fix: running logic

test/experiments/test_copy.json

@@ -37,7 +37,7 @@
                 "teaching_carrier"
             ],
             "parent": "PLR_STATION",
-            "type": "device",
+            "type": "deck",
             "class": "OTDeck",
             "position": {
                 "x": 0,

unilabos/app/backend.py

@@ -29,7 +29,9 @@ def start_backend(
     
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges)
+        args=(devices_config, resources_config, graph, controllers_config, bridges),
+        name="backend_thread",
+        daemon=True,
     )
     backend_thread.start()
     logger.info(f"Backend {backend} started.")

unilabos/app/main.py

@@ -1,8 +1,11 @@
 import argparse
+import asyncio
 import os
 import signal
 import sys
 import json
+import time
+
 import yaml
 from copy import deepcopy
 import threading
@@ -125,7 +128,7 @@ def main():
     print_unilab_banner(args_dict)
 
     # 注册表
-    registry_dict = build_registry(args_dict["registry_path"])
+    build_registry(args_dict["registry_path"])
 
 
     if args_dict["graph"] is not None:
@@ -180,14 +183,17 @@ def main():
             enable_rviz=True
         elif args_dict["visual"] == "web":
             enable_rviz=False
-        resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"],registry_dict,enable_rviz=enable_rviz)
+        resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
         devices_config_add = add_resource_mesh_manager_node(resource_visualization.resource_model, args_dict["resources_config"])
         args_dict["devices_config"] = {**args_dict["devices_config"], **devices_config_add}
-    
-        server_thread = threading.Thread(target=start_server)
-        server_thread.start()
         start_backend(**args_dict)
+
+        from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
+        while ROS2DeviceNode.get_loop() is None:
+            time.sleep(0.1)
+        asyncio.set_event_loop(ROS2DeviceNode.get_loop())
         resource_visualization.start()
+        start_server()
     else:
         start_backend(**args_dict)
         start_server()

unilabos/app/mq.py

@@ -35,7 +35,8 @@ class MQTTClient:
         self.client.on_disconnect = self._on_disconnect
 
     def _on_log(self, client, userdata, level, buf):
-        logger.info(f"[MQTT] log: {buf}")
+        # logger.info(f"[MQTT] log: {buf}")
+        pass
 
     def _on_connect(self, client, userdata, flags, rc, properties=None):
         logger.info("[MQTT] Connected with result code " + str(rc))

unilabos/device_mesh/resource_visalization.py

@@ -6,9 +6,11 @@ from launch_ros.actions import Node as nd
 import xacro
 from lxml import etree
 
+from unilabos.registry.registry import lab_registry
+
 
 class ResourceVisualization:
-    def __init__(self, device: dict, resource: dict, registry: dict, enable_rviz: bool = True):
+    def __init__(self, device: dict, resource: dict, enable_rviz: bool = True):
         """初始化资源可视化类
         
         该类用于将设备和资源的3D模型可视化展示。通过解析设备和资源的配置信息,
@@ -24,9 +26,10 @@ class ResourceVisualization:
         self.launch_description = LaunchDescription()
         self.resource_dict = resource
         self.resource_model = {}
-        self.resource_type = ['plate', 'container']
+        self.resource_type = ['deck', 'plate', 'container']
         self.mesh_path = Path(__file__).parent.absolute()
         self.enable_rviz = enable_rviz
+        registry = lab_registry
 
         self.srdf_str = '''
         <?xml version="1.0" encoding="UTF-8"?>

unilabos/registry/devices/deck.yaml

@@ -1,5 +0,0 @@
-OTDeck:
-  description: Opentrons deck 3d model
-  model:
-    type: device
-    mesh: opentrons_liquid_handler

unilabos/ros/main_slave_run.py

@@ -2,6 +2,7 @@ import copy
 import json
 import os
 import threading
+import time
 from typing import Optional, Dict, Any, List
 
 import rclpy
@@ -66,7 +67,7 @@ def main(
     thread.start()
 
     while True:
-        input()
+        time.sleep(1)
 
 
 def slave(
@@ -120,7 +121,7 @@ def slave(
         logger.info(f"Slave resource added.")
 
     while True:
-        input()
+        time.sleep(1)
 
 if __name__ == "__main__":
     main()