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Feat/samples (#229)

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* add sample_material

* adapt to new samples sys
This commit is contained in:
Xuwznln
2026-02-05 00:42:12 +08:00
committed by GitHub
parent 26271bcab8
commit 957fb41a6f
5 changed files with 54 additions and 49 deletions
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37
unilabos/ros/nodes/base_device_node.py
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@@ -231,14 +231,15 @@ class PropertyPublisher:
def publish_property(self):
try:
self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
# self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
value = self.get_property()
if self.print_publish:
self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
pass
# self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
if value is not None:
msg = convert_to_ros_msg(self.msg_type, value)
self.publisher_.publish(msg)
self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
# self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
except Exception as e:
self.node.lab_logger().error(
f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
@@ -1594,7 +1595,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
function_name = target["function_name"]
function_args = target["function_args"]
# 获取 unilabos 系统参数
unilabos_param: Dict[str, Any] = target.get(JSON_UNILABOS_PARAM, {})
unilabos_param: Dict[str, Any] = target[JSON_UNILABOS_PARAM]
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
function = getattr(self.driver_instance, function_name)
@@ -1612,9 +1613,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if arg_name not in function_args:
# 处理 sample_uuids 参数注入
if arg_name == PARAM_SAMPLE_UUIDS:
function_args[PARAM_SAMPLE_UUIDS] = unilabos_param.get(PARAM_SAMPLE_UUIDS, [])
raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
# 将 material uuid 转换为 resource 实例
# key: sample_uuid, value: material_uuid -> resource 实例
resolved_sample_uuids: Dict[str, Any] = {}
for sample_uuid, material_uuid in raw_sample_uuids.items():
if material_uuid and self.resource_tracker:
resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
else:
resolved_sample_uuids[sample_uuid] = material_uuid
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
self.lab_logger().debug(
f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {function_args[PARAM_SAMPLE_UUIDS]}"
f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
)
continue
@@ -1754,9 +1765,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if arg_name not in function_args:
# 处理 sample_uuids 参数注入
if arg_name == PARAM_SAMPLE_UUIDS:
function_args[PARAM_SAMPLE_UUIDS] = unilabos_param.get(PARAM_SAMPLE_UUIDS, [])
raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
# 将 material uuid 转换为 resource 实例
# key: sample_uuid, value: material_uuid -> resource 实例
resolved_sample_uuids: Dict[str, Any] = {}
for sample_uuid, material_uuid in raw_sample_uuids.items():
if material_uuid and self.resource_tracker:
resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
else:
resolved_sample_uuids[sample_uuid] = material_uuid
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
self.lab_logger().debug(
f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {function_args[PARAM_SAMPLE_UUIDS]}"
f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
)
continue