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add update remove

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Xuwznln
2025-10-10 20:15:16 +08:00
parent a1783f489e
commit 67c01271b7
4 changed files with 267 additions and 112 deletions
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32
unilabos/ros/nodes/base_device_node.py
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@@ -386,13 +386,33 @@ class BaseROS2DeviceNode(Node, Generic[T]):
try:
if action == "add":
# 添加资源到资源跟踪器
plr_resource = tree_set.to_plr_resources() # FIXME: 转成plr的实例
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:
parent_resource.assign_child_resource(plr_resource, location=None)
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()}")
func = getattr(self.driver_instance, "resource_tree_add", None)
if callable(func):
func(tree_set)
func(plr_resources)
results.append({"success": True, "action": "add"})
elif action == "update":
# 更新资源
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_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(tree_set)
@@ -401,10 +421,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 移除资源
func = getattr(self.driver_instance, "resource_tree_remove", None)
if callable(func):
resources_instance: List[ResourcePLR] = [self.resource_tracker.uuid_to_resources[i] for
resources_instances: List[ResourcePLR] = [self.resource_tracker.uuid_to_resources[i] for
i in resources_uuid]
func(resources_instance)
[r.parent.unassign_child_resource(r) for r in resources_instance if r is not None]
self.resource_tracker.add_resource()
[r.parent.unassign_child_resource(r) for r in resources_instances if r is not None]
func(resources_instances)
[r.parent.unassign_child_resource(r) for r in resources_instances if r is not None]
results.append({"success": True, "action": "remove"})
except Exception as e:
error_msg = f"Error processing {action} operation: {str(e)}"