open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-06 23:15:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

action to resource & 0.9.12

Browse Source
This commit is contained in:
KCFeng425
2025-07-17 04:10:15 +08:00
parent f90be18926
commit 6b7564b9f9
53 changed files with 2526 additions and 761 deletions
Download Patch File Download Diff File Expand all files Collapse all files

72
unilabos/ros/nodes/presets/protocol_node.py
View File

@@ -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