Uni-Lab-OS/unilabos/resources/container.py

import json

from unilabos_msgs.msg import Resource

from unilabos.ros.msgs.message_converter import convert_from_ros_msg


class RegularContainer(object):
    # 第一个参数必须是id传入
    # noinspection PyShadowingBuiltins
    def __init__(self, id: str):
        self.id = id
        self.ulr_resource = Resource()
        self._data = None

    @property
    def ulr_resource_data(self):
        if self._data is None:
            self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
        return self._data

    @ulr_resource_data.setter
    def ulr_resource_data(self, value: dict):
        self._data = value
        self.ulr_resource.data = json.dumps(self._data)

    @property
    def liquid_type(self):
        return self.ulr_resource_data.get("liquid_type", None)

    @liquid_type.setter
    def liquid_type(self, value: str):
        if value is not None:
            self.ulr_resource_data["liquid_type"] = value
        else:
            self.ulr_resource_data.pop("liquid_type", None)

    @property
    def liquid_volume(self):
        return self.ulr_resource_data.get("liquid_volume", None)

    @liquid_volume.setter
    def liquid_volume(self, value: float):
        if value is not None:
            self.ulr_resource_data["liquid_volume"] = value
        else:
            self.ulr_resource_data.pop("liquid_volume", None)

    def get_ulr_resource(self) -> Resource:
        """
        获取UlrResource对象
        :return: UlrResource对象
        """
        self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
        return self.ulr_resource

    def get_ulr_resource_as_dict(self) -> Resource:
        """
        获取UlrResource对象
        :return: UlrResource对象
        """
        to_dict = convert_from_ros_msg(self.get_ulr_resource())
        to_dict["type"] = "container"
        return to_dict

    def __str__(self):
        return f"{self.id}"