From 11e4f053f11319f153053c8342c7f186c2b47ee6 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Thu, 12 Jun 2025 21:21:25 +0800 Subject: [PATCH] bump version & protocol fix --- README.md | 2 +- README_zh.md | 2 +- recipes/ros-humble-unilabos-msgs/recipe.yaml | 2 +- recipes/unilabos/recipe.yaml | 2 +- setup.py | 2 +- unilabos/compile/pump_protocol.py | 412 ++++++++---------- .../registry/device_comms/modbus_ioboard.yaml | 2 +- unilabos/registry/devices/pump_and_valve.yaml | 10 + unilabos/ros/nodes/base_device_node.py | 8 +- unilabos/ros/nodes/presets/protocol_node.py | 8 +- 10 files changed, 197 insertions(+), 253 deletions(-) diff --git a/README.md b/README.md index 3435276..79b7bbe 100644 --- a/README.md +++ b/README.md @@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name # Currently, you need to install the `unilabos_msgs` package # You can download the system-specific package from the Release page -conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2 +conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2 # Install PyLabRobot and other prerequisites git clone https://github.com/PyLabRobot/pylabrobot plr_repo diff --git a/README_zh.md b/README_zh.md index 4f3607d..382ea53 100644 --- a/README_zh.md +++ b/README_zh.md @@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名 # 现阶段，需要安装 `unilabos_msgs` 包 # 可以前往 Release 页面下载系统对应的包进行安装 -conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2 +conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2 # 安装PyLabRobot等前置 git clone https://github.com/PyLabRobot/pylabrobot plr_repo diff --git a/recipes/ros-humble-unilabos-msgs/recipe.yaml b/recipes/ros-humble-unilabos-msgs/recipe.yaml index febca42..6a64f9c 100644 --- a/recipes/ros-humble-unilabos-msgs/recipe.yaml +++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.9.4 + version: 0.9.5 source: path: ../../unilabos_msgs folder: ros-humble-unilabos-msgs/src/work diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 51ddea1..3e1cc66 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.9.4" + version: "0.9.5" source: path: ../.. diff --git a/setup.py b/setup.py index 038d820..c96103c 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.9.4', + version='0.9.5', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/compile/pump_protocol.py b/unilabos/compile/pump_protocol.py index ffd8efc..8dab4d4 100644 --- a/unilabos/compile/pump_protocol.py +++ b/unilabos/compile/pump_protocol.py @@ -2,17 +2,42 @@ import numpy as np import networkx as nx +def is_integrated_pump(node_name): + return "pump" in node_name and "valve" in node_name + + +def find_connected_pump(G, valve_node): + for neighbor in G.neighbors(valve_node): + if "pump" in G.nodes[neighbor]["class"]: + return neighbor + raise ValueError(f"未找到与阀 {valve_node} 唯一相连的泵节点") + + +def build_pump_valve_maps(G, pump_backbone): + pumps_from_node = {} + valve_from_node = {} + for node in pump_backbone: + if is_integrated_pump(node): + pumps_from_node[node] = node + valve_from_node[node] = node + else: + pump_node = find_connected_pump(G, node) + pumps_from_node[node] = pump_node + valve_from_node[node] = node + return pumps_from_node, valve_from_node + + def generate_pump_protocol( - G: nx.DiGraph, - from_vessel: str, - to_vessel: str, - volume: float, - flowrate: float = 0.5, - transfer_flowrate: float = 0, + G: nx.DiGraph, + from_vessel: str, + to_vessel: str, + volume: float, + flowrate: float = 0.5, + transfer_flowrate: float = 0, ) -> list[dict]: """ 生成泵操作的动作序列。 - + :param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置 :param from_vessel: 容器A :param to_vessel: 容器B @@ -21,194 +46,137 @@ def generate_pump_protocol( :param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同） :return: 泵操作的动作序列 """ - + # 生成泵操作的动作序列 pump_action_sequence = [] - - # 检查节点是否存在 - if from_vessel not in G.nodes: - print(f"Warning: Source vessel '{from_vessel}' not found in graph. Skipping.") - return [] - - if to_vessel not in G.nodes: - print(f"Warning: Target vessel '{to_vessel}' not found in graph. Skipping.") - return [] - - # 检查是否存在路径 - try: - shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel) - except nx.NetworkXNoPath: - print(f"Warning: No path from '{from_vessel}' to '{to_vessel}'. Skipping.") - return [] - except nx.NodeNotFound as e: - print(f"Warning: Node not found: {e}. Skipping.") - return [] - - print(f"Shortest path: {shortest_path}") + nodes = G.nodes(data=True) + # 从from_vessel到to_vessel的最短路径 + shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel) + print(shortest_path) pump_backbone = shortest_path if not from_vessel.startswith("pump"): pump_backbone = pump_backbone[1:] if not to_vessel.startswith("pump"): pump_backbone = pump_backbone[:-1] - - print(f"Pump backbone: {pump_backbone}") - - # 修复：检查pump_backbone是否为空 - if not pump_backbone: - print(f"Warning: No pumps found in path from '{from_vessel}' to '{to_vessel}'. Skipping.") - return [] - + if transfer_flowrate == 0: transfer_flowrate = flowrate - - # 修复：正确访问节点数据 - pump_max_volumes = [] - for pump in pump_backbone: - # 直接使用 G.nodes[pump] 来访问节点数据 - pump_data = G.nodes[pump] if pump in G.nodes else {} - # 尝试多种可能的键名，并提供默认值 - max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume') - if max_vol is None: - # 如果是设备节点，尝试从config中获取 - config = pump_data.get('config', {}) - max_vol = config.get('max_volume', 25.0) - pump_max_volumes.append(float(max_vol)) - - if pump_max_volumes: - min_transfer_volume = min(pump_max_volumes) - else: - min_transfer_volume = 25.0 # 默认值 - + + pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone) + + min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone]) repeats = int(np.ceil(volume / min_transfer_volume)) if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")): raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.") - + volume_left = volume - + # 生成泵操作的动作序列 for i in range(repeats): # 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵 - if not from_vessel.startswith("pump") and pump_backbone: - # 修复：添加边缘数据检查 - edge_data = G.get_edge_data(pump_backbone[0], from_vessel) - if edge_data and "port" in edge_data: - pump_action_sequence.extend([ - { - "device_id": pump_backbone[0], - "action_name": "set_valve_position", - "action_kwargs": { - "command": edge_data["port"][pump_backbone[0]] - } - }, - { - "device_id": pump_backbone[0], - "action_name": "set_position", - "action_kwargs": { - "position": float(min(volume_left, min_transfer_volume)), - "max_velocity": transfer_flowrate - } + if not from_vessel.startswith("pump"): + pump_action_sequence.extend([ + { + "device_id": valve_from_node[pump_backbone[0]], + "action_name": "set_valve_position", + "action_kwargs": { + "command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]] } - ]) - pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}}) - else: - print(f"Warning: No edge data found between {pump_backbone[0]} and {from_vessel}") - - # 修复：检查pump_backbone长度，避免多泵操作时出错 - if len(pump_backbone) > 1: - for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]): - # 相邻两泵同时切换阀门至连通位置 - edge_AB = G.get_edge_data(pumpA, pumpB) - edge_BA = G.get_edge_data(pumpB, pumpA) - - if edge_AB and "port" in edge_AB and edge_BA and "port" in edge_BA: - pump_action_sequence.append([ - { - "device_id": pumpA, - "action_name": "set_valve_position", - "action_kwargs": { - "command": edge_AB["port"][pumpA] - } - }, - { - "device_id": pumpB, - "action_name": "set_valve_position", - "action_kwargs": { - "command": edge_BA["port"][pumpB], - } + }, + { + "device_id": pumps_from_node[pump_backbone[0]], + "action_name": "set_position", + "action_kwargs": { + "position": float(min(volume_left, min_transfer_volume)), + "max_velocity": transfer_flowrate } - ]) - # 相邻两泵液体转移：泵A排出液体，泵B吸入液体 - pump_action_sequence.append([ - { - "device_id": pumpA, - "action_name": "set_position", - "action_kwargs": { - "position": 0.0, - "max_velocity": transfer_flowrate - } - }, - { - "device_id": pumpB, - "action_name": "set_position", - "action_kwargs": { - "position": float(min(volume_left, min_transfer_volume)), - "max_velocity": transfer_flowrate - } + } + ]) + pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}}) + for nodeA, nodeB in zip(pump_backbone[:-1], pump_backbone[1:]): + # 相邻两泵同时切换阀门至连通位置 + pump_action_sequence.append([ + { + "device_id": valve_from_node[nodeA], + "action_name": "set_valve_position", + "action_kwargs": { + "command": G.get_edge_data(nodeA, nodeB)["port"][nodeA] } - ]) - pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}}) - else: - print(f"Warning: No edge data found between {pumpA} and {pumpB}") - - if not to_vessel.startswith("pump") and pump_backbone: + }, + { + "device_id": valve_from_node[nodeB], + "action_name": "set_valve_position", + "action_kwargs": { + "command": G.get_edge_data(nodeB, nodeA)["port"][nodeB], + } + } + ]) + # 相邻两泵液体转移：泵A排出液体，泵B吸入液体 + pump_action_sequence.append([ + { + "device_id": pumps_from_node[nodeA], + "action_name": "set_position", + "action_kwargs": { + "position": 0.0, + "max_velocity": transfer_flowrate + } + }, + { + "device_id": pumps_from_node[nodeB], + "action_name": "set_position", + "action_kwargs": { + "position": float(min(volume_left, min_transfer_volume)), + "max_velocity": transfer_flowrate + } + } + ]) + pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}}) + + if not to_vessel.startswith("pump"): # 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B - edge_data = G.get_edge_data(pump_backbone[-1], to_vessel) - if edge_data and "port" in edge_data: - pump_action_sequence.extend([ - { - "device_id": pump_backbone[-1], - "action_name": "set_valve_position", - "action_kwargs": { - "command": edge_data["port"][pump_backbone[-1]] - } - }, - { - "device_id": pump_backbone[-1], - "action_name": "set_position", - "action_kwargs": { - "position": 0.0, - "max_velocity": flowrate - } + pump_action_sequence.extend([ + { + "device_id": valve_from_node[pump_backbone[-1]], + "action_name": "set_valve_position", + "action_kwargs": { + "command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]] } - ]) - pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}}) - else: - print(f"Warning: No edge data found between {pump_backbone[-1]} and {to_vessel}") - + }, + { + "device_id": pumps_from_node[pump_backbone[-1]], + "action_name": "set_position", + "action_kwargs": { + "position": 0.0, + "max_velocity": flowrate + } + } + ]) + pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}}) + volume_left -= min_transfer_volume return pump_action_sequence # Pump protocol compilation def generate_pump_protocol_with_rinsing( - G: nx.DiGraph, - from_vessel: str, - to_vessel: str, - volume: float, - amount: str = "", - time: float = 0, - viscous: bool = False, - rinsing_solvent: str = "air", - rinsing_volume: float = 5.0, - rinsing_repeats: int = 2, - solid: bool = False, - flowrate: float = 2.5, - transfer_flowrate: float = 0.5, + G: nx.DiGraph, + from_vessel: str, + to_vessel: str, + volume: float, + amount: str = "", + time: float = 0, + viscous: bool = False, + rinsing_solvent: str = "air", + rinsing_volume: float = 5.0, + rinsing_repeats: int = 2, + solid: bool = False, + flowrate: float = 2.5, + transfer_flowrate: float = 0.5, ) -> list[dict]: """ Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph. - + Args: G (nx.DiGraph): The directed graph representing the vessels and connections. 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置 from_vessel (str): The name of the vessel to transfer from. @@ -223,96 +191,64 @@ def generate_pump_protocol_with_rinsing( solid (bool, optional): Indicates if the transfer involves a solid (default is False). flowrate (float, optional): The flow rate for the transfer (default is 2.5). 最终注入容器B时的流速 transfer_flowrate (float, optional): The flow rate for the transfer action (default is 0.5). 泵骨架中转移流速（若不指定，默认与注入流速相同） - + Returns: list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列. - + Raises: AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats. - + Examples: pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water") """ - # 修复：使用实际存在的节点名称 - air_vessel = "flask_air" # 这个在你的配置中存在 - - # 寻找合适的废料容器，如果没有找到则使用空的容器作为替代 - waste_vessel = None - available_vessels = [node for node in G.nodes if node.startswith("flask_") and node != air_vessel] - if available_vessels: - # 使用第一个可用的容器作为废料容器 - waste_vessel = available_vessels[0] - print(f"Using {waste_vessel} as waste vessel") - else: - waste_vessel = "flask_1" # 备用选择 - - # 修复：添加路径检查 - try: - shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel) - pump_backbone = shortest_path[1: -1] - except (nx.NetworkXNoPath, nx.NodeNotFound) as e: - print(f"Warning: Cannot find path from {from_vessel} to {to_vessel}: {e}") - return [] - - # 修复：正确访问节点数据 - pump_max_volumes = [] - for pump in pump_backbone: - # 直接使用 G.nodes[pump] 来访问节点数据 - pump_data = G.nodes[pump] if pump in G.nodes else {} - # 尝试多种可能的键名，并提供默认值 - max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume') - if max_vol is None: - # 如果是设备节点，尝试从config中获取 - config = pump_data.get('config', {}) - max_vol = config.get('max_volume', 25.0) - pump_max_volumes.append(float(max_vol)) - - if pump_max_volumes: - min_transfer_volume = float(min(pump_max_volumes)) - else: - min_transfer_volume = 25.0 # 默认值 - + air_vessel = "flask_air" + waste_vessel = f"waste_workup" + + shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel) + pump_backbone = shortest_path[1: -1] + nodes = G.nodes(data=True) + + pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone) + + min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone]) if time != 0: flowrate = transfer_flowrate = volume / time - + pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate) - - # 修复：只在需要清洗且相关节点存在时才执行清洗步骤 - if rinsing_solvent != "air" and pump_backbone: + if rinsing_solvent != "air" and rinsing_solvent != "": if "," in rinsing_solvent: rinsing_solvents = rinsing_solvent.split(",") - assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats." + assert len( + rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats." else: rinsing_solvents = [rinsing_solvent] * rinsing_repeats - + for rinsing_solvent in rinsing_solvents: solvent_vessel = f"flask_{rinsing_solvent}" - - # 检查溶剂容器是否存在 - if solvent_vessel not in G.nodes: - print(f"Warning: Solvent vessel '{solvent_vessel}' not found in graph. Skipping rinsing step.") - continue - - # 清洗泵 - 只有当所有必需的节点都存在且pump_backbone不为空时才执行 - if pump_backbone and len(pump_backbone) > 0 and waste_vessel in G.nodes: + # 清洗泵 + pump_action_sequence.extend( + generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, + transfer_flowrate) + + generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, + transfer_flowrate) + + generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, + transfer_flowrate) + ) + # 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。 + if rinsing_solvent == rinsing_solvents[0]: pump_action_sequence.extend( - generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) + - generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) + - generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate) - ) - - # 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。 - if rinsing_solvent == rinsing_solvents[0]: - pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate)) - pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate)) - - pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate)) - pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate)) - - # 最后的空气清洗 - 只有当节点存在时才执行 - if air_vessel in G.nodes: - pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2) - pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2) - + generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate)) + pump_action_sequence.extend( + generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate)) + pump_action_sequence.extend( + generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate)) + pump_action_sequence.extend( + generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate)) + if rinsing_solvent != "": + pump_action_sequence.extend( + generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2) + pump_action_sequence.extend( + generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2) + return pump_action_sequence # End Protocols diff --git a/unilabos/registry/device_comms/modbus_ioboard.yaml b/unilabos/registry/device_comms/modbus_ioboard.yaml index b1d04ee..fcea4d7 100644 --- a/unilabos/registry/device_comms/modbus_ioboard.yaml +++ b/unilabos/registry/device_comms/modbus_ioboard.yaml @@ -1,7 +1,7 @@ io_snrd: description: IO Board with 16 IOs class: - module: unilabos.device_comms.SRND_16_IO:SRND_16_IO + module: ilabos.device_comms.SRND_16_IO:SRND_16_IO type: python hardware_interface: name: modbus_client diff --git a/unilabos/registry/devices/pump_and_valve.yaml b/unilabos/registry/devices/pump_and_valve.yaml index fd5dd98..120ff45 100644 --- a/unilabos/registry/devices/pump_and_valve.yaml +++ b/unilabos/registry/devices/pump_and_valve.yaml @@ -71,3 +71,13 @@ solenoid_valve: class: module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve type: python + status_types: + status: String + valve_position: String + action_value_mappings: + set_valve_position: + type: StrSingleInput + goal: + string: position + feedback: {} + result: {} \ No newline at end of file diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index eafdd71..5b93b72 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -601,10 +601,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): goal = goal_handle.request # 从目标消息中提取参数, 并调用对应的方法 - if "sequence" in self._action_value_mappings: + if "sequence" in action_value_mapping: # 如果一个指令对应函数的连续调用，如启动和等待结果，默认参数应该属于第一个函数调用 def ACTION(**kwargs): - for i, action in enumerate(self._action_value_mappings["sequence"]): + for i, action in enumerate(action_value_mapping["sequence"]): if i == 0: self.lab_logger().info(f"执行序列动作第一步: {action}") self.get_real_function(self.driver_instance, action)[0](**kwargs) @@ -612,9 +612,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().info(f"执行序列动作后续步骤: {action}") self.get_real_function(self.driver_instance, action)[0]() - action_paramtypes = get_type_hints( - self.get_real_function(self.driver_instance, self._action_value_mappings["sequence"][0]) - )[1] + action_paramtypes = self.get_real_function(self.driver_instance, action_value_mapping["sequence"][0])[1] else: ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name) diff --git a/unilabos/ros/nodes/presets/protocol_node.py b/unilabos/ros/nodes/presets/protocol_node.py index 23e08d0..7b10e01 100644 --- a/unilabos/ros/nodes/presets/protocol_node.py +++ b/unilabos/ros/nodes/presets/protocol_node.py @@ -256,12 +256,12 @@ class ROS2ProtocolNode(BaseROS2DeviceNode): return write_func(*args, **kwargs) if read_method: - bound_read = MethodType(_read, device.driver_instance) - setattr(device.driver_instance, read_method, bound_read) + # 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, bound_write) + # bound_write = MethodType(_write, device.driver_instance) + setattr(device.driver_instance, write_method, _write) async def _update_resources(self, goal, protocol_kwargs):