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Code Issues Packages Projects Releases Wiki Activity

Resource update & asyncio fix

Browse Source 
correct bioyond config

prcxi example

fix append_resource

fix regularcontainer

fix cancel error

fix resource_get param

fix json dumps

support name change during materials change

enable slave mode

change uuid logger to trace level

correct remove_resource stats

disable slave connect websocket

adjust with_children param

modify devices to use correct executor (sleep, create_task)

support sleep and create_task in node

fix run async execution error
This commit is contained in:
Xuwznln
2025-10-31 21:43:25 +08:00
parent 8807865649
commit b6dfe2b944
32 changed files with 1456 additions and 943 deletions
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67
unilabos/ros/nodes/resource_tracker.py
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@@ -2,7 +2,7 @@ import traceback
import uuid
from pydantic import BaseModel, field_serializer, field_validator
from pydantic import Field
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
from unilabos.utils.log import logger
@@ -60,7 +60,7 @@ class ResourceDict(BaseModel):
icon: str = Field(description="Resource icon", default="")
parent_uuid: Optional["str"] = Field(description="Parent resource uuid", default=None) # 先设定parent_uuid
parent: Optional["ResourceDict"] = Field(description="Parent resource object", default=None, exclude=True)
type: Literal["device"] | str = Field(description="Resource type")
type: Union[Literal["device"], str] = Field(description="Resource type")
klass: str = Field(alias="class", description="Resource class name")
position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
@@ -848,15 +848,13 @@ class DeviceNodeResourceTracker(object):
extra: extra字典值
"""
if isinstance(resource, dict):
# ⭐ 修复：合并extra而不是覆盖
current_extra = resource.get("extra", {})
current_extra.update(extra)
resource["extra"] = current_extra
c_extra = resource.get("extra", {})
c_extra.update(extra)
resource["extra"] = c_extra
else:
# ⭐ 修复：合并unilabos_extra而不是覆盖
current_extra = getattr(resource, "unilabos_extra", {})
current_extra.update(extra)
setattr(resource, "unilabos_extra", current_extra)
c_extra = getattr(resource, "unilabos_extra", {})
c_extra.update(extra)
setattr(resource, "unilabos_extra", c_extra)
def _traverse_and_process(self, resource, process_func) -> int:
"""
@@ -900,7 +898,7 @@ class DeviceNodeResourceTracker(object):
new_uuid = name_to_uuid_map[resource_name]
self.set_resource_uuid(res, new_uuid)
self.uuid_to_resources[new_uuid] = res
logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
logger.trace(f"设置资源UUID: {resource_name} -> {new_uuid}")
return 1
return 0
@@ -923,7 +921,8 @@ class DeviceNodeResourceTracker(object):
if resource_name and resource_name in name_to_extra_map:
extra = name_to_extra_map[resource_name]
self.set_resource_extra(res, extra)
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
if len(extra):
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
return 1
return 0
@@ -933,7 +932,7 @@ class DeviceNodeResourceTracker(object):
"""
递归遍历资源树，更新所有节点的uuid
Args:0
Args:
resource: 资源对象（可以是dict或实例）
uuid_map: uuid映射字典，{old_uuid: new_uuid}
@@ -958,6 +957,27 @@ class DeviceNodeResourceTracker(object):
return self._traverse_and_process(resource, process)
def loop_gather_uuid(self, resource) -> List[str]:
"""
递归遍历资源树，收集所有节点的uuid
Args:
resource: 资源对象（可以是dict或实例）
Returns:
收集到的uuid列表
"""
uuid_list = []
def process(res):
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
if current_uuid:
uuid_list.append(current_uuid)
return 0
self._traverse_and_process(resource, process)
return uuid_list
def _collect_uuid_mapping(self, resource):
"""
递归收集资源的 uuid 映射到 uuid_to_resources
@@ -971,14 +991,15 @@ class DeviceNodeResourceTracker(object):
if current_uuid:
old = self.uuid_to_resources.get(current_uuid)
self.uuid_to_resources[current_uuid] = res
logger.debug(
logger.trace(
f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}"
)
return 1
return 0
self._traverse_and_process(resource, process)
def _remove_uuid_mapping(self, resource):
def _remove_uuid_mapping(self, resource) -> int:
"""
递归清除资源的 uuid 映射
@@ -990,10 +1011,11 @@ class DeviceNodeResourceTracker(object):
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
if current_uuid and current_uuid in self.uuid_to_resources:
self.uuid_to_resources.pop(current_uuid)
logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}")
logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}")
return 1
return 0
self._traverse_and_process(resource, process)
return self._traverse_and_process(resource, process)
def parent_resource(self, resource):
if id(resource) in self.resource2parent_resource:
@@ -1048,13 +1070,12 @@ class DeviceNodeResourceTracker(object):
removed = True
break
if not removed:
# 递归清除uuid映射
count = self._remove_uuid_mapping(resource)
if not count:
logger.warning(f"尝试移除不存在的资源: {resource}")
return False
# 递归清除uuid映射
self._remove_uuid_mapping(resource)
# 清除 resource2parent_resource 中与该资源相关的映射
# 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射
keys_to_remove = []
@@ -1077,7 +1098,9 @@ class DeviceNodeResourceTracker(object):
self.uuid_to_resources.clear()
self.resource2parent_resource.clear()
def figure_resource(self, query_resource, try_mode=False):
def figure_resource(
self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False
) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]:
if isinstance(query_resource, list):
return [self.figure_resource(r, try_mode) for r in query_resource]
elif (