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add resource edge upload

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This commit is contained in:
Xuwznln
2025-06-16 11:51:02 +08:00
parent a303bd7c5b
commit 57cb120c8c
7 changed files with 73 additions and 16 deletions
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3
unilabos/ros/main_slave_run.py
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@@ -45,6 +45,7 @@ def exit() -> None:
def main(
devices_config: Dict[str, Any] = {},
resources_config: list=[],
resources_edge_config: list=[],
graph: Optional[Dict[str, Any]] = None,
controllers_config: Dict[str, Any] = {},
bridges: List[Any] = [],
@@ -62,6 +63,7 @@ def main(
"host_node",
devices_config,
resources_config,
resources_edge_config,
graph,
controllers_config,
bridges,
@@ -97,6 +99,7 @@ def main(
def slave(
devices_config: Dict[str, Any] = {},
resources_config=[],
resources_edge_config=[],
graph: Optional[Dict[str, Any]] = None,
controllers_config: Dict[str, Any] = {},
bridges: List[Any] = [],

17
unilabos/ros/nodes/presets/host_node.py
View File

@@ -58,6 +58,7 @@ class HostNode(BaseROS2DeviceNode):
device_id: str,
devices_config: Dict[str, Any],
resources_config: list,
resources_edge_config: list[dict],
physical_setup_graph: Optional[Dict[str, Any]] = None,
controllers_config: Optional[Dict[str, Any]] = None,
bridges: Optional[List[Any]] = None,
@@ -96,6 +97,7 @@ class HostNode(BaseROS2DeviceNode):
self.server_latest_timestamp = 0.0 #
self.devices_config = devices_config
self.resources_config = resources_config
self.resources_edge_config = resources_edge_config
self.physical_setup_graph = physical_setup_graph
if controllers_config is None:
controllers_config = {}
@@ -203,12 +205,19 @@ class HostNode(BaseROS2DeviceNode):
try:
for bridge in self.bridges:
if hasattr(bridge, "resource_add"):
from unilabos.app.web.client import HTTPClient
client: HTTPClient = bridge
resource_start_time = time.time()
resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name), True)
resource_add_res = client.resource_add(add_schema(resource_with_parent_name), True)
resource_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
)
resource_add_res = client.resource_edge_add(self.resources_edge_config, True)
resource_edge_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
)
except Exception as ex:
self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
self.lab_logger().error(traceback.format_exc())
@@ -757,8 +766,10 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node-Resource] Add request received: {len(resources)} resources")
success = False
if len(self.bridges) > 0:
r = self.bridges[-1].resource_add(add_schema(resources))
if len(self.bridges) > 0: # 边的提交待定
from unilabos.app.web.client import HTTPClient
client: HTTPClient = self.bridges[-1]
r = client.resource_add(add_schema(resources), False)
success = bool(r)
response.success = success