open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-17 04:51:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

fix multiple instance error

Browse Source
This commit is contained in:
Xuwznln
2025-10-24 02:24:44 +08:00
parent 1d4018196d
commit 85590672d8
1 changed files with 7 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
unilabos/ros/nodes/base_device_node.py
View File

@@ -595,11 +595,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if "spot" in spec.parameters:
additional_params["spot"] = site
old_parent = plr_resource.parent
if old_parent is not None:
self.lab_logger().warning(
f"物料{plr_resource}请求从{old_parent}卸载"
)
plr_resource.unassign_child_resource(plr_resource)
# if old_parent is not None:
# # plr并不支持同一个deck的加载和卸载
# self.lab_logger().warning(
# f"物料{plr_resource}请求从{old_parent}卸载"
# )
# plr_resource.unassign_child_resource(plr_resource)
parent_resource.assign_child_resource(
plr_resource, location=None, **additional_params
)
@@ -675,7 +676,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
f"物料{plr_resource} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
)
if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
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"