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Xuwznln
2025-06-09 00:52:07 +08:00
parent d2782943b4
commit f2e1d8a6c8
8 changed files with 17248 additions and 507 deletions
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17
unilabos/ros/nodes/base_device_node.py
View File

@@ -740,16 +740,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.lab_logger().info(f"更新资源状态: {k}")
r = ResourceUpdate.Request()
# 仅当action_kwargs[k]不为None时尝试转换
akv = action_kwargs[k]
akv = action_kwargs[k] # 已经是完成转换的物料了，只需要转换成ros msg Resource了
apv = action_paramtypes[k]
final_type = get_type_class(apv)
if final_type is None:
continue
try:
r.resources = [
convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
for rs in convert_resources_from_type(akv, final_type) # type: ignore # FIXME # 考虑反查到最大的
]
seen = set()
unique_resources = []
for rs in akv:
res = self.resource_tracker.parent_resource(rs) # 获取 resource 对象
if id(res) not in seen:
seen.add(id(res))
converted_list = convert_resources_from_type([res], final_type)
unique_resources.extend([convert_to_ros_msg(Resource, converted) for converted in converted_list])
r.resources = unique_resources
response = await self._resource_clients["resource_update"].call_async(r)
self.lab_logger().debug(f"资源更新结果: {response}")
except Exception as e:

21
unilabos/ros/nodes/resource_tracker.py
View File

@@ -1,3 +1,5 @@
from typing import List, Tuple, Any
from unilabos.utils.log import logger
@@ -5,12 +7,12 @@ class DeviceNodeResourceTracker(object):
def __init__(self):
self.resources = []
self.root_resource2resource = {}
self.resource2parent_resource = {}
pass
def root_resource(self, resource):
if id(resource) in self.root_resource2resource:
return self.root_resource2resource[id(resource)]
def parent_resource(self, resource):
if id(resource) in self.resource2parent_resource:
return self.resource2parent_resource[id(resource)]
else:
return resource
@@ -44,20 +46,21 @@ class DeviceNodeResourceTracker(object):
self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key))
)
assert len(res_list) == 1, f"{query_resource} 找到多个资源，请检查资源是否唯一: {res_list}"
self.root_resource2resource[id(query_resource)] = res_list[0]
self.resource2parent_resource[id(query_resource)] = res_list[0][0]
self.resource2parent_resource[id(res_list[0][1])] = res_list[0][0]
# 后续加入其他对比方式
return res_list[0]
return res_list[0][1]
def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value):
def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value, parent_res=None) -> List[Tuple[Any, Any]]:
res_list = []
# print(resource, target_resource_cls_type, identifier_key, compare_value)
children = getattr(resource, "children", [])
for child in children:
res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value))
res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource))
if target_resource_cls_type == type(resource) or target_resource_cls_type == dict:
if hasattr(resource, identifier_key):
if getattr(resource, identifier_key) == compare_value:
res_list.append(resource)
res_list.append((parent_res, resource))
return res_list
def filter_find_list(self, res_list, compare_std_dict):