mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 13:25:13 +00:00
Fix drag materials.
Fix and tested new create_resource. Update create_resource to resource tree mode.
This commit is contained in:
Xuwznln
@@ -5,7 +5,8 @@ import json
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import threading
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import time
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import traceback
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from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
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from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
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Tuple
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from concurrent.futures import ThreadPoolExecutor
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import asyncio
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@@ -362,78 +363,82 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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return res
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async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
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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 Plate
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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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client = self._resource_clients["c2s_update_resource_tree"]
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request = SerialCommand.Request()
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request2 = SerialCommand.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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input_resources = command_json["resource"]
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initialize_full = other_calling_param.pop("initialize_full", False)
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# 用来增加液体
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ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
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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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LIQUID_VOLUME: List[float] = other_calling_param.pop("LIQUID_VOLUME", [])
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LIQUID_INPUT_SLOT: List[int] = 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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if slot != "-1": # slot为负数的时候采用assign方法
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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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if isinstance(resources, list):
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if (
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len(resources) == 1 and isinstance(resources[0], list) and not initialize_full
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): # 取消，不存在的情况
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# 预先initialize过，以整组的形式传入
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request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
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elif initialize_full:
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resources = initialize_resources(resources)
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request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
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else:
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request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
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else:
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if initialize_full:
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resources = initialize_resources([resources])
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request.resources = [convert_to_ros_msg(Resource, resources)]
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if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
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container_instance = request.resources[0]
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container_query_dict: dict = resources
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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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if isinstance(input_resources, list) and initialize_full:
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input_resources = initialize_resources(input_resources)
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elif initialize_full:
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input_resources = initialize_resources([input_resources])
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rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
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parent_resource = None
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if bind_parent_id != self.node_name:
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parent_resource = self.resource_tracker.figure_resource(
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{"name": bind_parent_id}
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)
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for r in rts.root_nodes:
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# noinspection PyUnresolvedReferences
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r.res_content.parent_uuid = parent_resource.unilabos_uuid
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if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
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# noinspection PyTypeChecker
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container_instance: RegularContainer = rts.root_nodes[0]
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found_resources = self.resource_tracker.figure_resource(
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{"id": container_query_dict["name"]}, try_mode=True
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{"id": container_instance.name}, try_mode=True
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)
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if not len(found_resources):
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self.resource_tracker.add_resource(container_instance)
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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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logger.info(f"添加物料{container_instance.name}到资源跟踪器")
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else:
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assert (
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len(found_resources) == 1
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), 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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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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), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
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found_resource = found_resources[0]
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if isinstance(found_resource, RegularContainer):
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logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
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found_resource.state.update(json.loads(container_instance.state))
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elif isinstance(found_resource, dict):
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raise ValueError("已不支持 字典 版本的RegularContainer")
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else:
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logger.info(
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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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f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
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)
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response: ResourceAdd.Response = await rclient.call_async(request)
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# 应该先add_resource了
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# noinspection PyUnresolvedReferences
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request.command = json.dumps({
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"action": "add",
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"data": {
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"data": rts.dump(),
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"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
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"first_add": False,
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},
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})
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tree_response: SerialCommand.Response = await client.call_async(request)
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uuid_maps = json.loads(tree_response.response)
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self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
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self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
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final_response = {
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"created_resources": [ROS2MessageInstance(i).get_python_dict() for i in request.resources],
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"created_resources": rts.dump(),
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"liquid_input_resources": [],
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}
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res.response = json.dumps(final_response)
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@@ -458,59 +463,63 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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)
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res.response = get_result_info_str(traceback.format_exc(), False, {})
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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(
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{"name": bind_parent_id}
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) # 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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contain_model = not isinstance(resource, Deck)
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if isinstance(resource, ResourcePLR):
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# resources.list()
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plr_instance = ResourceTreeSet.from_raw_list(resources).to_plr_resources()[0]
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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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if len(rts.root_nodes) == 1 and parent_resource is not None:
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plr_instance = rts.to_plr_resources()[0]
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if isinstance(plr_instance, Plate):
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empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
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empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
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if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
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ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
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LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
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self.lab_logger().warning(f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个")
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for liquid_type, liquid_volume, liquid_input_slot in zip(
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ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
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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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input_wells_ulr = [
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convert_to_ros_msg(
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Resource,
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resource_plr_to_ulab(plr_instance.get_well(LIQUID_INPUT_SLOT), with_children=False),
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)
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for r in LIQUID_INPUT_SLOT
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]
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final_response["liquid_input_resources"] = [
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ROS2MessageInstance(i).get_python_dict() for i in input_wells_ulr
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]
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try:
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# noinspection PyProtectedMember
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keys = list(plr_instance._ordering.keys())
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for ind, r in enumerate(LIQUID_INPUT_SLOT[:]):
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if isinstance(r, int):
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# noinspection PyTypeChecker
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LIQUID_INPUT_SLOT[ind] = keys[r]
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input_wells = [plr_instance.get_well(r) for r in LIQUID_INPUT_SLOT]
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except AttributeError:
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# 按照id回去失败，回退到children
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input_wells = []
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for r in LIQUID_INPUT_SLOT:
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input_wells.append(plr_instance.children[r])
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final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
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res.response = json.dumps(final_response)
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if isinstance(resource, OTDeck) and "slot" in other_calling_param:
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if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") 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_resource.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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_discard_slot = other_calling_param.pop("slot", -1)
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parent_resource.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.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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]
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rclient2.call(request2)
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# 调整了液体以及Deck之后要重新Assign
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# noinspection PyUnresolvedReferences
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rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
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if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
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rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
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request.command = json.dumps({
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"action": "add",
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"data": {
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"data": rts_with_parent.dump(),
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"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
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"first_add": False,
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},
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})
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tree_response: SerialCommand.Response = await client.call_async(request)
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uuid_maps = json.loads(tree_response.response)
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self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
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self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
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# 这里created_resources不包含parent_resource
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# 发送给ResourceMeshManager
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action_client = ActionClient(
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self,
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@@ -521,7 +530,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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goal = SendCmd.Goal()
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goal.command = json.dumps(
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{
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"resources": resources,
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"resources": input_resources,
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"bind_parent_id": bind_parent_id,
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}
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)
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@@ -614,7 +623,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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)
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) # type: ignore
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raw_nodes = json.loads(response.response)
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tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
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tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes)
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self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树")
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return tree_set
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@@ -642,7 +651,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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raw_data = json.loads(response.response)
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# 转换为 PLR 资源
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tree_set = ResourceTreeSet.from_raw_list(raw_data)
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tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
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plr_resource = tree_set.to_plr_resources()[0]
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self.lab_logger().debug(f"获取资源 {resource_id} 成功")
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return plr_resource
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@@ -787,7 +796,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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}
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def _handle_update(
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plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
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plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
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) -> Dict[str, Any]:
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"""
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处理资源更新操作的内部函数
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@@ -801,6 +810,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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操作结果字典
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"""
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for plr_resource, tree in zip(plr_resources, tree_set.trees):
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if isinstance(plr_resource, ResourceDictInstance):
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self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新")
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continue
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states = plr_resource.serialize_all_state()
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original_instance: ResourcePLR = self.resource_tracker.figure_resource(
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{"uuid": tree.root_node.res_content.uuid}, try_mode=False
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@@ -880,7 +892,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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elif action == "update":
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if tree_set is None:
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raise ValueError("tree_set不能为None")
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plr_resources = tree_set.to_plr_resources()
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plr_resources = []
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for tree in tree_set.trees:
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if tree.root_node.res_content.type == "device":
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plr_resources.append(tree.root_node)
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else:
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plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
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result = _handle_update(plr_resources, tree_set, additional_add_params)
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results.append(result)
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elif action == "remove":
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@@ -1523,7 +1540,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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raw_data = json.loads(response.response)
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# 转换为 PLR 资源
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tree_set = ResourceTreeSet.from_raw_list(raw_data)
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tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
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plr_resource = tree_set.to_plr_resources()[0]
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# 通过资源跟踪器获取本地实例
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