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Update registry. Update uuid loop figure method. Update install docs.

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Xuwznln
2025-10-12 22:38:04 +08:00
parent 40fb1ea49c
commit 9fa3688196
8 changed files with 285 additions and 65 deletions
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13
unilabos/ros/main_slave_run.py
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@@ -1,4 +1,3 @@
import copy
import json
import threading
import time
@@ -183,14 +182,22 @@ def slave(
)
tree_response: SerialCommand_Response = rclient.call_async(request).result()
uuid_mapping = json.loads(tree_response.response)
# 创建反向映射：new_uuid -> old_uuid
reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
for node in resources_config.root_nodes:
if node.res_content.type == "device":
for sub_node in node.children:
# 只有二级子设备
if sub_node.res_content.type != "device":
device_tracker = devices_instances[node.res_content.id].resource_tracker
resource_instance = device_tracker.figure_resource(
{"uuid": sub_node.res_content.uuid})
# sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
if old_uuid:
# 找到旧UUID，使用UUID查找
resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
else:
# 未找到旧UUID，使用name查找
resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
else:
logger.error("Slave模式不允许新增非设备节点下的物料")