c6e0 133dbf77bb
commit 1ca7d4912b
6 changed files with 46 additions and 6 deletions
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15
unilabos/ros/nodes/presets/host_node.py
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@@ -164,11 +164,22 @@ class HostNode(BaseROS2DeviceNode):
"data": {},
"children": []
})
resource_with_parent_name = []
resource_ids_to_instance = {i["id"]: i for i in resources_config}
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_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
continue
resource_with_parent_name.append(copy.deepcopy(res))
try:
for bridge in self.bridges:
if hasattr(bridge, "resource_add"):
self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
bridge.resource_add(add_schema(resources_config))
resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name))
except Exception as ex:
self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
self.lab_logger().error(traceback.format_exc())
@@ -213,7 +224,7 @@ class HostNode(BaseROS2DeviceNode):
# 如果是新设备，记录并创建ActionClient
if edge_device_id not in self.devices_names:
self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
self.lab_logger().info(f"[Host Node] Discovered new device: {edge_device_id}")
self.devices_names[edge_device_id] = namespace
self._create_action_clients_for_device(device_id, namespace)
self._online_devices.add(device_key)