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Add set_liquid example.

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This commit is contained in:
Xuwznln
2026-01-12 22:24:01 +08:00
parent ec015e16cd
commit a66603ec1c
5 changed files with 30 additions and 13 deletions
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21
unilabos/ros/nodes/base_device_node.py
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@@ -430,8 +430,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
})
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
plr_instances = rts.to_plr_resources()
for plr_instance in plr_instances:
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances)
self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
final_response = {
"created_resource_tree": rts.dump(),
@@ -461,7 +463,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return res
try:
if len(rts.root_nodes) == 1 and parent_resource is not None:
plr_instance = rts.to_plr_resources()[0]
plr_instance = plr_instances[0]
if isinstance(plr_instance, Plate):
empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
@@ -1281,9 +1283,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 批量查询资源
queried_resources = []
for resource_data in resource_inputs:
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
if unilabos_uuid is None:
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
else:
resource_tree = await self.get_resource([unilabos_uuid])
plr_resource = resource_tree.to_plr_resources()[0]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources.append(plr_resource)
@@ -1423,7 +1430,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for r in rs:
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
else:
res = self.resource_tracker.parent_resource(r)
res = self.resource_tracker.parent_resource(rs)
if id(res) not in seen:
seen.add(id(res))
unique_resources.append(res)