feat: add more necessary params

unilabos/ros/nodes/presets/host_node.py

@@ -7,6 +7,7 @@ import uuid
 from typing import Optional, Dict, Any, List, ClassVar, Set
 
 from action_msgs.msg import GoalStatus
+from geometry_msgs.msg import Point
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
@@ -267,21 +268,27 @@ class HostNode(BaseROS2DeviceNode):
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
-    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str]):
-        for resource, device_id, bind_parent_id in zip(resources, device_ids, bind_parent_ids):
+    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
+        for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(resources, device_ids, bind_parent_ids, bind_locations, other_calling_params):
             # 这里要求device_id传入必须是edge_device_id
             namespace = "/devices/" + device_id
             srv_address = f"/srv{namespace}/append_resource"
             sclient = self.create_client(SerialCommand, srv_address)
+            sclient.wait_for_service()
             request = SerialCommand.Request()
             request.command = json.dumps({
-                "machine_name": BasicConfig.machine_name,
-                "type": "slave",
-                "devices_config": devices_config_copy,
-                "registry_config": lab_registry.obtain_registry_device_info()
-            }, ensure_ascii=False, cls=TypeEncoder)
+                "resource": resource,
+                "namespace": namespace,
+                "edge_device_id": device_id,
+                "bind_parent_id": bind_parent_id,
+                "bind_location": {
+                    "x": bind_location.x,
+                    "y": bind_location.y,
+                    "z": bind_location.z,
+                },
+                "other_calling_param": json.loads(other_calling_param),
+            }, ensure_ascii=False)
             response = sclient.call(request)
-            print("111")
         pass
 
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None: