add: bind_parent_ids to resource create action

fix: message convert string

unilabos/app/web/utils/action_utils.py

@@ -8,7 +8,7 @@ import traceback
 from typing import Dict, Any, Type, TypedDict, Optional
 
 from rclpy.action import ActionClient, ActionServer
-from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
+from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType, UnboundedString
 
 from unilabos.ros.msgs.message_converter import msg_converter_manager
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
@@ -74,7 +74,6 @@ def get_yaml_from_goal_type(goal_type) -> str:
         for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
             slot_name, slot_type = slot_info
             type_info = goal_type.SLOT_TYPES[ind]
-            default_value = "unknown"
             if isinstance(type_info, UnboundedSequence):
                 inner_type = type_info.value_type
                 if isinstance(inner_type, NamespacedType):
@@ -83,8 +82,10 @@ def get_yaml_from_goal_type(goal_type) -> str:
                     default_value = [get_ros_msg_instance_as_dict(type_class())]
                 elif isinstance(inner_type, BasicType):
                     default_value = [get_default_value_for_ros_type(inner_type.typename)]
+                elif isinstance(inner_type, UnboundedString):
+                    default_value = [""]
                 else:
-                    default_value = "unknown"
+                    default_value = []
             elif isinstance(type_info, NamespacedType):
                 cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
                 type_class = msg_converter_manager.get_class(cls_name)
@@ -93,6 +94,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
                 default_value = get_ros_msg_instance_as_dict(type_class())
             elif isinstance(type_info, BasicType):
                 default_value = get_default_value_for_ros_type(type_info.typename)
+            elif isinstance(type_info, UnboundedString):
+                default_value = ""
             else:
                 type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
                 if type_class is not None:

unilabos/ros/nodes/base_device_node.py

@@ -439,26 +439,26 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
             self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
-
             # 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
-            for k, v in goal.get_fields_and_field_types().items():
+            if action_name != "add_resource_from_outer":
-                if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                for k, v in goal.get_fields_and_field_types().items():
-                    self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
+                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                    try:
+                        self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
-                        r = ResourceGet.Request()
+                        try:
-                        r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
+                            r = ResourceGet.Request()
-                        r.with_children = True
+                            r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
-                        response = await self._resource_clients["resource_get"].call_async(r)
+                            r.with_children = True
-                    except Exception:
+                            response = await self._resource_clients["resource_get"].call_async(r)
-                        logger.error(f"资源查询失败，默认使用本地资源")
+                        except Exception:
-                    # 删除对response.resources的检查，因为它总是存在
+                            logger.error(f"资源查询失败，默认使用本地资源")
-                    resources_list = [convert_from_ros_msg(rs) for rs in response.resources]  # type: ignore  # FIXME
+                        # 删除对response.resources的检查，因为它总是存在
-                    self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
+                        resources_list = [convert_from_ros_msg(rs) for rs in response.resources]  # type: ignore  # FIXME
-                    type_hint = action_paramtypes[k]
+                        self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
-                    final_type = get_type_class(type_hint)
+                        type_hint = action_paramtypes[k]
-                    # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
+                        final_type = get_type_class(type_hint)
-                    final_resource = convert_resources_to_type(resources_list, final_type)
+                        # 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
-                    action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
+                        final_resource = convert_resources_to_type(resources_list, final_type)
+                        action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
 
             self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
             time_start = time.time()

unilabos/ros/nodes/presets/host_node.py

@@ -7,11 +7,12 @@ import uuid
 from typing import Optional, Dict, Any, List, ClassVar, Set
 
 from action_msgs.msg import GoalStatus
-from unilabos_msgs.msg import Resource  # type: ignore
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, SerialCommand  # type: ignore
 from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
+from unilabos_msgs.msg import Resource  # type: ignore
+from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
+    SerialCommand  # type: ignore
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.registry import lab_registry
@@ -23,11 +24,9 @@ from unilabos.ros.msgs.message_converter import (
     convert_from_ros_msg,
     convert_to_ros_msg,
     msg_converter_manager,
-    ros_action_to_json_schema,
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
-from unilabos.utils.type_check import TypeEncoder
 
 
 class HostNode(BaseROS2DeviceNode):
@@ -76,7 +75,7 @@ class HostNode(BaseROS2DeviceNode):
             driver_instance=self,
             device_id=device_id,
             status_types={},
-            action_value_mappings={},
+            action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
             hardware_interface={},
             print_publish=False,
             resource_tracker=DeviceNodeResourceTracker(),  # host node并不是通过initialize 包一层传进来的
@@ -268,8 +267,9 @@ class HostNode(BaseROS2DeviceNode):
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
-    def add_resource_from_outer(self, resources: list["Resource"], device_ids):
+    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str]):
-        print("111")
+        for resource, device_id, bind_parent_id in zip(resources, device_ids, bind_parent_ids):
+            print("111")
         pass
 
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:

unilabos_msgs/action/ResourceCreateFromOuter.action

@@ -1,5 +1,6 @@
 Resource[] resources
 string[] device_ids
+string[] bind_parent_ids
 ---
 bool success
 ---