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temp cancel update req

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Xuwznln
2026-01-08 15:26:31 +08:00
parent 93cb307396
commit daea1ab54d
1 changed files with 13 additions and 11 deletions
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24
unilabos/ros/nodes/base_device_node.py
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@@ -790,7 +790,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
def _handle_update( def _handle_update(
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
) -> Dict[str, Any]: ) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
""" """
处理资源更新操作的内部函数 处理资源更新操作的内部函数
@@ -802,6 +802,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
Returns: Returns:
操作结果字典 操作结果字典
""" """
original_instances = []
for plr_resource, tree in zip(plr_resources, tree_set.trees): for plr_resource, tree in zip(plr_resources, tree_set.trees):
if isinstance(plr_resource, ResourceDictInstance): if isinstance(plr_resource, ResourceDictInstance):
self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新") self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新")
@@ -861,13 +862,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.lab_logger().info( self.lab_logger().info(
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个" f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
) )
original_instances.append(original_instance)
# 调用driver的update回调 # 调用driver的update回调
func = getattr(self.driver_instance, "resource_tree_update", None) func = getattr(self.driver_instance, "resource_tree_update", None)
if callable(func): if callable(func):
func(plr_resources) func(original_instances)
return {"success": True, "action": "update"} return {"success": True, "action": "update"}, original_instances
try: try:
data = json.loads(req.command) data = json.loads(req.command)
@@ -908,14 +910,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
plr_resources.append(tree.root_node) plr_resources.append(tree.root_node)
else: else:
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources) result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
result = _handle_update(plr_resources, tree_set, additional_add_params) # new_tree_set = ResourceTreeSet.from_plr_resources(original_instances)
r = SerialCommand.Request() # r = SerialCommand.Request()
r.command = json.dumps( # r.command = json.dumps(
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 # {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
response: SerialCommand_Response = await self._resource_clients[ # response: SerialCommand_Response = await self._resource_clients[
"c2s_update_resource_tree"].call_async(r) # type: ignore # "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}") # self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
results.append(result) results.append(result)
elif action == "remove": elif action == "remove":
result = _handle_remove(resources_uuid) result = _handle_remove(resources_uuid)