open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-04 05:15:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'dev' into prcix9320

Browse Source
This commit is contained in:
zhangshixiang
2026-01-15 17:40:25 +08:00
parent be054589b5
commit 269ce440d1
10 changed files with 312 additions and 172 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
unilabos/app/ws_client.py
View File

@@ -848,7 +848,7 @@ class MessageProcessor:
device_action_groups[key_add].append(item["uuid"]) device_action_groups[key_add].append(item["uuid"])
logger.info( 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: else:
# 正常update # 正常update
@@ -863,11 +863,11 @@ class MessageProcessor:
device_action_groups[key] = [] device_action_groups[key] = []
device_action_groups[key].append(item["uuid"]) 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 # 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(): 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): def _notify_resource_tree(dev_id, act, item_list):
try: try:

8
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -1119,14 +1119,17 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.steps_todo_list.append(step) self.steps_todo_list.append(step)
return step return step
async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs): async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs):
resource=pickup.resource 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", "")) plate_number = int(resource.parent.name.replace("T", ""))
is_whole_plate = True 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) step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height)
self.steps_todo_list.append(step) self.steps_todo_list.append(step)
@@ -1143,7 +1146,6 @@ class PRCXI9300Backend(LiquidHandlerBackend):
balance_height = 0 balance_height = 0
if plate_number is None: if plate_number is None:
raise ValueError("target_plate_number is required when dropping a resource") 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) step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height)
self.steps_todo_list.append(step) self.steps_todo_list.append(step)
return step return step

8
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -9284,7 +9284,13 @@ liquid_handler.prcxi:
z: 0.0 z: 0.0
sample_id: '' sample_id: ''
type: '' type: ''
handles: {} handles:
input:
- data_key: wells
data_source: handle
data_type: resource
handler_key: input_wells
label: InputWells
placeholder_keys: placeholder_keys:
wells: unilabos_resources wells: unilabos_resources
result: {} result: {}

35
unilabos/registry/registry.py
View File

@@ -124,17 +124,32 @@ class Registry:
"output": [ "output": [
{ {
"handler_key": "labware", "handler_key": "labware",
"label": "Labware",
"data_type": "resource", "data_type": "resource",
"data_source": "handle", "label": "Labware",
"data_key": "liquid", "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": { "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 "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 "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 "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": { "test_latency": {
@@ -186,7 +201,17 @@ class Registry:
"resources": "unilabos_resources", "resources": "unilabos_resources",
}, },
"goal_default": {}, "goal_default": {},
"handles": {}, "handles": {
"input": [
{
"handler_key": "input_resources",
"data_type": "resource",
"label": "InputResources",
"data_source": "handle",
"data_key": "resources", # 不为空
},
]
},
}, },
}, },
}, },

2
unilabos/resources/container.py
View File

@@ -27,7 +27,7 @@ class RegularContainer(Container):
def get_regular_container(name="container"): def get_regular_container(name="container"):
r = RegularContainer(name=name) r = RegularContainer(name=name)
r.category = "container" r.category = "container"
return RegularContainer(name=name) return r
# #
# class RegularContainer(object): # class RegularContainer(object):

6
unilabos/resources/graphio.py
View File

@@ -1151,11 +1151,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
if resource_class_config["type"] == "pylabrobot": if resource_class_config["type"] == "pylabrobot":
resource_plr = RESOURCE(name=resource_config["name"]) resource_plr = RESOURCE(name=resource_config["name"])
if resource_type != ResourcePLR: if resource_type != ResourcePLR:
tree_sets = ResourceTreeSet.from_plr_resources([resource_plr]) tree_sets = ResourceTreeSet.from_plr_resources([resource_plr], known_newly_created=True)
# 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"]
r = tree_sets.dump() r = tree_sets.dump()
else: else:
r = resource_plr r = resource_plr

62
unilabos/resources/resource_tracker.py
View File

@@ -1,7 +1,7 @@
import inspect import inspect
import traceback import traceback
import uuid import uuid
from pydantic import BaseModel, field_serializer, field_validator from pydantic import BaseModel, field_serializer, field_validator, ValidationError
from pydantic import Field from pydantic import Field
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union 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 if not content.get("extra"): # MagicCode
content["extra"] = {} content["extra"] = {}
if "position" in content: if "position" in content:
pose = content.get("pose",{}) pose = content.get("pose", {})
if "position" not in pose : if "position" not in pose:
if "position" in content["position"]: if "position" in content["position"]:
pose["position"] = content["position"]["position"] pose["position"] = content["position"]["position"]
else: else:
pose["position"] = {"x": 0, "y": 0, "z": 0} pose["position"] = {"x": 0, "y": 0, "z": 0}
if "size" not in pose: if "size" not in pose:
pose["size"] = { pose["size"] = {
"width": content["config"].get("size_x", 0), "width": content["config"].get("size_x", 0),
"height": content["config"].get("size_y", 0), "height": content["config"].get("size_y", 0),
"depth": content["config"].get("size_z", 0) "depth": content["config"].get("size_z", 0),
} }
content["pose"] = pose 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]: def get_plr_nested_dict(self) -> Dict[str, Any]:
"""获取资源实例的嵌套字典表示""" """获取资源实例的嵌套字典表示"""
@@ -322,7 +326,7 @@ class ResourceTreeSet(object):
) )
@classmethod @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 从plr资源创建ResourceTreeSet
""" """
@@ -339,6 +343,8 @@ class ResourceTreeSet(object):
} }
if source in replace_info: if source in replace_info:
return replace_info[source] return replace_info[source]
elif source is None:
return ""
else: else:
print("转换pylabrobot的时候，出现未知类型", source) print("转换pylabrobot的时候，出现未知类型", source)
return source return source
@@ -349,7 +355,8 @@ class ResourceTreeSet(object):
if not uid: if not uid:
uid = str(uuid.uuid4()) uid = str(uuid.uuid4())
res.unilabos_uuid = uid 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 # 获取unilabos_extra，默认为空字典
extra = getattr(res, "unilabos_extra", {}) extra = getattr(res, "unilabos_extra", {})
@@ -448,7 +455,13 @@ class ResourceTreeSet(object):
from pylabrobot.utils.object_parsing import find_subclass from pylabrobot.utils.object_parsing import find_subclass
# 类型映射 # 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): 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""" """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) 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: 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 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: for key in keys_to_remove:
self.resource2parent_resource.pop(key, None) 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 return True
def clear_resource(self): def clear_resource(self):

6
unilabos/ros/msgs/message_converter.py
View File

@@ -159,10 +159,14 @@ _msg_converter: Dict[Type, Any] = {
else Pose() else Pose()
), ),
config=json.dumps(x.get("config", {})), 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: def json_or_yaml_loads(data: str) -> Any:
try: try:

319
unilabos/ros/nodes/base_device_node.py
View File

@@ -392,9 +392,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
parent_resource = self.resource_tracker.figure_resource( parent_resource = self.resource_tracker.figure_resource(
{"name": bind_parent_id} {"name": bind_parent_id}
) )
for r in rts.root_nodes: for r in rts.root_nodes:
# noinspection PyUnresolvedReferences # noinspection PyUnresolvedReferences
r.res_content.parent_uuid = parent_resource.unilabos_uuid 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): 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 # noinspection PyTypeChecker
@@ -430,11 +433,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
}) })
tree_response: SerialCommand.Response = await client.call_async(request) tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response) 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") self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
final_response = { final_response = {
"created_resources": rts.dump(), "created_resource_tree": rts.dump(),
"liquid_input_resources": [], "liquid_input_resource_tree": [],
} }
res.response = json.dumps(final_response) 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 # 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 return res
try: try:
if len(rts.root_nodes) == 1 and parent_resource is not None: 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): if isinstance(plr_instance, Plate):
empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items 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: 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 = [] input_wells = []
for r in LIQUID_INPUT_SLOT: for r in LIQUID_INPUT_SLOT:
input_wells.append(plr_instance.children[r]) 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) 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"]) other_calling_param["slot"] = int(other_calling_param["slot"])
@@ -653,61 +659,71 @@ class BaseROS2DeviceNode(Node, Generic[T]):
def transfer_to_new_resource( def transfer_to_new_resource(
self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any] self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]
): ) -> Optional["ResourcePLR"]:
parent_uuid = tree.root_node.res_content.parent_uuid parent_uuid = tree.root_node.res_content.parent_uuid
if parent_uuid: if not parent_uuid:
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid) self.lab_logger().warning(
if parent_resource is None: 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( 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 # ⭐ 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 # 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 # 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) resource_id = id(plr_resource)
for i, r in enumerate(self.resource_tracker.resources): for i, r in enumerate(self.resource_tracker.resources):
if id(r) == resource_id: if id(r) == resource_id:
self.resource_tracker.resources.pop(i) self.resource_tracker.resources.pop(i)
self.lab_logger().debug( 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）" 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 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) func = getattr(self.driver_instance, "resource_tree_transfer", None)
if callable(func): 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） # 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) func(old_parent, plr_resource, parent_resource)
except Exception as e: return parent_resource
self.lab_logger().warning( except Exception as e:
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()}" 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): async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response):
""" """
@@ -722,7 +738,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
def _handle_add( def _handle_add(
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] 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 处理资源添加操作的内部函数
@@ -734,15 +750,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
Returns: Returns:
操作结果字典 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): for plr_resource, tree in zip(plr_resources, tree_set.trees):
self.resource_tracker.add_resource(plr_resource) 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) func = getattr(self.driver_instance, "resource_tree_add", None)
if callable(func): if callable(func):
func(plr_resources) func(plr_resources)
return {"success": True, "action": "add"} return {"success": True, "action": "add"}, parents
def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]: 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: if plr_resource.parent is not None:
plr_resource.parent.unassign_child_resource(plr_resource) plr_resource.parent.unassign_child_resource(plr_resource)
self.resource_tracker.remove_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: for other_plr_resource in other_plr_resources:
self.resource_tracker.remove_resource(other_plr_resource) 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 { return {
"success": True, "success": True,
@@ -813,11 +834,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
original_instance: ResourcePLR = self.resource_tracker.figure_resource( original_instance: ResourcePLR = self.resource_tracker.figure_resource(
{"uuid": tree.root_node.res_content.uuid}, try_mode=False {"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 # Update操作中包含改名：需要先remove再add，这里更新父节点即可
if original_instance.name != plr_resource.name: if not not_same_parent and old_name != new_name:
old_name = original_instance.name
new_name = plr_resource.name
self.lab_logger().info(f"物料改名操作：{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） # 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) _handle_add([original_instance], tree_set, additional_add_params)
self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}") 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 # 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( self.lab_logger().info(
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} " 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" 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 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 # 如果父节点变化，需要重新挂载
if ( if not_same_parent:
original_parent_resource_uuid != target_parent_resource_uuid parent = self.transfer_to_new_resource(original_instance, tree, additional_add_params)
and original_parent_resource is not None original_instances.append(parent)
): parent_appended = True
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
else: 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") 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 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 [] 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_index = sites.index(original_instance)
site_name = site_names[site_index] site_name = site_names[site_index]
if site_name != target_site: 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 # 加载状态
original_instance.load_all_state(states) original_instance.load_all_state(states)
@@ -864,7 +890,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.lab_logger().info( 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" 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 # 调用driver的update回调
func = getattr(self.driver_instance, "resource_tree_update", None) 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 action = i.get("action") # remove, add, update
resources_uuid: List[str] = i.get("data") # 资源数据 resources_uuid: List[str] = i.get("data") # 资源数据
additional_add_params = i.get("additional_add_params", {}) # 额外参数 additional_add_params = i.get("additional_add_params", {}) # 额外参数
self.lab_logger().info( self.lab_logger().trace(
f"[Resource Tree Update] Processing {action} operation, " f"resources count: {len(resources_uuid)}" f"[资源同步] 处理 {action}, " f"resources count: {len(resources_uuid)}"
) )
tree_set = None tree_set = None
if action in ["add", "update"]: if action in ["add", "update"]:
@@ -894,8 +921,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if tree_set is None: if tree_set is None:
raise ValueError("tree_set不能为None") raise ValueError("tree_set不能为None")
plr_resources = tree_set.to_plr_resources() plr_resources = tree_set.to_plr_resources()
result = _handle_add(plr_resources, tree_set, additional_add_params) result, parents = _handle_add(plr_resources, tree_set, additional_add_params)
new_tree_set = ResourceTreeSet.from_plr_resources(plr_resources) 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 = SerialCommand.Request()
r.command = json.dumps( 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
@@ -914,7 +953,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params) result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params)
if not BasicConfig.no_update_feedback: 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 = SerialCommand.Request()
r.command = json.dumps( 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
@@ -934,15 +976,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 返回处理结果 # 返回处理结果
result_json = {"results": results, "total": len(data)} result_json = {"results": results, "total": len(data)}
res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder) 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: except json.JSONDecodeError as e:
error_msg = f"Invalid JSON format: {str(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) res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False)
except Exception as e: except Exception as e:
error_msg = f"Unexpected error: {str(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()) self.lab_logger().error(traceback.format_exc())
res.response = json.dumps({"success": False, "error": error_msg}, ensure_ascii=False) 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, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"]) 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 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 # 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"]: 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 # 批量查询资源
queried_resources = [] queried_resources = []
for resource_data in resource_inputs: for resource_data in resource_inputs:
plr_resource = await self.get_resource_with_dir( unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
resource_id=resource_data["id"], with_children=True 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: if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"] plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources.append(plr_resource) queried_resources.append(plr_resource)
@@ -1330,9 +1378,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
execution_success = True execution_success = True
except Exception as _: except Exception as _:
execution_error = traceback.format_exc() execution_error = traceback.format_exc()
error( error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}" 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 = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
future.add_done_callback(_handle_future_exception) future.add_done_callback(_handle_future_exception)
@@ -1352,8 +1399,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
except Exception as _: except Exception as _:
execution_error = traceback.format_exc() execution_error = traceback.format_exc()
error( 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) future.add_done_callback(_handle_future_exception)
@@ -1421,7 +1469,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for r in rs: for r in rs:
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象 res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
else: else:
res = self.resource_tracker.parent_resource(r) res = self.resource_tracker.parent_resource(rs)
if id(res) not in seen: if id(res) not in seen:
seen.add(id(res)) seen.add(id(res))
unique_resources.append(res) unique_resources.append(res)
@@ -1497,8 +1545,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
resource_data = function_args[arg_name] resource_data = function_args[arg_name]
if isinstance(resource_data, dict) and "id" in resource_data: if isinstance(resource_data, dict) and "id" in resource_data:
try: try:
converted_resource = self._convert_resource_sync(resource_data) function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
function_args[arg_name] = converted_resource
except Exception as e: except Exception as e:
self.lab_logger().error( self.lab_logger().error(
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}" 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] resource_list = function_args[arg_name]
if isinstance(resource_list, list): if isinstance(resource_list, list):
try: try:
converted_resources = [] uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
for resource_data in resource_list: function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
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
except Exception as e: except Exception as e:
self.lab_logger().error( self.lab_logger().error(
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}" 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()}" 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]): def _convert_resources_sync(self, *uuids: str) -> List["ResourcePLR"]:
"""同步转换资源数据为实例""" """同步转换资源 UUID 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,
}
)
# 同步调用资源查询服务 Args:
future = self._resource_clients["resource_get"].call_async(r) *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） # 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
timeout = 30.0 timeout = 30.0
@@ -1553,27 +1603,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
elapsed += 0.05 elapsed += 0.05
if not future.done(): 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() response = future.result()
if response is None: 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) raw_data = json.loads(response.response)
# 转换为 PLR 资源 # 转换为 PLR 资源
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data) 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 # 通过资源跟踪器获取本地实例
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True) figured_resources: List[ResourcePLR] = []
if len(res) == 0: for plr_resource, tree in zip(plr_resources, tree_set.trees):
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例") res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
return plr_resource if len(res) == 0:
elif len(res) == 1: 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")
return res[0] figured_resources.append(plr_resource)
else: elif len(res) == 1:
raise ValueError(f"资源转换得到多个实例: {res}") 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): async def _execute_driver_command_async(self, string: str):
try: try:

32
unilabos/ros/nodes/presets/host_node.py
View File

@@ -23,6 +23,7 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialComma
from unique_identifier_msgs.msg import UUID from unique_identifier_msgs.msg import UUID
from unilabos.registry.registry import lab_registry from unilabos.registry.registry import lab_registry
from unilabos.resources.container import RegularContainer
from unilabos.resources.graphio import initialize_resource from unilabos.resources.graphio import initialize_resource
from unilabos.resources.registry import add_schema from unilabos.resources.registry import add_schema
from unilabos.ros.initialize_device import initialize_device_from_dict from unilabos.ros.initialize_device import initialize_device_from_dict
@@ -361,8 +362,7 @@ class HostNode(BaseROS2DeviceNode):
request.command = "" request.command = ""
future = sclient.call_async(request) future = sclient.call_async(request)
# Use timeout for result as well # Use timeout for result as well
future.result(timeout_sec=5.0) future.result()
self.lab_logger().debug(f"[Host Node] Re-register completed for {device_namespace}")
except Exception as e: except Exception as e:
# Gracefully handle destruction during shutdown # Gracefully handle destruction during shutdown
if "destruction was requested" in str(e) or self._shutting_down: if "destruction was requested" in str(e) or self._shutting_down:
@@ -586,11 +586,10 @@ class HostNode(BaseROS2DeviceNode):
) )
try: try:
new_li = [] assert len(response) == 1, "Create Resource应当只返回一个结果"
for i in response: for i in response:
res = json.loads(i) res = json.loads(i)
new_li.append(res) return res
return {"resources": new_li, "liquid_input_resources": new_li}
except Exception as ex: except Exception as ex:
pass pass
_n = "\n" _n = "\n"
@@ -795,7 +794,8 @@ class HostNode(BaseROS2DeviceNode):
assign_sample_id(action_kwargs) assign_sample_id(action_kwargs)
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), 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() action_client.wait_for_server()
goal_uuid_obj = UUID(uuid=list(u.bytes)) 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 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: try:
# 解析请求数据 # 解析请求数据
data = json.loads(request.command) data = json.loads(request.command)
action = data["action"] action = data["action"]
self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
data = data["data"] data = data["data"]
if action == "add": if action == "add":
await self._resource_tree_action_add_callback(data, response) await self._resource_tree_action_add_callback(data, response)
@@ -1243,7 +1243,7 @@ class HostNode(BaseROS2DeviceNode):
data = json.loads(request.command) data = json.loads(request.command)
if "uuid" in data and data["uuid"] is not None: if "uuid" in data and data["uuid"] is not None:
http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"]) 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"]) http_req = http_client.resource_get(data["id"], data["with_children"])
else: else:
raise ValueError("没有使用正确的物料 id 或 uuid") raise ValueError("没有使用正确的物料 id 或 uuid")
@@ -1453,10 +1453,16 @@ class HostNode(BaseROS2DeviceNode):
} }
def test_resource( 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: ) -> TestResourceReturn:
if resources is None:
resources = []
if devices is None:
devices = []
if resource is None:
resource = RegularContainer("test_resource传入None")
return { return {
"resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(), "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
"devices": [device, *devices], "devices": [device, *devices],
} }
@@ -1508,7 +1514,7 @@ class HostNode(BaseROS2DeviceNode):
# 构建服务地址 # 构建服务地址
srv_address = f"/srv{namespace}/s2c_resource_tree" 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 # 创建服务客户端
sclient = self.create_client(SerialCommand, srv_address) sclient = self.create_client(SerialCommand, srv_address)
@@ -1543,9 +1549,7 @@ class HostNode(BaseROS2DeviceNode):
time.sleep(0.05) time.sleep(0.05)
response = future.result() response = future.result()
self.lab_logger().info( self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------")
f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}"
)
return True return True
except Exception as e: except Exception as e: