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update extra before transfer

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Xuwznln
2025-10-24 02:36:47 +08:00
parent 9d081e9fcd
commit b6de0623e2
1 changed files with 6 additions and 3 deletions
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9
unilabos/ros/nodes/base_device_node.py
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@@ -601,12 +601,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
f"物料{plr_resource}请求从{old_parent}卸载" f"物料{plr_resource}请求从{old_parent}卸载"
) )
old_parent.unassign_child_resource(plr_resource) old_parent.unassign_child_resource(plr_resource)
self.lab_logger().warning(
f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
)
parent_resource.assign_child_resource( parent_resource.assign_child_resource(
plr_resource, location=None, **additional_params plr_resource, location=None, **additional_params
) )
self.lab_logger().warning(
f"物料{plr_resource}请求挂载到{parent_resource}"
)
func = getattr(self.driver_instance, "resource_tree_transfer", None) func = getattr(self.driver_instance, "resource_tree_transfer", None)
if callable(func): if callable(func):
# 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了） # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
@@ -675,6 +675,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.lab_logger().info( self.lab_logger().info(
f"物料{plr_resource} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新" f"物料{plr_resource} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
) )
# todo: 对extra进行update
if getattr(plr_resource, "extra", None) is not None:
original_parent_resource.extra = getattr(plr_resource, "extra")
if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None: if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
self.transfer_to_new_resource(original_instance, tree, additional_add_params) self.transfer_to_new_resource(original_instance, tree, additional_add_params)
original_instance.load_all_state(states) original_instance.load_all_state(states)