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Fix update with different spot and same parent

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This commit is contained in:
Xuwznln
2026-01-08 03:45:30 +08:00
parent 3f80349d7d
commit 8580b84167
1 changed files with 17 additions and 0 deletions
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17
unilabos/ros/nodes/base_device_node.py
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@@ -844,6 +844,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
and original_parent_resource is not None
):
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
else:
# 判断是否变更了resource_site
target_site = original_instance.unilabos_extra.get("update_resource_site")
sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
if target_site is not None and sites is not None and site_names is not None:
site_index = sites.index(original_instance)
site_name = site_names[site_index]
if site_name != target_site:
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
# 加载状态
original_instance.load_all_state(states)
@@ -898,7 +908,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
plr_resources.append(tree.root_node)
else:
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
result = _handle_update(plr_resources, tree_set, additional_add_params)
r = SerialCommand.Request()
r.command = json.dumps(
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
response: SerialCommand_Response = await self._resource_clients[
"c2s_update_resource_tree"].call_async(r) # type: ignore
self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
results.append(result)
elif action == "remove":
result = _handle_remove(resources_uuid)