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adapt to new samples sys

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Xuwznln
2026-02-04 18:49:08 +08:00
parent 84a8223173
commit 26271bcab8
6 changed files with 202 additions and 88 deletions
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199
unilabos/ros/nodes/base_device_node.py
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@@ -4,8 +4,20 @@ import json
import threading
import time
import traceback
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
Tuple
from typing import (
get_type_hints,
TypeVar,
Generic,
Dict,
Any,
Type,
TypedDict,
Optional,
List,
TYPE_CHECKING,
Union,
Tuple,
)
from concurrent.futures import ThreadPoolExecutor
import asyncio
@@ -48,6 +60,9 @@ from unilabos.resources.resource_tracker import (
ResourceTreeSet,
ResourceTreeInstance,
ResourceDictInstance,
EXTRA_SAMPLE_UUID,
PARAM_SAMPLE_UUIDS,
JSON_UNILABOS_PARAM,
)
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
from rclpy.task import Task, Future
@@ -361,6 +376,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
from pylabrobot.resources.deck import Deck
from pylabrobot.resources import Coordinate
from pylabrobot.resources import Plate
# 物料传输到对应的node节点
client = self._resource_clients["c2s_update_resource_tree"]
request = SerialCommand.Request()
@@ -388,9 +404,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
parent_resource = None
if bind_parent_id != self.node_name:
parent_resource = self.resource_tracker.figure_resource(
{"name": bind_parent_id}
)
parent_resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
for r in rts.root_nodes:
# noinspection PyUnresolvedReferences
r.res_content.parent_uuid = parent_resource.unilabos_uuid
@@ -398,19 +412,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for r in rts.root_nodes:
r.res_content.parent_uuid = self.uuid
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
if (
len(LIQUID_INPUT_SLOT)
and LIQUID_INPUT_SLOT[0] == -1
and len(rts.root_nodes) == 1
and isinstance(rts.root_nodes[0], RegularContainer)
):
# noinspection PyTypeChecker
container_instance: RegularContainer = rts.root_nodes[0]
found_resources = self.resource_tracker.figure_resource(
{"id": container_instance.name}, try_mode=True
)
found_resources = self.resource_tracker.figure_resource({"id": container_instance.name}, try_mode=True)
if not len(found_resources):
self.resource_tracker.add_resource(container_instance)
logger.info(f"添加物料{container_instance.name}到资源跟踪器")
else:
assert (
len(found_resources) == 1
), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
assert len(found_resources) == 1, f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
found_resource = found_resources[0]
if isinstance(found_resource, RegularContainer):
logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
@@ -422,14 +437,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
)
# noinspection PyUnresolvedReferences
request.command = json.dumps({
"action": "add",
"data": {
"data": rts.dump(),
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
"first_add": False,
},
})
request.command = json.dumps(
{
"action": "add",
"data": {
"data": rts.dump(),
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
"first_add": False,
},
}
)
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
plr_instances = rts.to_plr_resources()
@@ -471,7 +488,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个")
self.lab_logger().warning(
f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
)
for liquid_type, liquid_volume, liquid_input_slot in zip(
ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
):
@@ -490,9 +509,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
input_wells = []
for r in LIQUID_INPUT_SLOT:
input_wells.append(plr_instance.children[r])
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
input_wells
).dump()
res.response = json.dumps(final_response)
if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
if (
issubclass(parent_resource.__class__, Deck)
and hasattr(parent_resource, "assign_child_at_slot")
and "slot" in other_calling_param
):
other_calling_param["slot"] = int(other_calling_param["slot"])
parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
else:
@@ -507,14 +532,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
request.command = json.dumps({
"action": "add",
"data": {
"data": rts_with_parent.dump(),
"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
"first_add": False,
},
})
request.command = json.dumps(
{
"action": "add",
"data": {
"data": rts_with_parent.dump(),
"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
"first_add": False,
},
}
)
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
@@ -811,7 +838,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
}
def _handle_update(
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
plr_resources: List[Union[ResourcePLR, ResourceDictInstance]],
tree_set: ResourceTreeSet,
additional_add_params: Dict[str, Any],
) -> Tuple[Dict[str, Any], List[ResourcePLR]]:
"""
处理资源更新操作的内部函数
@@ -836,7 +865,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
original_parent_resource = original_instance.parent
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
not_same_parent = original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None
not_same_parent = (
original_parent_resource_uuid != target_parent_resource_uuid
and original_parent_resource is not None
)
old_name = original_instance.name
new_name = plr_resource.name
parent_appended = False
@@ -872,8 +904,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
else:
# 判断是否变更了resource_site，重新登记
target_site = original_instance.unilabos_extra.get("update_resource_site")
sites = original_instance.parent.sites if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else None
site_names = list(original_instance.parent._ordering.keys()) if original_instance.parent is not None and hasattr(original_instance.parent, "sites") else []
sites = (
original_instance.parent.sites
if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
else None
)
site_names = (
list(original_instance.parent._ordering.keys())
if original_instance.parent is not None and hasattr(original_instance.parent, "sites")
else []
)
if target_site is not None and sites is not None and site_names is not None:
site_index = sites.index(original_instance)
site_name = site_names[site_index]
@@ -910,9 +950,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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().trace(
f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}"
)
self.lab_logger().trace(f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}")
tree_set = None
if action in ["add", "update"]:
tree_set = await self.get_resource(
@@ -939,9 +977,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
tree.root_node.res_content.parent_uuid = self.uuid
r = SerialCommand.Request()
r.command = json.dumps(
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
{"data": {"data": new_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
"c2s_update_resource_tree"
].call_async(
r
) # type: ignore
self.lab_logger().info(f"确认资源云端 Add 结果: {response.response}")
results.append(result)
elif action == "update":
@@ -961,9 +1003,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
tree.root_node.res_content.parent_uuid = self.uuid
r = SerialCommand.Request()
r.command = json.dumps(
{"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致
{"data": {"data": new_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
"c2s_update_resource_tree"
].call_async(
r
) # type: ignore
self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}")
results.append(result)
elif action == "remove":
@@ -1333,7 +1379,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
resource_id=resource_data["id"], with_children=True
)
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
else:
uuid_indices.append((idx, unilabos_uuid, resource_data))
@@ -1346,7 +1392,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for i, (idx, _, resource_data) in enumerate(uuid_indices):
plr_resource = plr_resources[i]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
@@ -1354,7 +1400,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 通过资源跟踪器获取本地实例
final_resources = queried_resources if is_sequence else queried_resources[0]
if not is_sequence:
plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
plr = self.resource_tracker.figure_resource(
{"name": final_resources.name}, try_mode=False
)
# 保留unilabos_extra
if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
@@ -1393,8 +1441,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
execution_success = True
except Exception as _:
execution_error = traceback.format_exc()
error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
trace(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
error(
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
)
trace(
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
)
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
future.add_done_callback(_handle_future_exception)
@@ -1414,9 +1466,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
except Exception as _:
execution_error = traceback.format_exc()
error(
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}"
)
trace(
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
)
future.add_done_callback(_handle_future_exception)
@@ -1539,20 +1593,29 @@ class BaseROS2DeviceNode(Node, Generic[T]):
try:
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, {})
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)
assert callable(
function
), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
# 处理 ResourceSlot 类型参数
args_list = default_manager._analyze_method_signature(function)["args"]
# 处理参数（包含 unilabos 系统参数如 sample_uuids）
args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
for arg in args_list:
arg_name = arg["name"]
arg_type = arg["type"]
# 跳过不在 function_args 中的参数
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, [])
self.lab_logger().debug(
f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {function_args[PARAM_SAMPLE_UUIDS]}"
)
continue
# 处理单个 ResourceSlot
@@ -1581,6 +1644,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
)
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
# todo: 默认反报送
return function(**function_args)
except KeyError as ex:
@@ -1601,14 +1665,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
raise ValueError("至少需要提供一个 UUID")
uuids_list = list(uuids)
future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request(
command=json.dumps(
{
"data": {"data": uuids_list, "with_children": True},
"action": "get",
}
future = self._resource_clients["c2s_update_resource_tree"].call_async(
SerialCommand.Request(
command=json.dumps(
{
"data": {"data": uuids_list, "with_children": True},
"action": "get",
}
)
)
))
)
# 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
timeout = 30.0
@@ -1666,6 +1732,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
try:
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, {})
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)
assert callable(
@@ -1675,14 +1744,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
function
), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
# 处理 ResourceSlot 类型参数
args_list = default_manager._analyze_method_signature(function)["args"]
# 处理参数（包含 unilabos 系统参数如 sample_uuids）
args_list = default_manager._analyze_method_signature(function, skip_unilabos_params=False)["args"]
for arg in args_list:
arg_name = arg["name"]
arg_type = arg["type"]
# 跳过不在 function_args 中的参数
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, [])
self.lab_logger().debug(
f"[JsonCommandAsync] 注入 {PARAM_SAMPLE_UUIDS}: {function_args[PARAM_SAMPLE_UUIDS]}"
)
continue
# 处理单个 ResourceSlot
@@ -1960,7 +2035,9 @@ class ROS2DeviceNode:
asyncio.set_event_loop(loop)
loop.run_forever()
ROS2DeviceNode._asyncio_loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
ROS2DeviceNode._asyncio_loop_thread = threading.Thread(
target=run_event_loop, daemon=True, name="ROS2DeviceNode"
)
ROS2DeviceNode._asyncio_loop_thread.start()
logger.info(f"循环线程已启动")