open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-05 05:45:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'dev' into prcix9320

Browse Source
This commit is contained in:
q434343
2026-02-04 15:46:16 +08:00
parent 11a38d4558 84a8223173
commit e4d915c59c
18 changed files with 3220 additions and 961 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
unilabos/ros/nodes/base_device_node.py
View File

@@ -886,6 +886,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
parent_appended = True
# 加载状态
original_instance.location = plr_resource.location
original_instance.rotation = plr_resource.rotation
original_instance.barcode = plr_resource.barcode
original_instance.load_all_state(states)
child_count = len(original_instance.get_all_children())
self.lab_logger().info(
@@ -1337,6 +1340,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
else:
uuid_indices.append((idx, unilabos_uuid, resource_data))
# 第二遍：批量查询有uuid的资源
if uuid_indices:
uuids = [item[1] for item in uuid_indices]
resource_tree = await self.get_resource(uuids)
plr_resources = resource_tree.to_plr_resources()
for i, (idx, _, resource_data) in enumerate(uuid_indices):
plr_resource = plr_resources[i]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
# 第二遍：批量查询有uuid的资源
if uuid_indices:
uuids = [item[1] for item in uuid_indices]
@@ -1587,7 +1601,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
)
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
# todo: 默认反报送
return function(**function_args)
except KeyError as ex:
raise JsonCommandInitError(
@@ -1620,8 +1634,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
timeout = 30.0
elapsed = 0.0
while not future.done() and elapsed < timeout:
time.sleep(0.05)
elapsed += 0.05
time.sleep(0.02)
elapsed += 0.02
if not future.done():
raise Exception(f"资源查询超时: {uuids_list}")