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Adapt to new scheduler, sampels, and edge upload format (#230)

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* add sample_material

* adapt to new samples sys

* fix pump transfer. fix resource update when protocol & ros callback

* Adapt to new scheduler.
This commit is contained in:
Xuwznln
2026-02-06 00:49:53 +08:00
committed by GitHub
parent 957fb41a6f
commit 341a1b537c
16 changed files with 631 additions and 233 deletions
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30
unilabos/ros/nodes/base_device_node.py
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@@ -412,16 +412,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
else:
for r in rts.root_nodes:
r.res_content.parent_uuid = self.uuid
if (
len(LIQUID_INPUT_SLOT)
and LIQUID_INPUT_SLOT[0] == -1
and len(rts.root_nodes) == 1
and isinstance(rts.root_nodes[0], RegularContainer)
):
rts_plr_instances = rts.to_plr_resources()
if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
# noinspection PyTypeChecker
container_instance: RegularContainer = rts.root_nodes[0]
found_resources = self.resource_tracker.figure_resource({"id": container_instance.name}, try_mode=True)
container_instance: RegularContainer = rts_plr_instances[0]
found_resources = self.resource_tracker.figure_resource({"name": container_instance.name}, try_mode=True)
if not len(found_resources):
self.resource_tracker.add_resource(container_instance)
logger.info(f"添加物料{container_instance.name}到资源跟踪器")
@@ -430,7 +425,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
found_resource = found_resources[0]
if isinstance(found_resource, RegularContainer):
logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
found_resource.state.update(json.loads(container_instance.state))
found_resource.state.update(container_instance.state)
elif isinstance(found_resource, dict):
raise ValueError("已不支持 字典 版本的RegularContainer")
else:
@@ -443,7 +438,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
"action": "add",
"data": {
"data": rts.dump(),
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else self.uuid,
"first_add": False,
},
}
@@ -1538,11 +1533,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if isinstance(rs, list):
for r in rs:
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
if res is None:
res = rs
if id(res) not in seen:
seen.add(id(res))
unique_resources.append(res)
else:
res = self.resource_tracker.parent_resource(rs)
if id(res) not in seen:
seen.add(id(res))
unique_resources.append(res)
if res is None:
res = rs
if id(res) not in seen:
seen.add(id(res))
unique_resources.append(res)
# 使用新的资源树接口
if unique_resources: