open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-19 14:01:20 +00:00
Code Issues Packages Projects Releases Wiki Activity

Fix startup with remote resource error

Browse Source 
Resource dict fully change to "pose" key

Update oss link

Reduce pylabrobot conversion warning & force enable log dump.

更新 logo 图片
This commit is contained in:
ZiWei
2025-11-28 11:35:05 +08:00
committed by Xuwznln
parent c7c14d2332
commit 5ce433e235
12 changed files with 92 additions and 79 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
unilabos/ros/nodes/resource_tracker.py
View File

@@ -1,9 +1,11 @@
import inspect
import traceback
import uuid
from pydantic import BaseModel, field_serializer, field_validator
from pydantic import Field
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
from unilabos.resources.plr_additional_res_reg import register
from unilabos.utils.log import logger
if TYPE_CHECKING:
@@ -62,7 +64,6 @@ class ResourceDict(BaseModel):
parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True)
type: Union[Literal["device"], str] = Field(description="Resource type")
klass: str = Field(alias="class", description="Resource class name")
position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
config: Dict[str, Any] = Field(description="Resource configuration")
data: Dict[str, Any] = Field(description="Resource data")
@@ -146,15 +147,16 @@ class ResourceDictInstance(object):
if not content.get("extra"): # MagicCode
content["extra"] = {}
if "pose" not in content:
content["pose"] = content.get("position", {})
content["pose"] = content.pop("position", {})
return ResourceDictInstance(ResourceDict.model_validate(content))
def get_nested_dict(self) -> Dict[str, Any]:
def get_plr_nested_dict(self) -> Dict[str, Any]:
"""获取资源实例的嵌套字典表示"""
res_dict = self.res_content.model_dump(by_alias=True)
res_dict["children"] = {child.res_content.id: child.get_nested_dict() for child in self.children}
res_dict["children"] = {child.res_content.id: child.get_plr_nested_dict() for child in self.children}
res_dict["parent"] = self.res_content.parent_instance_name
res_dict["position"] = self.res_content.position.position.model_dump()
del res_dict["pose"]
return res_dict
@@ -429,9 +431,9 @@ class ResourceTreeSet(object):
Returns:
List[PLRResource]: PLR 资源实例列表
"""
register()
from pylabrobot.resources import Resource as PLRResource
from pylabrobot.utils.object_parsing import find_subclass
import inspect
# 类型映射
TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"}
@@ -459,9 +461,9 @@ class ResourceTreeSet(object):
"size_y": res.config.get("size_y", 0),
"size_z": res.config.get("size_z", 0),
"location": {
"x": res.position.position.x,
"y": res.position.position.y,
"z": res.position.position.z,
"x": res.pose.position.x,
"y": res.pose.position.y,
"z": res.pose.position.z,
"type": "Coordinate",
},
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},