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easy resource creation logic

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This commit is contained in:
wznln
2025-05-14 23:52:01 +08:00
parent 6eac72ed27
commit 9d2d70c804
4 changed files with 23 additions and 7 deletions
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4
unilabos/ros/nodes/base_device_node.py
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@@ -515,7 +515,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
# 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
if action_name != "add_resource_from_outer":
if action_name not in ["add_resource_from_outer", "add_resource_from_outer_easy"]:
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
@@ -614,7 +614,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
del future
# 向Host更新物料当前状态
if action_name != "add_resource_from_outer":
if action_name not in ["add_resource_from_outer", "add_resource_from_outer_easy"]:
for k, v in goal.get_fields_and_field_types().items():
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
continue