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add: bind_parent_ids to resource create action

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fix: message convert string
This commit is contained in:
wznln
2025-05-06 16:24:19 +08:00
parent 852d10d751
commit 32e370a562
4 changed files with 33 additions and 29 deletions
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38
unilabos/ros/nodes/base_device_node.py
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@@ -439,26 +439,26 @@ class BaseROS2DeviceNode(Node, Generic[T]):
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
# 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
try:
r = ResourceGet.Request()
r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
r.with_children = True
response = await self._resource_clients["resource_get"].call_async(r)
except Exception:
logger.error(f"资源查询失败，默认使用本地资源")
# 删除对response.resources的检查，因为它总是存在
resources_list = [convert_from_ros_msg(rs) for rs in response.resources] # type: ignore # FIXME
self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
type_hint = action_paramtypes[k]
final_type = get_type_class(type_hint)
# 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
final_resource = convert_resources_to_type(resources_list, final_type)
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
if action_name != "add_resource_from_outer":
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
try:
r = ResourceGet.Request()
r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
r.with_children = True
response = await self._resource_clients["resource_get"].call_async(r)
except Exception:
logger.error(f"资源查询失败，默认使用本地资源")
# 删除对response.resources的检查，因为它总是存在
resources_list = [convert_from_ros_msg(rs) for rs in response.resources] # type: ignore # FIXME
self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
type_hint = action_paramtypes[k]
final_type = get_type_class(type_hint)
# 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
final_resource = convert_resources_to_type(resources_list, final_type)
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
time_start = time.time()