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temp fix for resource get

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This commit is contained in:
Xuwznln
2025-10-16 03:15:56 +08:00
parent fd58ef07f3
commit 357fc038ef
3 changed files with 30 additions and 10 deletions
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28
unilabos/ros/nodes/base_device_node.py
View File

@@ -6,7 +6,7 @@ import threading
import time
import traceback
import uuid
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
from concurrent.futures import ThreadPoolExecutor
import asyncio
@@ -657,15 +657,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
results.append({"success": True, "action": "update"})
elif action == "remove":
# 移除资源
plr_resources: List[ResourcePLR] = [
self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
]
found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
[{"uuid": uid} for uid in resources_uuid], try_mode=True
)
found_plr_resources = []
other_plr_resources = []
for res_list in found_resources:
for res in res_list:
if issubclass(res.__class__, ResourcePLR):
found_plr_resources.append(res)
else:
other_plr_resources.append(res)
func = getattr(self.driver_instance, "resource_tree_remove", None)
if callable(func):
func(plr_resources)
for plr_resource in plr_resources:
func(found_plr_resources)
for plr_resource in found_plr_resources:
plr_resource.parent.unassign_child_resource(plr_resource)
self.resource_tracker.remove_resource(plr_resource)
self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
for res in other_plr_resources:
self.resource_tracker.remove_resource(res)
self.lab_logger().info(f"移除物料 {res} 及其子节点")
results.append({"success": True, "action": "remove"})
except Exception as e:
error_msg = f"Error processing {action} operation: {str(e)}"
@@ -945,7 +957,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 通过资源跟踪器获取本地实例
final_resources = queried_resources if is_sequence else queried_resources[0]
action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)
final_resources = self.resource_tracker.figure_resource({"name": final_resources.id}, try_mode=False) if not is_sequence else [
self.resource_tracker.figure_resource({"name": res.id}, try_mode=False) for res in queried_resources
]
except Exception as e:
self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")

7
unilabos/ros/nodes/resource_tracker.py
View File

@@ -774,7 +774,8 @@ class DeviceNodeResourceTracker(object):
else:
return getattr(resource, uuid_attr, None)
def _set_resource_uuid(self, resource, new_uuid: str):
@classmethod
def set_resource_uuid(cls, resource, new_uuid: str):
"""
设置资源的 uuid，统一处理 dict 和 instance 两种类型
@@ -827,7 +828,7 @@ class DeviceNodeResourceTracker(object):
resource_name = self._get_resource_attr(res, "name")
if resource_name and resource_name in name_to_uuid_map:
new_uuid = name_to_uuid_map[resource_name]
self._set_resource_uuid(res, new_uuid)
self.set_resource_uuid(res, new_uuid)
self.uuid_to_resources[new_uuid] = res
logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
return 1
@@ -853,7 +854,7 @@ class DeviceNodeResourceTracker(object):
if current_uuid and current_uuid in uuid_map:
new_uuid = uuid_map[current_uuid]
if current_uuid != new_uuid:
self._set_resource_uuid(res, new_uuid)
self.set_resource_uuid(res, new_uuid)
# 更新uuid_to_resources映射
if current_uuid in self.uuid_to_resources:
self.uuid_to_resources.pop(current_uuid)