action to resource & 0.9.12 (#64)

* action to resource & 0.9.12

* stir和adjustph的中的bug修不好

unilabos/ros/nodes/presets/protocol_node.py

@@ -182,26 +182,54 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                 # 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
                 goal = goal_handle.request
                 protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
+                
+                # # 🔧 添加调试信息
+                # print(f"🔍 转换后的 protocol_kwargs: {protocol_kwargs}")
+                # print(f"🔍 vessel 在转换后: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 
-                # 向Host查询物料当前状态
-                for k, v in goal.get_fields_and_field_types().items():
-                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        r = ResourceGet.Request()
-                        resource_id = (
-                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
-                        )
-                        r.id = resource_id
-                        r.with_children = True
-                        response = await self._resource_clients["resource_get"].call_async(r)
-                        protocol_kwargs[k] = list_to_nested_dict(
-                            [convert_from_ros_msg(rs) for rs in response.resources]
-                        )
+                # # 🔧 完全禁用Host查询，直接使用转换后的数据
+                # print(f"🔧 跳过Host查询，直接使用转换后的数据")
+                
+                # 🔧 额外验证：确保vessel数据完整
+                if 'vessel' in protocol_kwargs:
+                    vessel_data = protocol_kwargs['vessel']
+                    #print(f"🔍 验证vessel数据: {vessel_data}")
+                    
+                    # 如果vessel是空字典，尝试重新构建
+                    if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
+                    #    print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
+                        
+                        # 直接从原始goal提取vessel
+                        if hasattr(goal, 'vessel') and goal.vessel:
+                    #        print(f"🔍 原始goal.vessel: {goal.vessel}")
+                            # 手动转换vessel
+                            vessel_data = {
+                                'id': goal.vessel.id,
+                                'name': goal.vessel.name,
+                                'type': goal.vessel.type,
+                                'category': goal.vessel.category,
+                                'config': goal.vessel.config,
+                                'data': goal.vessel.data
+                            }
+                            protocol_kwargs['vessel'] = vessel_data
+                    #        print(f"✅ 手动重建vessel数据: {vessel_data}")
+                        else:
+                    #        print(f"❌ 无法从原始goal提取vessel数据")
+                            # 创建一个基本的vessel
+                            vessel_data = {'id': 'default_vessel'}
+                            protocol_kwargs['vessel'] = vessel_data
+                    #        print(f"🔧 创建默认vessel: {vessel_data}")
+
+                #print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
+                #print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 
                 from unilabos.resources.graphio import physical_setup_graph
 
                 self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
+                self.lab_logger().info(f"Protocol kwargs: {goal}")
+                self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
                 protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
-
+                
                 self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
 
                 time_start = time.time()
@@ -235,14 +263,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             }
                         )
 
-                # 向Host更新物料当前状态
-                for k, v in goal.get_fields_and_field_types().items():
-                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        r = ResourceUpdate.Request()
-                        r.resources = [
-                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                        ]
-                        response = await self._resource_clients["resource_update"].call_async(r)
+                # # 向Host更新物料当前状态
+                # for k, v in goal.get_fields_and_field_types().items():
+                #     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                #         r = ResourceUpdate.Request()
+                #         r.resources = [
+                #             convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                #         ]
+                #         response = await self._resource_clients["resource_update"].call_async(r)
 
                 # 设置成功状态和返回值
                 execution_success = True
@@ -287,7 +315,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                         serialize_result_info(execution_error, execution_success, protocol_return_value),
                     )
 
-            self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")
+            self.lab_logger().info(f"🤩🤩🤩🤩🤩🤩协议 {protocol_name} 完成并返回结果😎😎😎😎😎😎")
             return result
 
         return execute_protocol
@@ -309,7 +337,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
         action_client = self._action_clients[action_id]
         goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
 
-        self.lab_logger().info(f"发送动作请求到: {action_id}")
+        ##### self.lab_logger().info(f"发送动作请求到: {action_id}")
         action_client.wait_for_server()
 
         # 等待动作完成
@@ -321,7 +349,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
             return None
 
         result_future = await handle.get_result_async()
-        self.lab_logger().info(f"动作完成: {action_name}")
+        ##### self.lab_logger().info(f"动作完成: {action_name}")
 
         return result_future.result