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support internal device material transfer

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Xuwznln
2025-10-23 17:32:09 +08:00
parent f816799753
commit 5bef19e6d6
1 changed files with 39 additions and 28 deletions
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67
unilabos/ros/nodes/base_device_node.py
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@@ -49,7 +49,7 @@ from unilabos_msgs.msg import Resource # type: ignore
from unilabos.ros.nodes.resource_tracker import (
DeviceNodeResourceTracker,
ResourceTreeSet,
ResourceTreeSet, ResourceTreeInstance,
)
from unilabos.ros.x.rclpyx import get_event_loop
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
@@ -573,6 +573,35 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.lab_logger().error(traceback.format_exc())
self.lab_logger().debug(f"资源更新结果: {response}")
def transfer_to_new_resource(self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]):
parent_uuid = tree.root_node.res_content.parent_uuid
if parent_uuid:
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
if parent_resource is None:
self.lab_logger().warning(
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
)
else:
try:
# 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
additional_params = {}
extra = getattr(plr_resource, "unilabos_extra", {})
if len(extra):
self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
if "update_resource_site" in extra:
additional_params["site"] = extra["update_resource_site"]
site = additional_add_params.get("site", None)
spec = inspect.signature(parent_resource.assign_child_resource)
if "spot" in spec.parameters:
additional_params["spot"] = site
parent_resource.assign_child_resource(
plr_resource, location=None, **additional_params
)
except Exception as e:
self.lab_logger().warning(
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
)
async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
"""
处理资源树更新请求
@@ -613,33 +642,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
plr_resources = tree_set.to_plr_resources()
for plr_resource, tree in zip(plr_resources, tree_set.trees):
self.resource_tracker.add_resource(plr_resource)
parent_uuid = tree.root_node.res_content.parent_uuid
if parent_uuid:
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
if parent_resource is None:
self.lab_logger().warning(
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
)
else:
try:
# 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
additional_params = {}
extra = getattr(plr_resource, "unilabos_extra", {})
if len(extra):
self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra))
if "update_resource_site" in extra:
additional_params["site"] = extra["update_resource_site"]
site = additional_add_params.get("site", None)
spec = inspect.signature(parent_resource.assign_child_resource)
if "spot" in spec.parameters:
additional_params["spot"] = site
parent_resource.assign_child_resource(
plr_resource, location=None, **additional_params
)
except Exception as e:
self.lab_logger().warning(
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
)
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
func = getattr(self.driver_instance, "resource_tree_add", None)
if callable(func):
func(plr_resources)
@@ -652,6 +655,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
)
original_parent_resource = original_instance.parent
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
self.lab_logger().info(
f"物料{plr_resource} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
)
if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
original_instance.load_all_state(states)
self.lab_logger().info(
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"