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Add no_update_feedback option.

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Xuwznln
2026-01-09 17:18:39 +08:00
parent 657f952e7a
commit aacf3497e0
7 changed files with 62 additions and 1000 deletions
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17
unilabos/ros/nodes/base_device_node.py
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@@ -20,6 +20,8 @@ from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.service import Service
from unilabos_msgs.action import SendCmd
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unilabos.config.config import BasicConfig
from unilabos.utils.decorator import get_topic_config, get_all_subscriptions
from unilabos.resources.container import RegularContainer
@@ -911,13 +913,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
else:
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
# new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)
# r = SerialCommand.Request()
# r.command = json.dumps(
# {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
# response: SerialCommand_Response = await self._resource_clients[
# "c2s_update_resource_tree"].call_async(r) # type: ignore
# self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
if not BasicConfig.no_update_feedback:
new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)
r = SerialCommand.Request()
r.command = json.dumps(
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
response: SerialCommand_Response = await self._resource_clients[
"c2s_update_resource_tree"].call_async(r) # type: ignore
self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
results.append(result)
elif action == "remove":
result = _handle_remove(resources_uuid)