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add registry name & add always free

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This commit is contained in:
Xuwznln
2026-02-07 02:11:43 +08:00
parent 4f7d431c0b
commit 9a7d5c7c82
16 changed files with 228 additions and 31 deletions
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17
unilabos/ros/nodes/base_device_node.py
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@@ -146,7 +146,7 @@ def init_wrapper(
device_id: str,
device_uuid: str,
driver_class: type[T],
device_config: ResourceTreeInstance,
device_config: ResourceDictInstance,
status_types: Dict[str, Any],
action_value_mappings: Dict[str, Any],
hardware_interface: Dict[str, Any],
@@ -279,6 +279,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self,
driver_instance: T,
device_id: str,
registry_name: str,
device_uuid: str,
status_types: Dict[str, Any],
action_value_mappings: Dict[str, Any],
@@ -300,6 +301,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
"""
self.driver_instance = driver_instance
self.device_id = device_id
self.registry_name = registry_name
self.uuid = device_uuid
self.publish_high_frequency = False
self.callback_group = ReentrantCallbackGroup()
@@ -416,7 +418,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
# noinspection PyTypeChecker
container_instance: RegularContainer = rts_plr_instances[0]
found_resources = self.resource_tracker.figure_resource({"name": container_instance.name}, try_mode=True)
found_resources = self.resource_tracker.figure_resource(
{"name": container_instance.name}, try_mode=True
)
if not len(found_resources):
self.resource_tracker.add_resource(container_instance)
logger.info(f"添加物料{container_instance.name}到资源跟踪器")
@@ -1152,6 +1156,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
"machine_name": BasicConfig.machine_name,
"type": "slave",
"edge_device_id": self.device_id,
"registry_name": self.registry_name,
}
},
ensure_ascii=False,
@@ -1626,9 +1631,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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}: {resolved_sample_uuids}"
)
self.lab_logger().debug(f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}")
continue
# 处理单个 ResourceSlot
@@ -2005,6 +2008,7 @@ class ROS2DeviceNode:
if driver_is_ros:
driver_params["device_id"] = device_id
driver_params["registry_name"] = device_config.res_content.klass
driver_params["resource_tracker"] = self.resource_tracker
self._driver_instance = self._driver_creator.create_instance(driver_params)
if self._driver_instance is None:
@@ -2022,6 +2026,7 @@ class ROS2DeviceNode:
children=children,
driver_instance=self._driver_instance, # type: ignore
device_id=device_id,
registry_name=device_config.res_content.klass,
device_uuid=device_uuid,
status_types=status_types,
action_value_mappings=action_value_mappings,
@@ -2033,6 +2038,7 @@ class ROS2DeviceNode:
self._ros_node = BaseROS2DeviceNode(
driver_instance=self._driver_instance,
device_id=device_id,
registry_name=device_config.res_content.klass,
device_uuid=device_uuid,
status_types=status_types,
action_value_mappings=action_value_mappings,
@@ -2041,6 +2047,7 @@ class ROS2DeviceNode:
resource_tracker=self.resource_tracker,
)
self._ros_node: BaseROS2DeviceNode
# 将注册表类型名传递给BaseROS2DeviceNode,用于slave上报
self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
self.driver_instance._ros_node = self._ros_node # type: ignore
self.driver_instance._execute_driver_command = self._ros_node._execute_driver_command # type: ignore