action to resource & 0.9.12

unilabos/ros/msgs/message_converter.py

@@ -508,47 +508,90 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
         Python字典
     """
     data: Dict[str, Any] = {}
+    
+    # 🔧 添加调试信息
+    print(f"🔍 convert_from_ros_msg_with_mapping 开始")
+    print(f"🔍 ros_msg 类型: {type(ros_msg)}")
+    print(f"🔍 ros_msg 内容: {ros_msg}")
+    print(f"🔍 value_mapping: {value_mapping}")
+    print("-" * 60)
 
     for msg_name, attr_name in value_mapping.items():
+        print(f"🔍 处理映射: {msg_name} -> {attr_name}")
+        
         msg_path = msg_name.split(".")
         current = ros_msg
-
+        
+        print(f"🔍 msg_path: {msg_path}")
+        print(f"🔍 current 初始值: {current} (类型: {type(current)})")
+        
         try:
             if not attr_name.endswith("[]"):
                 # 处理单值映射
-                for name in msg_path:
-                    current = getattr(current, name)
-                data[attr_name] = convert_from_ros_msg(current)
+                print(f"🔍 处理单值映射")
+                for i, name in enumerate(msg_path):
+                    print(f"🔍 步骤 {i}: 获取属性 '{name}' 从 {type(current)}")
+                    if hasattr(current, name):
+                        current = getattr(current, name)
+                        print(f"🔍 获取到: {current} (类型: {type(current)})")
+                    else:
+                        print(f"❌ 属性 '{name}' 不存在于 {type(current)}")
+                        break
+                
+                converted_value = convert_from_ros_msg(current)
+                print(f"🔍 转换后的值: {converted_value} (类型: {type(converted_value)})")
+                data[attr_name] = converted_value
+                print(f"✅ 设置 data['{attr_name}'] = {converted_value}")
             else:
                 # 处理列表值映射
-                for name in msg_path:
+                print(f"🔍 处理列表值映射")
+                for i, name in enumerate(msg_path):
+                    print(f"🔍 列表步骤 {i}: 处理 '{name}' 从 {type(current)}")
                     if name.endswith("[]"):
                         base_name = name[:-2]
+                        print(f"🔍 数组字段 base_name: '{base_name}'")
                         if hasattr(current, base_name):
                             current = list(getattr(current, base_name))
+                            print(f"🔍 获取数组: {current} (长度: {len(current)})")
                         else:
+                            print(f"❌ 数组字段 '{base_name}' 不存在")
                             current = []
                             break
                     else:
                         if isinstance(current, list):
+                            print(f"🔍 从列表中获取属性 '{name}'")
                             next_level = []
                             for item in current:
                                 if hasattr(item, name):
                                     next_level.append(getattr(item, name))
                             current = next_level
+                            print(f"🔍 列表处理结果: {current} (长度: {len(current)})")
                         elif hasattr(current, name):
                             current = getattr(current, name)
+                            print(f"🔍 获取到属性: {current} (类型: {type(current)})")
                         else:
+                            print(f"❌ 属性 '{name}' 不存在")
                             current = []
                             break
 
                 attr_key = attr_name[:-2]
                 if current:
-                    data[attr_key] = [convert_from_ros_msg(item) for item in current]
-        except (AttributeError, TypeError):
+                    converted_list = [convert_from_ros_msg(item) for item in current]
+                    data[attr_key] = converted_list
+                    print(f"✅ 设置 data['{attr_key}'] = {converted_list}")
+                else:
+                    print(f"⚠️ 列表为空，跳过 '{attr_key}'")
+        except (AttributeError, TypeError) as e:
+            print(f"❌ 映射转换错误 {msg_name} -> {attr_name}: {e}")
             logger.debug(f"Mapping conversion error for {msg_name} -> {attr_name}")
             continue
+        
+        print(f"🔍 当前 data 状态: {data}")
+        print("-" * 40)
 
+    print(f"🔍 convert_from_ros_msg_with_mapping 结束")
+    print(f"🔍 最终 data: {data}")
+    print("=" * 60)
     return data
 
 

unilabos/ros/nodes/presets/host_node.py

@@ -562,9 +562,9 @@ class HostNode(BaseROS2DeviceNode):
                 for bridge in self.bridges:
                     if hasattr(bridge, "publish_device_status"):
                         bridge.publish_device_status(self.device_status, device_id, property_name)
-                        self.lab_logger().debug(
-                            f"[Host Node] Status updated: {device_id}.{property_name} = {msg.data}"
-                        )
+                        #self.lab_logger().debug(
+                        #    f"[Host Node] Status updated: {device_id}.{property_name} = {msg.data}"
+                        #)
 
     def send_goal(
         self,

unilabos/ros/nodes/presets/protocol_node.py

@@ -182,26 +182,54 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                 # 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
                 goal = goal_handle.request
                 protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
+                
+                # 🔧 添加调试信息
+                print(f"🔍 转换后的 protocol_kwargs: {protocol_kwargs}")
+                print(f"🔍 vessel 在转换后: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 
-                # 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]
-                        )
+                # 🔧 完全禁用Host查询，直接使用转换后的数据
+                print(f"🔧 跳过Host查询，直接使用转换后的数据")
+                
+                # 🔧 额外验证：确保vessel数据完整
+                if 'vessel' in protocol_kwargs:
+                    vessel_data = protocol_kwargs['vessel']
+                    print(f"🔍 验证vessel数据: {vessel_data}")
+                    
+                    # 如果vessel是空字典，尝试重新构建
+                    if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
+                        print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
+                        
+                        # 直接从原始goal提取vessel
+                        if hasattr(goal, 'vessel') and goal.vessel:
+                            print(f"🔍 原始goal.vessel: {goal.vessel}")
+                            # 手动转换vessel
+                            vessel_data = {
+                                'id': goal.vessel.id,
+                                'name': goal.vessel.name,
+                                'type': goal.vessel.type,
+                                'category': goal.vessel.category,
+                                'config': goal.vessel.config,
+                                'data': goal.vessel.data
+                            }
+                            protocol_kwargs['vessel'] = vessel_data
+                            print(f"✅ 手动重建vessel数据: {vessel_data}")
+                        else:
+                            print(f"❌ 无法从原始goal提取vessel数据")
+                            # 创建一个基本的vessel
+                            vessel_data = {'id': 'default_vessel'}
+                            protocol_kwargs['vessel'] = vessel_data
+                            print(f"🔧 创建默认vessel: {vessel_data}")
+
+                print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
+                print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 
                 from unilabos.resources.graphio import physical_setup_graph
 
                 self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
+                self.lab_logger().info(f"Protocol kwargs: {goal}")
+                self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
                 protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
-
+                
                 self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
 
                 time_start = time.time()
@@ -235,14 +263,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             }
                         )
 
-                # 向Host更新物料当前状态
-                for k, v in goal.get_fields_and_field_types().items():
-                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                        r = ResourceUpdate.Request()
-                        r.resources = [
-                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
-                        ]
-                        response = await self._resource_clients["resource_update"].call_async(r)
+                # # 向Host更新物料当前状态
+                # for k, v in goal.get_fields_and_field_types().items():
+                #     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                #         r = ResourceUpdate.Request()
+                #         r.resources = [
+                #             convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
+                #         ]
+                #         response = await self._resource_clients["resource_update"].call_async(r)
 
                 # 设置成功状态和返回值
                 execution_success = True