open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-17 13:01:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

支持选择器注册表自动生成

Browse Source 
支持转运物料
This commit is contained in:
Xuwznln
2025-10-11 00:57:22 +08:00
parent 67c01271b7
commit 609b6006e8
31 changed files with 4268 additions and 278 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
unilabos/registry/registry.py
View File

@@ -7,11 +7,14 @@ import importlib
from pathlib import Path
from typing import Any, Dict, List, Union, Tuple
import msgcenterpy
import yaml
from unilabos_msgs.msg import Resource
from unilabos.config.config import BasicConfig
from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String, \
ros_message_to_json_schema
from unilabos.utils import logger
from unilabos.utils.decorator import singleton
from unilabos.utils.import_manager import get_enhanced_class_info, get_class
@@ -426,7 +429,10 @@ class Registry:
param_type = arg_info.get("type", "")
param_default = arg_info.get("default")
param_required = arg_info.get("required", True)
schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
if param_type == "unilabos.registry.placeholder_type:ResourceSlot":
schema["properties"][param_name] = ros_message_to_json_schema(Resource, param_name)
else:
schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
if param_required:
schema["required"].append(param_name)
@@ -536,13 +542,17 @@ class Registry:
"schema": self._generate_unilab_json_command_schema(v["args"], k),
"goal_default": {i["name"]: i["default"] for i in v["args"]},
"handles": [],
"placeholder_keys": {
i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" else "unilabos_devices"
for i in v["args"]
if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot"]
}
}
# 不生成已配置action的动作
for k, v in enhanced_info["action_methods"].items()
if k not in device_config["class"]["action_value_mappings"]
}
)
# 恢复原有的description信息（auto开头的不修改）
for action_name, description in old_descriptions.items():
if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除