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support name change during materials change

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Xuwznln
2025-10-31 19:57:16 +08:00
parent c796615f9f
commit 3b8deb4d1d
1 changed files with 160 additions and 61 deletions
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221
unilabos/ros/nodes/base_device_node.py
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@@ -638,6 +638,147 @@ class BaseROS2DeviceNode(Node, Generic[T]):
- remove: 从资源树中移除资源
"""
from pylabrobot.resources.resource import Resource as ResourcePLR
def _handle_add(
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
) -> Dict[str, Any]:
"""
处理资源添加操作的内部函数
Args:
plr_resources: PLR资源列表
tree_set: 资源树集合
additional_add_params: 额外的添加参数
Returns:
操作结果字典
"""
for plr_resource, tree in zip(plr_resources, tree_set.trees):
self.resource_tracker.add_resource(plr_resource)
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
func = getattr(self.driver_instance, "resource_tree_add", None)
if callable(func):
func(plr_resources)
return {"success": True, "action": "add"}
def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
"""
处理资源移除操作的内部函数
Args:
resources_uuid: 要移除的资源UUID列表
Returns:
操作结果字典，包含移除的资源列表
"""
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 found_resource in found_resources:
for resource in found_resource:
if issubclass(resource.__class__, ResourcePLR):
found_plr_resources.append(resource)
else:
other_plr_resources.append(resource)
# 调用driver的remove回调
func = getattr(self.driver_instance, "resource_tree_remove", None)
if callable(func):
func(found_plr_resources)
# 从parent卸载并从tracker移除
for plr_resource in found_plr_resources:
if plr_resource.parent is not None:
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 other_plr_resource in other_plr_resources:
self.resource_tracker.remove_resource(other_plr_resource)
self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
return {
"success": True,
"action": "remove",
"removed_plr": found_plr_resources,
"removed_other": other_plr_resources,
}
def _handle_update(
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
) -> Dict[str, Any]:
"""
处理资源更新操作的内部函数
Args:
plr_resources: PLR资源列表（包含新状态）
tree_set: 资源树集合
additional_add_params: 额外的参数
Returns:
操作结果字典
"""
for plr_resource, tree in zip(plr_resources, tree_set.trees):
states = plr_resource.serialize_all_state()
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
)
# Update操作中包含改名：需要先remove再add
if original_instance.name != plr_resource.name:
old_name = original_instance.name
new_name = plr_resource.name
self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
# 收集所有相关的uuid（包括子节点）
all_uuids = self.resource_tracker.loop_gather_uuid(original_instance)
_handle_remove(all_uuids)
original_instance.name = new_name
_handle_add([original_instance], tree_set, additional_add_params)
self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
continue
# 常规更新：不涉及改名
original_parent_resource = original_instance.parent
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
self.lab_logger().info(
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
f"目标父节点{target_parent_resource_uuid} 更新"
)
# 更新extra
if getattr(plr_resource, "unilabos_extra", None) is not None:
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501
# 如果父节点变化，需要重新挂载
if (
original_parent_resource_uuid != target_parent_resource_uuid
and original_parent_resource is not None
):
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
# 加载状态
original_instance.load_all_state(states)
child_count = len(original_instance.get_all_children())
self.lab_logger().info(
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
)
# 调用driver的update回调
func = getattr(self.driver_instance, "resource_tree_update", None)
if callable(func):
func(plr_resources)
return {"success": True, "action": "update"}
try:
data = json.loads(req.command)
results = []
@@ -664,68 +805,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
try:
if action == "add":
# 添加资源到资源跟踪器
if tree_set is None:
raise ValueError("tree_set不能为None")
plr_resources = tree_set.to_plr_resources()
for plr_resource, tree in zip(plr_resources, tree_set.trees):
self.resource_tracker.add_resource(plr_resource)
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
func = getattr(self.driver_instance, "resource_tree_add", None)
if callable(func):
func(plr_resources)
results.append({"success": True, "action": "add"})
result = _handle_add(plr_resources, tree_set, additional_add_params)
results.append(result)
elif action == "update":
# 更新资源
if tree_set is None:
raise ValueError("tree_set不能为None")
plr_resources = tree_set.to_plr_resources()
for plr_resource, tree in zip(plr_resources, tree_set.trees):
states = plr_resource.serialize_all_state()
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
)
original_parent_resource = original_instance.parent
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
self.lab_logger().info(
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
)
# todo: 对extra进行update
if getattr(plr_resource, "unilabos_extra", None) is not None:
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")
if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
original_instance.load_all_state(states)
self.lab_logger().info(
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
)
func = getattr(self.driver_instance, "resource_tree_update", None)
if callable(func):
func(plr_resources)
results.append({"success": True, "action": "update"})
result = _handle_update(plr_resources, tree_set, additional_add_params)
results.append(result)
elif action == "remove":
# 移除资源
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 found_resource in found_resources:
for resource in found_resource:
if issubclass(resource.__class__, ResourcePLR):
found_plr_resources.append(resource)
else:
other_plr_resources.append(resource)
func = getattr(self.driver_instance, "resource_tree_remove", None)
if callable(func):
func(found_plr_resources)
for plr_resource in found_plr_resources:
if plr_resource.parent is not None:
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 other_plr_resource in other_plr_resources:
self.resource_tracker.remove_resource(other_plr_resource)
self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
results.append({"success": True, "action": "remove"})
result = _handle_remove(resources_uuid)
results.append(result)
except Exception as e:
error_msg = f"Error processing {action} operation: {str(e)}"
self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
@@ -1004,9 +1097,14 @@ 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]
final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources
]
final_resources = (
self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
if not is_sequence
else [
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
for res in queried_resources
]
)
action_kwargs[k] = final_resources
except Exception as e:
@@ -1227,6 +1325,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
raise JsonCommandInitError(
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
)
def _convert_resource_sync(self, resource_data: Dict[str, Any]):
"""同步转换资源数据为实例"""
# 创建资源查询请求