From 3c31811f9e1ea8d4732027c701551505840869a3 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sat, 15 Nov 2025 22:50:30 +0800 Subject: [PATCH] Add get_resource_with_dir & get_resource method (cherry picked from commit 4189a2cfbee8df7f15d672c3cbe52edc29e837eb) --- unilabos/ros/nodes/base_device_node.py | 122 ++++++++++++++++--------- 1 file changed, 77 insertions(+), 45 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index fe701448..fb19af03 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -588,6 +588,61 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().error(traceback.format_exc()) self.lab_logger().debug(f"资源更新结果: {response}") + async def get_resource(self, resources_uuid: List[str], with_children: bool = True) -> ResourceTreeSet: + """ + 根据资源UUID列表获取资源树 + + Args: + resources_uuid: 资源UUID列表 + with_children: 是否包含子节点，默认为True + + Returns: + ResourceTreeSet: 资源树集合 + """ + response: SerialCommand.Response = await self._resource_clients["c2s_update_resource_tree"].call_async( + SerialCommand.Request( + command=json.dumps( + { + "data": {"data": resources_uuid, "with_children": with_children}, + "action": "get", + } + ) + ) + ) # type: ignore + raw_nodes = json.loads(response.response) + tree_set = ResourceTreeSet.from_raw_list(raw_nodes) + self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树") + return tree_set + + async def get_resource_with_dir(self, resource_id: str, with_children: bool = True) -> "ResourcePLR": + """ + 根据资源ID获取单个资源实例 + + Args: + resource_ids: 资源ID字符串 + with_children: 是否包含子节点，默认为True + + Returns: + ResourcePLR: PLR资源实例 + """ + r = SerialCommand.Request() + r.command = json.dumps( + { + "id": resource_id, + "uuid": None, + "with_children": with_children, + } + ) + # 发送请求并等待响应 + response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r) + raw_data = json.loads(response.response) + + # 转换为 PLR 资源 + tree_set = ResourceTreeSet.from_raw_list(raw_data) + plr_resource = tree_set.to_plr_resources()[0] + self.lab_logger().debug(f"获取资源 {resource_id} 成功") + return plr_resource + def transfer_to_new_resource( self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any] ): @@ -808,17 +863,9 @@ class BaseROS2DeviceNode(Node, Generic[T]): ) tree_set = None if action in ["add", "update"]: - response: SerialCommand.Response = await self._resource_clients[ - "c2s_update_resource_tree" - ].call_async( - SerialCommand.Request( - command=json.dumps( - {"data": {"data": resources_uuid, "with_children": True if action == "add" else False}, "action": "get"} - ) - ) - ) # type: ignore - raw_nodes = json.loads(response.response) - tree_set = ResourceTreeSet.from_raw_list(raw_nodes) + tree_set = await self.get_resource( + resources_uuid=resources_uuid, with_children=True if action == "add" else False + ) try: if action == "add": if tree_set is None: @@ -1096,23 +1143,9 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 批量查询资源 queried_resources = [] for resource_data in resource_inputs: - r = SerialCommand.Request() - r.command = json.dumps( - { - "id": resource_data["id"], - "uuid": resource_data.get("uuid", None), - "with_children": True, - } + plr_resource = await self.get_resource_with_dir( + resource_ids=resource_data["id"], with_children=True ) - # 发送请求并等待响应 - response: SerialCommand_Response = await self._resource_clients[ - "resource_get" - ].call_async(r) - raw_data = json.loads(response.response) - - # 转换为 PLR 资源 - tree_set = ResourceTreeSet.from_raw_list(raw_data) - plr_resource = tree_set.to_plr_resources()[0] queried_resources.append(plr_resource) self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源") @@ -1352,12 +1385,18 @@ class BaseROS2DeviceNode(Node, Generic[T]): """同步转换资源数据为实例""" # 创建资源查询请求 r = SerialCommand.Request() - r.command = json.dumps({"id": resource_data["id"], "with_children": True}) + r.command = json.dumps( + { + "id": resource_data.get("id", None), + "uuid": resource_data.get("uuid", None), + "with_children": True, + } + ) # 同步调用资源查询服务 future = self._resource_clients["resource_get"].call_async(r) - # 等待结果（使用while循环，每次sleep 0.5秒，最多等待5秒） + # 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒） timeout = 30.0 elapsed = 0.0 while not future.done() and elapsed < timeout: @@ -1365,16 +1404,16 @@ class BaseROS2DeviceNode(Node, Generic[T]): elapsed += 0.05 if not future.done(): - raise Exception(f"资源查询超时: {resource_data['id']}") + raise Exception(f"资源查询超时: {resource_data}") response = future.result() if response is None: - raise Exception(f"资源查询返回空结果: {resource_data['id']}") + raise Exception(f"资源查询返回空结果: {resource_data}") - current_resources = json.loads(response.response) + raw_data = json.loads(response.response) # 转换为 PLR 资源 - tree_set = ResourceTreeSet.from_raw_list(current_resources) + tree_set = ResourceTreeSet.from_raw_list(raw_data) plr_resource = tree_set.to_plr_resources()[0] # 通过资源跟踪器获取本地实例 @@ -1459,17 +1498,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): async def _convert_resource_async(self, resource_data: Dict[str, Any]): """异步转换资源数据为实例""" - # 创建资源查询请求 - r = SerialCommand.Request() - r.command = json.dumps({"id": resource_data["id"], "with_children": True}) - - # 异步调用资源查询服务 - response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r) - current_resources = json.loads(response.response) - - # 转换为 PLR 资源 - tree_set = ResourceTreeSet.from_raw_list(current_resources) - plr_resource = tree_set.to_plr_resources()[0] + # 使用封装的get_resource_with_dir方法获取PLR资源 + plr_resource = await self.get_resource_with_dir(resource_ids=resource_data["id"], with_children=True) # 通过资源跟踪器获取本地实例 res = self.resource_tracker.figure_resource(plr_resource, try_mode=True) @@ -1532,7 +1562,9 @@ class ROS2DeviceNode: @classmethod async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None): future = Future() - timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock()) + timer = node.create_timer( + wait_time, lambda: future.set_result(None), callback_group=callback_group, clock=node.get_clock() + ) await future timer.cancel() node.destroy_timer(timer)