Update README.md

Modify resource_tracker file module path.

unilabos/ros/device_node_wrapper.py

@@ -5,7 +5,7 @@ from unilabos.ros.msgs.message_converter import (
     get_action_type,
 )
 from unilabos.ros.nodes.base_device_node import init_wrapper, ROS2DeviceNode
-from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
+from unilabos.resources.resource_tracker import ResourceDictInstance
 
 # 定义泛型类型变量
 T = TypeVar("T")

unilabos/ros/initialize_device.py

@@ -1,10 +1,9 @@
-import copy
 from typing import Optional
 
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.device_node_wrapper import ros2_device_node
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
-from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
+from unilabos.resources.resource_tracker import ResourceDictInstance
 from unilabos.utils import logger
 from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.import_manager import default_manager

unilabos/ros/main_slave_run.py

@@ -10,7 +10,7 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Response
 
 from unilabos.app.register import register_devices_and_resources
 from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
+from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
 from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
 from unilabos_msgs.srv import SerialCommand  # type: ignore
 from rclpy.executors import MultiThreadedExecutor

unilabos/ros/nodes/base_device_node.py

@@ -1,4 +1,3 @@
-import copy
 import inspect
 import io
 import json
@@ -13,7 +12,6 @@ import asyncio
 
 import rclpy
 import yaml
-from msgcenterpy import ROS2MessageInstance
 from rclpy.node import Node
 from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
@@ -26,11 +24,7 @@ from unilabos.utils.decorator import get_topic_config, get_all_subscriptions
 
 from unilabos.resources.container import RegularContainer
 from unilabos.resources.graphio import (
-    resource_ulab_to_plr,
     initialize_resources,
-    dict_to_tree,
-    resource_plr_to_ulab,
-    tree_to_list,
 )
 from unilabos.resources.plr_additional_res_reg import register
 from unilabos.ros.msgs.message_converter import (
@@ -47,7 +41,7 @@ from unilabos_msgs.srv import (
 )  # type: ignore
 from unilabos_msgs.msg import Resource  # type: ignore
 
-from unilabos.ros.nodes.resource_tracker import (
+from unilabos.resources.resource_tracker import (
     DeviceNodeResourceTracker,
     ResourceTreeSet,
     ResourceTreeInstance,
@@ -363,7 +357,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             return res
 
         async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
-            from pylabrobot.resources.resource import Resource as ResourcePLR
             from pylabrobot.resources.deck import Deck
             from pylabrobot.resources import Coordinate
             from pylabrobot.resources import Plate

unilabos/ros/nodes/presets/host_node.py

@@ -10,7 +10,6 @@ from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Type
 from action_msgs.msg import GoalStatus
 from geometry_msgs.msg import Point
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
-from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import (
@@ -19,7 +18,6 @@ from unilabos_msgs.srv import (
     ResourceUpdate,
     ResourceList,
     SerialCommand,
-    ResourceGet,
 )  # type: ignore
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 from unique_identifier_msgs.msg import UUID
@@ -37,7 +35,7 @@ from unilabos.ros.msgs.message_converter import (
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
-from unilabos.ros.nodes.resource_tracker import (
+from unilabos.resources.resource_tracker import (
     ResourceDict,
     ResourceDictInstance,
     ResourceTreeSet,

unilabos/ros/nodes/presets/workstation.py

@@ -12,11 +12,10 @@ from unilabos_msgs.srv import ResourceUpdate
 from unilabos.messages import *  # type: ignore  # protocol names
 from rclpy.action import ActionServer, ActionClient
 from rclpy.action.server import ServerGoalHandle
-from rclpy.callback_groups import ReentrantCallbackGroup
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
 from unilabos.compile import action_protocol_generators
-from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
+from unilabos.resources.graphio import nested_dict_to_list
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
     get_action_type,
@@ -24,7 +23,7 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg_with_mapping,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
-from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDictInstance
+from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDictInstance
 from unilabos.utils.type_check import get_result_info_str
 
 if TYPE_CHECKING:

unilabos/ros/utils/driver_creator.py

@@ -11,10 +11,9 @@ import traceback
 from abc import abstractmethod
 from typing import Type, Any, Dict, Optional, TypeVar, Generic, List
 
-from unilabos.resources.graphio import nested_dict_to_list, resource_ulab_to_plr
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
+from unilabos.resources.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDictInstance, \
     ResourceTreeInstance
-from unilabos.utils import logger, import_manager
+from unilabos.utils import logger
 from unilabos.utils.cls_creator import create_instance_from_config
 
 # 定义泛型类型变量
@@ -135,7 +134,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
         Returns:
             处理后的数据
         """
-        from pylabrobot.resources import Deck, Resource
+        from pylabrobot.resources import Resource
 
         if states is None:
             states = {}