From 83abf877b53d9c19bea0c54f7cff202e8efd49e8 Mon Sep 17 00:00:00 2001
From: wznln <18435084+Xuwznln@users.noreply.github.com>
Date: Wed, 7 May 2025 02:36:53 +0800
Subject: [PATCH] fix: multi channel

---
 unilabos/ros/nodes/base_device_node.py | 22 ++++++++++++++++------
 1 file changed, 16 insertions(+), 6 deletions(-)

diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py
index 45daf454..078cb470 100644
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -514,20 +514,30 @@ 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 = []
                         try:
-                            r = ResourceGet.Request()
-                            r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
-                            r.with_children = True
-                            response = await self._resource_clients["resource_get"].call_async(r)
+                            if len(action_kwargs[k]) > 1:
+                                for i in action_kwargs[k]:
+                                    r = ResourceGet.Request()
+                                    r.id = i["id"]
+                                    r.with_children = True
+                                    response = await self._resource_clients["resource_get"].call_async(r)
+                                    current_resources.extend(response.resources)
+                            else:
+                                r = ResourceGet.Request()
+                                r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
+                                r.with_children = True
+                                response = await self._resource_clients["resource_get"].call_async(r)
+                                current_resources.extend(response.resources)
                         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 response.resources]  # type: ignore  # FIXME
+                        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
-                        final_resource = convert_resources_to_type(resources_list, final_type)
+                        final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
                         action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
 
             self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")