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fix resource check serialize

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Xuwznln
2025-07-19 02:24:00 +08:00
parent fd3dbcf1ff
commit 4cd40865b4
1 changed files with 7 additions and 1 deletions
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8
unilabos/ros/nodes/base_device_node.py
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@@ -656,6 +656,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]: if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}") self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
current_resources = [] current_resources = []
# TODO: resource后面需要分组
only_one_resource = False
try: try:
if len(action_kwargs[k]) > 1: if len(action_kwargs[k]) > 1:
for i in action_kwargs[k]: 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) response = await self._resource_clients["resource_get"].call_async(r)
current_resources.extend(response.resources) current_resources.extend(response.resources)
else: else:
only_one_resource = True
r = ResourceGet.Request() r = ResourceGet.Request()
r.id = ( r.id = (
action_kwargs[k]["id"] action_kwargs[k]["id"]
@@ -682,7 +685,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
type_hint = action_paramtypes[k] type_hint = action_paramtypes[k]
final_type = get_type_class(type_hint) 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 # 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) 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__}") ##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")