From 269ce440d18ee8e54bee9c662ca37839a07baa46 Mon Sep 17 00:00:00 2001 From: zhangshixiang <554662886@qq.com> Date: Thu, 15 Jan 2026 17:40:25 +0800 Subject: [PATCH] Merge branch 'dev' into prcix9320 --- unilabos/app/ws_client.py | 6 +- .../devices/liquid_handling/prcxi/prcxi.py | 8 +- unilabos/registry/devices/liquid_handler.yaml | 8 +- unilabos/registry/registry.py | 35 +- unilabos/resources/container.py | 2 +- unilabos/resources/graphio.py | 6 +- unilabos/resources/resource_tracker.py | 62 +++- unilabos/ros/msgs/message_converter.py | 6 +- unilabos/ros/nodes/base_device_node.py | 319 +++++++++++------- unilabos/ros/nodes/presets/host_node.py | 32 +- 10 files changed, 312 insertions(+), 172 deletions(-) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 4c87d36..ea8c8e7 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -848,7 +848,7 @@ class MessageProcessor: device_action_groups[key_add].append(item["uuid"]) logger.info( - f"[MessageProcessor] Resource migrated: {item['uuid'][:8]} from {device_old_id} to {device_id}" + f"[资源同步] 跨站Transfer: {item['uuid'][:8]} from {device_old_id} to {device_id}" ) else: # 正常update @@ -863,11 +863,11 @@ class MessageProcessor: device_action_groups[key] = [] device_action_groups[key].append(item["uuid"]) - logger.info(f"触发物料更新 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}") + logger.trace(f"[资源同步] 动作 {action} 分组数量: {len(device_action_groups)}, 总数量: {len(resource_uuid_list)}") # 为每个(device_id, action)创建独立的更新线程 for (device_id, actual_action), items in device_action_groups.items(): - logger.info(f"设备 {device_id} 物料更新 {actual_action} 数量: {len(items)}") + logger.trace(f"[资源同步] {device_id} 物料动作 {actual_action} 数量: {len(items)}") def _notify_resource_tree(dev_id, act, item_list): try: diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index 855b205..d125458 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -1119,14 +1119,17 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.steps_todo_list.append(step) return step + async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs): resource=pickup.resource + offset=pickup.offset + pickup_distance_from_top=pickup.pickup_distance_from_top + direction=pickup.direction plate_number = int(resource.parent.name.replace("T", "")) is_whole_plate = True - balance_height = 20 - + balance_height = 0 step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height) self.steps_todo_list.append(step) @@ -1143,7 +1146,6 @@ class PRCXI9300Backend(LiquidHandlerBackend): balance_height = 0 if plate_number is None: raise ValueError("target_plate_number is required when dropping a resource") - step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height) self.steps_todo_list.append(step) return step diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index c611d21..85891ff 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -9284,7 +9284,13 @@ liquid_handler.prcxi: z: 0.0 sample_id: '' type: '' - handles: {} + handles: + input: + - data_key: wells + data_source: handle + data_type: resource + handler_key: input_wells + label: InputWells placeholder_keys: wells: unilabos_resources result: {} diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 20e0245..c78b3c1 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -124,17 +124,32 @@ class Registry: "output": [ { "handler_key": "labware", - "label": "Labware", "data_type": "resource", - "data_source": "handle", - "data_key": "liquid", - } + "label": "Labware", + "data_source": "executor", + "data_key": "created_resource_tree.@flatten", + }, + { + "handler_key": "liquid_slots", + "data_type": "resource", + "label": "LiquidSlots", + "data_source": "executor", + "data_key": "liquid_input_resource_tree.@flatten", + }, + { + "handler_key": "materials", + "data_type": "resource", + "label": "AllMaterials", + "data_source": "executor", + "data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten", + }, ] }, "placeholder_keys": { "res_id": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择 "device_id": "unilabos_devices", # 将当前实验室的全部设备id作为下拉框可选择 "parent": "unilabos_nodes", # 将当前实验室的设备/物料作为下拉框可选择 + "class_name": "unilabos_class", }, }, "test_latency": { @@ -186,7 +201,17 @@ class Registry: "resources": "unilabos_resources", }, "goal_default": {}, - "handles": {}, + "handles": { + "input": [ + { + "handler_key": "input_resources", + "data_type": "resource", + "label": "InputResources", + "data_source": "handle", + "data_key": "resources", # 不为空 + }, + ] + }, }, }, }, diff --git a/unilabos/resources/container.py b/unilabos/resources/container.py index f977244..fe19bac 100644 --- a/unilabos/resources/container.py +++ b/unilabos/resources/container.py @@ -27,7 +27,7 @@ class RegularContainer(Container): def get_regular_container(name="container"): r = RegularContainer(name=name) r.category = "container" - return RegularContainer(name=name) + return r # # class RegularContainer(object): diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index faf0482..252c8f4 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -1151,11 +1151,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni if resource_class_config["type"] == "pylabrobot": resource_plr = RESOURCE(name=resource_config["name"]) if resource_type != ResourcePLR: - tree_sets = ResourceTreeSet.from_plr_resources([resource_plr]) - # r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None)) - # # r = resource_plr_to_ulab(resource_plr=resource_plr) - # if resource_config.get("position") is not None: - # r["position"] = resource_config["position"] + tree_sets = ResourceTreeSet.from_plr_resources([resource_plr], known_newly_created=True) r = tree_sets.dump() else: r = resource_plr diff --git a/unilabos/resources/resource_tracker.py b/unilabos/resources/resource_tracker.py index 610ba3d..afd4c3b 100644 --- a/unilabos/resources/resource_tracker.py +++ b/unilabos/resources/resource_tracker.py @@ -1,7 +1,7 @@ import inspect import traceback import uuid -from pydantic import BaseModel, field_serializer, field_validator +from pydantic import BaseModel, field_serializer, field_validator, ValidationError from pydantic import Field from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union @@ -147,20 +147,24 @@ class ResourceDictInstance(object): if not content.get("extra"): # MagicCode content["extra"] = {} if "position" in content: - pose = content.get("pose",{}) - if "position" not in pose : + pose = content.get("pose", {}) + if "position" not in pose: if "position" in content["position"]: pose["position"] = content["position"]["position"] else: pose["position"] = {"x": 0, "y": 0, "z": 0} if "size" not in pose: pose["size"] = { - "width": content["config"].get("size_x", 0), - "height": content["config"].get("size_y", 0), - "depth": content["config"].get("size_z", 0) + "width": content["config"].get("size_x", 0), + "height": content["config"].get("size_y", 0), + "depth": content["config"].get("size_z", 0), } content["pose"] = pose - return ResourceDictInstance(ResourceDict.model_validate(content)) + try: + res_dict = ResourceDict.model_validate(content) + return ResourceDictInstance(res_dict) + except ValidationError as err: + raise err def get_plr_nested_dict(self) -> Dict[str, Any]: """获取资源实例的嵌套字典表示""" @@ -322,7 +326,7 @@ class ResourceTreeSet(object): ) @classmethod - def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet": + def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet": """ 从plr资源创建ResourceTreeSet """ @@ -339,6 +343,8 @@ class ResourceTreeSet(object): } if source in replace_info: return replace_info[source] + elif source is None: + return "" else: print("转换pylabrobot的时候，出现未知类型", source) return source @@ -349,7 +355,8 @@ class ResourceTreeSet(object): if not uid: uid = str(uuid.uuid4()) res.unilabos_uuid = uid - logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}") + if not known_newly_created: + logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}") # 获取unilabos_extra，默认为空字典 extra = getattr(res, "unilabos_extra", {}) @@ -448,7 +455,13 @@ class ResourceTreeSet(object): from pylabrobot.utils.object_parsing import find_subclass # 类型映射 - TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"} + TYPE_MAP = { + "plate": "Plate", + "well": "Well", + "deck": "Deck", + "container": "RegularContainer", + "tip_spot": "TipSpot", + } def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict): """一次遍历收集 name_to_uuid, all_states 和 name_to_extra""" @@ -918,6 +931,33 @@ class DeviceNodeResourceTracker(object): return self._traverse_and_process(resource, process) + def loop_find_with_uuid(self, resource, target_uuid: str): + """ + 递归遍历资源树，根据 uuid 查找并返回对应的资源 + + Args: + resource: 资源对象（可以是list、dict或实例） + target_uuid: 要查找的uuid + + Returns: + 找到的资源对象，未找到则返回None + """ + found_resource = None + + def process(res): + nonlocal found_resource + if found_resource is not None: + return 0 # 已找到，跳过后续处理 + current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid") + if current_uuid and current_uuid == target_uuid: + found_resource = res + logger.trace(f"找到资源UUID: {target_uuid}") + return 1 + return 0 + + self._traverse_and_process(resource, process) + return found_resource + def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int: """ 递归遍历资源树，根据 name 设置所有节点的 extra @@ -1103,7 +1143,7 @@ class DeviceNodeResourceTracker(object): for key in keys_to_remove: self.resource2parent_resource.pop(key, None) - logger.debug(f"成功移除资源: {resource}") + logger.trace(f"[ResourceTracker] 成功移除资源: {resource}") return True def clear_resource(self): diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py index e8570d3..632d5e1 100644 --- a/unilabos/ros/msgs/message_converter.py +++ b/unilabos/ros/msgs/message_converter.py @@ -159,10 +159,14 @@ _msg_converter: Dict[Type, Any] = { else Pose() ), config=json.dumps(x.get("config", {})), - data=json.dumps(x.get("data", {})), + data=json.dumps(obtain_data_with_uuid(x)), ), } +def obtain_data_with_uuid(x: dict): + data = x.get("data", {}) + data["unilabos_uuid"] = x.get("uuid", None) + return data def json_or_yaml_loads(data: str) -> Any: try: diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 89c4d39..c248882 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -392,9 +392,12 @@ class BaseROS2DeviceNode(Node, Generic[T]): 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 + for r in rts.root_nodes: + # noinspection PyUnresolvedReferences + r.res_content.parent_uuid = parent_resource.unilabos_uuid + else: + 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): # noinspection PyTypeChecker @@ -430,11 +433,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): }) 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) + plr_instances = rts.to_plr_resources() + for plr_instance in plr_instances: + self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps) + rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances) self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes") final_response = { - "created_resources": rts.dump(), - "liquid_input_resources": [], + "created_resource_tree": rts.dump(), + "liquid_input_resource_tree": [], } res.response = json.dumps(final_response) # 如果driver自己就有assign的方法，那就使用driver自己的assign方法 @@ -460,7 +466,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): return res try: if len(rts.root_nodes) == 1 and parent_resource is not None: - plr_instance = rts.to_plr_resources()[0] + plr_instance = plr_instances[0] if isinstance(plr_instance, Plate): empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1: @@ -485,7 +491,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): input_wells = [] for r in LIQUID_INPUT_SLOT: input_wells.append(plr_instance.children[r]) - final_response["liquid_input_resources"] = 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: other_calling_param["slot"] = int(other_calling_param["slot"]) @@ -653,61 +659,71 @@ class BaseROS2DeviceNode(Node, Generic[T]): def transfer_to_new_resource( self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any] - ): + ) -> Optional["ResourcePLR"]: parent_uuid = tree.root_node.res_content.parent_uuid - if parent_uuid: - parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid) - if parent_resource is None: + if not parent_uuid: + self.lab_logger().warning( + f"物料{plr_resource} parent未知，挂载到当前节点下，额外参数：{additional_add_params}" + ) + return None + if parent_uuid == self.uuid: + self.lab_logger().warning( + f"物料{plr_resource}请求挂载到{self.identifier}，额外参数：{additional_add_params}" + ) + return None + parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid) + if parent_resource is None: + self.lab_logger().warning( + 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: + # 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 = {} + extra = getattr(plr_resource, "unilabos_extra", {}) + if len(extra): + self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra)) + if "update_resource_site" in extra: + additional_add_params["site"] = extra["update_resource_site"] + site = additional_add_params.get("site", None) + spec = inspect.signature(parent_resource.assign_child_resource) + if "spot" in spec.parameters: + ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering") + if ordering_dict: + site = list(ordering_dict.keys()).index(site) + additional_params["spot"] = site + old_parent = plr_resource.parent + if old_parent is not None: + # plr并不支持同一个deck的加载和卸载 + self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载") + old_parent.unassign_child_resource(plr_resource) self.lab_logger().warning( - f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在" + f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}" ) - else: - try: - # 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 = {} - extra = getattr(plr_resource, "unilabos_extra", {}) - if len(extra): - self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra)) - if "update_resource_site" in extra: - additional_add_params["site"] = extra["update_resource_site"] - site = additional_add_params.get("site", None) - spec = inspect.signature(parent_resource.assign_child_resource) - if "spot" in spec.parameters: - ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering") - if ordering_dict: - site = list(ordering_dict.keys()).index(site) - additional_params["spot"] = site - old_parent = plr_resource.parent - if old_parent is not None: - # plr并不支持同一个deck的加载和卸载 - self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载") - old_parent.unassign_child_resource(plr_resource) - self.lab_logger().warning( - f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}" - ) - # ⭐ assign 之前，需要从 resources 列表中移除 - # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源 - # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children - resource_id = id(plr_resource) - for i, r in enumerate(self.resource_tracker.resources): - if id(r) == resource_id: - self.resource_tracker.resources.pop(i) - self.lab_logger().debug( - f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）" - ) - break + # ⭐ assign 之前，需要从 resources 列表中移除 + # 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源 + # 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children + resource_id = id(plr_resource) + for i, r in enumerate(self.resource_tracker.resources): + if id(r) == resource_id: + self.resource_tracker.resources.pop(i) + self.lab_logger().debug( + f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）" + ) + break - parent_resource.assign_child_resource(plr_resource, location=None, **additional_params) + parent_resource.assign_child_resource(plr_resource, location=None, **additional_params) - func = getattr(self.driver_instance, "resource_tree_transfer", None) - if callable(func): - # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了） - func(old_parent, plr_resource, parent_resource) - 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()}" - ) + func = getattr(self.driver_instance, "resource_tree_transfer", None) + if callable(func): + # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了） + func(old_parent, plr_resource, parent_resource) + return parent_resource + 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()}" + ) async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response): """ @@ -722,7 +738,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): def _handle_add( plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] - ) -> Dict[str, Any]: + ) -> Tuple[Dict[str, Any], List[ResourcePLR]]: """ 处理资源添加操作的内部函数 @@ -734,15 +750,20 @@ class BaseROS2DeviceNode(Node, Generic[T]): Returns: 操作结果字典 """ + parents = [] # 放的是被变更的物料 / 被变更的物料父级 for plr_resource, tree in zip(plr_resources, tree_set.trees): self.resource_tracker.add_resource(plr_resource) - self.transfer_to_new_resource(plr_resource, tree, additional_add_params) + parent = self.transfer_to_new_resource(plr_resource, tree, additional_add_params) + if parent is not None: + parents.append(parent) + else: + parents.append(plr_resource) func = getattr(self.driver_instance, "resource_tree_add", None) if callable(func): func(plr_resources) - return {"success": True, "action": "add"} + return {"success": True, "action": "add"}, parents def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]: """ @@ -777,11 +798,11 @@ class BaseROS2DeviceNode(Node, Generic[T]): if plr_resource.parent is not None: plr_resource.parent.unassign_child_resource(plr_resource) self.resource_tracker.remove_resource(plr_resource) - self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点") + self.lab_logger().info(f"[资源同步] 移除物料 {plr_resource} 及其子节点") for other_plr_resource in other_plr_resources: self.resource_tracker.remove_resource(other_plr_resource) - self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点") + self.lab_logger().info(f"[资源同步] 移除物料 {other_plr_resource} 及其子节点") return { "success": True, @@ -813,11 +834,16 @@ class BaseROS2DeviceNode(Node, Generic[T]): original_instance: ResourcePLR = self.resource_tracker.figure_resource( {"uuid": tree.root_node.res_content.uuid}, try_mode=False ) + 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 + old_name = original_instance.name + new_name = plr_resource.name + parent_appended = False - # Update操作中包含改名：需要先remove再add - if original_instance.name != plr_resource.name: - old_name = original_instance.name - new_name = plr_resource.name + # Update操作中包含改名：需要先remove再add，这里更新父节点即可 + if not not_same_parent and old_name != new_name: self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}") # 收集所有相关的uuid（包括子节点） @@ -826,12 +852,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): _handle_add([original_instance], tree_set, additional_add_params) self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}") + original_instances.append(original_parent_resource) + parent_appended = True # 常规更新：不涉及改名 - 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 - self.lab_logger().info( f"物料{original_instance} 原始父节点{original_parent_resource_uuid} " f"目标父节点{target_parent_resource_uuid} 更新" @@ -842,13 +866,12 @@ class BaseROS2DeviceNode(Node, Generic[T]): original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501 # 如果父节点变化，需要重新挂载 - if ( - original_parent_resource_uuid != target_parent_resource_uuid - and original_parent_resource is not None - ): - self.transfer_to_new_resource(original_instance, tree, additional_add_params) + if not_same_parent: + parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params) + original_instances.append(parent) + parent_appended = True else: - # 判断是否变更了resource_site + # 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 [] @@ -856,7 +879,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): site_index = sites.index(original_instance) site_name = site_names[site_index] if site_name != target_site: - self.transfer_to_new_resource(original_instance, tree, additional_add_params) + parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params) + if parent is not None: + original_instances.append(parent) + parent_appended = True # 加载状态 original_instance.load_all_state(states) @@ -864,7 +890,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().info( f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个" ) - original_instances.append(original_instance) + if not parent_appended: + original_instances.append(original_instance) # 调用driver的update回调 func = getattr(self.driver_instance, "resource_tree_update", None) @@ -881,8 +908,8 @@ 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().info( - f"[Resource Tree Update] Processing {action} operation, " 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"]: @@ -894,8 +921,20 @@ class BaseROS2DeviceNode(Node, Generic[T]): if tree_set is None: raise ValueError("tree_set不能为None") plr_resources = tree_set.to_plr_resources() - result = _handle_add(plr_resources, tree_set, additional_add_params) - new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources) + result, parents = _handle_add(plr_resources, tree_set, additional_add_params) + parents: List[Optional["ResourcePLR"]] = [i for i in parents if i is not None] + # de_dupe_parents = list(set(parents)) + # Fix unhashable type error for WareHouse + de_dupe_parents = [] + _seen_ids = set() + for p in parents: + if id(p) not in _seen_ids: + _seen_ids.add(id(p)) + de_dupe_parents.append(p) + new_tree_set = ResourceTreeSet.from_plr_resources(de_dupe_parents) # 去重 + for tree in new_tree_set.trees: + if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node": + 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 @@ -914,7 +953,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params) if not BasicConfig.no_update_feedback: - new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) + new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) # 去重 + for tree in new_tree_set.trees: + if tree.root_node.res_content.uuid_parent is None and self.node_name != "host_node": + 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 @@ -934,15 +976,15 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 返回处理结果 result_json = {"results": results, "total": len(data)} res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder) - self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations") + # self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations") except json.JSONDecodeError as e: error_msg = f"Invalid JSON format: {str(e)}" - self.lab_logger().error(f"[Resource Tree Update] {error_msg}") + self.lab_logger().error(f"[资源同步] {error_msg}") res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False) except Exception as e: error_msg = f"Unexpected error: {str(e)}" - self.lab_logger().error(f"[Resource Tree Update] {error_msg}") + self.lab_logger().error(f"[资源同步] {error_msg}") self.lab_logger().error(traceback.format_exc()) res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False) @@ -1263,7 +1305,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name) action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"]) - self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}") + self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {str(action_kwargs)[:1000]}") + self.lab_logger().trace(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}") error_skip = False # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过 if action_name not in ["create_resource_detailed", "create_resource"]: @@ -1279,9 +1322,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 批量查询资源 queried_resources = [] for resource_data in resource_inputs: - plr_resource = await self.get_resource_with_dir( - resource_id=resource_data["id"], with_children=True - ) + unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid") + if unilabos_uuid is None: + plr_resource = await self.get_resource_with_dir( + resource_id=resource_data["id"], with_children=True + ) + else: + resource_tree = await self.get_resource([unilabos_uuid]) + plr_resource = resource_tree.to_plr_resources()[0] if "sample_id" in resource_data: plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"] queried_resources.append(plr_resource) @@ -1330,9 +1378,8 @@ 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：{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) @@ -1352,8 +1399,9 @@ 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：{action_kwargs}" - ) + 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}") future.add_done_callback(_handle_future_exception) @@ -1421,7 +1469,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): for r in rs: res = self.resource_tracker.parent_resource(r) # 获取 resource 对象 else: - res = self.resource_tracker.parent_resource(r) + res = self.resource_tracker.parent_resource(rs) if id(res) not in seen: seen.add(id(res)) unique_resources.append(res) @@ -1497,8 +1545,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): resource_data = function_args[arg_name] if isinstance(resource_data, dict) and "id" in resource_data: try: - converted_resource = self._convert_resource_sync(resource_data) - function_args[arg_name] = converted_resource + function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0] except Exception as e: self.lab_logger().error( f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}" @@ -1512,12 +1559,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): resource_list = function_args[arg_name] if isinstance(resource_list, list): try: - converted_resources = [] - for resource_data in resource_list: - if isinstance(resource_data, dict) and "id" in resource_data: - converted_resource = self._convert_resource_sync(resource_data) - converted_resources.append(converted_resource) - function_args[arg_name] = converted_resources + uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r] + function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else [] except Exception as e: self.lab_logger().error( f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}" @@ -1530,20 +1573,27 @@ class BaseROS2DeviceNode(Node, Generic[T]): f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}" ) - def _convert_resource_sync(self, resource_data: Dict[str, Any]): - """同步转换资源数据为实例""" - # 创建资源查询请求 - r = SerialCommand.Request() - r.command = json.dumps( - { - "id": resource_data.get("id", None), - "uuid": resource_data.get("uuid", None), - "with_children": True, - } - ) + def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]: + """同步转换资源 UUID 为实例 - # 同步调用资源查询服务 - future = self._resource_clients["resource_get"].call_async(r) + Args: + *uuids: 一个或多个资源 UUID + + Returns: + 单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表 + """ + if not uuids: + 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", + } + ) + )) # 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒） timeout = 30.0 @@ -1553,27 +1603,40 @@ class BaseROS2DeviceNode(Node, Generic[T]): elapsed += 0.05 if not future.done(): - raise Exception(f"资源查询超时: {resource_data}") + raise Exception(f"资源查询超时: {uuids_list}") response = future.result() if response is None: - raise Exception(f"资源查询返回空结果: {resource_data}") + raise Exception(f"资源查询返回空结果: {uuids_list}") raw_data = json.loads(response.response) # 转换为 PLR 资源 tree_set = ResourceTreeSet.from_raw_dict_list(raw_data) - plr_resource = tree_set.to_plr_resources()[0] + if not len(tree_set.trees): + raise Exception(f"资源查询返回空树: {raw_data}") + plr_resources = tree_set.to_plr_resources() # 通过资源跟踪器获取本地实例 - res = self.resource_tracker.figure_resource(plr_resource, try_mode=True) - if len(res) == 0: - self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例") - return plr_resource - elif len(res) == 1: - return res[0] - else: - raise ValueError(f"资源转换得到多个实例: {res}") + figured_resources: List[ResourcePLR] = [] + for plr_resource, tree in zip(plr_resources, tree_set.trees): + res = self.resource_tracker.figure_resource(plr_resource, try_mode=True) + if len(res) == 0: + self.lab_logger().warning(f"资源转换未能索引到实例: {tree.root_node.res_content}，返回新建实例") + figured_resources.append(plr_resource) + elif len(res) == 1: + figured_resources.append(res[0]) + else: + raise ValueError(f"资源转换得到多个实例: {res}") + + mapped_plr_resources = [] + for uuid in uuids_list: + for plr_resource in figured_resources: + r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid) + mapped_plr_resources.append(r) + break + + return mapped_plr_resources async def _execute_driver_command_async(self, string: str): try: diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 69c12f8..cf9fd70 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -23,6 +23,7 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialComma from unique_identifier_msgs.msg import UUID 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.ros.initialize_device import initialize_device_from_dict @@ -361,8 +362,7 @@ class HostNode(BaseROS2DeviceNode): request.command = "" future = sclient.call_async(request) # Use timeout for result as well - future.result(timeout_sec=5.0) - self.lab_logger().debug(f"[Host Node] Re-register completed for {device_namespace}") + future.result() except Exception as e: # Gracefully handle destruction during shutdown if "destruction was requested" in str(e) or self._shutting_down: @@ -586,11 +586,10 @@ class HostNode(BaseROS2DeviceNode): ) try: - new_li = [] + assert len(response) == 1, "Create Resource应当只返回一个结果" for i in response: res = json.loads(i) - new_li.append(res) - return {"resources": new_li, "liquid_input_resources": new_li} + return res except Exception as ex: pass _n = "\n" @@ -795,7 +794,8 @@ class HostNode(BaseROS2DeviceNode): assign_sample_id(action_kwargs) goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs) - self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}") + self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}") + self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}") action_client.wait_for_server() goal_uuid_obj = UUID(uuid=list(u.bytes)) @@ -1133,11 +1133,11 @@ class HostNode(BaseROS2DeviceNode): 接收序列化的 ResourceTreeSet 数据并进行处理 """ - self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received") try: # 解析请求数据 data = json.loads(request.command) action = data["action"] + self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received") data = data["data"] if action == "add": await self._resource_tree_action_add_callback(data, response) @@ -1243,7 +1243,7 @@ class HostNode(BaseROS2DeviceNode): data = json.loads(request.command) if "uuid" in data and data["uuid"] is not None: http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"]) - elif "id" in data and data["id"].startswith("/"): + elif "id" in data: http_req = http_client.resource_get(data["id"], data["with_children"]) else: raise ValueError("没有使用正确的物料 id 或 uuid") @@ -1453,10 +1453,16 @@ class HostNode(BaseROS2DeviceNode): } def test_resource( - self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot] + self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None ) -> TestResourceReturn: + if resources is None: + resources = [] + if devices is None: + devices = [] + if resource is None: + resource = RegularContainer("test_resource传入None") return { - "resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(), + "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(), "devices": [device, *devices], } @@ -1508,7 +1514,7 @@ class HostNode(BaseROS2DeviceNode): # 构建服务地址 srv_address = f"/srv{namespace}/s2c_resource_tree" - self.lab_logger().info(f"[Host Node-Resource] Notifying {device_id} for resource tree {action} operation") + self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------") # 创建服务客户端 sclient = self.create_client(SerialCommand, srv_address) @@ -1543,9 +1549,7 @@ class HostNode(BaseROS2DeviceNode): time.sleep(0.05) response = future.result() - self.lab_logger().info( - f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}" - ) + self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------") return True except Exception as e: