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修改移液部分代码，如果没有10ul枪头，则不使用10ul移液枪

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q434343
2026-04-14 15:35:04 +08:00
parent 7df67ea9f3
commit f22c3f4c42
7 changed files with 339 additions and 246 deletions
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49
unilabos/ros/nodes/base_device_node.py
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@@ -543,7 +543,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
}
)
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
_raw_resp = tree_response.response if tree_response else ""
if _raw_resp:
uuid_maps = json.loads(_raw_resp)
else:
uuid_maps = {}
self._lab_logger.warning("Resource tree add 返回空响应，跳过 UUID 映射")
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
# 这里created_resources不包含parent_resource
@@ -1729,10 +1734,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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()}"
# UUID 在资源树中不存在，尝试从传入的完整 dict 直接构建 PLR 资源
self.lab_logger().warning(
f"UUID查询 {arg_name} 失败，尝试从传入数据直接构建: {e}"
)
raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
try:
fallback_tree = ResourceTreeSet.from_raw_dict_list([resource_data])
if len(fallback_tree.trees) == 0:
raise
plr_list = fallback_tree.to_plr_resources()
if not plr_list:
raise
plr_res = plr_list[0]
figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
function_args[arg_name] = figured[0] if figured else plr_res
except Exception:
self.lab_logger().error(
f"转换ResourceSlot参数 {arg_name} 失败（含回退）: {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:
@@ -1744,10 +1764,25 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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()}"
self.lab_logger().warning(
f"UUID查询列表 {arg_name} 失败，尝试从传入数据直接构建: {e}"
)
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
try:
dict_items = [r for r in resource_list if isinstance(r, dict) and "id" in r]
fallback_tree = ResourceTreeSet.from_raw_dict_list(dict_items)
if len(fallback_tree.trees) == 0:
raise
plr_list = fallback_tree.to_plr_resources()
resolved = []
for plr_res in plr_list:
figured = self.resource_tracker.figure_resource(plr_res, try_mode=True)
resolved.append(figured[0] if figured else plr_res)
function_args[arg_name] = resolved
except Exception:
self.lab_logger().error(
f"转换ResourceSlot列表参数 {arg_name} 失败（含回退）: {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)