mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-27 01:13:09 +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
@@ -1,17 +1,17 @@
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import collections
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from dataclasses import dataclass, field
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import json
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import threading
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import time
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import traceback
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import uuid
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from dataclasses import dataclass, field
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from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
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from typing_extensions import TypedDict
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from action_msgs.msg import GoalStatus
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from geometry_msgs.msg import Point
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from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
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from rclpy.service import Service
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from typing_extensions import TypedDict
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos_msgs.srv import (
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ResourceAdd,
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@@ -23,10 +23,20 @@ from unilabos_msgs.srv import (
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from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
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from unique_identifier_msgs.msg import UUID
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from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
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from unilabos.registry.registry import lab_registry
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from unilabos.resources.container import RegularContainer
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from unilabos.resources.graphio import initialize_resource
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from unilabos.resources.registry import add_schema
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from unilabos.resources.resource_tracker import (
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ResourceDict,
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ResourceDictInstance,
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ResourceTreeSet,
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ResourceTreeInstance,
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RETURN_UNILABOS_SAMPLES,
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JSON_UNILABOS_PARAM,
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PARAM_SAMPLE_UUIDS, SampleUUIDsType, LabSample,
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)
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from unilabos.ros.initialize_device import initialize_device_from_dict
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from unilabos.ros.msgs.message_converter import (
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get_msg_type,
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@@ -37,17 +47,11 @@ from unilabos.ros.msgs.message_converter import (
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)
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
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from unilabos.ros.nodes.presets.controller_node import ControllerNode
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from unilabos.resources.resource_tracker import (
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ResourceDict,
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ResourceDictInstance,
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ResourceTreeSet,
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ResourceTreeInstance,
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)
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from unilabos.utils import logger
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from unilabos.utils.exception import DeviceClassInvalid
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from unilabos.utils.log import warning
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from unilabos.utils.type_check import serialize_result_info
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from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
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from unilabos.config.config import BasicConfig
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if TYPE_CHECKING:
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from unilabos.app.ws_client import QueueItem
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@@ -60,7 +64,8 @@ class DeviceActionStatus:
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class TestResourceReturn(TypedDict):
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resources: List[List[ResourceDict]]
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devices: List[DeviceSlot]
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devices: List[Dict[str, Any]]
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unilabos_samples: List[LabSample]
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class TestLatencyReturn(TypedDict):
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@@ -245,6 +250,7 @@ class HostNode(BaseROS2DeviceNode):
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self,
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driver_instance=self,
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device_id=device_id,
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registry_name="host_node",
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device_uuid=host_node_dict["uuid"],
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status_types={},
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action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
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@@ -299,7 +305,8 @@ class HostNode(BaseROS2DeviceNode):
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} # 用来存储多个ActionClient实例
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self._action_value_mappings: Dict[str, Dict] = (
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{}
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) # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
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) # device_id -> action_value_mappings(本地+远程设备统一存储)
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self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings)
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self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
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self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
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self._last_discovery_time = 0.0 # 上次设备发现的时间
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@@ -633,6 +640,8 @@ class HostNode(BaseROS2DeviceNode):
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self.device_machine_names[device_id] = "本地"
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self.devices_instances[device_id] = d
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# noinspection PyProtectedMember
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self._action_value_mappings[device_id] = d._ros_node._action_value_mappings
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# noinspection PyProtectedMember
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for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
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if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
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"UniLabJsonCommand"
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@@ -755,6 +764,7 @@ class HostNode(BaseROS2DeviceNode):
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item: "QueueItem",
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action_type: str,
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action_kwargs: Dict[str, Any],
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sample_material: Dict[str, str],
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server_info: Optional[Dict[str, Any]] = None,
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) -> None:
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"""
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@@ -768,18 +778,29 @@ class HostNode(BaseROS2DeviceNode):
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u = uuid.UUID(item.job_id)
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device_id = item.device_id
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action_name = item.action_name
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if BasicConfig.test_mode:
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action_id = f"/devices/{device_id}/{action_name}"
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self.lab_logger().info(
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f"[TEST MODE] 模拟执行: {action_id} (job={item.job_id[:8]}), 参数: {str(action_kwargs)[:500]}"
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)
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# 根据注册表 handles 构建模拟返回值
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mock_return = self._build_test_mode_return(device_id, action_name, action_kwargs)
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self._handle_test_mode_result(item, action_id, mock_return)
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return
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if action_type.startswith("UniLabJsonCommand"):
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if action_name.startswith("auto-"):
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action_name = action_name[5:]
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action_id = f"/devices/{device_id}/_execute_driver_command"
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action_kwargs = {
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"string": json.dumps(
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{
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"function_name": action_name,
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"function_args": action_kwargs,
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}
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)
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json_command: Dict[str, Any] = {
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"function_name": action_name,
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"function_args": action_kwargs,
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JSON_UNILABOS_PARAM: {
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PARAM_SAMPLE_UUIDS: sample_material,
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},
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}
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action_kwargs = {"string": json.dumps(json_command)}
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if action_type.startswith("UniLabJsonCommandAsync"):
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action_id = f"/devices/{device_id}/_execute_driver_command_async"
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else:
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@@ -790,24 +811,9 @@ class HostNode(BaseROS2DeviceNode):
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raise ValueError(f"ActionClient {action_id} not found.")
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action_client: ActionClient = self._action_clients[action_id]
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# 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
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def assign_sample_id(obj):
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if isinstance(obj, dict):
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if "sample_uuid" in obj:
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obj["sample_id"] = obj["sample_uuid"]
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obj.pop("sample_uuid")
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for k, v in obj.items():
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if k != "unilabos_extra":
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assign_sample_id(v)
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elif isinstance(obj, list):
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for item in obj:
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assign_sample_id(item)
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assign_sample_id(action_kwargs)
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goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
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self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
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# self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
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self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
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self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
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action_client.wait_for_server()
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@@ -820,6 +826,51 @@ class HostNode(BaseROS2DeviceNode):
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)
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future.add_done_callback(lambda f: self.goal_response_callback(item, action_id, f))
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def _build_test_mode_return(
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self, device_id: str, action_name: str, action_kwargs: Dict[str, Any]
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) -> Dict[str, Any]:
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"""
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根据注册表 handles 的 output 定义构建测试模式的模拟返回值
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根据 data_key 中 @flatten 的层数决定嵌套数组层数，叶子值为空字典。
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例如: "vessel" → {}, "plate.@flatten" → [{}], "a.@flatten.@flatten" → [[{}]]
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"""
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mock_return: Dict[str, Any] = {"test_mode": True, "action_name": action_name}
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action_mappings = self._action_value_mappings.get(device_id, {})
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action_mapping = action_mappings.get(action_name, {})
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handles = action_mapping.get("handles", {})
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if isinstance(handles, dict):
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for output_handle in handles.get("output", []):
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data_key = output_handle.get("data_key", "")
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handler_key = output_handle.get("handler_key", "")
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# 根据 @flatten 层数构建嵌套数组，叶子为空字典
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flatten_count = data_key.count("@flatten")
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value: Any = {}
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for _ in range(flatten_count):
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value = [value]
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mock_return[handler_key] = value
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return mock_return
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def _handle_test_mode_result(
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self, item: "QueueItem", action_id: str, mock_return: Dict[str, Any]
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) -> None:
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"""
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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）
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"""
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job_id = item.job_id
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status = "success"
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return_info = serialize_result_info("", True, mock_return)
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self.lab_logger().info(f"[TEST MODE] Result for {action_id} ({job_id[:8]}): {status}")
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from unilabos.app.web.controller import store_job_result
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store_job_result(job_id, status, return_info, mock_return)
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# 发布状态到桥接器
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for bridge in self.bridges:
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if hasattr(bridge, "publish_job_status"):
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bridge.publish_job_status(mock_return, item, status, return_info)
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def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
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"""目标响应回调"""
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goal_handle = future.result()
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@@ -867,14 +918,14 @@ class HostNode(BaseROS2DeviceNode):
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# 适配后端的一些额外处理
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return_value = return_info.get("return_value")
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if isinstance(return_value, dict):
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unilabos_samples = return_value.pop("unilabos_samples", None)
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unilabos_samples = return_value.pop(RETURN_UNILABOS_SAMPLES, None)
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if isinstance(unilabos_samples, list) and unilabos_samples:
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self.lab_logger().info(
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f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
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f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
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f"{'...' if len(unilabos_samples) > 5 else ''}"
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)
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return_info["unilabos_samples"] = unilabos_samples
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return_info["samples"] = unilabos_samples
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suc = return_info.get("suc", False)
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if not suc:
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status = "failed"
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@@ -1179,8 +1230,12 @@ class HostNode(BaseROS2DeviceNode):
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def _node_info_update_callback(self, request, response):
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"""
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更新节点信息回调
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处理两种消息:
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1. 首次上报(main_slave_run): 带 devices_config + registry_config,存储 action_value_mappings
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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
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"""
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# self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
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self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
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try:
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from unilabos.app.communication import get_communication_client
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from unilabos.app.web.client import HTTPClient, http_client
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@@ -1190,12 +1245,48 @@ class HostNode(BaseROS2DeviceNode):
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info = info["SYNC_SLAVE_NODE_INFO"]
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machine_name = info["machine_name"]
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edge_device_id = info["edge_device_id"]
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registry_name = info.get("registry_name", "")
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self.device_machine_names[edge_device_id] = machine_name
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# 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings
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if registry_name and registry_name in self._slave_registry_configs:
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action_mappings = self._slave_registry_configs[registry_name].get(
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"class", {}
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).get("action_value_mappings", {})
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if action_mappings:
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self._action_value_mappings[edge_device_id] = action_mappings
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self.lab_logger().info(
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f"[Host Node] Loaded {len(action_mappings)} action mappings "
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f"for remote device {edge_device_id} (registry: {registry_name})"
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)
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else:
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devices_config = info.pop("devices_config")
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registry_config = info.pop("registry_config")
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if registry_config:
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http_client.resource_registry({"resources": registry_config})
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# 存储 slave 的 registry_config,用于后续 SYNC_SLAVE_NODE_INFO 索引
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for reg_name, reg_data in registry_config.items():
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if isinstance(reg_data, dict) and "class" in reg_data:
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self._slave_registry_configs[reg_name] = reg_data
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# 解析 devices_config,建立 device_id -> action_value_mappings 映射
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if devices_config:
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for device_tree in devices_config:
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for device_dict in device_tree:
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device_id = device_dict.get("id", "")
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class_name = device_dict.get("class", "")
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if device_id and class_name and class_name in self._slave_registry_configs:
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action_mappings = self._slave_registry_configs[class_name].get(
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"class", {}
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).get("action_value_mappings", {})
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if action_mappings:
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self._action_value_mappings[device_id] = action_mappings
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self.lab_logger().info(
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f"[Host Node] Stored {len(action_mappings)} action mappings "
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f"for remote device {device_id} (class: {class_name})"
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)
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self.lab_logger().debug(f"[Host Node] Node info update: {info}")
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response.response = "OK"
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except Exception as e:
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@@ -1492,6 +1583,7 @@ class HostNode(BaseROS2DeviceNode):
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def test_resource(
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self,
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sample_uuids: SampleUUIDsType,
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resource: ResourceSlot = None,
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resources: List[ResourceSlot] = None,
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device: DeviceSlot = None,
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@@ -1506,6 +1598,7 @@ class HostNode(BaseROS2DeviceNode):
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return {
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"resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
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"devices": [device, *devices],
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"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()]
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}
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def handle_pong_response(self, pong_data: dict):
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