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https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
修复protocolnode的兼容性
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Xuwznln
@@ -158,10 +158,6 @@ class WorkstationBase(ABC):
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# PLR 物料系统
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self.deck: Optional[Deck] = None
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self.plr_resources: Dict[str, PLRResource] = {}
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# 资源同步器（可选）
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self.resource_synchronizer = ResourceSynchronizer(self) # 要在driver中自行初始化，只有workstation用
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# 硬件接口
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self.hardware_interface: Union[Any, str] = None
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@@ -174,67 +170,19 @@ class WorkstationBase(ABC):
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# 支持的工作流（静态预定义）
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self.supported_workflows: Dict[str, WorkflowInfo] = {}
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def post_init(self, ros_node: ROS2WorkstationNode) -> None:
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# 初始化物料系统
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self._ros_node = ros_node
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self._initialize_material_system()
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# 注册支持的工作流
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self._register_supported_workflows()
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logger.info(f"工作站 {device_id} 初始化完成（简化版）")
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def _initialize_material_system(self):
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"""初始化物料系统 - 使用 graphio 转换"""
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try:
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from unilabos.resources.graphio import resource_ulab_to_plr
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# 1. 合并 deck_config 和 children 创建完整的资源树
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complete_resource_config = self._create_complete_resource_config()
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# 2. 使用 graphio 转换为 PLR 资源
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self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True)
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# 3. 建立资源映射
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self._build_resource_mappings(self.deck)
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# 4. 如果有资源同步器，执行初始同步
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if self.resource_synchronizer:
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# 这里可以异步执行，暂时跳过
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pass
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logger.info(f"工作站 {self.device_id} 物料系统初始化成功，创建了 {len(self.plr_resources)} 个资源")
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except Exception as e:
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logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}")
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raise
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pass
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def _create_complete_resource_config(self) -> Dict[str, Any]:
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"""创建完整的资源配置 - 合并 deck_config 和 children"""
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# 创建主 deck 配置
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deck_resource = {
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"id": f"{self.device_id}_deck",
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"name": f"{self.device_id}_deck",
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"type": "deck",
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"position": {"x": 0, "y": 0, "z": 0},
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"config": {
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"size_x": self.deck_config.get("size_x", 1000.0),
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"size_y": self.deck_config.get("size_y", 1000.0),
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"size_z": self.deck_config.get("size_z", 100.0),
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**{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]},
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},
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"data": {},
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"children": [],
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"parent": None,
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}
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# 添加子资源
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if self._children:
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children_list = []
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for child_id, child_config in self._children.items():
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child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"])
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children_list.append(child_resource)
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deck_resource["children"] = children_list
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return deck_resource
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return {}
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def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]:
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"""标准化子资源配置"""
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@@ -284,12 +232,12 @@ class WorkstationBase(ABC):
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def set_hardware_interface(self, hardware_interface: Union[Any, str]):
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"""设置硬件接口"""
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self.hardware_interface = hardware_interface
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logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}")
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logger.info(f"工作站 {self._ros_node.device_id} 硬件接口设置: {type(hardware_interface).__name__}")
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def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"):
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"""设置协议节点引用（用于代理模式）"""
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self._ros_node = workstation_node
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logger.info(f"工作站 {self.device_id} 关联协议节点")
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logger.info(f"工作站 {self._ros_node.device_id} 关联协议节点")
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# ============ 设备操作接口 ============
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@@ -351,18 +299,18 @@ class WorkstationBase(ABC):
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async def sync_with_external_system(self) -> bool:
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"""与外部物料系统同步"""
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if not self.resource_synchronizer:
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logger.info(f"工作站 {self.device_id} 没有配置资源同步器")
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logger.info(f"工作站 {self._ros_node.device_id} 没有配置资源同步器")
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return True
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try:
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success = await self.resource_synchronizer.sync_from_external()
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if success:
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logger.info(f"工作站 {self.device_id} 外部同步成功")
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logger.info(f"工作站 {self._ros_node.device_id} 外部同步成功")
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else:
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logger.warning(f"工作站 {self.device_id} 外部同步失败")
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logger.warning(f"工作站 {self._ros_node.device_id} 外部同步失败")
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return success
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except Exception as e:
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logger.error(f"工作站 {self.device_id} 外部同步异常: {e}")
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logger.error(f"工作站 {self._ros_node.device_id} 外部同步异常: {e}")
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return False
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# ============ 简化的工作流控制 ============
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@@ -380,23 +328,23 @@ class WorkstationBase(ABC):
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if success:
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self.current_workflow_status = WorkflowStatus.RUNNING
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logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功")
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logger.info(f"工作站 {self._ros_node.device_id} 工作流 {workflow_name} 启动成功")
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else:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败")
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logger.error(f"工作站 {self._ros_node.device_id} 工作流 {workflow_name} 启动失败")
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return success
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except Exception as e:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}")
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logger.error(f"工作站 {self._ros_node.device_id} 执行工作流失败: {e}")
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return False
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def stop_workflow(self, emergency: bool = False) -> bool:
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"""停止工作流"""
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try:
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if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]:
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logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流")
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logger.warning(f"工作站 {self._ros_node.device_id} 没有正在运行的工作流")
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return True
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self.current_workflow_status = WorkflowStatus.STOPPING
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@@ -406,16 +354,16 @@ class WorkstationBase(ABC):
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if success:
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self.current_workflow_status = WorkflowStatus.STOPPED
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logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})")
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logger.info(f"工作站 {self._ros_node.device_id} 工作流停止成功 (紧急: {emergency})")
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else:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 工作流停止失败")
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logger.error(f"工作站 {self._ros_node.device_id} 工作流停止失败")
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return success
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except Exception as e:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}")
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logger.error(f"工作站 {self._ros_node.device_id} 停止工作流失败: {e}")
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return False
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# ============ 状态属性 ============
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@@ -441,49 +389,7 @@ class WorkstationBase(ABC):
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return 0.0
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return time.time() - self.workflow_start_time
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# ============ 抽象方法 - 子类必须实现 ============
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@abstractmethod
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def _register_supported_workflows(self):
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"""注册支持的工作流 - 子类必须实现"""
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pass
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@abstractmethod
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def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
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"""执行工作流的具体实现 - 子类必须实现"""
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pass
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@abstractmethod
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def _stop_workflow_impl(self, emergency: bool = False) -> bool:
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"""停止工作流的具体实现 - 子类必须实现"""
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pass
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class WorkstationExample(WorkstationBase):
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"""工作站示例实现"""
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def _register_supported_workflows(self):
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"""注册支持的工作流"""
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self.supported_workflows["example_workflow"] = WorkflowInfo(
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name="example_workflow",
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description="这是一个示例工作流",
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estimated_duration=300.0,
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required_materials=["sample_plate"],
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output_product="processed_plate",
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parameters_schema={"param1": "string", "param2": "integer"},
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)
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def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
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"""执行工作流的具体实现"""
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if workflow_name not in self.supported_workflows:
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logger.error(f"工作站 {self.device_id} 不支持工作流: {workflow_name}")
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return False
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# 这里添加实际的工作流逻辑
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logger.info(f"工作站 {self.device_id} 正在执行工作流: {workflow_name} with parameters {parameters}")
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return True
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def _stop_workflow_impl(self, emergency: bool = False) -> bool:
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"""停止工作流的具体实现"""
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# 这里添加实际的停止逻辑
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logger.info(f"工作站 {self.device_id} 正在停止工作流 (紧急: {emergency})")
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return True
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class ProtocolNode(WorkstationBase):
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def __init__(self, station_resource: Optional[PLRResource], *args, **kwargs):
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super().__init__(station_resource, *args, **kwargs)
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