临时兼容错误的driver写法

unilabos/resources/graphio.py

@@ -340,7 +340,7 @@ def convert_resources_to_type(
     Returns:
         List of resources in the given type.
     """
-    if resource_type == dict:
+    if resource_type == dict or resource_type == str:
         return list_to_nested_dict(resources_list)
     elif isinstance(resource_type, type) and issubclass(resource_type, ResourcePLR):
         if isinstance(resources_list, dict):

unilabos/ros/nodes/base_device_node.py

@@ -656,6 +656,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
             self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
+            error_skip = False
             # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
             if action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
@@ -665,7 +666,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                         # TODO: resource后面需要分组
                         only_one_resource = False
                         try:
-                            if len(action_kwargs[k]) > 1:
+                            if isinstance(action_kwargs[k], list) and len(action_kwargs[k]) > 1:
                                 for i in action_kwargs[k]:
                                     r = ResourceGet.Request()
                                     r.id = i["id"]  # splash optional
@@ -695,12 +696,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             final_resource = convert_resources_to_type(resources_list, final_type)
                         else:
                             final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
+                        try:
                             action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
+                        except Exception as e:
+                            self.lab_logger().error(f"物料实例获取失败: {e}\n{traceback.format_exc()}")
+                            error_skip = True
+                            execution_error = traceback.format_exc()
+                            break
 
             ##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
             time_start = time.time()
             time_overall = 100
             future = None
+            if not error_skip:
                 # 将阻塞操作放入线程池执行
                 if asyncio.iscoroutinefunction(ACTION):
                     try:

unilabos/ros/nodes/presets/protocol_node.py

@@ -146,6 +146,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
         # 为子设备的每个动作创建动作客户端
         if d is not None and hasattr(d, "ros_node_instance"):
             node = d.ros_node_instance
+            node.resource_tracker = self.resource_tracker  # 站内应当共享资源跟踪器
             for action_name, action_mapping in node._action_value_mappings.items():
                 if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith("UniLabJsonCommand"):
                     continue

unilabos/ros/nodes/resource_tracker.py

@@ -37,6 +37,8 @@ class DeviceNodeResourceTracker(object):
     def figure_resource(self, query_resource, try_mode=False):
         if isinstance(query_resource, list):
             return [self.figure_resource(r) for r in query_resource]
+        elif isinstance(query_resource, dict) and "id" not in query_resource and "name" not in query_resource:  # 临时处理，要删除的，driver有太多类型错误标注
+            return [self.figure_resource(r) for r in query_resource.values()]
         res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
         res_name = query_resource.name if hasattr(query_resource, "name") else (query_resource.get("name") if isinstance(query_resource, dict) else None)
         res_identifier = res_id if res_id else res_name

unilabos/ros/utils/driver_creator.py

@@ -51,7 +51,7 @@ class DeviceClassCreator(Generic[T]):
         """
         if self.device_instance is not None:
             for c in self.children.values():
-                if c["type"] == "container":
+                if c["type"] != "device":
                     self.resource_tracker.add_resource(c)