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Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16

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Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

Fix/workstation yb revision (#217)

* Revert log change & update registry

* Revert opcua client & move electrolyte node

Workstation yb merge dev ready 260113 (#216)

* feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数

* feat(bioyond): 添加测量小瓶功能，支持基本参数配置

* feat(bioyond): 添加测量小瓶配置，支持新设备参数

* feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈

* feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积

* feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理

* feat(bioyond): 调整反应器位置配置，统一坐标格式

* feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常

* feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置

* feat(opcua): 增强节点ID解析兼容性和数据类型处理

改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符
添加数据类型转换处理，确保写入值时类型匹配
优化错误提示信息，便于调试节点连接问题

* feat(registry): 新增后处理站的设备配置文件

添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述

* 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑

* 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置

* fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property

* fix:同步工作流序列

* feat: remove commented workflow synchronization from `reaction_station.py`.

* 添加时间约束功能及相关配置

* fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项

* fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存

* fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息

* feat：添加实验报告简化功能，去除冗余信息并保留关键信息

* feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态

* fix: 修复添加物料时数据格式错误

* Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations

- Removed redundant action value mappings from bioyond_dispensing_station.
- Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters.
- Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End).
- Simplified descriptions and updated measurement units from μL to mL where applicable.
- Removed unused commands from reaction_station_bioyond to streamline the configuration.

* fix：Change the material unit from μL to mL

* fix：refresh_material_cache

* feat: 动态获取工作流步骤ID，优化工作流配置

* feat: 添加清空服务端所有非核心工作流功能

* fix：修复Bottle类的序列化和反序列化方法

* feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息

* Add debug log

* feat(workstation): update bioyond config migration and coin cell material search logic

- Migrate bioyond_cell config to JSON structure and remove global variable dependencies
- Implement material search confirmation dialog auto-handling
- Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md

* Refactor module paths for Bioyond devices in YAML configuration files

- Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure.
- Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase.

* fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

* refactor: Move config from module to instance initialization

* fix: 修正 reaction_station 目录名拼写错误

* feat: Integrate material search logic and cleanup deprecated files

- Update coin_cell_assembly.py with material search dialog handling
- Update YB_warehouses.py with latest warehouse configurations
- Remove outdated documentation and test data files

* Refactor: Use instance attributes for action names and workflow step IDs

* refactor: Split tipbox storage into left and right warehouses

* refactor: Merge tipbox storage left and right into single warehouse

---------

Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Andy6M <xieqiming1132@qq.com>

fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

fix parent_uuid fetch when bind_parent_id == node_name

物料更新也是用父节点进行报送

Add None conversion for tube rack etc.

Add set_liquid example.

Add create_resource and test_resource example.

Add restart.
Temp allow action message.

Add no_update_feedback option.

Create session_id by edge.

bump version to 0.10.15

temp cancel update req
This commit is contained in:
Xuwznln
2026-01-08 15:26:31 +08:00
parent 8580b84167
commit 2a5ddd611d
106 changed files with 17805 additions and 25458 deletions
Download Patch File Download Diff File Expand all files Collapse all files

199
unilabos/ros/nodes/presets/host_node.py
View File

@@ -5,7 +5,8 @@ import threading
import time
import traceback
import uuid
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
from typing_extensions import TypedDict
from action_msgs.msg import GoalStatus
from geometry_msgs.msg import Point
@@ -23,6 +24,7 @@ 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
@@ -61,6 +63,18 @@ class TestResourceReturn(TypedDict):
devices: List[DeviceSlot]
class TestLatencyReturn(TypedDict):
"""test_latency方法的返回值类型"""
avg_rtt_ms: float
avg_time_diff_ms: float
max_time_error_ms: float
task_delay_ms: float
raw_delay_ms: float
test_count: int
status: str
class HostNode(BaseROS2DeviceNode):
"""
主机节点类，负责管理设备、资源和控制器
@@ -70,6 +84,8 @@ class HostNode(BaseROS2DeviceNode):
_instance: ClassVar[Optional["HostNode"]] = None
_ready_event: ClassVar[threading.Event] = threading.Event()
_shutting_down: ClassVar[bool] = False # Flag to signal shutdown to background threads
_background_threads: ClassVar[List[threading.Thread]] = [] # Track all background threads for cleanup
_device_action_status: ClassVar[collections.defaultdict[str, DeviceActionStatus]] = collections.defaultdict(
DeviceActionStatus
)
@@ -81,6 +97,48 @@ class HostNode(BaseROS2DeviceNode):
return cls._instance
return None
@classmethod
def shutdown_background_threads(cls, timeout: float = 5.0) -> None:
"""
Gracefully shutdown all background threads for clean exit or restart.
This method:
1. Sets shutdown flag to stop background operations
2. Waits for background threads to finish with timeout
3. Cleans up finished threads from tracking list
Args:
timeout: Maximum time to wait for each thread (seconds)
"""
cls._shutting_down = True
# Wait for background threads to finish
active_threads = []
for t in cls._background_threads:
if t.is_alive():
t.join(timeout=timeout)
if t.is_alive():
active_threads.append(t.name)
if active_threads:
logger.warning(f"[Host Node] Some background threads still running: {active_threads}")
# Clear the thread list
cls._background_threads.clear()
logger.info(f"[Host Node] Background threads shutdown complete")
@classmethod
def reset_state(cls) -> None:
"""
Reset the HostNode singleton state for restart or clean exit.
Call this after destroying the instance.
"""
cls._instance = None
cls._ready_event.clear()
cls._shutting_down = False
cls._background_threads.clear()
logger.info("[Host Node] State reset complete")
def __init__(
self,
device_id: str,
@@ -294,12 +352,36 @@ class HostNode(BaseROS2DeviceNode):
bridge.publish_host_ready()
self.lab_logger().debug(f"Host ready signal sent via {bridge.__class__.__name__}")
def _send_re_register(self, sclient):
sclient.wait_for_service()
request = SerialCommand.Request()
request.command = ""
future = sclient.call_async(request)
response = future.result()
def _send_re_register(self, sclient, device_namespace: str):
"""
Send re-register command to a device. This is a one-time operation.
Args:
sclient: The service client
device_namespace: The device namespace for logging
"""
try:
# Use timeout to prevent indefinite blocking
if not sclient.wait_for_service(timeout_sec=10.0):
self.lab_logger().debug(f"[Host Node] Re-register timeout for {device_namespace}")
return
# Check shutdown flag after wait
if self._shutting_down:
self.lab_logger().debug(f"[Host Node] Re-register aborted for {device_namespace} (shutdown)")
return
request = SerialCommand.Request()
request.command = ""
future = sclient.call_async(request)
# Use timeout for result as well
future.result()
except Exception as e:
# Gracefully handle destruction during shutdown
if "destruction was requested" in str(e) or self._shutting_down:
self.lab_logger().debug(f"[Host Node] Re-register aborted for {device_namespace} (cleanup)")
else:
self.lab_logger().warning(f"[Host Node] Re-register failed for {device_namespace}: {e}")
def _discover_devices(self) -> None:
"""
@@ -331,23 +413,27 @@ class HostNode(BaseROS2DeviceNode):
self._create_action_clients_for_device(device_id, namespace)
self._online_devices.add(device_key)
sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
threading.Thread(
t = threading.Thread(
target=self._send_re_register,
args=(sclient,),
args=(sclient, namespace),
daemon=True,
name=f"ROSDevice{self.device_id}_re_register_device_{namespace}",
).start()
)
self._background_threads.append(t)
t.start()
elif device_key not in self._online_devices:
# 设备重新上线
self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
self._online_devices.add(device_key)
sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
threading.Thread(
t = threading.Thread(
target=self._send_re_register,
args=(sclient,),
args=(sclient, namespace),
daemon=True,
name=f"ROSDevice{self.device_id}_re_register_device_{namespace}",
).start()
)
self._background_threads.append(t)
t.start()
# 检测离线设备
offline_devices = self._online_devices - current_devices
@@ -513,11 +599,10 @@ 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"
@@ -663,7 +748,7 @@ class HostNode(BaseROS2DeviceNode):
if bCreate:
self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}")
else:
self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}")
self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}")
def send_goal(
self,
@@ -705,13 +790,14 @@ class HostNode(BaseROS2DeviceNode):
raise ValueError(f"ActionClient {action_id} not found.")
action_client: ActionClient = self._action_clients[action_id]
# 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id"
def assign_sample_id(obj):
if isinstance(obj, dict):
if "sample_uuid" in obj:
obj["sample_id"] = obj["sample_uuid"]
obj.pop("sample_uuid")
for k,v in obj.items():
for k, v in obj.items():
if k != "unilabos_extra":
assign_sample_id(v)
elif isinstance(obj, list):
@@ -721,7 +807,8 @@ 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))
@@ -742,9 +829,7 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
self._goals[item.job_id] = goal_handle
goal_future = goal_handle.get_result_async()
goal_future.add_done_callback(
lambda f: self.get_result_callback(item, action_id, f)
)
goal_future.add_done_callback(lambda f: self.get_result_callback(item, action_id, f))
goal_future.result()
def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
@@ -781,8 +866,13 @@ class HostNode(BaseROS2DeviceNode):
# 适配后端的一些额外处理
return_value = return_info.get("return_value")
if isinstance(return_value, dict):
unilabos_samples = return_info.get("unilabos_samples")
if isinstance(unilabos_samples, list):
unilabos_samples = return_value.pop("unilabos_samples", None)
if isinstance(unilabos_samples, list) and unilabos_samples:
self.lab_logger().info(
f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
f"{'...' if len(unilabos_samples) > 5 else ''}"
)
return_info["unilabos_samples"] = unilabos_samples
suc = return_info.get("suc", False)
if not suc:
@@ -809,7 +899,7 @@ class HostNode(BaseROS2DeviceNode):
# 清理 _goals 中的记录
if job_id in self._goals:
del self._goals[job_id]
self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals")
# 存储结果供 HTTP API 查询
try:
@@ -1061,11 +1151,11 @@ 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)
@@ -1166,11 +1256,13 @@ class HostNode(BaseROS2DeviceNode):
响应对象，包含查询到的资源
"""
try:
from unilabos.app.web import http_client
data = json.loads(request.command)
if "uuid" in data and data["uuid"] is not None:
http_req = self.bridges[-1].resource_tree_get([data["uuid"]], data["with_children"])
elif "id" in data and data["id"].startswith("/"):
http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
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")
response.response = json.dumps(http_req["data"])
@@ -1252,10 +1344,20 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
return response
def test_latency(self):
def test_latency(self) -> TestLatencyReturn:
"""
测试网络延迟的action实现
通过5次ping-pong机制校对时间误差并计算实际延迟
Returns:
TestLatencyReturn: 包含延迟测试结果的字典，包括：
- avg_rtt_ms: 平均往返时间（毫秒）
- avg_time_diff_ms: 平均时间差（毫秒）
- max_time_error_ms: 最大时间误差（毫秒）
- task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算
- raw_delay_ms: 原始时间差（毫秒），-1表示无法计算
- test_count: 有效测试次数
- status: 测试状态，"success"表示成功，"all_timeout"表示全部超时
"""
import uuid as uuid_module
@@ -1318,7 +1420,15 @@ class HostNode(BaseROS2DeviceNode):
if not ping_results:
self.lab_logger().error("❌ 所有ping-pong测试都失败了")
return {"status": "all_timeout"}
return {
"avg_rtt_ms": -1.0,
"avg_time_diff_ms": -1.0,
"max_time_error_ms": -1.0,
"task_delay_ms": -1.0,
"raw_delay_ms": -1.0,
"test_count": 0,
"status": "all_timeout",
}
# 统计分析
rtts = [r["rtt_ms"] for r in ping_results]
@@ -1326,7 +1436,7 @@ class HostNode(BaseROS2DeviceNode):
avg_rtt_ms = sum(rtts) / len(rtts)
avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs)))
self.lab_logger().info("-" * 50)
self.lab_logger().info("[测试统计]")
@@ -1366,7 +1476,7 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info("=" * 60)
return {
res: TestLatencyReturn = {
"avg_rtt_ms": avg_rtt_ms,
"avg_time_diff_ms": avg_time_diff_ms,
"max_time_error_ms": max_time_diff_error_ms,
@@ -1377,12 +1487,23 @@ class HostNode(BaseROS2DeviceNode):
"test_count": len(ping_results),
"status": "success",
}
return res
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],
}
@@ -1434,7 +1555,9 @@ 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)
@@ -1469,8 +1592,8 @@ 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