feat: workstation example

unilabos/ros/nodes/presets/workstation.py

@@ -1,86 +1,618 @@
-import collections
-from typing import Union, Dict, Any, Optional
+import json
+import time
+import traceback
+from pprint import pformat
+from typing import List, Dict, Any, Optional, TYPE_CHECKING
 
-from unilabos_msgs.msg import Resource
-from pylabrobot.resources import Resource as PLRResource, Plate, TipRack, Coordinate
-from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
-from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
+import rclpy
+from rosidl_runtime_py import message_to_ordereddict
+
+from unilabos.messages import *  # type: ignore  # protocol names
+from rclpy.action import ActionServer, ActionClient
+from rclpy.action.server import ServerGoalHandle
+from rclpy.callback_groups import ReentrantCallbackGroup
+from unilabos_msgs.msg import Resource  # type: ignore
+from unilabos_msgs.srv import ResourceGet, ResourceUpdate  # type: ignore
+
+from unilabos.compile import action_protocol_generators
+from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
+from unilabos.ros.initialize_device import initialize_device_from_dict
+from unilabos.ros.msgs.message_converter import (
+    get_action_type,
+    convert_to_ros_msg,
+    convert_from_ros_msg,
+    convert_from_ros_msg_with_mapping,
+)
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
+from unilabos.utils.type_check import serialize_result_info
+
+if TYPE_CHECKING:
+    from unilabos.devices.workstation.workstation_base import WorkstationBase
 
 
-class WorkStationContainer(Plate, TipRack):
+class ROS2WorkstationNode(BaseROS2DeviceNode):
     """
-    WorkStation 专用 Container 类，继承自 Plate和TipRack
-    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
+    ROS2WorkstationNode代表管理ROS2环境中设备通信和动作的协议节点。
+    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。
+    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。
     """
 
-    def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, ordering: collections.OrderedDict, model: Optional[str] = None,):
-        """
-        这里的初始化入参要和plr的保持一致
-        """
-        super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
-        self._unilabos_state = {}  # 必须有此行，自己的类描述的是物料的
+    driver_instance: "WorkstationBase"
 
-    def load_state(self, state: Dict[str, Any]) -> None:
-        """从给定的状态加载工作台信息。"""
-        super().load_state(state)
-        self._unilabos_state = state
-
-    def serialize_state(self) -> Dict[str, Dict[str, Any]]:
-        data = super().serialize_state()
-        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）
-        return data
-
-
-def get_workstation_plate_resource(name: str) -> PLRResource:  # 要给定一个返回plr的方法
-    """
-    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
-    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
-    :param name: 资源名称
-    :return: Resource对象
-    """
-    plate = WorkStationContainer(name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict())
-    tip_rack = WorkStationContainer("tip_rack_inside_plate", size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict())
-    plate.assign_child_resource(tip_rack, Coordinate.zero())
-    return plate
-
-
-class WorkStationExample(ROS2WorkstationNode):
-    def __init__(self,
-                 # 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
-                 device_id: str,
-                 children: dict,
-                 protocol_type: Union[str, list[str]],
-                 resource_tracker: DeviceNodeResourceTracker
-                 ):
-        super().__init__(device_id, children, protocol_type, resource_tracker)
-
-    def create_resource(
+    def __init__(
         self,
-        resource_tracker: DeviceNodeResourceTracker,
-        resources: list[Resource],
-        bind_parent_id: str,
-        bind_location: dict[str, float],
-        liquid_input_slot: list[int],
-        liquid_type: list[str],
-        liquid_volume: list[int],
-        slot_on_deck: int,
-    ) -> Dict[str, Any]:
-        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
+        protocol_type: List[str],
+        children: Dict[str, Any],
+        *,
+        driver_instance: "WorkstationBase",
+        device_id: str,
+        status_types: Dict[str, Any],
+        action_value_mappings: Dict[str, Any],
+        hardware_interface: Dict[str, Any],
+        print_publish=True,
+        resource_tracker: Optional["DeviceNodeResourceTracker"] = None,
+    ):
+        self._setup_protocol_names(protocol_type)
 
-        }
+        # 初始化非BaseROSNode的属性
+        self.children = children
+        # 初始化基类，让基类处理常规动作
+        super().__init__(
+            driver_instance=driver_instance,
+            device_id=device_id,
+            status_types=status_types,
+            action_value_mappings={
+                **action_value_mappings,
+                **self.protocol_action_mappings
+            },
+            hardware_interface=hardware_interface,
+            print_publish=print_publish,
+            resource_tracker=resource_tracker,
+        )
 
-    def transfer_bottle(self, tip_rack: PLRResource, base_plate: PLRResource):  # 使用自定义物料的举例
+        self.workstation_config = children
+        self.communication_interfaces = self.workstation_config.get(
+            "communication_interfaces", {}
+        )  # 从工作站配置获取通信接口
+
+        # 新增：获取工作站实例（如果存在）
+        self.workstation_instance = driver_instance
+
+        self._busy = False
+        self.sub_devices = {}
+        self.communication_devices = {}
+        self.logical_devices = {}
+        self._goals = {}
+        self._protocol_servers = {}
+        self._action_clients = {}
+        # 初始化子设备
+        self._initialize_child_devices()
+
+        if isinstance(getattr(driver_instance, "hardware_interface", None), str):
+            self.logical_devices[device_id] = driver_instance
+        else:
+            self.communication_devices[device_id] = driver_instance
+
+        # 设置硬件接口代理
+        for device_id, device_node in self.logical_devices.items():
+            if device_node and hasattr(device_node, "ros_node_instance"):
+                self._setup_device_hardware_proxy(device_id, device_node)
+
+        # 新增：如果有工作站实例，建立双向引用和硬件接口设置
+        if self.workstation_instance:
+            self._setup_workstation_integration()
+
+    def _setup_workstation_integration(self):
+        """设置工作站集成 - 统一设备处理模式"""
+        # 1. 建立协议节点引用
+        self.workstation_instance.set_workstation_node(self)
+
+        self.lab_logger().info(
+            f"ROS2WorkstationNode {self.device_id} 与工作站实例 {type(self.workstation_instance).__name__} 集成完成"
+        )
+
+    def _initialize_child_devices(self):
+        """初始化子设备 - 重构为更清晰的方法"""
+        # 设备分类字典 - 统一管理
+
+        for device_id, device_config in self.children.items():
+            if device_config.get("type", "device") != "device":
+                self.lab_logger().debug(
+                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
+                )
+                continue
+
+            try:
+                d = self.initialize_device(device_id, device_config)
+                if d is None:
+                    continue
+
+                # 统一的设备分类逻辑
+                device_type = device_config.get("device_type", "logical")
+
+                # 兼容旧的ID匹配方式和新的配置方式
+                if device_type == "communication" or "serial_" in device_id or "io_" in device_id:
+                    self.communication_devices[device_id] = d  # 新的统一方式
+                    self.lab_logger().info(f"通信设备 {device_id} 初始化并分类成功")
+                elif device_type == "logical":
+                    self.logical_devices[device_id] = d
+                    self.lab_logger().info(f"逻辑设备 {device_id} 初始化并分类成功")
+                else:
+                    # 默认作为逻辑设备处理
+                    self.logical_devices[device_id] = d
+                    self.lab_logger().info(f"设备 {device_id} 作为逻辑设备处理")
+
+            except Exception as ex:
+                self.lab_logger().error(
+                    f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}"
+                )
+
+    def _setup_device_hardware_proxy(self, device_id: str, device: ROS2DeviceNode):
+        """统一的设备硬件接口代理设置方法
+
+        Args:
+            device_id: 设备ID
+            device: 设备实例
         """
-        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
-        """
-        pass
+        hardware_interface = device.ros_node_instance._hardware_interface
+        if not self._validate_hardware_interface(device, hardware_interface):
+            return
 
-    def trigger_resource_update(self, from_plate: PLRResource, to_base_plate: PLRResource):
-        """
-        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
-        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）
+        # 获取硬件接口名称
+        interface_name = getattr(device.driver_instance, hardware_interface["name"])
 
-        """
-        to_base_plate.assign_child_resource(from_plate, Coordinate.zero())
-        pass
+        # 情况1: 如果interface_name是字符串，说明需要转发到其他设备
+        if isinstance(interface_name, str):
+            # 查找目标设备
+            communication_device = self.communication_devices.get(device_id, None)
+            if not communication_device:
+                self.lab_logger().error(f"转发目标设备 {device_id} 不存在")
+                return
 
+            read_method = hardware_interface.get("read", None)
+            write_method = hardware_interface.get("write", None)
+
+            # 设置传统硬件代理
+            communicate_hardware_info = communication_device.ros_node_instance._hardware_interface
+            self._setup_hardware_proxy(device, communication_device, read_method, write_method)
+            self.lab_logger().info(
+                f"传统通信代理：为子设备{device.device_id} "
+                f"添加了{read_method}方法(来源：{communication_device.device_id} {communicate_hardware_info['read']}) "
+                f"添加了{write_method}方法(来源：{communication_device.device_id} {communicate_hardware_info['write']})"
+            )
+            self.lab_logger().info(f"字符串转发代理：设备 {device.device_id} -> {device_id}")
+
+        # 情况2: 如果设备有communication_interface配置，设置协议代理
+        elif hasattr(self, "communication_interfaces") and device_id in self.communication_interfaces:
+            interface_config = self._get_communication_interface_config(device_id)
+            protocol_type = interface_config.get("protocol_type", "modbus")
+            self._setup_communication_proxy(device, interface_config, protocol_type)
+
+        # 情况3: 其他情况，使用默认处理
+        else:
+            self.lab_logger().debug(f"设备 {device_id} 使用默认硬件接口处理")
+
+    def _get_communication_interface_config(self, device_id: str) -> dict:
+        """获取设备的通信接口配置"""
+        # 优先从工作站配置获取
+        if hasattr(self, "communication_interfaces") and device_id in self.communication_interfaces:
+            return self.communication_interfaces[device_id]
+
+        # 从设备自身配置获取
+        device_node = self.logical_devices[device_id]
+        if device_node and hasattr(device_node.driver_instance, "communication_interface"):
+            return getattr(device_node.driver_instance, "communication_interface")
+
+        return {}
+
+    def _validate_hardware_interface(self, device: ROS2DeviceNode, hardware_interface: dict) -> bool:
+        """验证硬件接口配置"""
+        return (
+            hasattr(device.driver_instance, hardware_interface["name"])
+            and hasattr(device.driver_instance, hardware_interface["write"])
+            and (hardware_interface["read"] is None or hasattr(device.driver_instance, hardware_interface["read"]))
+        )
+
+    def _setup_communication_proxy(self, logical_device: ROS2DeviceNode, interface_config, protocol_type):
+        """为逻辑设备设置通信代理 - 统一方法"""
+        try:
+            # 获取通信设备
+            comm_device_id = interface_config.get("device_id")
+            comm_device = self.communication_devices.get(comm_device_id)
+
+            if not comm_device:
+                self.lab_logger().error(f"通信设备 {comm_device_id} 不存在")
+                return
+            # FIXME http、modbus(tcpip)都是支持多客户端的
+            # 根据协议类型设置不同的代理方法
+            if protocol_type == "modbus":
+                self._setup_modbus_proxy(logical_device, comm_device, interface_config)
+            elif protocol_type == "opcua":
+                self._setup_opcua_proxy(logical_device, comm_device, interface_config)
+            elif protocol_type == "http":
+                self._setup_http_proxy(logical_device, comm_device, interface_config)
+            elif protocol_type == "serial":
+                self._setup_serial_proxy(logical_device, comm_device, interface_config)
+            else:
+                self.lab_logger().warning(f"不支持的协议类型: {protocol_type}")
+                return
+
+            self.lab_logger().info(
+                f"通信代理：为逻辑设备 {logical_device.device_id} 设置{protocol_type}通信代理 -> {comm_device_id}"
+            )
+
+        except Exception as e:
+            self.lab_logger().error(f"设置通信代理失败: {e}")
+
+    def _setup_protocol_names(self, protocol_type):
+        # 处理协议类型
+        if isinstance(protocol_type, str):
+            if "," not in protocol_type:
+                self.protocol_names = [protocol_type]
+            else:
+                self.protocol_names = [protocol.strip() for protocol in protocol_type.split(",")]
+        else:
+            self.protocol_names = protocol_type
+        # 准备协议相关的动作值映射
+        self.protocol_action_mappings = {}
+        for protocol_name in self.protocol_names:
+            protocol_type = globals()[protocol_name]
+            self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
+
+    def initialize_device(self, device_id, device_config):
+        """初始化设备并创建相应的动作客户端"""
+        # device_id_abs = f"{self.device_id}/{device_id}"
+        device_id_abs = f"{device_id}"
+        self.lab_logger().info(f"初始化子设备: {device_id_abs}")
+        d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)
+
+        # 为子设备的每个动作创建动作客户端
+        if d is not None and hasattr(d, "ros_node_instance"):
+            node = d.ros_node_instance
+            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"
+                ):
+                    continue
+                action_id = f"/devices/{device_id_abs}/{action_name}"
+                if action_id not in self._action_clients:
+                    try:
+                        self._action_clients[action_id] = ActionClient(
+                            self, action_mapping["type"], action_id, callback_group=self.callback_group
+                        )
+                    except Exception as ex:
+                        self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
+                        continue
+                    self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
+        return d
+
+    def create_ros_action_server(self, action_name, action_value_mapping):
+        """创建ROS动作服务器"""
+        # 和Base创建的路径是一致的
+        protocol_name = action_name
+        action_type = action_value_mapping["type"]
+        str_action_type = str(action_type)[8:-2]
+        protocol_type = globals()[protocol_name]
+        protocol_steps_generator = action_protocol_generators[protocol_type]
+
+        self._action_servers[action_name] = ActionServer(
+            self,
+            action_type,
+            action_name,
+            execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
+            callback_group=ReentrantCallbackGroup(),
+        )
+
+        self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
+
+    def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
+        async def execute_protocol(goal_handle: ServerGoalHandle):
+            """执行完整的工作流"""
+            # 初始化结果信息变量
+            execution_error = ""
+            execution_success = False
+            protocol_return_value = None
+            self.get_logger().info(f"Executing {protocol_name} action...")
+            action_value_mapping = self._action_value_mappings[protocol_name]
+            step_results = []
+            try:
+                print("+" * 30)
+                print(protocol_steps_generator)
+                # 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')}")
+
+                # # 🔧 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")
+                # 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]
+                        )
+
+                self.lab_logger().info(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}")
+                protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
+                logs = []
+                for step in protocol_steps:
+                    if isinstance(step, dict) and "log_message" in step.get("action_kwargs", {}):
+                        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)}"
+                )
+
+                time_start = time.time()
+                time_overall = 100
+                self._busy = True
+
+                # 逐步执行工作流
+                for i, action in enumerate(protocol_steps):
+                    # self.get_logger().info(f"Running step {i + 1}: {action}")
+                    if isinstance(action, dict):
+                        # 如果是单个动作，直接执行
+                        if action["action_name"] == "wait":
+                            time.sleep(action["action_kwargs"]["time"])
+                            step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
+                        else:
+                            result = await self.execute_single_action(**action)
+                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
+                            ret_info = json.loads(getattr(result, "return_info", "{}"))
+                            if not ret_info.get("suc", False):
+                                raise RuntimeError(f"Step {i + 1} failed.")
+                    elif isinstance(action, list):
+                        # 如果是并行动作，同时执行
+                        actions = action
+                        futures = [
+                            rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
+                        ]
+                        results = [await f for f in futures]
+                        step_results.append(
+                            {
+                                "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>"]:
+                        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_modbus_proxy(self, logical_device: ROS2DeviceNode, comm_device: ROS2DeviceNode, interface_config):
+        """设置Modbus通信代理"""
+        config = interface_config.get("config", {})
+
+        # 设置Modbus读写方法
+        def modbus_read(address, count=1, function_code=3):
+            """Modbus读取方法"""
+            return comm_device.driver_instance.read_holding_registers(
+                address=address, count=count, slave_id=config.get("slave_id", 1)
+            )
+
+        def modbus_write(address, value, function_code=6):
+            """Modbus写入方法"""
+            if isinstance(value, (list, tuple)):
+                return comm_device.driver_instance.write_multiple_registers(
+                    address=address, values=value, slave_id=config.get("slave_id", 1)
+                )
+            else:
+                return comm_device.driver_instance.write_single_register(
+                    address=address, value=value, slave_id=config.get("slave_id", 1)
+                )
+
+        # 绑定方法到逻辑设备
+        setattr(logical_device.driver_instance, "comm_read", modbus_read)
+        setattr(logical_device.driver_instance, "comm_write", modbus_write)
+        setattr(logical_device.driver_instance, "comm_config", config)
+        setattr(logical_device.driver_instance, "comm_protocol", "modbus")
+
+    def _setup_opcua_proxy(self, logical_device: ROS2DeviceNode, comm_device: ROS2DeviceNode, interface_config):
+        """设置OPC UA通信代理"""
+        config = interface_config.get("config", {})
+
+        def opcua_read(node_id):
+            """OPC UA读取方法"""
+            return comm_device.driver_instance.read_node_value(node_id)
+
+        def opcua_write(node_id, value):
+            """OPC UA写入方法"""
+            return comm_device.driver_instance.write_node_value(node_id, value)
+
+        # 绑定方法到逻辑设备
+        setattr(logical_device.driver_instance, "comm_read", opcua_read)
+        setattr(logical_device.driver_instance, "comm_write", opcua_write)
+        setattr(logical_device.driver_instance, "comm_config", config)
+        setattr(logical_device.driver_instance, "comm_protocol", "opcua")
+
+    def _setup_http_proxy(self, logical_device: ROS2DeviceNode, comm_device: ROS2DeviceNode, interface_config):
+        """设置HTTP/RPC通信代理"""
+        config = interface_config.get("config", {})
+        base_url = config.get("base_url", "http://localhost:8080")
+
+        def http_read(endpoint, params=None):
+            """HTTP GET请求"""
+            url = f"{base_url.rstrip('/')}/{endpoint.lstrip('/')}"
+            return comm_device.driver_instance.get_request(url, params=params)
+
+        def http_write(endpoint, data):
+            """HTTP POST请求"""
+            url = f"{base_url.rstrip('/')}/{endpoint.lstrip('/')}"
+            return comm_device.driver_instance.post_request(url, data=data)
+
+        # 绑定方法到逻辑设备
+        setattr(logical_device.driver_instance, "comm_read", http_read)
+        setattr(logical_device.driver_instance, "comm_write", http_write)
+        setattr(logical_device.driver_instance, "comm_config", config)
+        setattr(logical_device.driver_instance, "comm_protocol", "http")
+
+    def _setup_serial_proxy(self, logical_device: ROS2DeviceNode, comm_device: ROS2DeviceNode, interface_config):
+        """设置串口通信代理"""
+        config = interface_config.get("config", {})
+
+        def serial_read(timeout=1.0):
+            """串口读取方法"""
+            return comm_device.driver_instance.read_data(timeout=timeout)
+
+        def serial_write(data):
+            """串口写入方法"""
+            if isinstance(data, str):
+                data = data.encode("utf-8")
+            return comm_device.driver_instance.write_data(data)
+
+        # 绑定方法到逻辑设备
+        setattr(logical_device.driver_instance, "comm_read", serial_read)
+        setattr(logical_device.driver_instance, "comm_write", serial_write)
+        setattr(logical_device.driver_instance, "comm_config", config)
+        setattr(logical_device.driver_instance, "comm_protocol", "serial")
+
+    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}")