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修复protocolnode的兼容性

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This commit is contained in:
Xuwznln
2025-09-19 22:54:27 +08:00
parent 4b5a83efa4
commit 301bea639e
16 changed files with 35 additions and 440 deletions
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4
unilabos/compile/add_protocol.py
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@@ -155,7 +155,7 @@ def generate_add_protocol(
"device_id": stirrer_id,
"action_name": "start_stir",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"stir_speed": stir_speed,
"purpose": f"准备添加固体 {reagent}"
}
@@ -232,7 +232,7 @@ def generate_add_protocol(
"device_id": stirrer_id,
"action_name": "start_stir",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"stir_speed": stir_speed,
"purpose": f"准备添加液体 {reagent}"
}

2
unilabos/compile/adjustph_protocol.py
View File

@@ -325,7 +325,7 @@ def generate_adjust_ph_protocol(
"device_id": stirrer_id,
"action_name": "start_stir",
"action_kwargs": {
"vessel": vessel_id,
"vessel": {"id": vessel_id},
"stir_speed": stir_speed,
"purpose": f"pH调节: 启动搅拌，准备添加 {reagent}"
}

2
unilabos/compile/centrifuge_protocol.py
View File

@@ -156,7 +156,7 @@ def generate_centrifuge_protocol(
"device_id": centrifuge_id,
"action_name": "centrifuge",
"action_kwargs": {
"vessel": centrifuge_vessel,
"vessel": {"id": centrifuge_vessel},
"speed": speed,
"time": time,
"temp": temp

4
unilabos/compile/clean_vessel_protocol.py
View File

@@ -143,7 +143,7 @@ def generate_clean_vessel_protocol(
"device_id": heatchill_id,
"action_name": "heat_chill_start",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"temp": temp,
"purpose": f"cleaning with {solvent}"
}
@@ -295,7 +295,7 @@ def generate_clean_vessel_protocol(
"device_id": heatchill_id,
"action_name": "heat_chill_stop",
"action_kwargs": {
"vessel": vessel_id # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
}
}
action_sequence.append(heatchill_stop_action)

12
unilabos/compile/dissolve_protocol.py
View File

@@ -563,7 +563,7 @@ def generate_dissolve_protocol(
"device_id": heatchill_id,
"action_name": "heat_chill_start",
"action_kwargs": {
"vessel": vessel_id,
"vessel": {"id": vessel_id},
"temp": final_temp,
"purpose": f"溶解准备 - {event}" if event else "溶解准备"
}
@@ -587,7 +587,7 @@ def generate_dissolve_protocol(
"device_id": stirrer_id,
"action_name": "start_stir",
"action_kwargs": {
"vessel": vessel_id,
"vessel": {"id": vessel_id},
"stir_speed": stir_speed,
"purpose": f"溶解搅拌 - {event}" if event else "溶解搅拌"
}
@@ -612,7 +612,7 @@ def generate_dissolve_protocol(
# 固体加样
add_kwargs = {
"vessel": vessel_id,
"vessel": {"id": vessel_id},
"reagent": reagent or amount or "solid reagent",
"purpose": f"溶解固体试剂 - {event}" if event else "溶解固体试剂",
"event": event
@@ -758,7 +758,7 @@ def generate_dissolve_protocol(
"device_id": heatchill_id,
"action_name": "heat_chill",
"action_kwargs": {
"vessel": vessel_id,
"vessel": {"id": vessel_id},
"temp": final_temp,
"time": final_time,
"stir": True,
@@ -776,7 +776,7 @@ def generate_dissolve_protocol(
"device_id": stirrer_id,
"action_name": "stir",
"action_kwargs": {
"vessel": vessel_id,
"vessel": {"id": vessel_id},
"stir_time": final_time,
"stir_speed": stir_speed,
"settling_time": 0,
@@ -802,7 +802,7 @@ def generate_dissolve_protocol(
"device_id": heatchill_id,
"action_name": "heat_chill_stop",
"action_kwargs": {
"vessel": vessel_id
"vessel": {"id": vessel_id},
}
}
action_sequence.append(stop_action)

6
unilabos/compile/dry_protocol.py
View File

@@ -167,7 +167,7 @@ def generate_dry_protocol(
"device_id": heater_id,
"action_name": "heat_chill_start",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"temp": dry_temp,
"purpose": f"干燥 {compound or '化合物'}"
}
@@ -191,7 +191,7 @@ def generate_dry_protocol(
"device_id": heater_id,
"action_name": "heat_chill",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"temp": dry_temp,
"time": simulation_time,
"purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
@@ -251,7 +251,7 @@ def generate_dry_protocol(
"device_id": heater_id,
"action_name": "heat_chill_stop",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"purpose": f"干燥完成，停止加热"
}
})

4
unilabos/compile/evacuateandrefill_protocol.py
View File

@@ -452,7 +452,7 @@ def generate_evacuateandrefill_protocol(
"device_id": stirrer_id,
"action_name": "start_stir",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"stir_speed": STIR_SPEED,
"purpose": "抽真空充气前预搅拌"
}
@@ -685,7 +685,7 @@ def generate_evacuateandrefill_protocol(
action_sequence.append({
"device_id": stirrer_id,
"action_name": "stop_stir",
"action_kwargs": {"vessel": vessel_id} # 🔧 使用 vessel_id
"action_kwargs": {"vessel": {"id": vessel_id},} # 🔧 使用 vessel_id
})
else:
action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))

2
unilabos/compile/evaporate_protocol.py
View File

@@ -329,7 +329,7 @@ def generate_evaporate_protocol(
"device_id": rotavap_device,
"action_name": "evaporate",
"action_kwargs": {
"vessel": target_vessel,
"vessel": {"id": target_vessel},
"pressure": float(pressure),
"temp": float(temp),
"time": float(final_time), # 🔧 强制转换为float类型

5
unilabos/compile/heatchill_protocol.py
View File

@@ -220,7 +220,7 @@ def generate_heat_chill_protocol(
"device_id": heatchill_id,
"action_name": "heat_chill",
"action_kwargs": {
"vessel": vessel,
"vessel": {"id": vessel},
"temp": float(final_temp),
"time": float(final_time),
"stir": bool(stir),
@@ -287,7 +287,8 @@ def generate_heat_chill_start_protocol(
"action_name": "heat_chill_start",
"action_kwargs": {
"temp": temp,
"purpose": purpose or f"开始加热到 {temp}°C"
"purpose": purpose or f"开始加热到 {temp}°C",
"vessel": {"id": vessel_id},
}
}]

2
unilabos/compile/separate_protocol.py
View File

@@ -265,7 +265,7 @@ def generate_separate_protocol(
"device_id": stirrer_device,
"action_name": "start_stir",
"action_kwargs": {
"vessel": final_vessel_id, # 🔧 使用 final_vessel_id
"vessel": {"id": final_vessel_id}, # 🔧 使用 final_vessel_id
"stir_speed": stir_speed,
"purpose": f"分离混合 - {purpose}"
}

6
unilabos/compile/stir_protocol.py
View File

@@ -234,7 +234,7 @@ def generate_stir_protocol(
"action_name": "stir",
"action_kwargs": {
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
"vessel": vessel_id, # 传递字符串ID，不是Resource对象
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
"time": str(time),
"event": event,
"time_spec": time_spec,
@@ -323,7 +323,7 @@ def generate_start_stir_protocol(
"action_name": "start_stir",
"action_kwargs": {
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
"vessel": vessel_id, # 传递字符串ID，不是Resource对象
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
"stir_speed": stir_speed,
"purpose": purpose or f"启动搅拌 {stir_speed} RPM"
}
@@ -383,7 +383,7 @@ def generate_stop_stir_protocol(
"action_name": "stop_stir",
"action_kwargs": {
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
"vessel": vessel_id # 传递字符串ID，不是Resource对象
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
}
}]

4
unilabos/compile/wash_solid_protocol.py
View File

@@ -361,7 +361,7 @@ def generate_wash_solid_protocol(
"device_id": "stirrer_1",
"action_name": "stir",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"time": str(time),
"stir_time": final_time,
"stir_speed": stir_speed,
@@ -377,7 +377,7 @@ def generate_wash_solid_protocol(
"device_id": "filter_1",
"action_name": "filter",
"action_kwargs": {
"vessel": vessel_id, # 🔧 使用 vessel_id
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
"filtrate_vessel": actual_filtrate_vessel,
"temp": temp,
"volume": final_volume

2
unilabos/devices/virtual/virtual_solid_dispenser.py
View File

@@ -288,7 +288,7 @@ class VirtualSolidDispenser:
"return_info": f"dispensed_{actual_amount:.6f}g",
"dispensed_amount": actual_amount,
"reagent": reagent,
"vessel": vessel
"vessel": {"id": vessel},
}
except Exception as e:

4
unilabos/ros/nodes/base_device_node.py
View File

@@ -683,7 +683,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if action_name not in ["create_resource_detailed", "create_resource"]:
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
self.lab_logger().info(f"{action_name} 查询资源状态: Key: {k} Type: {v}")
current_resources: Union[List[Resource], List[List[Resource]]] = []
# TODO: resource后面需要分组
only_one_resource = False
@@ -722,7 +722,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
try:
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
except Exception as e:
self.lab_logger().error(f"物料实例获取失败: {e}\n{traceback.format_exc()}")
self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
error_skip = True
execution_error = traceback.format_exc()
break

406
unilabos/ros/nodes/presets/protocol_node.py
View File

@@ -1,406 +0,0 @@
import json
import time
import traceback
from pprint import pprint, saferepr, pformat
from typing import Union
import rclpy
from rosidl_runtime_py import message_to_ordereddict
from unilabos.messages import * # type: ignore # protocol names
from rclpy.action import ActionServer, ActionClient
from rclpy.action.server import ServerGoalHandle
from rclpy.callback_groups import ReentrantCallbackGroup
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceGet, ResourceUpdate # type: ignore
from unilabos.compile import action_protocol_generators
from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
from unilabos.ros.initialize_device import initialize_device_from_dict
from unilabos.ros.msgs.message_converter import (
get_action_type,
convert_to_ros_msg,
convert_from_ros_msg,
convert_from_ros_msg_with_mapping, String,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.utils.log import error
from unilabos.utils.type_check import serialize_result_info, get_result_info_str
class ROS2ProtocolNodeTempError(Exception):
pass
class ROS2ProtocolNode(BaseROS2DeviceNode):
"""
ROS2ProtocolNode代表管理ROS2环境中设备通信和动作的协议节点。
它初始化设备节点，处理动作客户端，并基于指定的协议执行工作流。
它还物理上代表一组协同工作的设备，如带夹持器的机械臂，带传送带的CNC机器等。
"""
# create_action_server = False # Action Server要自己创建
def __init__(
self,
device_id: str,
children: dict,
protocol_type: Union[str, list[str]],
resource_tracker: DeviceNodeResourceTracker,
*args,
**kwargs,
):
self._setup_protocol_names(protocol_type)
# 初始化其它属性
self.children = children
self._busy = False
self.sub_devices = {}
self._goals = {}
self._protocol_servers = {}
self._action_clients = {}
# 初始化基类，让基类处理常规动作
super().__init__(
driver_instance=self,
device_id=device_id,
status_types={},
action_value_mappings=self.protocol_action_mappings,
hardware_interface={},
print_publish=False,
resource_tracker=resource_tracker,
)
# 初始化子设备
self.communication_node_id_to_instance = {}
for device_id, device_config in self.children.items():
if device_config.get("type", "device") != "device":
self.lab_logger().debug(
f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
)
continue
try:
d = self.initialize_device(device_id, device_config)
except Exception as ex:
self.lab_logger().error(f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
d = None
if d is None:
continue
if "serial_" in device_id or "io_" in device_id:
self.communication_node_id_to_instance[device_id] = d
continue
for device_id, device_config in self.children.items():
if device_config.get("type", "device") != "device":
continue
# 设置硬件接口代理
if device_id not in self.sub_devices:
self.lab_logger().error(f"[Protocol Node] {device_id} 还没有正确初始化，跳过...")
continue
d = self.sub_devices[device_id]
if d:
hardware_interface = d.ros_node_instance._hardware_interface
if (
hasattr(d.driver_instance, hardware_interface["name"])
and hasattr(d.driver_instance, hardware_interface["write"])
and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
):
name = getattr(d.driver_instance, hardware_interface["name"])
read = hardware_interface.get("read", None)
write = hardware_interface.get("write", None)
# 如果硬件接口是字符串，通过通信设备提供
if isinstance(name, str) and name in self.sub_devices:
communicate_device = self.sub_devices[name]
communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
self.lab_logger().info(
f"\n通信代理：为子设备{device_id}\n "
f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n "
f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
)
self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")
def _setup_protocol_names(self, protocol_type):
# 处理协议类型
if isinstance(protocol_type, str):
if "," not in protocol_type:
self.protocol_names = [protocol_type]
else:
self.protocol_names = [protocol.strip() for protocol in protocol_type.split(",")]
else:
self.protocol_names = protocol_type
# 准备协议相关的动作值映射
self.protocol_action_mappings = {}
for protocol_name in self.protocol_names:
protocol_type = globals()[protocol_name]
self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
def initialize_device(self, device_id, device_config):
"""初始化设备并创建相应的动作客户端"""
# device_id_abs = f"{self.device_id}/{device_id}"
device_id_abs = f"{device_id}"
self.lab_logger().info(f"初始化子设备: {device_id_abs}")
d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)
# 为子设备的每个动作创建动作客户端
if d is not None and hasattr(d, "ros_node_instance"):
node = d.ros_node_instance
node.resource_tracker = self.resource_tracker # 站内应当共享资源跟踪器
for action_name, action_mapping in node._action_value_mappings.items():
if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith("UniLabJsonCommand"):
continue
action_id = f"/devices/{device_id_abs}/{action_name}"
if action_id not in self._action_clients:
try:
self._action_clients[action_id] = ActionClient(
self, action_mapping["type"], action_id, callback_group=self.callback_group
)
except Exception as ex:
self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
continue
self.lab_logger().trace(f"为子设备 {device_id} 创建动作客户端: {action_name}")
return d
def create_ros_action_server(self, action_name, action_value_mapping):
"""创建ROS动作服务器"""
# 和Base创建的路径是一致的
protocol_name = action_name
action_type = action_value_mapping["type"]
str_action_type = str(action_type)[8:-2]
protocol_type = globals()[protocol_name]
protocol_steps_generator = action_protocol_generators[protocol_type]
self._action_servers[action_name] = ActionServer(
self,
action_type,
action_name,
execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
callback_group=ReentrantCallbackGroup(),
)
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
async def execute_protocol(goal_handle: ServerGoalHandle):
"""执行完整的工作流"""
# 初始化结果信息变量
execution_error = ""
execution_success = False
protocol_return_value = None
self.lab_logger().info(f"Executing {protocol_name} action...")
action_value_mapping = self._action_value_mappings[protocol_name]
step_results = []
try:
self.lab_logger().warning("+" * 30)
# 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
goal = goal_handle.request
protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
# # 🔧 添加调试信息
# print(f"🔍 转换后的 protocol_kwargs: {protocol_kwargs}")
# print(f"🔍 vessel 在转换后: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
# # 🔧 完全禁用Host查询，直接使用转换后的数据
# print(f"🔧 跳过Host查询，直接使用转换后的数据")
# 向Host查询物料当前状态
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
r = ResourceGet.Request()
resource_id = (
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
)
r.id = resource_id
r.with_children = True
response = await self._resource_clients["resource_get"].call_async(r)
protocol_kwargs[k] = list_to_nested_dict(
[convert_from_ros_msg(rs) for rs in response.resources]
)
# self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
from unilabos.resources.graphio import physical_setup_graph
self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
logs = []
for step in protocol_steps:
if isinstance(step, dict) and "log_message" in step.get("action_kwargs", {}):
logs.append(step)
elif isinstance(step, list):
logs.append(step)
self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
time_start = time.time()
time_overall = 100
self._busy = True
# 逐步执行工作流
for i, action in enumerate(protocol_steps):
# self.get_logger().info(f"Running step {i + 1}: {action}")
if isinstance(action, dict):
# 如果是单个动作，直接执行
if action["action_name"] == "wait":
time.sleep(action["action_kwargs"]["time"])
step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
else:
try:
result = await self.execute_single_action(**action)
step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
ret_info = json.loads(getattr(result, "return_info", "{}"))
if not ret_info.get("suc", False):
raise RuntimeError(f"Step {i + 1} failed.")
except ROS2ProtocolNodeTempError as ex:
step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
elif isinstance(action, list):
# 如果是并行动作，同时执行
actions = action
futures = [
rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
]
results = [await f for f in futures]
step_results.append(
{
"step": i + 1,
"parallel_actions": [a["action_name"] for a in actions],
"results": results,
}
)
# 向Host更新物料当前状态
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
r = ResourceUpdate.Request()
r.resources = [
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
]
response = await self._resource_clients["resource_update"].call_async(r)
# 设置成功状态和返回值
execution_success = True
protocol_return_value = {
"protocol_name": protocol_name,
"steps_executed": len(protocol_steps),
"step_results": step_results,
"total_time": time.time() - time_start,
}
goal_handle.succeed()
except Exception as e:
# 捕获并记录错误信息
str_step_results = [{k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in i.items()} for i in step_results]
execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
execution_success = False
self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")
# 设置动作失败
goal_handle.abort()
finally:
self._busy = False
# 创建结果消息
result = action_value_mapping["type"].Result()
result.success = execution_success
# 获取结果消息类型信息，检查是否有return_info字段
result_msg_types = action_value_mapping["type"].Result.get_fields_and_field_types()
# 设置return_info字段（如果存在）
for attr_name in result_msg_types.keys():
if attr_name in ["success", "reached_goal"]:
setattr(result, attr_name, execution_success)
elif attr_name == "return_info":
setattr(
result,
attr_name,
get_result_info_str(execution_error, execution_success, protocol_return_value),
)
self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")
return result
return execute_protocol
async def execute_single_action(self, device_id, action_name, action_kwargs):
"""执行单个动作"""
# 构建动作ID
if action_name == "log_message":
self.lab_logger().info(f"[Protocol Log] {action_kwargs}")
raise ROS2ProtocolNodeTempError(f"[Protocol Log] {action_kwargs}")
if device_id in ["", None, "self"]:
action_id = f"/devices/{self.device_id}/{action_name}"
else:
action_id = f"/devices/{device_id}/{action_name}" # 执行时取消了主节点信息 /{self.device_id}
# 检查动作客户端是否存在
if action_id not in self._action_clients:
self.lab_logger().error(f"找不到动作客户端: {action_id}")
return None
# 发送动作请求
action_client = self._action_clients[action_id]
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
##### self.lab_logger().info(f"发送动作请求到: {action_id}")
action_client.wait_for_server()
# 等待动作完成
request_future = action_client.send_goal_async(goal_msg)
handle = await request_future
if not handle.accepted:
self.lab_logger().error(f"动作请求被拒绝: {action_name}")
return None
result_future = await handle.get_result_async()
##### self.lab_logger().info(f"动作完成: {action_name}")
return result_future.result
"""还没有改过的部分"""
def _setup_hardware_proxy(
self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
):
"""为设备设置硬件接口代理"""
# extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
write_func = getattr(
communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]
)
read_func = getattr(
communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]
)
def _read(*args, **kwargs):
return read_func(*args, **kwargs)
def _write(*args, **kwargs):
return write_func(*args, **kwargs)
if read_method:
# bound_read = MethodType(_read, device.driver_instance)
setattr(device.driver_instance, read_method, _read)
if write_method:
# bound_write = MethodType(_write, device.driver_instance)
setattr(device.driver_instance, write_method, _write)
async def _update_resources(self, goal, protocol_kwargs):
"""更新资源状态"""
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
if protocol_kwargs[k] is not None:
try:
r = ResourceUpdate.Request()
r.resources = [
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
]
await self._resource_clients["resource_update"].call_async(r)
except Exception as e:
self.lab_logger().error(f"更新资源失败: {e}")

10
unilabos/ros/nodes/presets/workstation.py
View File

@@ -24,7 +24,7 @@ from unilabos.ros.msgs.message_converter import (
convert_from_ros_msg_with_mapping,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.utils.type_check import serialize_result_info
from unilabos.utils.type_check import serialize_result_info, get_result_info_str
if TYPE_CHECKING:
from unilabos.devices.workstation.workstation_base import WorkstationBase
@@ -203,12 +203,12 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
execution_error = ""
execution_success = False
protocol_return_value = None
self.get_logger().info(f"Executing {protocol_name} action...")
self.lab_logger().info(f"Executing {protocol_name} action...")
action_value_mapping = self._action_value_mappings[protocol_name]
step_results = []
try:
print("+" * 30)
print(protocol_steps_generator)
self.lab_logger().warning("+" * 30)
self.lab_logger().info(protocol_steps_generator)
# 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
goal = goal_handle.request
protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
@@ -334,7 +334,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
setattr(
result,
attr_name,
serialize_result_info(execution_error, execution_success, protocol_return_value),
get_result_info_str(execution_error, execution_success, protocol_return_value),
)
self.lab_logger().info(f"协议 {protocol_name} 完成并返回结果")