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完成物料位置标定

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q434343
2026-04-02 12:44:33 +08:00
parent 9f60e65b6d
commit 9b706236f6
9 changed files with 80 additions and 453 deletions
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57
unilabos/ros/nodes/base_device_node.py
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@@ -1739,13 +1739,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
resource_data = function_args[arg_name]
if isinstance(resource_data, dict) and "id" in resource_data:
try:
function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
except Exception as e:
self.lab_logger().error(
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
)
raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
uid = resource_data.get("uuid", "")
# 优先从本地追踪器直接取（避免服务端未同步导致的空返回）
local_fast = self.resource_tracker.uuid_to_resources.get(uid) if uid else None
if local_fast is not None:
function_args[arg_name] = local_fast
else:
try:
function_args[arg_name] = self._convert_resources_sync(uid)[0]
except Exception as e:
self.lab_logger().error(
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
)
raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
# 处理 ResourceSlot 列表
elif isinstance(arg_type, tuple) and len(arg_type) == 2:
@@ -1753,14 +1759,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
resource_list = function_args[arg_name]
if isinstance(resource_list, list):
try:
uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
except Exception as e:
self.lab_logger().error(
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}")
uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
# 先尝试本地追踪器批量取
local_hits = [
self.resource_tracker.uuid_to_resources[u]
for u in uuids
if u in self.resource_tracker.uuid_to_resources
]
if len(local_hits) == len(uuids):
function_args[arg_name] = local_hits
else:
try:
function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
except Exception as e:
self.lab_logger().error(
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)
@@ -1812,6 +1827,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 转换为 PLR 资源
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
if not len(tree_set.trees):
# 服务端未找到时，尝试从本地追踪器兜底（create_resource 刚完成但服务端未及时同步）
local_hits = [
self.resource_tracker.uuid_to_resources[uid]
for uid in uuids_list
if uid in self.resource_tracker.uuid_to_resources
]
if local_hits:
self.lab_logger().warning(
f"资源查询服务端返回空树，已从本地追踪器找到 "
f"{len(local_hits)}/{len(uuids_list)} 个资源: {uuids_list}"
)
return local_hits
raise Exception(f"资源查询返回空树: {raw_data}")
plr_resources = tree_set.to_plr_resources()