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adapt to new samples sys

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Xuwznln
2026-02-04 18:49:08 +08:00
parent 84a8223173
commit 26271bcab8
6 changed files with 202 additions and 88 deletions
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20
unilabos/ros/nodes/presets/host_node.py
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@@ -42,6 +42,9 @@ from unilabos.resources.resource_tracker import (
ResourceDictInstance,
ResourceTreeSet,
ResourceTreeInstance,
EXTRA_SAMPLE_UUID,
EXTRA_UNILABOS_SAMPLE_UUID,
RETURN_UNILABOS_SAMPLES,
)
from unilabos.utils import logger
from unilabos.utils.exception import DeviceClassInvalid
@@ -791,12 +794,17 @@ class HostNode(BaseROS2DeviceNode):
action_client: ActionClient = self._action_clients[action_id]
# 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
# 遍历action_kwargs下的所有子dict，将sample_uuid的值赋给sample_id
def assign_sample_id(obj):
if isinstance(obj, dict):
if "sample_uuid" in obj:
obj["sample_id"] = obj["sample_uuid"]
obj.pop("sample_uuid")
# 处理 EXTRA_SAMPLE_UUID ("sample_uuid")
if EXTRA_SAMPLE_UUID in obj:
obj["sample_id"] = obj[EXTRA_SAMPLE_UUID]
obj.pop(EXTRA_SAMPLE_UUID)
# 处理 EXTRA_UNILABOS_SAMPLE_UUID ("unilabos_sample_uuid")
if EXTRA_UNILABOS_SAMPLE_UUID in obj:
obj["sample_id"] = obj[EXTRA_UNILABOS_SAMPLE_UUID]
obj.pop(EXTRA_UNILABOS_SAMPLE_UUID)
for k, v in obj.items():
if k != "unilabos_extra":
assign_sample_id(v)
@@ -867,14 +875,14 @@ class HostNode(BaseROS2DeviceNode):
# 适配后端的一些额外处理
return_value = return_info.get("return_value")
if isinstance(return_value, dict):
unilabos_samples = return_value.pop("unilabos_samples", None)
unilabos_samples = return_value.pop(RETURN_UNILABOS_SAMPLES, None)
if isinstance(unilabos_samples, list) and unilabos_samples:
self.lab_logger().info(
f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
f"{'...' if len(unilabos_samples) > 5 else ''}"
)
return_info["unilabos_samples"] = unilabos_samples
return_info[RETURN_UNILABOS_SAMPLES] = unilabos_samples
suc = return_info.get("suc", False)
if not suc:
status = "failed"