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action to resource & 0.9.12 (#64)
* action to resource & 0.9.12 * stir和adjustph的中的bug修不好
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Kongchang Feng
GitHub
@@ -508,47 +508,90 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
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Python字典
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"""
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data: Dict[str, Any] = {}
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# # 🔧 添加调试信息
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# print(f"🔍 convert_from_ros_msg_with_mapping 开始")
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# print(f"🔍 ros_msg 类型: {type(ros_msg)}")
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# print(f"🔍 ros_msg 内容: {ros_msg}")
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# print(f"🔍 value_mapping: {value_mapping}")
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# print("-" * 60)
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for msg_name, attr_name in value_mapping.items():
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# print(f"🔍 处理映射: {msg_name} -> {attr_name}")
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msg_path = msg_name.split(".")
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current = ros_msg
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# print(f"🔍 msg_path: {msg_path}")
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# print(f"🔍 current 初始值: {current} (类型: {type(current)})")
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try:
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if not attr_name.endswith("[]"):
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# 处理单值映射
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for name in msg_path:
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current = getattr(current, name)
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data[attr_name] = convert_from_ros_msg(current)
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# print(f"🔍 处理单值映射")
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for i, name in enumerate(msg_path):
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# print(f"🔍 步骤 {i}: 获取属性 '{name}' 从 {type(current)}")
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if hasattr(current, name):
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current = getattr(current, name)
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# print(f"🔍 获取到: {current} (类型: {type(current)})")
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else:
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# print(f"❌ 属性 '{name}' 不存在于 {type(current)}")
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break
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converted_value = convert_from_ros_msg(current)
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# print(f"🔍 转换后的值: {converted_value} (类型: {type(converted_value)})")
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data[attr_name] = converted_value
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# print(f"✅ 设置 data['{attr_name}'] = {converted_value}")
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else:
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# 处理列表值映射
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for name in msg_path:
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# print(f"🔍 处理列表值映射")
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for i, name in enumerate(msg_path):
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# print(f"🔍 列表步骤 {i}: 处理 '{name}' 从 {type(current)}")
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if name.endswith("[]"):
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base_name = name[:-2]
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# print(f"🔍 数组字段 base_name: '{base_name}'")
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if hasattr(current, base_name):
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current = list(getattr(current, base_name))
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# print(f"🔍 获取数组: {current} (长度: {len(current)})")
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else:
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# print(f"❌ 数组字段 '{base_name}' 不存在")
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current = []
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break
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else:
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if isinstance(current, list):
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# print(f"🔍 从列表中获取属性 '{name}'")
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next_level = []
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for item in current:
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if hasattr(item, name):
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next_level.append(getattr(item, name))
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current = next_level
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# print(f"🔍 列表处理结果: {current} (长度: {len(current)})")
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elif hasattr(current, name):
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current = getattr(current, name)
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# print(f"🔍 获取到属性: {current} (类型: {type(current)})")
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else:
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# print(f"❌ 属性 '{name}' 不存在")
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current = []
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break
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attr_key = attr_name[:-2]
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if current:
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data[attr_key] = [convert_from_ros_msg(item) for item in current]
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except (AttributeError, TypeError):
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converted_list = [convert_from_ros_msg(item) for item in current]
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data[attr_key] = converted_list
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# print(f"✅ 设置 data['{attr_key}'] = {converted_list}")
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else:
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print(f"⚠️ 列表为空，跳过 '{attr_key}'")
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except (AttributeError, TypeError) as e:
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# print(f"❌ 映射转换错误 {msg_name} -> {attr_name}: {e}")
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logger.debug(f"Mapping conversion error for {msg_name} -> {attr_name}")
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continue
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# print(f"🔍 当前 data 状态: {data}")
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# print("-" * 40)
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#print(f"🔍 convert_from_ros_msg_with_mapping 结束")
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#print(f"🔍 最终 data: {data}")
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#print("=" * 60)
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return data
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@@ -629,7 +629,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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execution_success = False
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action_return_value = None
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self.lab_logger().info(f"执行动作: {action_name}")
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##### self.lab_logger().info(f"执行动作: {action_name}")
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goal = goal_handle.request
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# 从目标消息中提取参数, 并调用对应的方法
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@@ -685,14 +685,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
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action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
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self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
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##### self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
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time_start = time.time()
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time_overall = 100
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# 将阻塞操作放入线程池执行
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if asyncio.iscoroutinefunction(ACTION):
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try:
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self.lab_logger().info(f"异步执行动作 {ACTION}")
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##### self.lab_logger().info(f"异步执行动作 {ACTION}")
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future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
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def _handle_future_exception(fut):
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@@ -702,7 +702,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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execution_success = True
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except Exception as e:
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execution_error = traceback.format_exc()
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error(f"异步任务 {ACTION.__name__} 报错了")
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##### error(f"异步任务 {ACTION.__name__} 报错了")
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error(traceback.format_exc())
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future.add_done_callback(_handle_future_exception)
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@@ -710,7 +710,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
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raise e
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else:
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self.lab_logger().info(f"同步执行动作 {ACTION}")
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##### self.lab_logger().info(f"同步执行动作 {ACTION}")
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future = self._executor.submit(ACTION, **action_kwargs)
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def _handle_future_exception(fut):
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@@ -765,7 +765,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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self.lab_logger().info(f"动作 {action_name} 已取消")
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return action_type.Result()
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self.lab_logger().info(f"动作执行完成: {action_name}")
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##### self.lab_logger().info(f"动作执行完成: {action_name}")
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del future
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# 向Host更新物料当前状态
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@@ -801,7 +801,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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# 发布结果
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goal_handle.succeed()
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self.lab_logger().info(f"设置动作成功: {action_name}")
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##### self.lab_logger().info(f"设置动作成功: {action_name}")
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result_values = {}
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for msg_name, attr_name in action_value_mapping["result"].items():
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@@ -820,7 +820,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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elif attr_name == "return_info":
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setattr(result_msg, attr_name, serialize_result_info(execution_error, execution_success, action_return_value))
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self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
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##### self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
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return result_msg
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return execute_callback
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@@ -563,7 +563,7 @@ class HostNode(BaseROS2DeviceNode):
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if hasattr(bridge, "publish_device_status"):
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bridge.publish_device_status(self.device_status, device_id, property_name)
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self.lab_logger().debug(
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f"[Host Node] Status updated: {device_id}.{property_name} = {msg.data}"
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f"[Host Node] Status updated: {device_id}.{property_name} = {msg.data}"
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)
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def send_goal(
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@@ -182,26 +182,54 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
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# 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
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goal = goal_handle.request
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protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
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# # 🔧 添加调试信息
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# print(f"🔍 转换后的 protocol_kwargs: {protocol_kwargs}")
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# print(f"🔍 vessel 在转换后: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
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# 向Host查询物料当前状态
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for k, v in goal.get_fields_and_field_types().items():
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if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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r = ResourceGet.Request()
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resource_id = (
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protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
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)
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r.id = resource_id
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r.with_children = True
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response = await self._resource_clients["resource_get"].call_async(r)
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protocol_kwargs[k] = list_to_nested_dict(
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[convert_from_ros_msg(rs) for rs in response.resources]
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)
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# # 🔧 完全禁用Host查询，直接使用转换后的数据
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# print(f"🔧 跳过Host查询，直接使用转换后的数据")
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# 🔧 额外验证：确保vessel数据完整
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if 'vessel' in protocol_kwargs:
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vessel_data = protocol_kwargs['vessel']
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#print(f"🔍 验证vessel数据: {vessel_data}")
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# 如果vessel是空字典，尝试重新构建
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if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
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# print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
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# 直接从原始goal提取vessel
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if hasattr(goal, 'vessel') and goal.vessel:
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# print(f"🔍 原始goal.vessel: {goal.vessel}")
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# 手动转换vessel
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vessel_data = {
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'id': goal.vessel.id,
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'name': goal.vessel.name,
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'type': goal.vessel.type,
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'category': goal.vessel.category,
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'config': goal.vessel.config,
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'data': goal.vessel.data
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}
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protocol_kwargs['vessel'] = vessel_data
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# print(f"✅ 手动重建vessel数据: {vessel_data}")
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else:
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# print(f"❌ 无法从原始goal提取vessel数据")
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# 创建一个基本的vessel
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vessel_data = {'id': 'default_vessel'}
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protocol_kwargs['vessel'] = vessel_data
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# print(f"🔧 创建默认vessel: {vessel_data}")
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#print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
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#print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
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from unilabos.resources.graphio import physical_setup_graph
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self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
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self.lab_logger().info(f"Protocol kwargs: {goal}")
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self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
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protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
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self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
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time_start = time.time()
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@@ -235,14 +263,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
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}
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)
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# 向Host更新物料当前状态
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for k, v in goal.get_fields_and_field_types().items():
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if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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r = ResourceUpdate.Request()
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r.resources = [
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convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
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]
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response = await self._resource_clients["resource_update"].call_async(r)
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# # 向Host更新物料当前状态
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# for k, v in goal.get_fields_and_field_types().items():
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# if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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# r = ResourceUpdate.Request()
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# r.resources = [
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# convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
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# ]
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# response = await self._resource_clients["resource_update"].call_async(r)
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# 设置成功状态和返回值
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execution_success = True
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@@ -287,7 +315,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
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serialize_result_info(execution_error, execution_success, protocol_return_value),
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)
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self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")
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self.lab_logger().info(f"🤩🤩🤩🤩🤩🤩协议 {protocol_name} 完成并返回结果😎😎😎😎😎😎")
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return result
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return execute_protocol
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@@ -309,7 +337,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
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action_client = self._action_clients[action_id]
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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"发送动作请求到: {action_id}")
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##### self.lab_logger().info(f"发送动作请求到: {action_id}")
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action_client.wait_for_server()
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# 等待动作完成
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@@ -321,7 +349,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
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return None
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result_future = await handle.get_result_async()
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self.lab_logger().info(f"动作完成: {action_name}")
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##### self.lab_logger().info(f"动作完成: {action_name}")
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return result_future.result
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