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container 添加和更新完成

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Xuwznln
2025-06-15 17:37:38 +08:00
parent a354965f8e
commit f7db8d17c5
6 changed files with 79 additions and 27 deletions
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18
unilabos/ros/nodes/resource_tracker.py
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@@ -25,7 +25,7 @@ class DeviceNodeResourceTracker(object):
def clear_resource(self):
self.resources = []
def figure_resource(self, query_resource):
def figure_resource(self, query_resource, try_mode=False):
if isinstance(query_resource, list):
return [self.figure_resource(r) for r in query_resource]
res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
@@ -45,10 +45,14 @@ class DeviceNodeResourceTracker(object):
res_list.extend(
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}"
if not try_mode:
assert len(res_list) > 0, f"没有找到资源 {query_resource}，请检查资源是否存在"
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}"
else:
return [i[1] for i in res_list]
# 后续加入其他对比方式
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][1]
def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value, parent_res=None) -> List[Tuple[Any, Any]]:
@@ -57,8 +61,12 @@ class DeviceNodeResourceTracker(object):
children = getattr(resource, "children", [])
for child in children:
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 target_resource_cls_type == type(resource):
if target_resource_cls_type == dict:
if identifier_key in resource:
if resource[identifier_key] == compare_value:
res_list.append((parent_res, resource))
elif hasattr(resource, identifier_key):
if getattr(resource, identifier_key) == compare_value:
res_list.append((parent_res, resource))
return res_list