Merge branch 'dev' into feat/lab_resource

unilabos/registry/registry.py

@@ -89,6 +89,14 @@ class Registry:
         )
         test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
 
+        test_resource_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_resource", {})
+        test_resource_schema = self._generate_unilab_json_command_schema(
+            test_resource_method_info.get("args", []),
+            "test_resource",
+            test_resource_method_info.get("return_annotation"),
+        )
+        test_resource_schema["description"] = "用于测试物料、设备和样本。"
+
         self.device_type_registry.update(
             {
                 "host_node": {
@@ -190,32 +198,7 @@ class Registry:
                                 "goal": {},
                                 "feedback": {},
                                 "result": {},
-                                "schema": {
+                                "schema": test_resource_schema,
-                                    "description": "",
-                                    "properties": {
-                                        "feedback": {},
-                                        "goal": {
-                                            "properties": {
-                                                "resource": ros_message_to_json_schema(Resource, "resource"),
-                                                "resources": {
-                                                    "items": {
-                                                        "properties": ros_message_to_json_schema(
-                                                            Resource, "resources"
-                                                        ),
-                                                        "type": "object",
-                                                    },
-                                                    "type": "array",
-                                                },
-                                                "device": {"type": "string"},
-                                                "devices": {"items": {"type": "string"}, "type": "array"},
-                                            },
-                                            "type": "object",
-                                        },
-                                        "result": {},
-                                    },
-                                    "title": "test_resource",
-                                    "type": "object",
-                                },
                                 "placeholder_keys": {
                                     "device": "unilabos_devices",
                                     "devices": "unilabos_devices",

unilabos/resources/resource_tracker.py

@@ -38,24 +38,52 @@ class LabSample(TypedDict):
     extra: Dict[str, Any]
 
 
+class ResourceDictPositionSizeType(TypedDict):
+    depth: float
+    width: float
+    height: float
+
+
 class ResourceDictPositionSize(BaseModel):
     depth: float = Field(description="Depth", default=0.0)  # z
     width: float = Field(description="Width", default=0.0)  # x
     height: float = Field(description="Height", default=0.0)  # y
 
 
+class ResourceDictPositionScaleType(TypedDict):
+    x: float
+    y: float
+    z: float
+
+
 class ResourceDictPositionScale(BaseModel):
     x: float = Field(description="x scale", default=0.0)
     y: float = Field(description="y scale", default=0.0)
     z: float = Field(description="z scale", default=0.0)
 
 
+class ResourceDictPositionObjectType(TypedDict):
+    x: float
+    y: float
+    z: float
+
+
 class ResourceDictPositionObject(BaseModel):
     x: float = Field(description="X coordinate", default=0.0)
     y: float = Field(description="Y coordinate", default=0.0)
     z: float = Field(description="Z coordinate", default=0.0)
 
 
+class ResourceDictPositionType(TypedDict):
+    size: ResourceDictPositionSizeType
+    scale: ResourceDictPositionScaleType
+    layout: Literal["2d", "x-y", "z-y", "x-z"]
+    position: ResourceDictPositionObjectType
+    position3d: ResourceDictPositionObjectType
+    rotation: ResourceDictPositionObjectType
+    cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"]
+
+
 class ResourceDictPosition(BaseModel):
     size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
     scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
@@ -74,6 +102,24 @@ class ResourceDictPosition(BaseModel):
     )
 
 
+class ResourceDictType(TypedDict):
+    id: str
+    uuid: str
+    name: str
+    description: str
+    resource_schema: Dict[str, Any]
+    model: Dict[str, Any]
+    icon: str
+    parent_uuid: Optional[str]
+    parent: Optional["ResourceDictType"]
+    type: Union[Literal["device"], str]
+    klass: str
+    pose: ResourceDictPositionType
+    config: Dict[str, Any]
+    data: Dict[str, Any]
+    extra: Dict[str, Any]
+
+
 # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
 class ResourceDict(BaseModel):
     id: str = Field(description="Resource ID")

unilabos/ros/nodes/presets/host_node.py

@@ -35,7 +35,7 @@ from unilabos.resources.resource_tracker import (
     ResourceTreeInstance,
     RETURN_UNILABOS_SAMPLES,
     JSON_UNILABOS_PARAM,
-    PARAM_SAMPLE_UUIDS,
+    PARAM_SAMPLE_UUIDS, SampleUUIDsType, LabSample,
 )
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -64,7 +64,8 @@ class DeviceActionStatus:
 
 class TestResourceReturn(TypedDict):
     resources: List[List[ResourceDict]]
-    devices: List[DeviceSlot]
+    devices: List[Dict[str, Any]]
+    unilabos_samples: List[LabSample]
 
 
 class TestLatencyReturn(TypedDict):
@@ -1582,6 +1583,7 @@ class HostNode(BaseROS2DeviceNode):
 
     def test_resource(
         self,
+        sample_uuids: SampleUUIDsType,
         resource: ResourceSlot = None,
         resources: List[ResourceSlot] = None,
         device: DeviceSlot = None,
@@ -1596,6 +1598,7 @@ class HostNode(BaseROS2DeviceNode):
         return {
             "resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
             "devices": [device, *devices],
+            "unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
         }
 
     def handle_pong_response(self, pong_data: dict):