更新transfer_resource_to_another参数，支持spot入参

2025-12-17 13:01:12 +00:00 · 2025-10-11 02:41:37 +08:00
parent df33e1a214
commit 0c42d60cf2
9 changed files with 598 additions and 519 deletions
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -1,4 +1,5 @@
 import copy
+import inspect
 import io
 import json
 import threading
@@ -332,7 +333,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        # 创建资源管理客户端
        self._resource_clients: Dict[str, Client] = {
            "resource_add": self.create_client(ResourceAdd, "/resources/add"),
-            "resource_get": self.create_client(ResourceGet, "/resources/get"),
+            "resource_get": self.create_client(SerialCommand, "/resources/get"),
            "resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
            "resource_update": self.create_client(ResourceUpdate, "/resources/update"),
            "resource_list": self.create_client(ResourceList, "/resources/list"),
@@ -578,6 +579,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            for i in data:
                action = i.get("action")  # remove, add, update
                resources_uuid: List[str] = i.get("data")  # 资源数据
+                additional_add_params = i.get("additional_add_params", {})  # 额外参数
                self.lab_logger().info(
                    f"[Resource Tree Update] Processing {action} operation, "
                    f"resources count: {len(resources_uuid)}"
@@ -609,7 +611,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                        f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在")
                                else:
                                    try:
-                                        parent_resource.assign_child_resource(plr_resource, location=None)
+                                        # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
+                                        additional_params = {}
+                                        site = additional_add_params.get("site", None)
+                                        spec = inspect.signature(parent_resource.assign_child_resource)
+                                        if "spot" in spec.parameters:
+                                            additional_params["spot"] = site
+                                        parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
                                    except Exception as e:
                                        self.lab_logger().warning(
                                            f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}")
@@ -666,14 +674,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):

        return res

-    async def transfer_resource_to_another(self, plr_resources: List["ResourcePLR"], target_device_id, target_resource_uuid: str):
+    async def transfer_resource_to_another(self, plr_resources: List["ResourcePLR"], target_device_id: str, target_resources: List["ResourcePLR"], sites: List[str]):
        # 准备工作
        uids = []
+        target_uids = []
        for plr_resource in plr_resources:
            uid = getattr(plr_resource, "unilabos_uuid", None)
            if uid is None:
-                raise ValueError(f"物料{plr_resource}没有unilabos_uuid属性，无法转运")
+                raise ValueError(f"来源物料{plr_resource}没有unilabos_uuid属性，无法转运")
            uids.append(uid)
+        for target_resource in target_resources:
+            uid = getattr(target_resource, "unilabos_uuid", None)
+            if uid is None:
+                raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
+            target_uids.append(uid)
        srv_address = f"/srv{target_device_id}/s2c_resource_tree"
        sclient = self.create_client(SerialCommand, srv_address)
        # 等待服务可用（设置超时）
@@ -688,31 +702,33 @@ class BaseROS2DeviceNode(Node, Generic[T]):
        }], ensure_ascii=False)), SerialCommand_Response())

        # 通知云端转运资源
-        tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
-        for root_node in tree_set.root_nodes:
-            root_node.res_content.parent = None
-            root_node.res_content.parent_uuid = target_resource_uuid
-        r = SerialCommand.Request()
-        r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})  # 和Update Resource一致
-        response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
-        self.lab_logger().info(f"资源云端转运到{target_device_id}结果: {response.response}")
+        for plr_resource, target_uid, site in zip(plr_resources, target_uids, sites):
+            tree_set = ResourceTreeSet.from_plr_resources([plr_resource])
+            for root_node in tree_set.root_nodes:
+                root_node.res_content.parent = None
+                root_node.res_content.parent_uuid = target_uid
+            r = SerialCommand.Request()
+            r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})  # 和Update Resource一致
+            response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r)  # type: ignore
+            self.lab_logger().info(f"资源云端转运到{target_device_id}结果: {response.response}")

-        # 创建请求
-        request = SerialCommand.Request()
-        request.command = json.dumps([{
-            "action": "add",
-            "data": tree_set.all_nodes_uuid  # 只添加父节点，子节点会自动添加
-        }], ensure_ascii=False)
+            # 创建请求
+            request = SerialCommand.Request()
+            request.command = json.dumps([{
+                "action": "add",
+                "data": tree_set.all_nodes_uuid,  # 只添加父节点，子节点会自动添加
+                "additional_add_params": {"site": site}
+            }], ensure_ascii=False)

-        future = sclient.call_async(request)
-        timeout = 30.0
-        start_time = time.time()
-        while not future.done():
-            if time.time() - start_time > timeout:
-                self.lab_logger().error(f"[{self.device_id} Node-Resource] Timeout waiting for response from {target_device_id}")
-                return False
-            time.sleep(0.05)
-        self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
+            future = sclient.call_async(request)
+            timeout = 30.0
+            start_time = time.time()
+            while not future.done():
+                if time.time() - start_time > timeout:
+                    self.lab_logger().error(f"[{self.device_id} Node-Resource] Timeout waiting for response from {target_device_id}")
+                    return False
+                time.sleep(0.05)
+            self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
        return None

    def register_device(self):
@@ -872,7 +888,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                for k, v in goal.get_fields_and_field_types().items():
                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                        self.lab_logger().info(f"{action_name} 查询资源状态: Key: {k} Type: {v}")
-                        current_resources: Union[List[Resource], List[List[Resource]]] = []
+                        current_resources: List[List[Dict[str, Any]]] = []
                        # TODO: resource后面需要分组
                        only_one_resource = False
                        try:
@@ -881,8 +897,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                    r = ResourceGet.Request()
                                    r.id = i["id"]  # splash optional
                                    r.with_children = True
-                                    response = await self._resource_clients["resource_get"].call_async(r)
-                                    current_resources.append(response.resources)
+                                    response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
+                                    current_resources.append(json.loads(response.response))
                            else:
                                only_one_resource = True
                                r = ResourceGet.Request()
@@ -893,23 +909,21 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                )
                                r.with_children = True
                                response = await self._resource_clients["resource_get"].call_async(r)
-                                current_resources.extend(response.resources)
+                                current_resources.append(json.loads(response.response))
                        except Exception:
                            logger.error(f"资源查询失败，默认使用本地资源")
                        # 删除对response.resources的检查，因为它总是存在
                        type_hint = action_paramtypes[k]
                        final_type = get_type_class(type_hint)
                        if only_one_resource:
-                            resources_list: List[Dict[str, Any]] = [convert_from_ros_msg(rs) for rs in current_resources]  # type: ignore
-                            self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
-                            final_resource = convert_resources_to_type(resources_list, final_type)
+                            tree_set = ResourceTreeSet.from_raw_list(current_resources[0])
+                            self.lab_logger().debug(f"资源查询结果: {len(tree_set.all_nodes)} 个资源")
+                            final_resource: List[ResourcePLR] | ResourcePLR = tree_set.to_plr_resources()[0]
                        # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
                        else:
-                            resources_list: List[List[Dict[str, Any]]] = [[convert_from_ros_msg(rs) for rs in sub_res_list] for sub_res_list in current_resources]  # type: ignore
-                            final_resource = [
-                                convert_resources_to_type(sub_res_list, final_type)[0]
-                                for sub_res_list in resources_list
-                            ]
+                            final_resource: List[ResourcePLR] | ResourcePLR = []
+                            for entry in current_resources:
+                                final_resource.append(ResourceTreeSet.from_raw_list(entry)[0])  # type: ignore
                        try:
                            action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
                        except Exception as e:
--- a/unilabos/ros/nodes/presets/workstation.py
+++ b/unilabos/ros/nodes/presets/workstation.py
@@ -29,9 +29,11 @@ from unilabos.utils.type_check import serialize_result_info, get_result_info_str
 if TYPE_CHECKING:
    from unilabos.devices.workstation.workstation_base import WorkstationBase

+
 class ROS2WorkstationNodeTempError(Exception):
    pass

+
 class ROS2WorkstationNode(BaseROS2DeviceNode):
    """
    ROS2WorkstationNode代表管理ROS2环境中设备通信和动作的协议节点。
@@ -63,10 +65,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
            driver_instance=driver_instance,
            device_id=device_id,
            status_types=status_types,
-            action_value_mappings={
-                **action_value_mappings,
-                **self.protocol_action_mappings
-            },
+            action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
            hardware_interface=hardware_interface,
            print_publish=print_publish,
            resource_tracker=resource_tracker,
@@ -89,7 +88,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                d = self.initialize_device(device_id, device_config)
            except Exception as ex:
                self.lab_logger().error(
-                    f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
+                    f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}"
+                )
                d = None
            if d is None:
                continue
@@ -109,10 +109,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
            if d:
                hardware_interface = d.ros_node_instance._hardware_interface
                if (
-                        hasattr(d.driver_instance, hardware_interface["name"])
-                        and hasattr(d.driver_instance, hardware_interface["write"])
-                        and (
-                        hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
+                    hasattr(d.driver_instance, hardware_interface["name"])
+                    and hasattr(d.driver_instance, hardware_interface["write"])
+                    and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
                ):

                    name = getattr(d.driver_instance, hardware_interface["name"])
@@ -160,7 +159,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
            node.resource_tracker = self.resource_tracker  # 站内应当共享资源跟踪器
            for action_name, action_mapping in node._action_value_mappings.items():
                if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith(
-                        "UniLabJsonCommand"):
+                    "UniLabJsonCommand"
+                ):
                    continue
                action_id = f"/devices/{device_id_abs}/{action_name}"
                if action_id not in self._action_clients:
@@ -245,8 +245,10 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                        logs.append(step)
                    elif isinstance(step, list):
                        logs.append(step)
-                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
-                                       f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
+                self.lab_logger().info(
+                    f"Goal received: {protocol_kwargs}, running steps: "
+                    f"{json.dumps(logs, indent=4, ensure_ascii=False)}"
+                )

                time_start = time.time()
                time_overall = 100
@@ -268,7 +270,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
                                if not ret_info.get("suc", False):
                                    raise RuntimeError(f"Step {i + 1} failed.")
                            except ROS2WorkstationNodeTempError as ex:
-                                step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
+                                step_results.append(
+                                    {"step": i + 1, "action": action["action_name"], "result": ex.args[0]}
+                                )
                    elif isinstance(action, list):
                        # 如果是并行动作，同时执行
                        actions = action
@@ -307,8 +311,12 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
            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]
+                    {
+                        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()}")
@@ -381,7 +389,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
    """还没有改过的部分"""

    def _setup_hardware_proxy(
-            self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
+        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", [])]
@@ -405,17 +413,3 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
        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}")