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其他修改，

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q434343
2026-03-31 14:57:51 +08:00
parent 6b3f9756a0
commit ad66fc1841
3 changed files with 148 additions and 387 deletions
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46
unilabos/ros/nodes/presets/host_node.py
View File

@@ -22,6 +22,7 @@ from unilabos_msgs.srv import (
SerialCommand,
) # type: ignore
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unilabos_msgs.action import SendCmd
from unique_identifier_msgs.msg import UUID
from unilabos.registry.decorators import device, action, NodeType
@@ -313,9 +314,15 @@ class HostNode(BaseROS2DeviceNode):
callback_group=self.callback_group,
),
} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = {
device_id: self._action_value_mappings
} # device_id -> action_value_mappings(本地+远程设备统一存储)
self._add_resource_mesh_client = ActionClient(
self,
SendCmd,
"/devices/resource_mesh_manager/add_resource_mesh",
callback_group=self.callback_group,
)
self._action_value_mappings: Dict[str, Dict] = (
{}
) # device_id -> action_value_mappings(本地+远程设备统一存储)
self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings)
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
@@ -1131,6 +1138,27 @@ class HostNode(BaseROS2DeviceNode):
),
}
def _notify_resource_mesh_add(self, resource_tree_set: ResourceTreeSet):
"""通知 ResourceMeshManager 添加资源的 mesh 可视化"""
if not self._add_resource_mesh_client.server_is_ready():
self.lab_logger().debug("[Host Node] ResourceMeshManager 未就绪，跳过 mesh 添加通知")
return
resource_configs = []
for node in resource_tree_set.all_nodes:
res_dict = node.res_content.model_dump(by_alias=True)
if res_dict.get("type") == "device":
continue
resource_configs.append(res_dict)
if not resource_configs:
return
goal_msg = SendCmd.Goal()
goal_msg.command = json.dumps({"resources": resource_configs})
self._add_resource_mesh_client.send_goal_async(goal_msg)
self.lab_logger().info(f"[Host Node] 已发送 {len(resource_configs)} 个资源 mesh 添加请求")
async def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response): # OK
resource_tree_set = ResourceTreeSet.load(data["data"])
mount_uuid = data["mount_uuid"]
@@ -1171,6 +1199,12 @@ class HostNode(BaseROS2DeviceNode):
response.response = json.dumps(uuid_mapping) if success else "FAILED"
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
if success:
try:
self._notify_resource_mesh_add(resource_tree_set)
except Exception as e:
self.lab_logger().error(f"[Host Node] 通知 ResourceMeshManager 添加 mesh 失败: {e}")
async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
uuid_list: List[str] = data["data"]
with_children: bool = data["with_children"]
@@ -1222,6 +1256,12 @@ class HostNode(BaseROS2DeviceNode):
response.response = json.dumps(uuid_mapping)
self.lab_logger().info(f"[Host Node-Resource] Resource tree update completed, success: {success}")
if success:
try:
self._notify_resource_mesh_add(new_tree_set)
except Exception as e:
self.lab_logger().error(f"[Host Node] 通知 ResourceMeshManager 更新 mesh 失败: {e}")
async def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
"""
子节点通知Host物料树更新

394
unilabos/test/experiments/prcxi_9320_slim.json
View File

@@ -8,8 +8,8 @@
"parent": "",
"pose": {
"size": {
"width": 562,
"height": 394,
"width": 550,
"height": 400,
"depth": 0
}
},
@@ -21,13 +21,14 @@
},
"host": "10.20.30.184",
"port": 9999,
"debug": true,
"setup": true,
"debug": false,
"setup": false,
"is_9320": true,
"timeout": 10,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"simulator": true,
"channel_num": 2
"matrix_id": "",
"simulator": false,
"channel_num": 2,
"step_mode": true
},
"data": {
"reset_ok": true
@@ -55,9 +56,9 @@
},
"config": {
"type": "PRCXI9300Deck",
"size_x": 542,
"size_y": 374,
"size_z": 0,
"size_x": 550,
"size_y": 400,
"size_z": 17,
"rotation": {
"x": 0,
"y": 0,
@@ -66,378 +67,7 @@
},
"category": "deck",
"barcode": null,
"preferred_pickup_location": null,
"sites": [
{
"label": "T1",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"container",
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T2",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T3",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T4",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T5",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T6",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T7",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T8",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T9",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T10",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T11",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T12",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T13",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T14",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T15",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T16",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
}
]
"preferred_pickup_location": null
},
"data": {}
}