From ff1e21fcd840b13f61fe6057278f222954627a33 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 24 Mar 2026 23:01:28 +0800 Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9Emanual=5Fconfirm?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- unilabos/registry/ast_registry_scanner.py | 22 ++++++----- unilabos/registry/decorators.py | 46 ++++++++++++++++++++++- unilabos/registry/registry.py | 17 ++++++++- unilabos/registry/utils.py | 22 +++-------- unilabos/ros/nodes/presets/host_node.py | 6 ++- 5 files changed, 83 insertions(+), 30 deletions(-) diff --git a/unilabos/registry/ast_registry_scanner.py b/unilabos/registry/ast_registry_scanner.py index f09c7e4a..80aba3e2 100644 --- a/unilabos/registry/ast_registry_scanner.py +++ b/unilabos/registry/ast_registry_scanner.py @@ -679,14 +679,17 @@ def _resolve_name(name: str, import_map: Dict[str, str]) -> str: return name +_DECORATOR_ENUM_CLASSES = frozenset({"Side", "DataSource", "NodeType"}) + + def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str: """ Resolve an attribute access like Side.NORTH or DataSource.HANDLE. - Returns a string like "NORTH" for enum values, or - "module.path:Class.attr" for imported references. + 对于来自 ``unilabos.registry.decorators`` 的枚举类 (Side / DataSource / NodeType)， + 直接返回枚举成员名 (如 ``"NORTH"`` / ``"HANDLE"`` / ``"MANUAL_CONFIRM"``)， + 省去消费端二次 rsplit 解析。其它 import 仍返回完整模块路径。 """ - # Get the full dotted path parts = [] current = node while isinstance(current, ast.Attribute): @@ -696,21 +699,20 @@ def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str: parts.append(current.id) parts.reverse() - # parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"] + # parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"] or ["NodeType", "MANUAL_CONFIRM"] if len(parts) >= 2: base = parts[0] attr = ".".join(parts[1:]) - # If the base is an imported name, resolve it + if base in _DECORATOR_ENUM_CLASSES: + source = import_map.get(base, "") + if not source or _REGISTRY_DECORATOR_MODULE in source: + return parts[-1] + if base in import_map: return f"{import_map[base]}.{attr}" - # For known enum-like patterns, return just the value - # e.g. Side.NORTH -> "NORTH" - if base in ("Side", "DataSource"): - return parts[-1] - return ".".join(parts) diff --git a/unilabos/registry/decorators.py b/unilabos/registry/decorators.py index e8c65ac8..25a2e57f 100644 --- a/unilabos/registry/decorators.py +++ b/unilabos/registry/decorators.py @@ -8,7 +8,7 @@ Usage: device, action, resource, InputHandle, OutputHandle, ActionInputHandle, ActionOutputHandle, - HardwareInterface, Side, DataSource, + HardwareInterface, Side, DataSource, NodeType, ) @device( @@ -73,6 +73,13 @@ class DataSource(str, Enum): EXECUTOR = "executor" # 从执行器输出数据 (用于 OutputHandle) +class NodeType(str, Enum): + """动作的节点类型（用于区分 ILab 节点和人工确认节点等）""" + + ILAB = "ILab" + MANUAL_CONFIRM = "manual_confirm" + + # --------------------------------------------------------------------------- # Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type) # --------------------------------------------------------------------------- @@ -335,6 +342,7 @@ def action( description: str = "", auto_prefix: bool = False, parent: bool = False, + node_type: Optional["NodeType"] = None, ): """ 动作方法装饰器 @@ -365,6 +373,8 @@ def action( description: 动作描述 auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致） parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数 + node_type: 动作的节点类型 (NodeType.ILAB / NodeType.MANUAL_CONFIRM)。 + 不填写时不写入注册表。 """ def decorator(func: F) -> F: @@ -389,6 +399,8 @@ def action( "auto_prefix": auto_prefix, "parent": parent, } + if node_type is not None: + meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type) wrapper._action_registry_meta = meta # type: ignore[attr-defined] # 设置 _is_always_free 保持与旧 @always_free 装饰器兼容 @@ -515,6 +527,38 @@ def clear_registry(): _registered_resources.clear() +# --------------------------------------------------------------------------- +# 枚举值归一化 +# --------------------------------------------------------------------------- + + +def normalize_enum_value(raw: Any, enum_cls) -> Optional[str]: + """将 AST 提取的枚举成员名 / YAML 值字符串 / 旧格式长路径统一归一化为枚举值。 + + 适用于 Side、DataSource、NodeType 等继承自 ``str, Enum`` 的装饰器枚举。 + + 处理以下格式: + - "MANUAL_CONFIRM" → NodeType["MANUAL_CONFIRM"].value = "manual_confirm" + - "manual_confirm" → NodeType("manual_confirm").value = "manual_confirm" + - "HANDLE" → DataSource["HANDLE"].value = "handle" + - "NORTH" → Side["NORTH"].value = "NORTH" + - 旧缓存长路径 "unilabos...NodeType.MANUAL_CONFIRM" → 先 rsplit 再查找 + """ + if not raw: + return None + raw_str = str(raw) + if "." in raw_str: + raw_str = raw_str.rsplit(".", 1)[-1] + try: + return enum_cls[raw_str].value + except KeyError: + pass + try: + return enum_cls(raw_str).value + except ValueError: + return raw_str + + # --------------------------------------------------------------------------- # topic_config / not_action / always_free 装饰器 # --------------------------------------------------------------------------- diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 5ff271aa..9f5b768c 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -33,6 +33,8 @@ from unilabos.registry.decorators import ( is_not_action, is_always_free, get_topic_config, + NodeType, + normalize_enum_value, ) from unilabos.registry.utils import ( ROSMsgNotFound, @@ -159,9 +161,10 @@ class Registry: ast_entry = self.device_type_registry.get("host_node", {}) ast_actions = ast_entry.get("class", {}).get("action_value_mappings", {}) - # 取出 AST 生成的 auto-method entries, 补充特定覆写 + # 取出 AST 生成的 action entries, 补充特定覆写 test_latency_action = ast_actions.get("auto-test_latency", {}) test_resource_action = ast_actions.get("auto-test_resource", {}) + manual_confirm_action = ast_actions.get("manual_confirm", {}) test_resource_action["handles"] = { "input": [ { @@ -237,6 +240,7 @@ class Registry: }, "test_latency": test_latency_action, "auto-test_resource": test_resource_action, + "manual_confirm": manual_confirm_action, }, "init_params": {}, }, @@ -847,6 +851,9 @@ class Registry: } if (action_args or {}).get("always_free") or method_info.get("always_free"): entry["always_free"] = True + nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType) + if nt: + entry["node_type"] = nt return action_name, entry # 1) auto- actions @@ -971,6 +978,9 @@ class Registry: } if action_args.get("always_free") or method_info.get("always_free"): action_entry["always_free"] = True + nt = normalize_enum_value(action_args.get("node_type"), NodeType) + if nt: + action_entry["node_type"] = nt action_value_mappings[action_name] = action_entry action_value_mappings = dict(sorted(action_value_mappings.items())) @@ -1153,7 +1163,7 @@ class Registry: return Path(BasicConfig.working_dir) / "registry_cache.pkl" return None - _CACHE_VERSION = 3 + _CACHE_VERSION = 4 def _load_config_cache(self) -> dict: import pickle @@ -1878,6 +1888,9 @@ class Registry: } if v.get("always_free"): entry["always_free"] = True + old_node_type = old_cfg.get("node_type") + if old_node_type in [NodeType.ILAB.value, NodeType.MANUAL_CONFIRM.value]: + entry["node_type"] = old_node_type device_config["class"]["action_value_mappings"][action_key] = entry device_config["init_param_schema"] = {} diff --git a/unilabos/registry/utils.py b/unilabos/registry/utils.py index 1ab7dd2c..eb342c5c 100644 --- a/unilabos/registry/utils.py +++ b/unilabos/registry/utils.py @@ -17,6 +17,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance from unilabos.utils.cls_creator import import_class +from unilabos.registry.decorators import Side, DataSource, normalize_enum_value _logger = logging.getLogger(__name__) @@ -487,10 +488,7 @@ def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]: } side = h.get("side") if side: - if isinstance(side, str) and "." in side: - val = side.rsplit(".", 1)[-1] - side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val - entry["side"] = side + entry["side"] = normalize_enum_value(side, Side) or side label = h.get("label") if label: entry["label"] = label @@ -499,10 +497,7 @@ def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]: entry["data_key"] = data_key data_source = h.get("data_source") if data_source: - if isinstance(data_source, str) and "." in data_source: - val = data_source.rsplit(".", 1)[-1] - data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val - entry["data_source"] = data_source + entry["data_source"] = normalize_enum_value(data_source, DataSource) or data_source description = h.get("description") if description: entry["description"] = description @@ -537,17 +532,12 @@ def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]: "data_type": h.get("data_type", ""), "label": h.get("label", ""), } + _FIELD_ENUM_MAP = {"side": Side, "data_source": DataSource} for opt_key in ("side", "data_key", "data_source", "description", "io_type"): val = h.get(opt_key) if val is not None: - # Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side - # data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is - if ( - isinstance(val, str) - and "." in val - and opt_key not in ("io_type", "data_key") - ): - val = val.rsplit(".", 1)[-1].lower() + if opt_key in _FIELD_ENUM_MAP: + val = normalize_enum_value(val, _FIELD_ENUM_MAP[opt_key]) or val entry[opt_key] = val # io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it) diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index eb139f1f..7db3d972 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -24,7 +24,7 @@ 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.decorators import device +from unilabos.registry.decorators import device, action, NodeType from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot from unilabos.registry.registry import lab_registry from unilabos.resources.container import RegularContainer @@ -1621,6 +1621,10 @@ class HostNode(BaseROS2DeviceNode): } return res + @action(always_free=True, node_type=NodeType.MANUAL_CONFIRM) + def manual_confirm(self, **kwargs) -> dict: + return kwargs + def test_resource( self, sample_uuids: SampleUUIDsType,