Prcix9320

unilabos/app/web/client.py

@@ -4,6 +4,7 @@
 提供与远程服务器通信的客户端功能，只有host需要用
 """
 
+from copy import deepcopy
 import json
 import os
 import time
@@ -75,6 +76,26 @@ def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_a
         Returns:
             Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
         """
+        # 遍历 resources 及其所有子节点，将 pose.position.y 全部变为 -y
+        def invert_x_position(resource_instance, size_y: float = 0):
+            # 处理当前节点
+            pose = getattr(resource_instance.res_content, "pose", None)
+            if pose and hasattr(pose, "position"):
+                position = getattr(pose, "position", None)
+                pose_size = getattr(pose, "size", None)
+                if position and hasattr(position, "y") and pose_size and hasattr(pose_size, "height"):
+                    position.y = size_y - position.y - pose_size.height
+            # 递归处理子节点
+            for child in getattr(resource_instance, "children", []):
+                _size_y = 0
+                if pose and hasattr(pose, "size"):
+                    _size_y = pose.size.height
+                invert_x_position(child, _size_y)
+
+        # 处理所有树的所有节点，从树的根节点递归
+        resources_reversed = deepcopy(resources)
+        for tree in getattr(resources_reversed, "trees", []):
+            invert_x_position(getattr(tree, "root_node", tree))
         with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
             payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
             f.write(json.dumps(payload, indent=4))
@@ -85,14 +106,14 @@ def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_a
             info(f"首次添加资源，当前远程地址: {self.remote_addr}")
             response = requests.post(
                 f"{self.remote_addr}/edge/material",
-                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
+                json={"nodes": [x for xs in resources_reversed.dump() for x in xs], "mount_uuid": mount_uuid},
                 headers={"Authorization": f"Lab {self.auth}"},
                 timeout=60,
             )
         else:
             response = requests.put(
                 f"{self.remote_addr}/edge/material",
-                json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
+                json={"nodes": [x for xs in resources_reversed.dump() for x in xs], "mount_uuid": mount_uuid},
                 headers={"Authorization": f"Lab {self.auth}"},
                 timeout=10,
             )

unilabos/device_mesh/resource_visalization.py

@@ -128,14 +128,21 @@ def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
                         new_dev.set("device_name", node["id"]+"_")
                         # if node["parent"] is not None:
                         #     new_dev.set("station_name", node["parent"]+'_')
-
-                        new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
-                        new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
-                        new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
+                        if "position" in node:
+                            new_dev.set("x",str(float(node["position"]["position"]["x"])/1000))
+                            new_dev.set("y",str(float(node["position"]["position"]["y"])/1000))
+                            new_dev.set("z",str(float(node["position"]["position"]["z"])/1000))
                         if "rotation" in node["config"]:
                             new_dev.set("rx",str(float(node["config"]["rotation"]["x"])))
                             new_dev.set("ry",str(float(node["config"]["rotation"]["y"])))
                             new_dev.set("r",str(float(node["config"]["rotation"]["z"])))
+                        if "pose" in node:
+                            new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000))
+                            new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000))
+                            new_dev.set("z",str(float(node["pose"]["position"]["z"])/1000))
+                            new_dev.set("rx",str(float(node["pose"]["rotation"]["x"])))
+                            new_dev.set("ry",str(float(node["pose"]["rotation"]["y"])))
+                            new_dev.set("r",str(float(node["pose"]["rotation"]["z"])))
                         if "device_config" in node["config"]:
                             for key, value in node["config"]["device_config"].items():
                                 new_dev.set(key, str(value))