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https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 04:51:10 +00:00
refactor: ProtocolNode→WorkstationNode
This commit is contained in:
Junhan Chang
@@ -50,7 +50,7 @@ from unilabos_msgs.msg import Resource # type: ignore
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
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from unilabos.ros.x.rclpyx import get_event_loop
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from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
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from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
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from unilabos.utils.async_util import run_async_func
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from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
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from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
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@@ -340,14 +340,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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# 物料传输到对应的node节点
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rclient = self.create_client(ResourceAdd, "/resources/add")
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rclient.wait_for_service()
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rclient2 = self.create_client(ResourceAdd, "/resources/add")
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rclient2.wait_for_service()
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request = ResourceAdd.Request()
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request2 = ResourceAdd.Request()
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command_json = json.loads(req.command)
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namespace = command_json["namespace"]
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bind_parent_id = command_json["bind_parent_id"]
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edge_device_id = command_json["edge_device_id"]
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location = command_json["bind_location"]
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other_calling_param = command_json["other_calling_param"]
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resources = command_json["resource"]
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@@ -357,7 +354,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
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LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
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slot = other_calling_param.pop("slot", "-1")
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resource = None
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parent = None
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if slot != "-1": # slot为负数的时候采用assign方法
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other_calling_param["slot"] = slot
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# 本地拿到这个物料，可能需要先做初始化?
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@@ -385,20 +382,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器")
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else:
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assert len(found_resources) == 1, f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
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resource = found_resources[0]
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if isinstance(resource, Resource):
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regular_container = RegularContainer(resource.id)
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regular_container.ulr_resource = resource
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parent = found_resources[0]
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if isinstance(parent, Resource):
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regular_container = RegularContainer(parent.id)
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regular_container.ulr_resource = parent
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regular_container.ulr_resource_data.update(json.loads(container_instance.data))
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logger.info(f"更新物料{container_query_dict['name']}的数据{resource.data} ULR")
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elif isinstance(resource, dict):
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if "data" not in resource:
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resource["data"] = {}
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resource["data"].update(json.loads(container_instance.data))
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request.resources[0].name = resource["name"]
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logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
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logger.info(f"更新物料{container_query_dict['name']}的数据{parent.data} ULR")
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elif isinstance(parent, dict):
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if "data" not in parent:
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parent["data"] = {}
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parent["data"].update(json.loads(container_instance.data))
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request.resources[0].name = parent["name"]
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logger.info(f"更新物料{container_query_dict['name']}的数据{parent['data']} dict")
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else:
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logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
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logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(parent)} {parent}")
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response = await rclient.call_async(request)
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# 应该先add_resource了
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res.response = "OK"
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@@ -423,18 +420,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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return res
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# 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
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if bind_parent_id != self.node_name:
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resource = self.resource_tracker.figure_resource({"name": bind_parent_id}) # 拿到父节点，进行具体assign等操作
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parent = self.resource_tracker.figure_resource({"name": bind_parent_id}) # 拿到父节点，进行具体assign等操作
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# request.resources = [convert_to_ros_msg(Resource, resources)]
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try:
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from pylabrobot.resources.resource import Resource as ResourcePLR
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from pylabrobot.resources.deck import Deck
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from pylabrobot.resources import Coordinate
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from pylabrobot.resources import OTDeck
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from pylabrobot.resources import Plate
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from pylabrobot.resources import Coordinate, OTDeck, Plate
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contain_model = not isinstance(resource, Deck)
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if isinstance(resource, ResourcePLR):
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contain_model = not isinstance(parent, Deck)
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if isinstance(parent, ResourcePLR):
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# resources.list()
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resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
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plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
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@@ -445,20 +440,22 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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):
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empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
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plr_instance.set_well_liquids(empty_liquid_info_in)
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if isinstance(resource, OTDeck) and "slot" in other_calling_param:
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if isinstance(parent, OTDeck) and "slot" in other_calling_param:
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other_calling_param["slot"] = int(other_calling_param["slot"])
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resource.assign_child_at_slot(plr_instance, **other_calling_param)
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parent.assign_child_at_slot(plr_instance, **other_calling_param)
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else:
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_discard_slot = other_calling_param.pop("slot", "-1")
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resource.assign_child_resource(
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parent.assign_child_resource(
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plr_instance,
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Coordinate(location["x"], location["y"], location["z"]),
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**other_calling_param,
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)
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request2 = ResourceAdd.Request()
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request2.resources = [
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convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])
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convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(parent)])
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]
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rclient2.call(request2)
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rclient.call(request2)
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# 发送给ResourceMeshManager
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action_client = ActionClient(
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self,
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@@ -947,7 +944,7 @@ class ROS2DeviceNode:
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# TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
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# 创建设备类实例
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# 判断是否包含设备子节点，决定是否使用ROS2ProtocolNode
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# 判断是否包含设备子节点，决定是否使用ROS2WorkstationNode
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has_device_children = any(
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child_config.get("type", "device") == "device"
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for child_config in children.values()
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@@ -961,17 +958,17 @@ class ROS2DeviceNode:
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driver_class, children=children, resource_tracker=self.resource_tracker
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)
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else:
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from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
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from unilabos.device_comms.workstation_base import WorkstationBase
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from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
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from unilabos.devices.work_station.workstation_base import WorkstationBase
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# 检查是否是WorkstationBase的子类且包含设备子节点
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if issubclass(self._driver_class, WorkstationBase) and has_device_children:
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# WorkstationBase + 设备子节点 -> 使用ProtocolNode作为ros_instance
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# WorkstationBase + 设备子节点 -> 使用WorkstationNode作为ros_instance
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self._use_protocol_node_ros = True
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self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
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elif issubclass(self._driver_class, ROS2ProtocolNode): # 是ProtocolNode的子节点，就要调用ProtocolNodeCreator
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elif issubclass(self._driver_class, ROS2WorkstationNode): # 是WorkstationNode的子节点，就要调用WorkstationNodeCreator
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self._use_protocol_node_ros = False
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self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
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self._driver_creator = WorkstationNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
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else:
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self._use_protocol_node_ros = False
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self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
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@@ -988,8 +985,8 @@ class ROS2DeviceNode:
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if driver_is_ros:
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self._ros_node = self._driver_instance # type: ignore
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elif hasattr(self, '_use_protocol_node_ros') and self._use_protocol_node_ros:
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# WorkstationBase + 设备子节点 -> 创建ROS2ProtocolNode作为ros_instance
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from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
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# WorkstationBase + 设备子节点 -> 创建ROS2WorkstationNode作为ros_instance
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from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
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# 从children提取设备协议类型
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protocol_types = set()
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@@ -1006,7 +1003,7 @@ class ROS2DeviceNode:
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if not protocol_types:
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protocol_types = ["default_protocol"]
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self._ros_node = ROS2ProtocolNode(
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self._ros_node = ROS2WorkstationNode(
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device_id=device_id,
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children=children,
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protocol_type=list(protocol_types),
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