mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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Merge branch 'workstation_dev' into dev
# 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
@@ -553,7 +553,7 @@ class HostNode(BaseROS2DeviceNode):
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# 解析设备名和属性名
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parts = topic.split("/")
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if len(parts) >= 4: # 可能有ProtocolNode，创建更长的设备
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if len(parts) >= 4: # 可能有WorkstationNode，创建更长的设备
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device_id = "/".join(parts[2:-1])
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property_name = parts[-1]
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@@ -1,86 +1,413 @@
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import collections
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from typing import Union, Dict, Any, Optional
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import json
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import time
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import traceback
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from pprint import pformat
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from typing import List, Dict, Any, Optional, TYPE_CHECKING
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from unilabos_msgs.msg import Resource
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from pylabrobot.resources import Resource as PLRResource, Plate, TipRack, Coordinate
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from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
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import rclpy
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from rosidl_runtime_py import message_to_ordereddict
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from unilabos.messages import * # type: ignore # protocol names
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from rclpy.action import ActionServer, ActionClient
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from rclpy.action.server import ServerGoalHandle
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from rclpy.callback_groups import ReentrantCallbackGroup
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos_msgs.srv import ResourceGet, ResourceUpdate # type: ignore
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from unilabos.compile import action_protocol_generators
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from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
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from unilabos.ros.initialize_device import initialize_device_from_dict
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from unilabos.ros.msgs.message_converter import (
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get_action_type,
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convert_to_ros_msg,
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convert_from_ros_msg,
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convert_from_ros_msg_with_mapping,
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)
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
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from unilabos.utils.type_check import serialize_result_info
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if TYPE_CHECKING:
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from unilabos.devices.workstation.workstation_base import WorkstationBase
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class WorkStationContainer(Plate, TipRack):
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class ROS2WorkstationNode(BaseROS2DeviceNode):
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"""
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WorkStation 专用 Container 类，继承自 Plate和TipRack
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注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化
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ROS2WorkstationNode代表管理ROS2环境中设备通信和动作的协议节点。
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它初始化设备节点，处理动作客户端，并基于指定的协议执行工作流。
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它还物理上代表一组协同工作的设备，如带夹持器的机械臂，带传送带的CNC机器等。
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"""
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def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict, model: Optional[str] = None,):
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"""
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这里的初始化入参要和plr的保持一致
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"""
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super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
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self._unilabos_state = {} # 必须有此行，自己的类描述的是物料的
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driver_instance: "WorkstationBase"
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def load_state(self, state: Dict[str, Any]) -> None:
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"""从给定的状态加载工作台信息。"""
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super().load_state(state)
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self._unilabos_state = state
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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data = super().serialize_state()
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data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
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return data
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def get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法
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"""
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用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml
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可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错
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:param name: 资源名称
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:return: Resource对象
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"""
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plate = WorkStationContainer(name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
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tip_rack = WorkStationContainer("tip_rack_inside_plate", size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict())
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plate.assign_child_resource(tip_rack, Coordinate.zero())
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return plate
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class WorkStationExample(ROS2ProtocolNode):
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def __init__(self,
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# 你可以在这里增加任意的参数，对应启动json填写相应的参数内容
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device_id: str,
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children: dict,
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protocol_type: Union[str, list[str]],
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resource_tracker: DeviceNodeResourceTracker
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):
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super().__init__(device_id, children, protocol_type, resource_tracker)
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def create_resource(
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def __init__(
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self,
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resource_tracker: DeviceNodeResourceTracker,
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resources: list[Resource],
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bind_parent_id: str,
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bind_location: dict[str, float],
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liquid_input_slot: list[int],
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liquid_type: list[str],
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liquid_volume: list[int],
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slot_on_deck: int,
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) -> Dict[str, Any]:
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return { # edge侧返回给前端的创建物料的结果。云端调用初始化瓶子等。执行该函数时，物料已经上报给云端，一般不需要继承使用
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protocol_type: List[str],
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children: Dict[str, Any],
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*,
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driver_instance: "WorkstationBase",
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device_id: str,
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status_types: Dict[str, Any],
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action_value_mappings: Dict[str, Any],
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hardware_interface: Dict[str, Any],
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print_publish=True,
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resource_tracker: Optional["DeviceNodeResourceTracker"] = None,
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):
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self._setup_protocol_names(protocol_type)
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}
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# 初始化非BaseROSNode的属性
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self.children = children
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# 初始化基类，让基类处理常规动作
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super().__init__(
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driver_instance=driver_instance,
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device_id=device_id,
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status_types=status_types,
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action_value_mappings={
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**action_value_mappings,
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**self.protocol_action_mappings
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},
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hardware_interface=hardware_interface,
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print_publish=print_publish,
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resource_tracker=resource_tracker,
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)
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def transfer_bottle(self, tip_rack: PLRResource, base_plate: PLRResource): # 使用自定义物料的举例
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"""
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将tip_rack assign给base_plate，两个入参都得是PLRResource，unilabos会代替当前物料操作，自动刷新他们的父子关系等状态
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"""
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pass
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self._busy = False
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self.sub_devices = {}
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self._action_clients = {}
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def trigger_resource_update(self, from_plate: PLRResource, to_base_plate: PLRResource):
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"""
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有些时候物料发生了子设备的迁移，一般对该设备的最大一级的物料进行操作，例如要将A物料搬移到B物料上，他们不共同拥有一个物料
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该步骤操作结束后，会主动刷新from_plate的父物料，与to_base_plate的父物料（如没有则刷新自身）
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# 初始化子设备
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self.communication_node_id_to_instance = {}
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"""
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to_base_plate.assign_child_resource(from_plate, Coordinate.zero())
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pass
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for device_id, device_config in self.children.items():
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if device_config.get("type", "device") != "device":
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self.lab_logger().debug(
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f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
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)
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continue
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try:
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d = self.initialize_device(device_id, device_config)
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except Exception as ex:
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self.lab_logger().error(
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f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
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d = None
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if d is None:
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continue
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if "serial_" in device_id or "io_" in device_id:
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self.communication_node_id_to_instance[device_id] = d
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continue
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for device_id, device_config in self.children.items():
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if device_config.get("type", "device") != "device":
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continue
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# 设置硬件接口代理
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if device_id not in self.sub_devices:
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self.lab_logger().error(f"[Protocol Node] {device_id} 还没有正确初始化，跳过...")
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continue
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d = self.sub_devices[device_id]
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if d:
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hardware_interface = d.ros_node_instance._hardware_interface
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if (
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hasattr(d.driver_instance, hardware_interface["name"])
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and hasattr(d.driver_instance, hardware_interface["write"])
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and (
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hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
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):
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name = getattr(d.driver_instance, hardware_interface["name"])
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read = hardware_interface.get("read", None)
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write = hardware_interface.get("write", None)
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# 如果硬件接口是字符串，通过通信设备提供
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if isinstance(name, str) and name in self.sub_devices:
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communicate_device = self.sub_devices[name]
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communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
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self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
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self.lab_logger().info(
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f"\n通信代理：为子设备{device_id}\n "
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f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n "
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f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
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)
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self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")
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def _setup_protocol_names(self, protocol_type):
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# 处理协议类型
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if isinstance(protocol_type, str):
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if "," not in protocol_type:
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self.protocol_names = [protocol_type]
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else:
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self.protocol_names = [protocol.strip() for protocol in protocol_type.split(",")]
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else:
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self.protocol_names = protocol_type
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# 准备协议相关的动作值映射
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self.protocol_action_mappings = {}
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for protocol_name in self.protocol_names:
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protocol_type = globals()[protocol_name]
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self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
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def initialize_device(self, device_id, device_config):
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"""初始化设备并创建相应的动作客户端"""
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# device_id_abs = f"{self.device_id}/{device_id}"
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device_id_abs = f"{device_id}"
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self.lab_logger().info(f"初始化子设备: {device_id_abs}")
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d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)
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# 为子设备的每个动作创建动作客户端
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if d is not None and hasattr(d, "ros_node_instance"):
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node = d.ros_node_instance
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node.resource_tracker = self.resource_tracker # 站内应当共享资源跟踪器
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for action_name, action_mapping in node._action_value_mappings.items():
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if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith(
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"UniLabJsonCommand"):
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continue
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action_id = f"/devices/{device_id_abs}/{action_name}"
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if action_id not in self._action_clients:
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try:
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self._action_clients[action_id] = ActionClient(
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self, action_mapping["type"], action_id, callback_group=self.callback_group
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)
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except Exception as ex:
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self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
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continue
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self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
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return d
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def create_ros_action_server(self, action_name, action_value_mapping):
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"""创建ROS动作服务器"""
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if action_name not in self.protocol_names:
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# 非protocol方法调用父类注册
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return super().create_ros_action_server(action_name, action_value_mapping)
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# 和Base创建的路径是一致的
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protocol_name = action_name
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action_type = action_value_mapping["type"]
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str_action_type = str(action_type)[8:-2]
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protocol_type = globals()[protocol_name]
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protocol_steps_generator = action_protocol_generators[protocol_type]
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self._action_servers[action_name] = ActionServer(
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self,
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action_type,
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action_name,
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execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
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callback_group=ReentrantCallbackGroup(),
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)
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self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
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return
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def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
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async def execute_protocol(goal_handle: ServerGoalHandle):
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"""执行完整的工作流"""
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# 初始化结果信息变量
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execution_error = ""
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execution_success = False
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protocol_return_value = None
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self.get_logger().info(f"Executing {protocol_name} action...")
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action_value_mapping = self._action_value_mappings[protocol_name]
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step_results = []
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try:
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print("+" * 30)
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print(protocol_steps_generator)
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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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# # 🔧 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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# 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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self.lab_logger().info(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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protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
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logs = []
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for step in protocol_steps:
|
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if isinstance(step, dict) and "log_message" in step.get("action_kwargs", {}):
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logs.append(step)
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elif isinstance(step, list):
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logs.append(step)
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self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
|
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f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
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time_start = time.time()
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time_overall = 100
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self._busy = True
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|
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# 逐步执行工作流
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for i, action in enumerate(protocol_steps):
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# self.get_logger().info(f"Running step {i + 1}: {action}")
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if isinstance(action, dict):
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# 如果是单个动作，直接执行
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if action["action_name"] == "wait":
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time.sleep(action["action_kwargs"]["time"])
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step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
|
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else:
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result = await self.execute_single_action(**action)
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step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
|
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ret_info = json.loads(getattr(result, "return_info", "{}"))
|
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if not ret_info.get("suc", False):
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raise RuntimeError(f"Step {i + 1} failed.")
|
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elif isinstance(action, list):
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# 如果是并行动作，同时执行
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actions = action
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futures = [
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rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
|
||||
]
|
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results = [await f for f in futures]
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step_results.append(
|
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{
|
||||
"step": i + 1,
|
||||
"parallel_actions": [a["action_name"] for a in actions],
|
||||
"results": results,
|
||||
}
|
||||
)
|
||||
|
||||
# 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>"]:
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||||
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
|
||||
protocol_return_value = {
|
||||
"protocol_name": protocol_name,
|
||||
"steps_executed": len(protocol_steps),
|
||||
"step_results": step_results,
|
||||
"total_time": time.time() - time_start,
|
||||
}
|
||||
|
||||
goal_handle.succeed()
|
||||
|
||||
except Exception as e:
|
||||
# 捕获并记录错误信息
|
||||
str_step_results = [
|
||||
{k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in
|
||||
i.items()} for i in step_results]
|
||||
execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
|
||||
execution_success = False
|
||||
self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")
|
||||
|
||||
# 设置动作失败
|
||||
goal_handle.abort()
|
||||
|
||||
finally:
|
||||
self._busy = False
|
||||
|
||||
# 创建结果消息
|
||||
result = action_value_mapping["type"].Result()
|
||||
result.success = execution_success
|
||||
|
||||
# 获取结果消息类型信息，检查是否有return_info字段
|
||||
result_msg_types = action_value_mapping["type"].Result.get_fields_and_field_types()
|
||||
|
||||
# 设置return_info字段（如果存在）
|
||||
for attr_name in result_msg_types.keys():
|
||||
if attr_name in ["success", "reached_goal"]:
|
||||
setattr(result, attr_name, execution_success)
|
||||
elif attr_name == "return_info":
|
||||
setattr(
|
||||
result,
|
||||
attr_name,
|
||||
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")
|
||||
return result
|
||||
|
||||
return execute_protocol
|
||||
|
||||
async def execute_single_action(self, device_id, action_name, action_kwargs):
|
||||
"""执行单个动作"""
|
||||
# 构建动作ID
|
||||
if device_id in ["", None, "self"]:
|
||||
action_id = f"/devices/{self.device_id}/{action_name}"
|
||||
else:
|
||||
action_id = f"/devices/{device_id}/{action_name}" # 执行时取消了主节点信息 /{self.device_id}
|
||||
|
||||
# 检查动作客户端是否存在
|
||||
if action_id not in self._action_clients:
|
||||
self.lab_logger().error(f"找不到动作客户端: {action_id}")
|
||||
return None
|
||||
|
||||
# 发送动作请求
|
||||
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}")
|
||||
action_client.wait_for_server()
|
||||
|
||||
# 等待动作完成
|
||||
request_future = action_client.send_goal_async(goal_msg)
|
||||
handle = await request_future
|
||||
|
||||
if not handle.accepted:
|
||||
self.lab_logger().error(f"动作请求被拒绝: {action_name}")
|
||||
return None
|
||||
|
||||
result_future = await handle.get_result_async()
|
||||
##### self.lab_logger().info(f"动作完成: {action_name}")
|
||||
|
||||
return result_future.result
|
||||
|
||||
"""还没有改过的部分"""
|
||||
|
||||
def _setup_hardware_proxy(
|
||||
self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
|
||||
):
|
||||
"""为设备设置硬件接口代理"""
|
||||
# extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
|
||||
write_func = getattr(
|
||||
communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]
|
||||
)
|
||||
read_func = getattr(
|
||||
communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]
|
||||
)
|
||||
|
||||
def _read(*args, **kwargs):
|
||||
return read_func(*args, **kwargs)
|
||||
|
||||
def _write(*args, **kwargs):
|
||||
return write_func(*args, **kwargs)
|
||||
|
||||
if read_method:
|
||||
# bound_read = MethodType(_read, device.driver_instance)
|
||||
setattr(device.driver_instance, read_method, _read)
|
||||
|
||||
if write_method:
|
||||
# bound_write = MethodType(_write, device.driver_instance)
|
||||
setattr(device.driver_instance, write_method, _write)
|
||||
|
||||
async def _update_resources(self, goal, protocol_kwargs):
|
||||
"""更新资源状态"""
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
if protocol_kwargs[k] is not None:
|
||||
try:
|
||||
r = ResourceUpdate.Request()
|
||||
r.resources = [
|
||||
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
|
||||
]
|
||||
await self._resource_clients["resource_update"].call_async(r)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"更新资源失败: {e}")
|
||||
Reference in New Issue
Block a user