From 4cd40865b416fcfdcc5b2f8d965e93c13561202d Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Sat, 19 Jul 2025 02:24:00 +0800 Subject: [PATCH] fix resource check serialize --- unilabos/ros/nodes/base_device_node.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 4e3e304..eebaf59 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -656,6 +656,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): if v in ["unilabos_msgs/Resource", "sequence"]: self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}") current_resources = [] + # TODO: resource后面需要分组 + only_one_resource = False try: if len(action_kwargs[k]) > 1: for i in action_kwargs[k]: @@ -665,6 +667,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): response = await self._resource_clients["resource_get"].call_async(r) current_resources.extend(response.resources) else: + only_one_resource = True r = ResourceGet.Request() r.id = ( action_kwargs[k]["id"] @@ -682,7 +685,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): type_hint = action_paramtypes[k] final_type = get_type_class(type_hint) # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换 - final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list] + if only_one_resource: + final_resource = convert_resources_to_type(resources_list, final_type) + else: + final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list] action_kwargs[k] = self.resource_tracker.figure_resource(final_resource) ##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")