mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-27 11:13:14 +00:00
no opcua installation on macos
fix possible crash fix deck & host_node set liquid with tube add test_resource_schema fix test resource schema registry update & workflow update add test mode support description & tags upload fix config load fix log add registry name & add always free correct config organic synthesis Adapt to new scheduler, sampels, and edge upload format (#230) * add sample_material * adapt to new samples sys * fix pump transfer. fix resource update when protocol & ros callback * Adapt to new scheduler. Feat/samples (#229) * add sample_material * adapt to new samples sys adapt to new samples sys adapt to new edge format workflow upload & prcxi transfer liquid lh liquid speed up registry load workflow upload & set liquid fix & add set liquid with plate fix upload workflow json
This commit is contained in:
Xuwznln
@@ -4,8 +4,20 @@ import json
|
||||
import threading
|
||||
import time
|
||||
import traceback
|
||||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
|
||||
Tuple
|
||||
from typing import (
|
||||
get_type_hints,
|
||||
TypeVar,
|
||||
Generic,
|
||||
Dict,
|
||||
Any,
|
||||
Type,
|
||||
TypedDict,
|
||||
Optional,
|
||||
List,
|
||||
TYPE_CHECKING,
|
||||
Union,
|
||||
Tuple,
|
||||
)
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
import asyncio
|
||||
@@ -48,6 +60,9 @@ from unilabos.resources.resource_tracker import (
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
ResourceDictInstance,
|
||||
EXTRA_SAMPLE_UUID,
|
||||
PARAM_SAMPLE_UUIDS,
|
||||
JSON_UNILABOS_PARAM,
|
||||
)
|
||||
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
from rclpy.task import Task, Future
|
||||
@@ -131,7 +146,7 @@ def init_wrapper(
|
||||
device_id: str,
|
||||
device_uuid: str,
|
||||
driver_class: type[T],
|
||||
device_config: ResourceTreeInstance,
|
||||
device_config: ResourceDictInstance,
|
||||
status_types: Dict[str, Any],
|
||||
action_value_mappings: Dict[str, Any],
|
||||
hardware_interface: Dict[str, Any],
|
||||
@@ -216,14 +231,15 @@ class PropertyPublisher:
|
||||
|
||||
def publish_property(self):
|
||||
try:
|
||||
self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
|
||||
# self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
|
||||
value = self.get_property()
|
||||
if self.print_publish:
|
||||
self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
|
||||
pass
|
||||
# self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
|
||||
if value is not None:
|
||||
msg = convert_to_ros_msg(self.msg_type, value)
|
||||
self.publisher_.publish(msg)
|
||||
self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
|
||||
# self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
|
||||
except Exception as e:
|
||||
self.node.lab_logger().error(
|
||||
f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
|
||||
@@ -263,6 +279,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self,
|
||||
driver_instance: T,
|
||||
device_id: str,
|
||||
registry_name: str,
|
||||
device_uuid: str,
|
||||
status_types: Dict[str, Any],
|
||||
action_value_mappings: Dict[str, Any],
|
||||
@@ -284,6 +301,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
"""
|
||||
self.driver_instance = driver_instance
|
||||
self.device_id = device_id
|
||||
self.registry_name = registry_name
|
||||
self.uuid = device_uuid
|
||||
self.publish_high_frequency = False
|
||||
self.callback_group = ReentrantCallbackGroup()
|
||||
@@ -361,6 +379,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
from pylabrobot.resources.deck import Deck
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.resources import Plate
|
||||
|
||||
# 物料传输到对应的node节点
|
||||
client = self._resource_clients["c2s_update_resource_tree"]
|
||||
request = SerialCommand.Request()
|
||||
@@ -388,33 +407,29 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
|
||||
parent_resource = None
|
||||
if bind_parent_id != self.node_name:
|
||||
parent_resource = self.resource_tracker.figure_resource(
|
||||
{"name": bind_parent_id}
|
||||
)
|
||||
parent_resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
|
||||
for r in rts.root_nodes:
|
||||
# noinspection PyUnresolvedReferences
|
||||
r.res_content.parent_uuid = parent_resource.unilabos_uuid
|
||||
else:
|
||||
for r in rts.root_nodes:
|
||||
r.res_content.parent_uuid = self.uuid
|
||||
|
||||
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
|
||||
rts_plr_instances = rts.to_plr_resources()
|
||||
if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
|
||||
# noinspection PyTypeChecker
|
||||
container_instance: RegularContainer = rts.root_nodes[0]
|
||||
container_instance: RegularContainer = rts_plr_instances[0]
|
||||
found_resources = self.resource_tracker.figure_resource(
|
||||
{"id": container_instance.name}, try_mode=True
|
||||
{"name": container_instance.name}, try_mode=True
|
||||
)
|
||||
if not len(found_resources):
|
||||
self.resource_tracker.add_resource(container_instance)
|
||||
logger.info(f"添加物料{container_instance.name}到资源跟踪器")
|
||||
else:
|
||||
assert (
|
||||
len(found_resources) == 1
|
||||
), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
|
||||
assert len(found_resources) == 1, f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
|
||||
found_resource = found_resources[0]
|
||||
if isinstance(found_resource, RegularContainer):
|
||||
logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
|
||||
found_resource.state.update(json.loads(container_instance.state))
|
||||
found_resource.state.update(container_instance.state)
|
||||
elif isinstance(found_resource, dict):
|
||||
raise ValueError("已不支持 字典 版本的RegularContainer")
|
||||
else:
|
||||
@@ -422,14 +437,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
|
||||
)
|
||||
# noinspection PyUnresolvedReferences
|
||||
request.command = json.dumps({
|
||||
"action": "add",
|
||||
"data": {
|
||||
"data": rts.dump(),
|
||||
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
|
||||
"first_add": False,
|
||||
},
|
||||
})
|
||||
request.command = json.dumps(
|
||||
{
|
||||
"action": "add",
|
||||
"data": {
|
||||
"data": rts.dump(),
|
||||
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else self.uuid,
|
||||
"first_add": False,
|
||||
},
|
||||
}
|
||||
)
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
plr_instances = rts.to_plr_resources()
|
||||
@@ -443,7 +460,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
}
|
||||
res.response = json.dumps(final_response)
|
||||
# 如果driver自己就有assign的方法，那就使用driver自己的assign方法
|
||||
if hasattr(self.driver_instance, "create_resource"):
|
||||
if hasattr(self.driver_instance, "create_resource") and self.node_name != "host_node":
|
||||
create_resource_func = getattr(self.driver_instance, "create_resource")
|
||||
try:
|
||||
ret = create_resource_func(
|
||||
@@ -471,7 +488,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
|
||||
ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
|
||||
LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
|
||||
self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个")
|
||||
self.lab_logger().warning(
|
||||
f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
|
||||
)
|
||||
for liquid_type, liquid_volume, liquid_input_slot in zip(
|
||||
ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
|
||||
):
|
||||
@@ -490,9 +509,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
input_wells = []
|
||||
for r in LIQUID_INPUT_SLOT:
|
||||
input_wells.append(plr_instance.children[r])
|
||||
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
|
||||
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
|
||||
input_wells
|
||||
).dump()
|
||||
res.response = json.dumps(final_response)
|
||||
if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
|
||||
if (
|
||||
issubclass(parent_resource.__class__, Deck)
|
||||
and hasattr(parent_resource, "assign_child_at_slot")
|
||||
and "slot" in other_calling_param
|
||||
):
|
||||
other_calling_param["slot"] = int(other_calling_param["slot"])
|
||||
parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
|
||||
else:
|
||||
@@ -507,14 +532,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
|
||||
if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
|
||||
rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
|
||||
request.command = json.dumps({
|
||||
"action": "add",
|
||||
"data": {
|
||||
"data": rts_with_parent.dump(),
|
||||
"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
|
||||
"first_add": False,
|
||||
},
|
||||
})
|
||||
request.command = json.dumps(
|
||||
{
|
||||
"action": "add",
|
||||
"data": {
|
||||
"data": rts_with_parent.dump(),
|
||||
"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
|
||||
"first_add": False,
|
||||
},
|
||||
}
|
||||
)
|
||||
tree_response: SerialCommand.Response = await client.call_async(request)
|
||||
uuid_maps = json.loads(tree_response.response)
|
||||
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
|
||||
@@ -811,7 +838,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
}
|
||||
|
||||
def _handle_update(
|
||||
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
|
||||
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]],
|
||||
tree_set: ResourceTreeSet,
|
||||
additional_add_params: Dict[str, Any],
|
||||
) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
|
||||
"""
|
||||
处理资源更新操作的内部函数
|
||||
@@ -836,7 +865,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
original_parent_resource = original_instance.parent
|
||||
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
|
||||
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
|
||||
not_same_parent = original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None
|
||||
not_same_parent = (
|
||||
original_parent_resource_uuid != target_parent_resource_uuid
|
||||
and original_parent_resource is not None
|
||||
)
|
||||
old_name = original_instance.name
|
||||
new_name = plr_resource.name
|
||||
parent_appended = False
|
||||
@@ -872,8 +904,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
else:
|
||||
# 判断是否变更了resource_site，重新登记
|
||||
target_site = original_instance.unilabos_extra.get("update_resource_site")
|
||||
sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
|
||||
site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
|
||||
sites = (
|
||||
original_instance.parent.sites
|
||||
if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
|
||||
else None
|
||||
)
|
||||
site_names = (
|
||||
list(original_instance.parent._ordering.keys())
|
||||
if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
|
||||
else []
|
||||
)
|
||||
if target_site is not None and sites is not None and site_names is not None:
|
||||
site_index = sites.index(original_instance)
|
||||
site_name = site_names[site_index]
|
||||
@@ -910,9 +950,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
action = i.get("action") # remove, add, update
|
||||
resources_uuid: List[str] = i.get("data") # 资源数据
|
||||
additional_add_params = i.get("additional_add_params", {}) # 额外参数
|
||||
self.lab_logger().trace(
|
||||
f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}"
|
||||
)
|
||||
self.lab_logger().trace(f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}")
|
||||
tree_set = None
|
||||
if action in ["add", "update"]:
|
||||
tree_set = await self.get_resource(
|
||||
@@ -939,9 +977,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
tree.root_node.res_content.parent_uuid = self.uuid
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps(
|
||||
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
|
||||
{"data": {"data": new_tree_set.dump()}, "action": "update"}
|
||||
) # 和Update Resource一致
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||
"c2s_update_resource_tree"
|
||||
].call_async(
|
||||
r
|
||||
) # type: ignore
|
||||
self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
|
||||
results.append(result)
|
||||
elif action == "update":
|
||||
@@ -961,9 +1003,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
tree.root_node.res_content.parent_uuid = self.uuid
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps(
|
||||
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
|
||||
{"data": {"data": new_tree_set.dump()}, "action": "update"}
|
||||
) # 和Update Resource一致
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||
"c2s_update_resource_tree"
|
||||
].call_async(
|
||||
r
|
||||
) # type: ignore
|
||||
self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
|
||||
results.append(result)
|
||||
elif action == "remove":
|
||||
@@ -1110,6 +1156,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
"machine_name": BasicConfig.machine_name,
|
||||
"type": "slave",
|
||||
"edge_device_id": self.device_id,
|
||||
"registry_name": self.registry_name,
|
||||
}
|
||||
},
|
||||
ensure_ascii=False,
|
||||
@@ -1333,7 +1380,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
resource_id=resource_data["id"], with_children=True
|
||||
)
|
||||
if "sample_id" in resource_data:
|
||||
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
|
||||
plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
|
||||
queried_resources[idx] = plr_resource
|
||||
else:
|
||||
uuid_indices.append((idx, unilabos_uuid, resource_data))
|
||||
@@ -1346,7 +1393,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
for i, (idx, _, resource_data) in enumerate(uuid_indices):
|
||||
plr_resource = plr_resources[i]
|
||||
if "sample_id" in resource_data:
|
||||
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
|
||||
plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
|
||||
queried_resources[idx] = plr_resource
|
||||
|
||||
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
|
||||
@@ -1354,7 +1401,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
# 通过资源跟踪器获取本地实例
|
||||
final_resources = queried_resources if is_sequence else queried_resources[0]
|
||||
if not is_sequence:
|
||||
plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
|
||||
plr = self.resource_tracker.figure_resource(
|
||||
{"name": final_resources.name}, try_mode=False
|
||||
)
|
||||
# 保留unilabos_extra
|
||||
if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
|
||||
plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
|
||||
@@ -1393,8 +1442,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
execution_success = True
|
||||
except Exception as _:
|
||||
execution_error = traceback.format_exc()
|
||||
error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
|
||||
trace(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
|
||||
error(
|
||||
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
|
||||
)
|
||||
trace(
|
||||
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
|
||||
)
|
||||
|
||||
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
|
||||
future.add_done_callback(_handle_future_exception)
|
||||
@@ -1414,9 +1467,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
except Exception as _:
|
||||
execution_error = traceback.format_exc()
|
||||
error(
|
||||
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
|
||||
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
|
||||
)
|
||||
trace(
|
||||
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
|
||||
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
|
||||
)
|
||||
|
||||
future.add_done_callback(_handle_future_exception)
|
||||
|
||||
@@ -1483,11 +1538,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
if isinstance(rs, list):
|
||||
for r in rs:
|
||||
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
|
||||
if res is None:
|
||||
res = rs
|
||||
if id(res) not in seen:
|
||||
seen.add(id(res))
|
||||
unique_resources.append(res)
|
||||
else:
|
||||
res = self.resource_tracker.parent_resource(rs)
|
||||
if id(res) not in seen:
|
||||
seen.add(id(res))
|
||||
unique_resources.append(res)
|
||||
if res is None:
|
||||
res = rs
|
||||
if id(res) not in seen:
|
||||
seen.add(id(res))
|
||||
unique_resources.append(res)
|
||||
|
||||
# 使用新的资源树接口
|
||||
if unique_resources:
|
||||
@@ -1539,20 +1601,37 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
try:
|
||||
function_name = target["function_name"]
|
||||
function_args = target["function_args"]
|
||||
# 获取 unilabos 系统参数
|
||||
unilabos_param: Dict[str, Any] = target[JSON_UNILABOS_PARAM]
|
||||
|
||||
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
||||
function = getattr(self.driver_instance, function_name)
|
||||
assert callable(
|
||||
function
|
||||
), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
|
||||
|
||||
# 处理 ResourceSlot 类型参数
|
||||
args_list = default_manager._analyze_method_signature(function)["args"]
|
||||
# 处理参数（包含 unilabos 系统参数如 sample_uuids）
|
||||
args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
|
||||
for arg in args_list:
|
||||
arg_name = arg["name"]
|
||||
arg_type = arg["type"]
|
||||
|
||||
# 跳过不在 function_args 中的参数
|
||||
if arg_name not in function_args:
|
||||
# 处理 sample_uuids 参数注入
|
||||
if arg_name == PARAM_SAMPLE_UUIDS:
|
||||
raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
|
||||
# 将 material uuid 转换为 resource 实例
|
||||
# key: sample_uuid, value: material_uuid -> resource 实例
|
||||
resolved_sample_uuids: Dict[str, Any] = {}
|
||||
for sample_uuid, material_uuid in raw_sample_uuids.items():
|
||||
if material_uuid and self.resource_tracker:
|
||||
resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
|
||||
resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
|
||||
else:
|
||||
resolved_sample_uuids[sample_uuid] = material_uuid
|
||||
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
|
||||
self.lab_logger().debug(f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}")
|
||||
continue
|
||||
|
||||
# 处理单个 ResourceSlot
|
||||
@@ -1582,6 +1661,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
|
||||
|
||||
# todo: 默认反报送
|
||||
return function(**function_args)
|
||||
except KeyError as ex:
|
||||
raise JsonCommandInitError(
|
||||
@@ -1601,21 +1681,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise ValueError("至少需要提供一个 UUID")
|
||||
|
||||
uuids_list = list(uuids)
|
||||
future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request(
|
||||
command=json.dumps(
|
||||
{
|
||||
"data": {"data": uuids_list, "with_children": True},
|
||||
"action": "get",
|
||||
}
|
||||
future = self._resource_clients["c2s_update_resource_tree"].call_async(
|
||||
SerialCommand.Request(
|
||||
command=json.dumps(
|
||||
{
|
||||
"data": {"data": uuids_list, "with_children": True},
|
||||
"action": "get",
|
||||
}
|
||||
)
|
||||
)
|
||||
))
|
||||
)
|
||||
|
||||
# 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
|
||||
timeout = 30.0
|
||||
elapsed = 0.0
|
||||
while not future.done() and elapsed < timeout:
|
||||
time.sleep(0.05)
|
||||
elapsed += 0.05
|
||||
time.sleep(0.02)
|
||||
elapsed += 0.02
|
||||
|
||||
if not future.done():
|
||||
raise Exception(f"资源查询超时: {uuids_list}")
|
||||
@@ -1666,6 +1748,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
try:
|
||||
function_name = target["function_name"]
|
||||
function_args = target["function_args"]
|
||||
# 获取 unilabos 系统参数
|
||||
unilabos_param: Dict[str, Any] = target.get(JSON_UNILABOS_PARAM, {})
|
||||
|
||||
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
||||
function = getattr(self.driver_instance, function_name)
|
||||
assert callable(
|
||||
@@ -1675,14 +1760,30 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
function
|
||||
), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
|
||||
|
||||
# 处理 ResourceSlot 类型参数
|
||||
args_list = default_manager._analyze_method_signature(function)["args"]
|
||||
# 处理参数（包含 unilabos 系统参数如 sample_uuids）
|
||||
args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
|
||||
for arg in args_list:
|
||||
arg_name = arg["name"]
|
||||
arg_type = arg["type"]
|
||||
|
||||
# 跳过不在 function_args 中的参数
|
||||
if arg_name not in function_args:
|
||||
# 处理 sample_uuids 参数注入
|
||||
if arg_name == PARAM_SAMPLE_UUIDS:
|
||||
raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
|
||||
# 将 material uuid 转换为 resource 实例
|
||||
# key: sample_uuid, value: material_uuid -> resource 实例
|
||||
resolved_sample_uuids: Dict[str, Any] = {}
|
||||
for sample_uuid, material_uuid in raw_sample_uuids.items():
|
||||
if material_uuid and self.resource_tracker:
|
||||
resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
|
||||
resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
|
||||
else:
|
||||
resolved_sample_uuids[sample_uuid] = material_uuid
|
||||
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
|
||||
self.lab_logger().debug(
|
||||
f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
|
||||
)
|
||||
continue
|
||||
|
||||
# 处理单个 ResourceSlot
|
||||
@@ -1907,6 +2008,7 @@ class ROS2DeviceNode:
|
||||
|
||||
if driver_is_ros:
|
||||
driver_params["device_id"] = device_id
|
||||
driver_params["registry_name"] = device_config.res_content.klass
|
||||
driver_params["resource_tracker"] = self.resource_tracker
|
||||
self._driver_instance = self._driver_creator.create_instance(driver_params)
|
||||
if self._driver_instance is None:
|
||||
@@ -1924,6 +2026,7 @@ class ROS2DeviceNode:
|
||||
children=children,
|
||||
driver_instance=self._driver_instance, # type: ignore
|
||||
device_id=device_id,
|
||||
registry_name=device_config.res_content.klass,
|
||||
device_uuid=device_uuid,
|
||||
status_types=status_types,
|
||||
action_value_mappings=action_value_mappings,
|
||||
@@ -1935,6 +2038,7 @@ class ROS2DeviceNode:
|
||||
self._ros_node = BaseROS2DeviceNode(
|
||||
driver_instance=self._driver_instance,
|
||||
device_id=device_id,
|
||||
registry_name=device_config.res_content.klass,
|
||||
device_uuid=device_uuid,
|
||||
status_types=status_types,
|
||||
action_value_mappings=action_value_mappings,
|
||||
@@ -1943,6 +2047,7 @@ class ROS2DeviceNode:
|
||||
resource_tracker=self.resource_tracker,
|
||||
)
|
||||
self._ros_node: BaseROS2DeviceNode
|
||||
# 将注册表类型名传递给BaseROS2DeviceNode,用于slave上报
|
||||
self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
|
||||
self.driver_instance._ros_node = self._ros_node # type: ignore
|
||||
self.driver_instance._execute_driver_command = self._ros_node._execute_driver_command # type: ignore
|
||||
@@ -1960,7 +2065,9 @@ class ROS2DeviceNode:
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_forever()
|
||||
|
||||
ROS2DeviceNode._asyncio_loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
|
||||
ROS2DeviceNode._asyncio_loop_thread = threading.Thread(
|
||||
target=run_event_loop, daemon=True, name="ROS2DeviceNode"
|
||||
)
|
||||
ROS2DeviceNode._asyncio_loop_thread.start()
|
||||
logger.info(f"循环线程已启动")
|
||||
|
||||
|
||||
@@ -6,12 +6,13 @@ from cv_bridge import CvBridge
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
|
||||
|
||||
class VideoPublisher(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id='video_publisher', device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
|
||||
def __init__(self, device_id='video_publisher', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
|
||||
# 初始化BaseROS2DeviceNode，使用自身作为driver_instance
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
registry_name=registry_name,
|
||||
device_uuid=device_uuid,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
|
||||
@@ -10,6 +10,7 @@ class ControllerNode(BaseROS2DeviceNode):
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
registry_name: str,
|
||||
controller_func: Callable,
|
||||
update_rate: float,
|
||||
inputs: Dict[str, Dict[str, type | str]],
|
||||
@@ -51,6 +52,7 @@ class ControllerNode(BaseROS2DeviceNode):
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
registry_name=registry_name,
|
||||
status_types=status_types,
|
||||
action_value_mappings=action_value_mappings,
|
||||
hardware_interface=hardware_interface,
|
||||
|
||||
@@ -1,17 +1,17 @@
|
||||
import collections
|
||||
from dataclasses import dataclass, field
|
||||
import json
|
||||
import threading
|
||||
import time
|
||||
import traceback
|
||||
import uuid
|
||||
from dataclasses import dataclass, field
|
||||
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from action_msgs.msg import GoalStatus
|
||||
from geometry_msgs.msg import Point
|
||||
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
||||
from rclpy.service import Service
|
||||
from typing_extensions import TypedDict
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
@@ -23,10 +23,20 @@ from unilabos_msgs.srv import (
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
from unique_identifier_msgs.msg import UUID
|
||||
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.registry.registry import lab_registry
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.graphio import initialize_resource
|
||||
from unilabos.resources.registry import add_schema
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceDict,
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
RETURN_UNILABOS_SAMPLES,
|
||||
JSON_UNILABOS_PARAM,
|
||||
PARAM_SAMPLE_UUIDS, SampleUUIDsType, LabSample,
|
||||
)
|
||||
from unilabos.ros.initialize_device import initialize_device_from_dict
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
get_msg_type,
|
||||
@@ -37,17 +47,11 @@ from unilabos.ros.msgs.message_converter import (
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.presets.controller_node import ControllerNode
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceDict,
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
)
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.exception import DeviceClassInvalid
|
||||
from unilabos.utils.log import warning
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.config.config import BasicConfig
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from unilabos.app.ws_client import QueueItem
|
||||
@@ -60,7 +64,8 @@ class DeviceActionStatus:
|
||||
|
||||
class TestResourceReturn(TypedDict):
|
||||
resources: List[List[ResourceDict]]
|
||||
devices: List[DeviceSlot]
|
||||
devices: List[Dict[str, Any]]
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class TestLatencyReturn(TypedDict):
|
||||
@@ -245,6 +250,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
registry_name="host_node",
|
||||
device_uuid=host_node_dict["uuid"],
|
||||
status_types={},
|
||||
action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
|
||||
@@ -299,7 +305,8 @@ class HostNode(BaseROS2DeviceNode):
|
||||
} # 用来存储多个ActionClient实例
|
||||
self._action_value_mappings: Dict[str, Dict] = (
|
||||
{}
|
||||
) # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
|
||||
) # 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
|
||||
self._last_discovery_time = 0.0 # 上次设备发现的时间
|
||||
@@ -633,6 +640,8 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self.device_machine_names[device_id] = "本地"
|
||||
self.devices_instances[device_id] = d
|
||||
# noinspection PyProtectedMember
|
||||
self._action_value_mappings[device_id] = d._ros_node._action_value_mappings
|
||||
# noinspection PyProtectedMember
|
||||
for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
|
||||
if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
|
||||
"UniLabJsonCommand"
|
||||
@@ -755,6 +764,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
item: "QueueItem",
|
||||
action_type: str,
|
||||
action_kwargs: Dict[str, Any],
|
||||
sample_material: Dict[str, str],
|
||||
server_info: Optional[Dict[str, Any]] = None,
|
||||
) -> None:
|
||||
"""
|
||||
@@ -768,18 +778,29 @@ class HostNode(BaseROS2DeviceNode):
|
||||
u = uuid.UUID(item.job_id)
|
||||
device_id = item.device_id
|
||||
action_name = item.action_name
|
||||
|
||||
if BasicConfig.test_mode:
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
self.lab_logger().info(
|
||||
f"[TEST MODE] 模拟执行: {action_id} (job={item.job_id[:8]}), 参数: {str(action_kwargs)[:500]}"
|
||||
)
|
||||
# 根据注册表 handles 构建模拟返回值
|
||||
mock_return = self._build_test_mode_return(device_id, action_name, action_kwargs)
|
||||
self._handle_test_mode_result(item, action_id, mock_return)
|
||||
return
|
||||
|
||||
if action_type.startswith("UniLabJsonCommand"):
|
||||
if action_name.startswith("auto-"):
|
||||
action_name = action_name[5:]
|
||||
action_id = f"/devices/{device_id}/_execute_driver_command"
|
||||
action_kwargs = {
|
||||
"string": json.dumps(
|
||||
{
|
||||
"function_name": action_name,
|
||||
"function_args": action_kwargs,
|
||||
}
|
||||
)
|
||||
json_command: Dict[str, Any] = {
|
||||
"function_name": action_name,
|
||||
"function_args": action_kwargs,
|
||||
JSON_UNILABOS_PARAM: {
|
||||
PARAM_SAMPLE_UUIDS: sample_material,
|
||||
},
|
||||
}
|
||||
action_kwargs = {"string": json.dumps(json_command)}
|
||||
if action_type.startswith("UniLabJsonCommandAsync"):
|
||||
action_id = f"/devices/{device_id}/_execute_driver_command_async"
|
||||
else:
|
||||
@@ -790,24 +811,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
raise ValueError(f"ActionClient {action_id} not found.")
|
||||
|
||||
action_client: ActionClient = self._action_clients[action_id]
|
||||
|
||||
# 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
|
||||
def assign_sample_id(obj):
|
||||
if isinstance(obj, dict):
|
||||
if "sample_uuid" in obj:
|
||||
obj["sample_id"] = obj["sample_uuid"]
|
||||
obj.pop("sample_uuid")
|
||||
for k, v in obj.items():
|
||||
if k != "unilabos_extra":
|
||||
assign_sample_id(v)
|
||||
elif isinstance(obj, list):
|
||||
for item in obj:
|
||||
assign_sample_id(item)
|
||||
|
||||
assign_sample_id(action_kwargs)
|
||||
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
||||
|
||||
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
|
||||
# self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
|
||||
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
|
||||
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
|
||||
action_client.wait_for_server()
|
||||
@@ -820,6 +826,51 @@ class HostNode(BaseROS2DeviceNode):
|
||||
)
|
||||
future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
|
||||
|
||||
def _build_test_mode_return(
|
||||
self, device_id: str, action_name: str, action_kwargs: Dict[str, Any]
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
根据注册表 handles 的 output 定义构建测试模式的模拟返回值
|
||||
|
||||
根据 data_key 中 @flatten 的层数决定嵌套数组层数，叶子值为空字典。
|
||||
例如: "vessel" → {}, "plate.@flatten" → [{}], "a.@flatten.@flatten" → [[{}]]
|
||||
"""
|
||||
mock_return: Dict[str, Any] = {"test_mode": True, "action_name": action_name}
|
||||
action_mappings = self._action_value_mappings.get(device_id, {})
|
||||
action_mapping = action_mappings.get(action_name, {})
|
||||
handles = action_mapping.get("handles", {})
|
||||
if isinstance(handles, dict):
|
||||
for output_handle in handles.get("output", []):
|
||||
data_key = output_handle.get("data_key", "")
|
||||
handler_key = output_handle.get("handler_key", "")
|
||||
# 根据 @flatten 层数构建嵌套数组，叶子为空字典
|
||||
flatten_count = data_key.count("@flatten")
|
||||
value: Any = {}
|
||||
for _ in range(flatten_count):
|
||||
value = [value]
|
||||
mock_return[handler_key] = value
|
||||
return mock_return
|
||||
|
||||
def _handle_test_mode_result(
|
||||
self, item: "QueueItem", action_id: str, mock_return: Dict[str, Any]
|
||||
) -> None:
|
||||
"""
|
||||
测试模式下直接构建结果并走正常的结果回调流程（跳过 ROS）
|
||||
"""
|
||||
job_id = item.job_id
|
||||
status = "success"
|
||||
return_info = serialize_result_info("", True, mock_return)
|
||||
|
||||
self.lab_logger().info(f"[TEST MODE] Result for {action_id} ({job_id[:8]}): {status}")
|
||||
|
||||
from unilabos.app.web.controller import store_job_result
|
||||
store_job_result(job_id, status, return_info, mock_return)
|
||||
|
||||
# 发布状态到桥接器
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
bridge.publish_job_status(mock_return, item, status, return_info)
|
||||
|
||||
def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
|
||||
"""目标响应回调"""
|
||||
goal_handle = future.result()
|
||||
@@ -867,14 +918,14 @@ class HostNode(BaseROS2DeviceNode):
|
||||
# 适配后端的一些额外处理
|
||||
return_value = return_info.get("return_value")
|
||||
if isinstance(return_value, dict):
|
||||
unilabos_samples = return_value.pop("unilabos_samples", None)
|
||||
unilabos_samples = return_value.pop(RETURN_UNILABOS_SAMPLES, None)
|
||||
if isinstance(unilabos_samples, list) and unilabos_samples:
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
|
||||
f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
|
||||
f"{'...' if len(unilabos_samples) > 5 else ''}"
|
||||
)
|
||||
return_info["unilabos_samples"] = unilabos_samples
|
||||
return_info["samples"] = unilabos_samples
|
||||
suc = return_info.get("suc", False)
|
||||
if not suc:
|
||||
status = "failed"
|
||||
@@ -1179,8 +1230,12 @@ class HostNode(BaseROS2DeviceNode):
|
||||
def _node_info_update_callback(self, request, response):
|
||||
"""
|
||||
更新节点信息回调
|
||||
|
||||
处理两种消息:
|
||||
1. 首次上报(main_slave_run): 带 devices_config + registry_config,存储 action_value_mappings
|
||||
2. 设备重注册(SYNC_SLAVE_NODE_INFO): 带 edge_device_id + registry_name,用 registry_name 索引已存储的 mappings
|
||||
"""
|
||||
# self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
|
||||
self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
|
||||
try:
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.app.web.client import HTTPClient, http_client
|
||||
@@ -1190,12 +1245,48 @@ class HostNode(BaseROS2DeviceNode):
|
||||
info = info["SYNC_SLAVE_NODE_INFO"]
|
||||
machine_name = info["machine_name"]
|
||||
edge_device_id = info["edge_device_id"]
|
||||
registry_name = info.get("registry_name", "")
|
||||
self.device_machine_names[edge_device_id] = machine_name
|
||||
|
||||
# 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings
|
||||
if registry_name and registry_name in self._slave_registry_configs:
|
||||
action_mappings = self._slave_registry_configs[registry_name].get(
|
||||
"class", {}
|
||||
).get("action_value_mappings", {})
|
||||
if action_mappings:
|
||||
self._action_value_mappings[edge_device_id] = action_mappings
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] Loaded {len(action_mappings)} action mappings "
|
||||
f"for remote device {edge_device_id} (registry: {registry_name})"
|
||||
)
|
||||
else:
|
||||
devices_config = info.pop("devices_config")
|
||||
registry_config = info.pop("registry_config")
|
||||
if registry_config:
|
||||
http_client.resource_registry({"resources": registry_config})
|
||||
|
||||
# 存储 slave 的 registry_config,用于后续 SYNC_SLAVE_NODE_INFO 索引
|
||||
for reg_name, reg_data in registry_config.items():
|
||||
if isinstance(reg_data, dict) and "class" in reg_data:
|
||||
self._slave_registry_configs[reg_name] = reg_data
|
||||
|
||||
# 解析 devices_config,建立 device_id -> action_value_mappings 映射
|
||||
if devices_config:
|
||||
for device_tree in devices_config:
|
||||
for device_dict in device_tree:
|
||||
device_id = device_dict.get("id", "")
|
||||
class_name = device_dict.get("class", "")
|
||||
if device_id and class_name and class_name in self._slave_registry_configs:
|
||||
action_mappings = self._slave_registry_configs[class_name].get(
|
||||
"class", {}
|
||||
).get("action_value_mappings", {})
|
||||
if action_mappings:
|
||||
self._action_value_mappings[device_id] = action_mappings
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] Stored {len(action_mappings)} action mappings "
|
||||
f"for remote device {device_id} (class: {class_name})"
|
||||
)
|
||||
|
||||
self.lab_logger().debug(f"[Host Node] Node info update: {info}")
|
||||
response.response = "OK"
|
||||
except Exception as e:
|
||||
@@ -1492,6 +1583,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
def test_resource(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
resource: ResourceSlot = None,
|
||||
resources: List[ResourceSlot] = None,
|
||||
device: DeviceSlot = None,
|
||||
@@ -1506,6 +1598,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
return {
|
||||
"resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
|
||||
"devices": [device, *devices],
|
||||
"unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
def handle_pong_response(self, pong_data: dict):
|
||||
|
||||
@@ -7,10 +7,11 @@ from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
|
||||
class JointRepublisher(BaseROS2DeviceNode):
|
||||
def __init__(self,device_id,resource_tracker, **kwargs):
|
||||
def __init__(self,device_id, registry_name, resource_tracker, **kwargs):
|
||||
super().__init__(
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
registry_name=registry_name,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
hardware_interface={},
|
||||
|
||||
@@ -26,7 +26,7 @@ from unilabos.resources.graphio import initialize_resources
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
class ResourceMeshManager(BaseROS2DeviceNode):
|
||||
def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50, **kwargs):
|
||||
def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", registry_name: str = "", rate=50, **kwargs):
|
||||
"""初始化资源网格管理器节点
|
||||
|
||||
Args:
|
||||
@@ -37,6 +37,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
|
||||
super().__init__(
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
registry_name=registry_name,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
hardware_interface={},
|
||||
|
||||
@@ -7,7 +7,7 @@ from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeRe
|
||||
|
||||
|
||||
class ROS2SerialNode(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
|
||||
def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
|
||||
# 保存属性，以便在调用父类初始化前使用
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
@@ -28,6 +28,7 @@ class ROS2SerialNode(BaseROS2DeviceNode):
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self,
|
||||
driver_instance=self,
|
||||
registry_name=registry_name,
|
||||
device_id=device_id,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
|
||||
@@ -47,6 +47,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
*,
|
||||
driver_instance: "WorkstationBase",
|
||||
device_id: str,
|
||||
registry_name: str,
|
||||
device_uuid: str,
|
||||
status_types: Dict[str, Any],
|
||||
action_value_mappings: Dict[str, Any],
|
||||
@@ -62,6 +63,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
super().__init__(
|
||||
driver_instance=driver_instance,
|
||||
device_id=device_id,
|
||||
registry_name=registry_name,
|
||||
device_uuid=device_uuid,
|
||||
status_types=status_types,
|
||||
action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
|
||||
@@ -340,6 +342,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
plr = self.resource_tracker.figure_resource({"name": res_name}, try_mode=False)
|
||||
# 获取父资源
|
||||
res = self.resource_tracker.parent_resource(plr)
|
||||
if res is None:
|
||||
res = plr
|
||||
if id(res) not in seen:
|
||||
seen.add(id(res))
|
||||
unique_resources.append(res)
|
||||
|
||||
Reference in New Issue
Block a user