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adapt to new samples sys

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Xuwznln
2026-02-05 00:18:19 +08:00
parent 337789e270
commit 1d181743ea
4 changed files with 51 additions and 49 deletions
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1
unilabos/app/web/controller.py
View File

@@ -327,6 +327,7 @@ def job_add(req: JobAddReq) -> JobData:
queue_item,
action_type=action_type,
action_kwargs=action_args,
sample_material=req.sample_material,
server_info=server_info,
)

4
unilabos/app/ws_client.py
View File

@@ -545,7 +545,7 @@ class MessageProcessor:
try:
message_str = json.dumps(msg, ensure_ascii=False)
await self.websocket.send(message_str)
logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
# logger.trace(f"[MessageProcessor] Message sent: {msg.get('action', 'unknown')}") # type: ignore # noqa: E501
except Exception as e:
logger.error(f"[MessageProcessor] Failed to send message: {str(e)}")
logger.error(traceback.format_exc())
@@ -1302,7 +1302,7 @@ class WebSocketClient(BaseCommunicationClient):
},
}
self.message_processor.send_message(message)
logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
def publish_job_status(
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None

37
unilabos/ros/nodes/base_device_node.py
View File

@@ -231,14 +231,15 @@ class PropertyPublisher:
def publish_property(self):
try:
self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
# self.node.lab_logger().trace(f"【.publish_property】开始发布属性: {self.name}")
value = self.get_property()
if self.print_publish:
self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
pass
# self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
if value is not None:
msg = convert_to_ros_msg(self.msg_type, value)
self.publisher_.publish(msg)
self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
# self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
except Exception as e:
self.node.lab_logger().error(
f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
@@ -1594,7 +1595,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
function_name = target["function_name"]
function_args = target["function_args"]
# 获取 unilabos 系统参数
unilabos_param: Dict[str, Any] = target.get(JSON_UNILABOS_PARAM, {})
unilabos_param: Dict[str, Any] = target[JSON_UNILABOS_PARAM]
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
function = getattr(self.driver_instance, function_name)
@@ -1612,9 +1613,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if arg_name not in function_args:
# 处理 sample_uuids 参数注入
if arg_name == PARAM_SAMPLE_UUIDS:
function_args[PARAM_SAMPLE_UUIDS] = unilabos_param.get(PARAM_SAMPLE_UUIDS, [])
raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
# 将 material uuid 转换为 resource 实例
# key: sample_uuid, value: material_uuid -> resource 实例
resolved_sample_uuids: Dict[str, Any] = {}
for sample_uuid, material_uuid in raw_sample_uuids.items():
if material_uuid and self.resource_tracker:
resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
else:
resolved_sample_uuids[sample_uuid] = material_uuid
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
self.lab_logger().debug(
f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {function_args[PARAM_SAMPLE_UUIDS]}"
f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
)
continue
@@ -1754,9 +1765,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if arg_name not in function_args:
# 处理 sample_uuids 参数注入
if arg_name == PARAM_SAMPLE_UUIDS:
function_args[PARAM_SAMPLE_UUIDS] = unilabos_param.get(PARAM_SAMPLE_UUIDS, [])
raw_sample_uuids = unilabos_param.get(PARAM_SAMPLE_UUIDS, {})
# 将 material uuid 转换为 resource 实例
# key: sample_uuid, value: material_uuid -> resource 实例
resolved_sample_uuids: Dict[str, Any] = {}
for sample_uuid, material_uuid in raw_sample_uuids.items():
if material_uuid and self.resource_tracker:
resource = self.resource_tracker.uuid_to_resources.get(material_uuid)
resolved_sample_uuids[sample_uuid] = resource if resource else material_uuid
else:
resolved_sample_uuids[sample_uuid] = material_uuid
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
self.lab_logger().debug(
f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {function_args[PARAM_SAMPLE_UUIDS]}"
f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
)
continue

58
unilabos/ros/nodes/presets/host_node.py
View File

@@ -1,17 +1,17 @@
import collections
from dataclasses import dataclass, field
import json
import threading
import time
import traceback
import uuid
from dataclasses import dataclass, field
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
from typing_extensions import TypedDict
from action_msgs.msg import GoalStatus
from geometry_msgs.msg import Point
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
from rclpy.service import Service
from typing_extensions import TypedDict
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import (
ResourceAdd,
@@ -23,10 +23,20 @@ from unilabos_msgs.srv import (
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unique_identifier_msgs.msg import UUID
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
from unilabos.registry.registry import lab_registry
from unilabos.resources.container import RegularContainer
from unilabos.resources.graphio import initialize_resource
from unilabos.resources.registry import add_schema
from unilabos.resources.resource_tracker import (
ResourceDict,
ResourceDictInstance,
ResourceTreeSet,
ResourceTreeInstance,
RETURN_UNILABOS_SAMPLES,
JSON_UNILABOS_PARAM,
PARAM_SAMPLE_UUIDS,
)
from unilabos.ros.initialize_device import initialize_device_from_dict
from unilabos.ros.msgs.message_converter import (
get_msg_type,
@@ -37,20 +47,10 @@ from unilabos.ros.msgs.message_converter import (
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
from unilabos.ros.nodes.presets.controller_node import ControllerNode
from unilabos.resources.resource_tracker import (
ResourceDict,
ResourceDictInstance,
ResourceTreeSet,
ResourceTreeInstance,
EXTRA_SAMPLE_UUID,
EXTRA_UNILABOS_SAMPLE_UUID,
RETURN_UNILABOS_SAMPLES,
)
from unilabos.utils import logger
from unilabos.utils.exception import DeviceClassInvalid
from unilabos.utils.log import warning
from unilabos.utils.type_check import serialize_result_info
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
if TYPE_CHECKING:
from unilabos.app.ws_client import QueueItem
@@ -776,14 +776,14 @@ class HostNode(BaseROS2DeviceNode):
if action_name.startswith("auto-"):
action_name = action_name[5:]
action_id = f"/devices/{device_id}/_execute_driver_command"
action_kwargs = {
"string": json.dumps(
{
"function_name": action_name,
"function_args": action_kwargs,
}
)
json_command: Dict[str, Any] = {
"function_name": action_name,
"function_args": action_kwargs,
JSON_UNILABOS_PARAM: {
PARAM_SAMPLE_UUIDS: sample_material,
},
}
action_kwargs = {"string": json.dumps(json_command)}
if action_type.startswith("UniLabJsonCommandAsync"):
action_id = f"/devices/{device_id}/_execute_driver_command_async"
else:
@@ -794,26 +794,6 @@ class HostNode(BaseROS2DeviceNode):
raise ValueError(f"ActionClient {action_id} not found.")
action_client: ActionClient = self._action_clients[action_id]
# 遍历action_kwargs下的所有子dict，将sample_uuid的值赋给sample_id
def assign_sample_id(obj):
if isinstance(obj, dict):
# 处理 EXTRA_SAMPLE_UUID ("sample_uuid")
if EXTRA_SAMPLE_UUID in obj:
obj["sample_id"] = obj[EXTRA_SAMPLE_UUID]
obj.pop(EXTRA_SAMPLE_UUID)
# 处理 EXTRA_UNILABOS_SAMPLE_UUID ("unilabos_sample_uuid")
if EXTRA_UNILABOS_SAMPLE_UUID in obj:
obj["sample_id"] = obj[EXTRA_UNILABOS_SAMPLE_UUID]
obj.pop(EXTRA_UNILABOS_SAMPLE_UUID)
for k, v in obj.items():
if k != "unilabos_extra":
assign_sample_id(v)
elif isinstance(obj, list):
for item in obj:
assign_sample_id(item)
assign_sample_id(action_kwargs)
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
# self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")