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Merge branch 'workstation_dev' into dev

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# Conflicts:
#	.conda/recipe.yaml
#	recipes/msgs/recipe.yaml
#	recipes/unilabos/recipe.yaml
#	setup.py
#	unilabos/registry/devices/work_station.yaml
#	unilabos/ros/nodes/base_device_node.py
#	unilabos/ros/nodes/presets/protocol_node.py
#	unilabos_msgs/package.xml
This commit is contained in:
Xuwznln
2025-09-19 19:52:53 +08:00
parent 67ca45a240 bdddbd57ba
commit 091c9fa247
35 changed files with 5734 additions and 110 deletions
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32
unilabos/ros/nodes/base_device_node.py
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@@ -518,6 +518,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
rclpy.get_global_executor().add_node(self)
self.lab_logger().debug(f"ROS节点初始化完成")
async def update_resource(self, resources: List[Any]):
r = ResourceUpdate.Request()
unique_resources = []
for resource in resources: # resource是list[ResourcePLR]
# 目前更新资源只支持传入plr的对象，后面要更新convert_resources_from_type函数
converted_list = convert_resources_from_type([resource], resource_type=[object], is_plr=True)
unique_resources.extend([convert_to_ros_msg(Resource, converted) for converted in converted_list])
r.resources = unique_resources
response = await self._resource_clients["resource_update"].call_async(r)
self.lab_logger().debug(f"资源更新结果: {response}")
def register_device(self):
"""向注册表中注册设备信息"""
topics_info = self._property_publishers.copy()
@@ -947,6 +958,7 @@ class ROS2DeviceNode:
self._driver_class = driver_class
self.device_config = device_config
self.driver_is_ros = driver_is_ros
self.driver_is_workstation = False
self.resource_tracker = DeviceNodeResourceTracker()
# use_pylabrobot_creator 使用 cls的包路径检测
@@ -967,10 +979,11 @@ class ROS2DeviceNode:
driver_class, children=children, resource_tracker=self.resource_tracker
)
else:
from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
from unilabos.devices.workstation.workstation_base import WorkstationBase
if issubclass(self._driver_class, ROS2ProtocolNode): # 是ProtocolNode的子节点，就要调用ProtocolNodeCreator
self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
if issubclass(self._driver_class, WorkstationBase): # 是WorkstationNode的子节点，就要调用WorkstationNodeCreator
self.driver_is_workstation = True
self._driver_creator = WorkstationNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
else:
self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
@@ -985,6 +998,19 @@ class ROS2DeviceNode:
# 创建ROS2节点
if driver_is_ros:
self._ros_node = self._driver_instance # type: ignore
elif self.driver_is_workstation:
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
self._ros_node = ROS2WorkstationNode(
protocol_type=driver_params["protocol_type"],
children=children,
driver_instance=self._driver_instance, # type: ignore
device_id=device_id,
status_types=status_types,
action_value_mappings=action_value_mappings,
hardware_interface=hardware_interface,
print_publish=print_publish,
resource_tracker=self.resource_tracker,
)
else:
self._ros_node = BaseROS2DeviceNode(
driver_instance=self._driver_instance,