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fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

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ZiWei
2026-01-14 18:42:14 +08:00
parent 9a06ef3836
commit 2b04457037
1 changed files with 11 additions and 4 deletions
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15
unilabos/ros/nodes/base_device_node.py
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@@ -920,7 +920,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
plr_resources = tree_set.to_plr_resources() plr_resources = tree_set.to_plr_resources()
result, parents = _handle_add(plr_resources, tree_set, additional_add_params) result, parents = _handle_add(plr_resources, tree_set, additional_add_params)
parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None] parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None]
de_dupe_parents = list(set(parents)) # de_dupe_parents = list(set(parents))
# Fix unhashable type error for WareHouse
de_dupe_parents = []
_seen_ids = set()
for p in parents:
if id(p) not in _seen_ids:
_seen_ids.add(id(p))
de_dupe_parents.append(p)
new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents) # 去重 new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents) # 去重
for tree in new_tree_set.trees: for tree in new_tree_set.trees:
if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node": if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node":
@@ -1565,16 +1572,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]: def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]:
"""同步转换资源 UUID 为实例 """同步转换资源 UUID 为实例
Args: Args:
*uuids: 一个或多个资源 UUID *uuids: 一个或多个资源 UUID
Returns: Returns:
单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表 单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表
""" """
if not uuids: if not uuids:
raise ValueError("至少需要提供一个 UUID") raise ValueError("至少需要提供一个 UUID")
uuids_list = list(uuids) uuids_list = list(uuids)
future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request( future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request(
command=json.dumps( command=json.dumps(