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Resource dict fully change to "pose" key

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Xuwznln
2025-12-02 03:45:16 +08:00
parent e13b250632
commit 5551fbf360
9 changed files with 71 additions and 68 deletions
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17
unilabos/ros/initialize_device.py
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@@ -4,13 +4,14 @@ from typing import Optional
from unilabos.registry.registry import lab_registry
from unilabos.ros.device_node_wrapper import ros2_device_node
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
from unilabos.utils import logger
from unilabos.utils.exception import DeviceClassInvalid
from unilabos.utils.import_manager import default_manager
def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2DeviceNode]:
def initialize_device_from_dict(device_id, device_config: ResourceDictInstance) -> Optional[ROS2DeviceNode]:
"""Initializes a device based on its configuration.
This function dynamically imports the appropriate device class and creates an instance of it using the provided device configuration.
@@ -24,15 +25,14 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
None
"""
d = None
original_device_config = copy.deepcopy(device_config)
device_class_config = device_config["class"]
uid = device_config["uuid"]
device_class_config = device_config.res_content.klass
uid = device_config.res_content.uuid
if isinstance(device_class_config, str): # 如果是字符串，则直接去lab_registry中查找，获取class
if len(device_class_config) == 0:
raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
if device_class_config not in lab_registry.device_type_registry:
raise DeviceClassInvalid(f"Device [{device_id}] class {device_class_config} not found. {device_config}")
device_class_config = device_config["class"] = lab_registry.device_type_registry[device_class_config]["class"]
device_class_config = lab_registry.device_type_registry[device_class_config]["class"]
elif isinstance(device_class_config, dict):
raise DeviceClassInvalid(f"Device [{device_id}] class config should be type 'str' but 'dict' got. {device_config}")
if isinstance(device_class_config, dict):
@@ -41,17 +41,16 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
DEVICE = ros2_device_node(
DEVICE,
status_types=device_class_config.get("status_types", {}),
device_config=original_device_config,
device_config=device_config,
action_value_mappings=device_class_config.get("action_value_mappings", {}),
hardware_interface=device_class_config.get(
"hardware_interface",
{"name": "hardware_interface", "write": "send_command", "read": "read_data", "extra_info": []},
),
children=device_config.get("children", {})
)
)
try:
d = DEVICE(
device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.get("config", {})
device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.res_content.config
)
except DeviceInitError as ex:
return d