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修改sample_uuid的返回值

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This commit is contained in:
zhangshixiang
2025-12-06 01:33:04 +08:00
parent b1cdef9185
commit 91aadba4ef
9 changed files with 44334 additions and 32 deletions
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24
unilabos/ros/nodes/base_device_node.py
View File

@@ -1142,20 +1142,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources.append(plr_resource)
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
# 通过资源跟踪器获取本地实例
final_resources = queried_resources if is_sequence else queried_resources[0]
final_resources = (
self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
if not is_sequence
else [
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
for res in queried_resources
]
)
if not is_sequence:
plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
# 保留unilabos_extra
if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
final_resources = plr
else:
new_resources = []
for res in queried_resources:
plr = self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
if hasattr(res, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
plr.unilabos_extra = getattr(res, "unilabos_extra", {}).copy()
new_resources.append(plr)
final_resources = new_resources
action_kwargs[k] = final_resources
except Exception as e:

13
unilabos/ros/nodes/presets/host_node.py
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@@ -706,7 +706,20 @@ class HostNode(BaseROS2DeviceNode):
raise ValueError(f"ActionClient {action_id} not found.")
action_client: ActionClient = self._action_clients[action_id]
# 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
def assign_sample_id(obj):
if isinstance(obj, dict):
if "sample_uuid" in obj:
obj["sample_id"] = obj["sample_uuid"]
obj.pop("sample_uuid")
for k,v in obj.items():
if k != "unilabos_extra":
assign_sample_id(v)
elif isinstance(obj, list):
for item in obj:
assign_sample_id(item)
assign_sample_id(action_kwargs)
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")

16
unilabos/ros/nodes/resource_tracker.py
View File

@@ -146,8 +146,20 @@ class ResourceDictInstance(object):
content["data"] = {}
if not content.get("extra"): # MagicCode
content["extra"] = {}
if "pose" not in content:
content["pose"] = content.pop("position", {})
if "position" in content:
pose = content["config"].get("pose",{})
if "position" not in pose :
if "position" in content["position"]:
pose["position"] = content["position"]["position"]
else:
pose["position"] = {"x": 0, "y": 0, "z": 0}
if "size" not in pose:
pose["size"] = {
"width": content["config"].get("size_x", 0),
"height": content["config"].get("size_y", 0),
"depth": content["config"].get("size_z", 0)
}
content["pose"] = pose
return ResourceDictInstance(ResourceDict.model_validate(content))
def get_plr_nested_dict(self) -> Dict[str, Any]: