update todo

unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py

@@ -61,7 +61,6 @@ class ElectrodeSheet(Resource):
             info=None
         )
 
-    # TODO: 这个还要不要？给self._unilabos_state赋值的？
     def load_state(self, state: Dict[str, Any]) -> None:
         """格式不变"""
         super().load_state(state)
@@ -665,7 +664,6 @@ class BatteryPressSlot(Resource):
         reassign: bool = True,
     ):
         """放置极片"""
-        # TODO: 让高京看下槽位只有一个电池时是否这么写。
         if self.has_battery():
             raise ValueError(f"槽位已含有一个电池，无法再放置其他电池")
         super().assign_child_resource(resource, location, reassign)
@@ -674,7 +672,6 @@ class BatteryPressSlot(Resource):
     def get_battery_info(self, index: int) -> Battery:
         return self.children[0]
 
-# TODO:这个移液枪架子看一下从哪继承
 class TipBox64State(TypedDict):
     """电池状态字典"""
     tip_diameter: float = 5.0

unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py

@@ -1012,7 +1012,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
         #    else:
         #        print("子弹夹洞位0没有极片")
         #  
-        #    # TODO:#把电解液从瓶中取到电池夹子中
+        #    #把电解液从瓶中取到电池夹子中
         #    battery_site = deck.get_resource("battery_press_1")
         #    clip_magazine_battery = deck.get_resource("clip_magazine_battery")
         #    if battery_site.has_battery():

unilabos/registry/registry.py

@@ -131,7 +131,6 @@ class Registry:
                                         }
                                     ]
                                 },
-                                # todo: support nested keys, switch to non ros message schema
                                 "placeholder_keys": {
                                     "res_id": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
                                     "device_id": "unilabos_devices",  # 将当前实验室的全部设备id作为下拉框可选择

unilabos/ros/main_slave_run.py

@@ -189,8 +189,8 @@ def slave(
                         # 只有二级子设备
                         if sub_node.res_content.type != "device":
                             device_tracker = devices_instances[node.res_content.id].resource_tracker
-                            resource_instance = device_tracker.figure_resource(  # todo: 要换成uuid进行figure
+                            resource_instance = device_tracker.figure_resource(
-                                {"name": sub_node.res_content.name})
+                                {"uuid": sub_node.res_content.uuid})
                             device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
                 else:
                     logger.error("Slave模式不允许新增非设备节点下的物料")

unilabos/ros/nodes/base_device_node.py

@@ -256,9 +256,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
     node_name: str
     namespace: str
-    # TODO 要删除，添加时间相关的属性，避免动态添加属性的警告
+    # 内部共享变量
-    time_spent = 0.0
+    _time_spent = 0.0
-    time_remaining = 0.0
+    _time_remaining = 0.0
+    # 是否创建Action
     create_action_server = True
 
     def __init__(
@@ -998,8 +999,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     goal_handle.canceled()
                     return action_type.Result()
 
-                self.time_spent = time.time() - time_start
+                self._time_spent = time.time() - time_start
-                self.time_remaining = time_overall - self.time_spent
+                self._time_remaining = time_overall - self._time_spent
 
                 # 发布反馈
                 feedback_values = {}
@@ -1393,7 +1394,6 @@ class ROS2DeviceNode:
             or driver_class.__name__ == "PRCXI9300Handler"
         )
 
-        # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例
         if use_pylabrobot_creator:
             # 先对pylabrobot的子资源进行加载，不然subclass无法认出

unilabos/ros/nodes/presets/host_node.py

@@ -260,8 +260,8 @@ class HostNode(BaseROS2DeviceNode):
                                 if sub_node.res_content.type != "device":
                                     # slave节点走c2s更新接口，拿到add自行update uuid
                                     device_tracker = self.devices_instances[node.res_content.id].resource_tracker
-                                    resource_instance = device_tracker.figure_resource(  # todo: 要换成uuid进行figure
+                                    resource_instance = device_tracker.figure_resource(
-                                        {"name": sub_node.res_content.name})
+                                        {"uuid": sub_node.res_content.uuid})
                                     device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
                         else:
                             try: