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fix resource download

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This commit is contained in:
Xuwznln
2025-09-19 19:17:03 +08:00
parent 62f3a6d696
commit 7aab2ea493
1 changed files with 8 additions and 7 deletions
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15
unilabos/ros/nodes/base_device_node.py
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@@ -5,7 +5,7 @@ import threading
import time
import traceback
import uuid
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, Union
from concurrent.futures import ThreadPoolExecutor
import asyncio
@@ -673,7 +673,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
current_resources = []
current_resources: Union[List[Resource], List[List[Resource]]] = []
# TODO: resource后面需要分组
only_one_resource = False
try:
@@ -683,7 +683,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
r.id = i["id"] # splash optional
r.with_children = True
response = await self._resource_clients["resource_get"].call_async(r)
current_resources.extend(response.resources)
current_resources.append(response.resources)
else:
only_one_resource = True
r = ResourceGet.Request()
@@ -698,15 +698,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
except Exception:
logger.error(f"资源查询失败，默认使用本地资源")
# 删除对response.resources的检查，因为它总是存在
resources_list = [convert_from_ros_msg(rs) for rs in current_resources] # type: ignore # FIXME
self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
type_hint = action_paramtypes[k]
final_type = get_type_class(type_hint)
# 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
if only_one_resource:
resources_list: List[Dict[str, Any]] = [convert_from_ros_msg(rs) for rs in current_resources] # type: ignore
self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
final_resource = convert_resources_to_type(resources_list, final_type)
# 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
else:
final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
resources_list: List[List[Dict[str, Any]]] = [[convert_from_ros_msg(rs) for rs in sub_res_list] for sub_res_list in current_resources] # type: ignore
final_resource = [convert_resources_to_type(sub_res_list, final_type)[0] for sub_res_list in resources_list]
try:
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
except Exception as e: