add resource edge upload

unilabos/app/backend.py

@@ -8,6 +8,7 @@ def start_backend(
     backend: str,
     devices_config: dict = {},
     resources_config: list = [],
+    resources_edge_config: list = [],
     graph=None,
     controllers_config: dict = {},
     bridges=[],
@@ -31,7 +32,7 @@ def start_backend(
     
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges, visual, resources_mesh_config),
+        args=(devices_config, resources_config, resources_edge_config, graph, controllers_config, bridges, visual, resources_mesh_config),
         name="backend_thread",
         daemon=True,
     )

unilabos/app/main.py

@@ -10,7 +10,7 @@ from copy import deepcopy
 
 import yaml
 
-from unilabos.resources.graphio import tree_to_list
+from unilabos.resources.graphio import tree_to_list, modify_to_backend_format
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -136,15 +136,16 @@ def main():
 
     # 注册表
     build_registry(args_dict["registry_path"])
-
+    resource_edge_info = []
     devices_and_resources = None
     if args_dict["graph"] is not None:
         import unilabos.resources.graphio as graph_res
-        graph_res.physical_setup_graph = (
+        if args_dict["graph"].endswith(".json"):
-            read_node_link_json(args_dict["graph"])
+            graph, data = read_node_link_json(args_dict["graph"])
-            if args_dict["graph"].endswith(".json")
+        else:
-            else read_graphml(args_dict["graph"])
+            graph, data = read_graphml(args_dict["graph"])
-        )
+        graph_res.physical_setup_graph = graph
+        resource_edge_info = modify_to_backend_format(data["links"])
         devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
         # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
         args_dict["resources_config"] = list(devices_and_resources.values())
@@ -185,6 +186,7 @@ def main():
         signal.signal(signal.SIGTERM, _exit)
         mqtt_client.start()
     args_dict["resources_mesh_config"] = {}
+    args_dict["resources_edge_config"] = resource_edge_info
     # web visiualize 2D
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"

unilabos/app/web/client.py

@@ -30,7 +30,25 @@ class HTTPClient:
             self.auth = MQConfig.lab_id
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> requests.Response:
+    def resource_edge_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
+        """
+        添加资源
+
+        Args:
+            resources: 要添加的资源列表
+            database_process_later: 后台处理资源
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.post(
+            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
+            json=resources,
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=5,
+        )
+        return response
+
+    def resource_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
         """
         添加资源
 

unilabos/app/web/pages.py

@@ -16,7 +16,6 @@ from jinja2 import Environment, FileSystemLoader
 
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
-from unilabos.app.mq import mqtt_client
 from unilabos.ros.msgs.message_converter import msg_converter_manager
 from unilabos.utils.log import error
 from unilabos.utils.type_check import TypeEncoder

unilabos/resources/graphio.py

@@ -1,7 +1,7 @@
 import importlib
 import inspect
 import json
-from typing import Union
+from typing import Union, Any
 import numpy as np
 import networkx as nx
 from unilabos_msgs.msg import Resource
@@ -84,6 +84,8 @@ def canonicalize_links_ports(data: dict) -> dict:
     # 第一遍处理：将字符串类型的port转换为字典格式
     for link in data.get("links", []):
         port = link.get("port")
+        if link["type"] == "physical":
+            link["type"] = "fluid"
         if isinstance(port, int):
             port = str(port)
         if isinstance(port, str):
@@ -157,7 +159,28 @@ def read_node_link_json(json_file):
 
     physical_setup_graph = nx.node_link_graph(data, multigraph=False)  # edges="links" 3.6 warning
     handle_communications(physical_setup_graph)
-    return physical_setup_graph
+    return physical_setup_graph, data
+
+
+def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]:
+    for edge in data:
+        port = edge.pop("port", {})
+        source = edge["source"]
+        target = edge["target"]
+        if source in port:
+            edge["sourceHandle"] = port[source]
+        elif "source_port" in edge:
+            edge["sourceHandle"] = edge.pop("source_port")
+        if target in port:
+            edge["targetHandle"] = port[target]
+        elif "target_port" in edge:
+            edge["targetHandle"] = edge.pop("target_port")
+        if "id" not in edge:
+            edge["id"] = f"link_generated_{source}_{target}"
+        for key in ["source_port", "target_port"]:
+            if key in edge:
+                edge.pop(key)
+    return data
 
 
 def read_graphml(graphml_file):
@@ -182,7 +205,7 @@ def read_graphml(graphml_file):
 
     physical_setup_graph = nx.node_link_graph(data, edges="links", multigraph=False)  # edges="links" 3.6 warning
     handle_communications(physical_setup_graph)
-    return physical_setup_graph
+    return physical_setup_graph, data
 
 
 def dict_from_graph(graph: nx.Graph) -> dict:

unilabos/ros/main_slave_run.py

@@ -45,6 +45,7 @@ def exit() -> None:
 def main(
     devices_config: Dict[str, Any] = {},
     resources_config: list=[],
+    resources_edge_config: list=[],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],
@@ -62,6 +63,7 @@ def main(
         "host_node",
         devices_config,
         resources_config,
+        resources_edge_config,
         graph,
         controllers_config,
         bridges,
@@ -97,6 +99,7 @@ def main(
 def slave(
     devices_config: Dict[str, Any] = {},
     resources_config=[],
+    resources_edge_config=[],
     graph: Optional[Dict[str, Any]] = None,
     controllers_config: Dict[str, Any] = {},
     bridges: List[Any] = [],

unilabos/ros/nodes/presets/host_node.py

@@ -58,6 +58,7 @@ class HostNode(BaseROS2DeviceNode):
         device_id: str,
         devices_config: Dict[str, Any],
         resources_config: list,
+        resources_edge_config: list[dict],
         physical_setup_graph: Optional[Dict[str, Any]] = None,
         controllers_config: Optional[Dict[str, Any]] = None,
         bridges: Optional[List[Any]] = None,
@@ -96,6 +97,7 @@ class HostNode(BaseROS2DeviceNode):
         self.server_latest_timestamp = 0.0  #
         self.devices_config = devices_config
         self.resources_config = resources_config
+        self.resources_edge_config = resources_edge_config
         self.physical_setup_graph = physical_setup_graph
         if controllers_config is None:
             controllers_config = {}
@@ -203,12 +205,19 @@ class HostNode(BaseROS2DeviceNode):
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
+                    from unilabos.app.web.client import HTTPClient
+                    client: HTTPClient = bridge
                     resource_start_time = time.time()
-                    resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name), True)
+                    resource_add_res = client.resource_add(add_schema(resource_with_parent_name), True)
                     resource_end_time = time.time()
                     self.lab_logger().info(
                         f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
                     )
+                    resource_add_res = client.resource_edge_add(self.resources_edge_config, True)
+                    resource_edge_end_time = time.time()
+                    self.lab_logger().info(
+                        f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
+                    )
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())
@@ -757,8 +766,10 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node-Resource] Add request received: {len(resources)} resources")
 
         success = False
-        if len(self.bridges) > 0:
+        if len(self.bridges) > 0:  # 边的提交待定
-            r = self.bridges[-1].resource_add(add_schema(resources))
+            from unilabos.app.web.client import HTTPClient
+            client: HTTPClient = self.bridges[-1]
+            r = client.resource_add(add_schema(resources), False)
             success = bool(r)
 
         response.success = success