create_resource

unilabos/ros/nodes/base_device_node.py

@@ -368,16 +368,21 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             # 如果driver自己就有assign的方法，那就使用driver自己的assign方法
             if hasattr(self.driver_instance, "create_resource"):
                 create_resource_func = getattr(self.driver_instance, "create_resource")
-                create_resource_func(
-                    resource_tracker=self.resource_tracker,
-                    resources=request.resources,
-                    bind_parent_id=bind_parent_id,
-                    bind_location=location,
-                    liquid_input_slot=LIQUID_INPUT_SLOT,
-                    liquid_type=ADD_LIQUID_TYPE,
-                    liquid_volume=LIQUID_VOLUME,
-                    slot_on_deck=slot,
-                )
+                try:
+                    ret = create_resource_func(
+                        resource_tracker=self.resource_tracker,
+                        resources=request.resources,
+                        bind_parent_id=bind_parent_id,
+                        bind_location=location,
+                        liquid_input_slot=LIQUID_INPUT_SLOT,
+                        liquid_type=ADD_LIQUID_TYPE,
+                        liquid_volume=LIQUID_VOLUME,
+                        slot_on_deck=slot,
+                    )
+                    res.response = serialize_result_info("", True, ret)
+                except Exception as e:
+                    traceback.print_exc()
+                    res.response = serialize_result_info(traceback.format_exc(), False, {})
                 return res
             # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
             resource = self.resource_tracker.figure_resource({"name": bind_parent_id})

unilabos/ros/nodes/presets/host_node.py

@@ -342,6 +342,7 @@ class HostNode(BaseROS2DeviceNode):
         bind_locations: list[Point],
         other_calling_params: list[str],
     ):
+        responses = []
         for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(
             resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
         ):
@@ -367,8 +368,8 @@ class HostNode(BaseROS2DeviceNode):
                 ensure_ascii=False,
             )
             response = sclient.call(request)
-            pass
-        pass
+            responses.append(response)
+        return responses
 
     def create_resource(
         self,