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create container

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This commit is contained in:
Xuwznln
2025-06-15 12:51:37 +08:00
parent 5478ba3237
commit 934276d2f7
7 changed files with 116 additions and 13 deletions
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2
unilabos/ros/nodes/base_device_node.py
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@@ -343,6 +343,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
print("create container")
slot = other_calling_param.pop("slot", "-1")
if slot != "-1": # slot为负数的时候采用assign方法
other_calling_param["slot"] = slot

30
unilabos/ros/nodes/presets/host_node.py
View File

@@ -383,18 +383,24 @@ class HostNode(BaseROS2DeviceNode):
liquid_volume: list[int],
slot_on_deck: str,
):
init_new_res = initialize_resource(
{
"name": res_id,
"class": class_name,
"parent": parent,
"position": {
"x": bind_locations.x,
"y": bind_locations.y,
"z": bind_locations.z,
},
}
) # flatten的格式
res_creation_input = {
"name": res_id,
"class": class_name,
"parent": parent,
"position": {
"x": bind_locations.x,
"y": bind_locations.y,
"z": bind_locations.z,
},
}
if len(liquid_input_slot) and liquid_input_slot[0] == -1: # 目前container只逐个创建
res_creation_input.update({
"data": {
"liquid_type": liquid_type[0] if liquid_type else None,
"liquid_volume": liquid_volume[0] if liquid_volume else None,
}
})
init_new_res = initialize_resource(res_creation_input) # flatten的格式
resources = init_new_res # initialize_resource已经返回list[dict]
device_ids = [device_id]
bind_parent_id = [parent]