From 3d60cb36b8f9ff6d143a2bd744048490892d7a1f Mon Sep 17 00:00:00 2001 From: wznln <18435084+Xuwznln@users.noreply.github.com> Date: Wed, 7 May 2025 00:31:05 +0800 Subject: [PATCH] fix: cloud bridge error fallback to local --- unilabos/device_mesh/__init__.py | 0 unilabos/devices/ros_dev/liquid_handler_joint_publisher.py | 2 +- unilabos/ros/nodes/presets/host_node.py | 3 ++- 3 files changed, 3 insertions(+), 2 deletions(-) create mode 100644 unilabos/device_mesh/__init__.py diff --git a/unilabos/device_mesh/__init__.py b/unilabos/device_mesh/__init__.py new file mode 100644 index 00000000..e69de29b diff --git a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py index 7933f8df..e593f425 100644 --- a/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py +++ b/unilabos/devices/ros_dev/liquid_handler_joint_publisher.py @@ -5,7 +5,7 @@ import time from rclpy.executors import MultiThreadedExecutor from rclpy.action import ActionServer from sensor_msgs.msg import JointState -from ilabos_msgs.action import SendCmd +from unilabos_msgs.action import SendCmd from rclpy.action.server import ServerGoalHandle from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode from tf_transformations import quaternion_from_euler diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 977ab31c..4338872a 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -643,7 +643,8 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources") except Exception as e: self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}") - r = [] + r = [resource for resource in self.resources_config if resource.get("id") == request.id] + self.lab_logger().warning(f"[Host Node-Resource] Retrieved from local: {len(r)} resources") else: # 本地物料服务，根据 id 查询物料 r = [resource for resource in self.resources_config if resource.get("id") == request.id]