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修复to_plr_resources

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Xuwznln
2025-10-10 15:30:26 +08:00
parent 5610c28b67
commit a8f6527de9
2 changed files with 133 additions and 155 deletions
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8
unilabos/ros/utils/driver_creator.py
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@@ -150,7 +150,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
target_type = import_manager.get_class(type_path)
contain_model = not issubclass(target_type, Deck)
resource, target_type = self._process_resource_mapping(resource, target_type)
resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)
resource_instance: Resource = resource_ulab_to_plr(resource, contain_model) # 带state
states[prefix_path] = resource_instance.serialize_all_state()
# 使用 prefix_path 作为 key 存储资源状态
if to_dict:
@@ -159,7 +159,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
return serialized
else:
self.resource_tracker.add_resource(resource_instance)
# 立即设置UUID
# 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
if name_to_uuid:
self.resource_tracker.loop_set_uuid(resource_instance, name_to_uuid)
return resource_instance
@@ -244,7 +244,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
v[kk] = vv
self.device_instance.load_all_state(v)
self.resource_tracker.add_resource(self.device_instance)
self.post_create()
self.post_create() # 对应DeviceClassCreator进行调用
return self.device_instance # type: ignore
except Exception as e:
# 先静默继续，尝试另外一种创建方法
@@ -265,7 +265,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)
self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data) # 补全变量后直接调用，调用的自身的attach_resource
except Exception as e:
logger.error(f"PyLabRobot创建实例失败: {e}")
logger.error(f"PyLabRobot创建实例堆栈: {traceback.format_exc()}")