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Xuwznln
2026-01-28 13:23:25 +08:00
parent 3f63c36505
commit 400bb073d4
1 changed files with 20 additions and 7 deletions
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25
unilabos/ros/nodes/base_device_node.py
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@@ -1319,19 +1319,32 @@ class BaseROS2DeviceNode(Node, Generic[T]):
resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
# 批量查询资源
queried_resources = []
for resource_data in resource_inputs:
queried_resources: list = [None] * len(resource_inputs)
uuid_indices: list[tuple[int, str, dict]] = [] # (index, uuid, resource_data)
# 第一遍：处理没有uuid的资源，收集有uuid的资源信息
for idx, resource_data in enumerate(resource_inputs):
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
if unilabos_uuid is None:
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
else:
resource_tree = await self.get_resource([unilabos_uuid])
plr_resource = resource_tree.to_plr_resources()[0]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources.append(plr_resource)
queried_resources[idx] = plr_resource
else:
uuid_indices.append((idx, unilabos_uuid, resource_data))
# 第二遍：批量查询有uuid的资源
if uuid_indices:
uuids = [item[1] for item in uuid_indices]
resource_tree = await self.get_resource(uuids)
plr_resources = resource_tree.to_plr_resources()
for i, (idx, _, resource_data) in enumerate(uuid_indices):
plr_resource = plr_resources[i]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")