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Fix resource get.

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Fix resource parent not found.
Mapping uuid for all resources.
This commit is contained in:
Xuwznln
2025-10-14 17:24:41 +08:00
parent 4ddabdcb65
commit 485e7e8dd2
6 changed files with 164 additions and 115 deletions
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41
unilabos/ros/nodes/presets/workstation.py
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@@ -11,8 +11,7 @@ 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_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unilabos.compile import action_protocol_generators
from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
@@ -20,11 +19,11 @@ 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,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.utils.type_check import serialize_result_info, get_result_info_str
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
from unilabos.utils.type_check import get_result_info_str
if TYPE_CHECKING:
from unilabos.devices.workstation.workstation_base import WorkstationBase
@@ -50,6 +49,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
*,
driver_instance: "WorkstationBase",
device_id: str,
device_uuid: str,
status_types: Dict[str, Any],
action_value_mappings: Dict[str, Any],
hardware_interface: Dict[str, Any],
@@ -64,6 +64,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
super().__init__(
driver_instance=driver_instance,
device_id=device_id,
device_uuid=device_uuid,
status_types=status_types,
action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
hardware_interface=hardware_interface,
@@ -222,16 +223,28 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
# 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"{protocol_name} 查询资源状态: Key: {k} Type: {v}")
try:
# 统一处理单个或多个资源
resource_id = (
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
)
r = SerialCommand_Request()
r.command = json.dumps({"id": resource_id, "with_children": True})
# 发送请求并等待响应
response: SerialCommand_Response = await self._resource_clients[
"resource_get"
].call_async(
r
) # type: ignore
raw_data = json.loads(response.response)
tree_set = ResourceTreeSet.from_raw_list(raw_data)
target = tree_set.dump()
protocol_kwargs[k] = target[0]
except Exception as ex:
self.lab_logger().error(f"查询资源失败: {k}, 错误: {ex}\n{traceback.format_exc()}")
raise
self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")