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https://github.com/deepmodeling/Uni-Lab-OS
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添加AGV工作站设备驱动、注册表定义、批量转运编译器和消息定义。 包含跨工作站批量转运协议、AGV路径规划、容量分批等功能。 Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
229 lines
8.9 KiB
Python
229 lines
8.9 KiB
Python
"""
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批量物料转运编译器
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将 BatchTransferProtocol 编译为多批次的 nav → pick × N → nav → place × N 动作序列。
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自动按 AGV 容量分批，全程维护三方 children dict 的物料系统一致性。
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"""
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import copy
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from typing import Any, Dict, List
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import networkx as nx
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from unilabos.compile._agv_utils import find_agv_config, split_batches
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def generate_batch_transfer_protocol(
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G: nx.Graph,
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from_repo: dict,
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to_repo: dict,
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transfer_resources: list,
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from_positions: list,
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to_positions: list,
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) -> List[Dict[str, Any]]:
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"""编译批量转运协议为可执行的 action steps
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Args:
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G: 设备图 (physical_setup_graph)
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from_repo: 来源工站资源 dict（{station_id: {..., children: {...}}}）
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to_repo: 目标工站资源 dict（含堆栈和位置信息）
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transfer_resources: 被转运的物料列表（Resource dict）
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from_positions: 来源 slot 位置列表（与 transfer_resources 平行）
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to_positions: 目标 slot 位置列表（与 transfer_resources 平行）
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Returns:
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action steps 列表，ROS2WorkstationNode 按序执行
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"""
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if not transfer_resources:
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return []
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n = len(transfer_resources)
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if len(from_positions) != n or len(to_positions) != n:
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raise ValueError(
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f"transfer_resources({n}), from_positions({len(from_positions)}), "
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f"to_positions({len(to_positions)}) 长度不一致"
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)
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# 组合为内部 transfer_items 便于分批处理
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transfer_items = []
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for i in range(n):
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res = transfer_resources[i] if isinstance(transfer_resources[i], dict) else {}
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transfer_items.append({
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"resource_id": res.get("id", res.get("name", "")),
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"resource_uuid": res.get("sample_id", ""),
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"from_position": from_positions[i],
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"to_position": to_positions[i],
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"resource": res,
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})
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# 查询 AGV 配置
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agv_cfg = find_agv_config(G)
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agv_id = agv_cfg["agv_id"]
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device_roles = agv_cfg["device_roles"]
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route_table = agv_cfg["route_table"]
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capacity = agv_cfg["capacity"]
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if capacity <= 0:
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raise ValueError(f"AGV {agv_id} 容量为 0，请检查 Warehouse 子节点配置")
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nav_device = device_roles.get("navigator", device_roles.get("nav"))
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arm_device = device_roles.get("arm")
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if not nav_device or not arm_device:
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raise ValueError(f"AGV {agv_id} device_roles 缺少 navigator 或 arm: {device_roles}")
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from_repo_ = list(from_repo.values())[0]
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to_repo_ = list(to_repo.values())[0]
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from_station_id = from_repo_["id"]
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to_station_id = to_repo_["id"]
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# 查找路由
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route_to_source = _find_route(route_table, agv_id, from_station_id)
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route_to_target = _find_route(route_table, from_station_id, to_station_id)
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# 构建 AGV carrier 的 children dict（用于 compile 阶段状态追踪）
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agv_carrier_children: Dict[str, Any] = {}
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# 计算 slot 名称（A01, A02, B01, ...）
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agv_slot_names = _get_agv_slot_names(G, agv_cfg)
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# 分批
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batches = split_batches(transfer_items, capacity)
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steps: List[Dict[str, Any]] = []
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for batch_idx, batch in enumerate(batches):
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is_last_batch = (batch_idx == len(batches) - 1)
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# 阶段 1: AGV 导航到来源工站
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steps.append({
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"device_id": nav_device,
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"action_name": "send_nav_task",
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"action_kwargs": {
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"command": route_to_source.get("nav_command", "")
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},
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"_comment": f"批次{batch_idx + 1}/{len(batches)}: AGV 导航至来源 {from_station_id}"
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})
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# 阶段 2: 逐个 pick
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for item_idx, item in enumerate(batch):
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from_pos = item["from_position"]
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slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
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# compile 阶段更新 children dict
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if from_pos in from_repo_.get("children", {}):
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resource_data = from_repo_["children"].pop(from_pos)
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resource_data["parent"] = agv_id
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agv_carrier_children[slot] = resource_data
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steps.append({
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"device_id": arm_device,
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"action_name": "move_pos_task",
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"action_kwargs": {
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"command": route_to_source.get("arm_pick", route_to_source.get("arm_command", ""))
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},
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"_transfer_meta": {
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"phase": "pick",
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"resource_uuid": item.get("resource_uuid", ""),
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"resource_id": item.get("resource_id", ""),
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"from_parent": from_station_id,
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"from_position": from_pos,
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"agv_slot": slot,
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},
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"_comment": f"Pick {item.get('resource_id', from_pos)} → AGV.{slot}"
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})
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# 阶段 3: AGV 导航到目标工站
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steps.append({
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"device_id": nav_device,
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"action_name": "send_nav_task",
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"action_kwargs": {
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"command": route_to_target.get("nav_command", "")
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},
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"_comment": f"批次{batch_idx + 1}: AGV 导航至目标 {to_station_id}"
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})
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# 阶段 4: 逐个 place
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for item_idx, item in enumerate(batch):
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to_pos = item["to_position"]
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slot = agv_slot_names[item_idx] if item_idx < len(agv_slot_names) else f"S{item_idx + 1}"
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# compile 阶段更新 children dict
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if slot in agv_carrier_children:
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resource_data = agv_carrier_children.pop(slot)
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resource_data["parent"] = to_repo_["id"]
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to_repo_["children"][to_pos] = resource_data
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steps.append({
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"device_id": arm_device,
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"action_name": "move_pos_task",
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"action_kwargs": {
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"command": route_to_target.get("arm_place", route_to_target.get("arm_command", ""))
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},
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"_transfer_meta": {
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"phase": "place",
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"resource_uuid": item.get("resource_uuid", ""),
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"resource_id": item.get("resource_id", ""),
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"to_parent": to_station_id,
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"to_position": to_pos,
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"agv_slot": slot,
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},
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"_comment": f"Place AGV.{slot} → {to_station_id}.{to_pos}"
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})
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# 如果还有下一批，AGV 需要返回来源取料
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if not is_last_batch:
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steps.append({
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"device_id": nav_device,
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"action_name": "send_nav_task",
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"action_kwargs": {
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"command": route_to_source.get("nav_command", "")
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},
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"_comment": f"AGV 返回来源 {from_station_id} 取下一批"
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})
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return steps
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def _find_route(route_table: Dict[str, Any], from_id: str, to_id: str) -> Dict[str, str]:
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"""在路由表中查找路线，支持 A->B 和 (A, B) 两种 key 格式"""
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# 优先 "A->B" 格式
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key = f"{from_id}->{to_id}"
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if key in route_table:
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return route_table[key]
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# 兼容 tuple key（JSON 中以逗号分隔字符串表示）
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tuple_key = f"({from_id}, {to_id})"
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if tuple_key in route_table:
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return route_table[tuple_key]
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raise KeyError(f"路由表中未找到: {key}，可用路线: {list(route_table.keys())}")
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def _get_agv_slot_names(G: nx.Graph, agv_cfg: dict) -> List[str]:
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"""从设备图中获取 AGV Warehouse 的 slot 名称列表"""
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agv_id = agv_cfg["agv_id"]
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neighbors = G.successors(agv_id) if G.is_directed() else G.neighbors(agv_id)
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for neighbor in neighbors:
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ndata = G.nodes[neighbor]
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node_type = ndata.get("type", "")
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res_content = ndata.get("res_content")
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if hasattr(res_content, "type"):
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node_type = res_content.type or node_type
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elif isinstance(res_content, dict):
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node_type = res_content.get("type", node_type)
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if node_type == "warehouse":
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config = ndata.get("config", {})
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if hasattr(res_content, "config") and isinstance(res_content.config, dict):
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config = res_content.config
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elif isinstance(res_content, dict):
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config = res_content.get("config", config)
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num_x = config.get("num_items_x", 1)
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num_y = config.get("num_items_y", 1)
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num_z = config.get("num_items_z", 1)
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# 与 warehouse_factory 一致的命名
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letters = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
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len_x = num_x if num_z == 1 else (num_y if num_x == 1 else num_x)
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len_y = num_y if num_z == 1 else (num_z if num_x == 1 else num_z)
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return [f"{letters[j]}{i + 1:02d}" for i in range(len_x) for j in range(len_y)]
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# 兜底生成通用名称
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capacity = agv_cfg.get("capacity", 4)
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return [f"S{i + 1}" for i in range(capacity)]
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