From 5f859917d48779b3cc83e7cc8331413267c0f726 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 31 Oct 2025 19:57:16 +0800 Subject: [PATCH] support name change during materials change --- unilabos/ros/nodes/base_device_node.py | 221 ++++++++++++++++++------- 1 file changed, 160 insertions(+), 61 deletions(-) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 19503fdc..febc95f2 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -638,6 +638,147 @@ class BaseROS2DeviceNode(Node, Generic[T]): - remove: 从资源树中移除资源 """ from pylabrobot.resources.resource import Resource as ResourcePLR + + def _handle_add( + plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] + ) -> Dict[str, Any]: + """ + 处理资源添加操作的内部函数 + + Args: + plr_resources: PLR资源列表 + tree_set: 资源树集合 + additional_add_params: 额外的添加参数 + + Returns: + 操作结果字典 + """ + for plr_resource, tree in zip(plr_resources, tree_set.trees): + self.resource_tracker.add_resource(plr_resource) + 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) + + return {"success": True, "action": "add"} + + def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]: + """ + 处理资源移除操作的内部函数 + + Args: + resources_uuid: 要移除的资源UUID列表 + + Returns: + 操作结果字典，包含移除的资源列表 + """ + found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource( + [{"uuid": uid} for uid in resources_uuid], try_mode=True + ) + found_plr_resources = [] + other_plr_resources = [] + + for found_resource in found_resources: + for resource in found_resource: + if issubclass(resource.__class__, ResourcePLR): + found_plr_resources.append(resource) + else: + other_plr_resources.append(resource) + + # 调用driver的remove回调 + func = getattr(self.driver_instance, "resource_tree_remove", None) + if callable(func): + func(found_plr_resources) + + # 从parent卸载并从tracker移除 + for plr_resource in found_plr_resources: + if plr_resource.parent is not None: + plr_resource.parent.unassign_child_resource(plr_resource) + self.resource_tracker.remove_resource(plr_resource) + self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点") + + for other_plr_resource in other_plr_resources: + self.resource_tracker.remove_resource(other_plr_resource) + self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点") + + return { + "success": True, + "action": "remove", + "removed_plr": found_plr_resources, + "removed_other": other_plr_resources, + } + + def _handle_update( + plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] + ) -> Dict[str, Any]: + """ + 处理资源更新操作的内部函数 + + Args: + plr_resources: PLR资源列表（包含新状态） + tree_set: 资源树集合 + additional_add_params: 额外的参数 + + Returns: + 操作结果字典 + """ + for plr_resource, tree in zip(plr_resources, tree_set.trees): + states = plr_resource.serialize_all_state() + original_instance: ResourcePLR = self.resource_tracker.figure_resource( + {"uuid": tree.root_node.res_content.uuid}, try_mode=False + ) + + # Update操作中包含改名：需要先remove再add + if original_instance.name != plr_resource.name: + old_name = original_instance.name + new_name = plr_resource.name + self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}") + + # 收集所有相关的uuid（包括子节点） + all_uuids = self.resource_tracker.loop_gather_uuid(original_instance) + _handle_remove(all_uuids) + original_instance.name = new_name + _handle_add([original_instance], tree_set, additional_add_params) + + self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}") + continue + + # 常规更新：不涉及改名 + 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{original_instance} 原始父节点{original_parent_resource_uuid} " + f"目标父节点{target_parent_resource_uuid} 更新" + ) + + # 更新extra + if getattr(plr_resource, "unilabos_extra", None) is not None: + original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501 + + # 如果父节点变化，需要重新挂载 + if ( + original_parent_resource_uuid != target_parent_resource_uuid + and original_parent_resource is not None + ): + self.transfer_to_new_resource(original_instance, tree, additional_add_params) + + # 加载状态 + original_instance.load_all_state(states) + child_count = len(original_instance.get_all_children()) + self.lab_logger().info( + f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个" + ) + + # 调用driver的update回调 + func = getattr(self.driver_instance, "resource_tree_update", None) + if callable(func): + func(plr_resources) + + return {"success": True, "action": "update"} + try: data = json.loads(req.command) results = [] @@ -664,68 +805,20 @@ class BaseROS2DeviceNode(Node, Generic[T]): tree_set = ResourceTreeSet.from_raw_list(raw_nodes) try: if action == "add": - # 添加资源到资源跟踪器 + if tree_set is None: + raise ValueError("tree_set不能为None") 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) - 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) - results.append({"success": True, "action": "add"}) + result = _handle_add(plr_resources, tree_set, additional_add_params) + results.append(result) elif action == "update": - # 更新资源 + if tree_set is None: + raise ValueError("tree_set不能为None") plr_resources = tree_set.to_plr_resources() - for plr_resource, tree in zip(plr_resources, tree_set.trees): - states = plr_resource.serialize_all_state() - 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{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新" - ) - # todo: 对extra进行update - if getattr(plr_resource, "unilabos_extra", None) is not None: - original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") - if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None: - self.transfer_to_new_resource(original_instance, 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" - ) - - func = getattr(self.driver_instance, "resource_tree_update", None) - if callable(func): - func(plr_resources) - results.append({"success": True, "action": "update"}) + result = _handle_update(plr_resources, tree_set, additional_add_params) + results.append(result) elif action == "remove": - # 移除资源 - found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource( - [{"uuid": uid} for uid in resources_uuid], try_mode=True - ) - found_plr_resources = [] - other_plr_resources = [] - for found_resource in found_resources: - for resource in found_resource: - if issubclass(resource.__class__, ResourcePLR): - found_plr_resources.append(resource) - else: - other_plr_resources.append(resource) - func = getattr(self.driver_instance, "resource_tree_remove", None) - if callable(func): - func(found_plr_resources) - for plr_resource in found_plr_resources: - if plr_resource.parent is not None: - plr_resource.parent.unassign_child_resource(plr_resource) - self.resource_tracker.remove_resource(plr_resource) - self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点") - for other_plr_resource in other_plr_resources: - self.resource_tracker.remove_resource(other_plr_resource) - self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点") - results.append({"success": True, "action": "remove"}) + result = _handle_remove(resources_uuid) + results.append(result) except Exception as e: error_msg = f"Error processing {action} operation: {str(e)}" self.lab_logger().error(f"[Resource Tree Update] {error_msg}") @@ -1004,9 +1097,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 通过资源跟踪器获取本地实例 final_resources = queried_resources if is_sequence else queried_resources[0] - final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [ - self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources - ] + final_resources = ( + self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) + if not is_sequence + else [ + self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) + for res in queried_resources + ] + ) action_kwargs[k] = final_resources except Exception as e: @@ -1227,6 +1325,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): raise JsonCommandInitError( f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}" ) + def _convert_resource_sync(self, resource_data: Dict[str, Any]): """同步转换资源数据为实例""" # 创建资源查询请求