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Fix drag materials.

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Fix and tested new create_resource.

Update create_resource to resource tree mode.
This commit is contained in:
Xuwznln
2026-01-07 02:03:43 +08:00
parent bc8c49ddda
commit 6ca5c72fc6
8 changed files with 192 additions and 111 deletions
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2
unilabos/app/main.py
View File

@@ -359,7 +359,7 @@ def main():
# 如果从远端获取了物料信息，则与本地物料进行同步 # 如果从远端获取了物料信息，则与本地物料进行同步
if request_startup_json and "nodes" in request_startup_json: if request_startup_json and "nodes" in request_startup_json:
print_status("开始同步远端物料到本地...", "info") print_status("开始同步远端物料到本地...", "info")
remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"]) remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
resource_tree_set.merge_remote_resources(remote_tree_set) resource_tree_set.merge_remote_resources(remote_tree_set)
print_status("远端物料同步完成", "info") print_status("远端物料同步完成", "info")

60
unilabos/app/ws_client.py
View File

@@ -579,6 +579,8 @@ class MessageProcessor:
elif message_type == "session_id": elif message_type == "session_id":
self.session_id = message_data.get("session_id") self.session_id = message_data.get("session_id")
logger.info(f"[MessageProcessor] Session ID: {self.session_id}") logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
elif message_type == "request_reload":
await self._handle_request_reload(message_data)
else: else:
logger.debug(f"[MessageProcessor] Unknown message type: {message_type}") logger.debug(f"[MessageProcessor] Unknown message type: {message_type}")
@@ -888,6 +890,20 @@ class MessageProcessor:
) )
thread.start() thread.start()
async def _handle_request_reload(self, data: Dict[str, Any]):
"""
处理重载请求
当LabGo发送request_reload时，重新发送设备注册信息
"""
reason = data.get("reason", "unknown")
logger.info(f"[MessageProcessor] Received reload request, reason: {reason}")
# 重新发送host_node_ready信息
if self.websocket_client:
self.websocket_client.publish_host_ready()
logger.info("[MessageProcessor] Re-sent host_node_ready after reload request")
async def _send_action_state_response( async def _send_action_state_response(
self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int self, device_id: str, action_name: str, task_id: str, job_id: str, typ: str, free: bool, need_more: int
): ):
@@ -1285,7 +1301,7 @@ class WebSocketClient(BaseCommunicationClient):
self.message_processor.send_message(message) self.message_processor.send_message(message)
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name) job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
logger.debug(f"[WebSocketClient] Job status published: {job_log} - {status}") logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
def send_ping(self, ping_id: str, timestamp: float) -> None: def send_ping(self, ping_id: str, timestamp: float) -> None:
"""发送ping消息""" """发送ping消息"""
@@ -1316,17 +1332,55 @@ class WebSocketClient(BaseCommunicationClient):
logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}") logger.warning(f"[WebSocketClient] Failed to cancel job {job_log}")
def publish_host_ready(self) -> None: def publish_host_ready(self) -> None:
"""发布host_node ready信号""" """发布host_node ready信号，包含设备和动作信息"""
if self.is_disabled or not self.is_connected(): if self.is_disabled or not self.is_connected():
logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal") logger.debug("[WebSocketClient] Not connected, cannot publish host ready signal")
return return
# 收集设备信息
devices = []
machine_name = BasicConfig.machine_name
try:
host_node = HostNode.get_instance(0)
if host_node:
# 获取设备信息
for device_id, namespace in host_node.devices_names.items():
device_key = f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}"
is_online = device_key in host_node._online_devices
# 获取设备的动作信息
actions = {}
for action_id, client in host_node._action_clients.items():
# action_id 格式: /namespace/device_id/action_name
if device_id in action_id:
action_name = action_id.split("/")[-1]
actions[action_name] = {
"action_path": action_id,
"action_type": str(type(client).__name__),
}
devices.append({
"device_id": device_id,
"namespace": namespace,
"device_key": device_key,
"is_online": is_online,
"machine_name": host_node.device_machine_names.get(device_id, machine_name),
"actions": actions,
})
logger.info(f"[WebSocketClient] Collected {len(devices)} devices for host_ready")
except Exception as e:
logger.warning(f"[WebSocketClient] Error collecting device info: {e}")
message = { message = {
"action": "host_node_ready", "action": "host_node_ready",
"data": { "data": {
"status": "ready", "status": "ready",
"timestamp": time.time(), "timestamp": time.time(),
"machine_name": machine_name,
"devices": devices,
}, },
} }
self.message_processor.send_message(message) self.message_processor.send_message(message)
logger.info("[WebSocketClient] Host node ready signal published") logger.info(f"[WebSocketClient] Host node ready signal published with {len(devices)} devices")

11
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -70,7 +70,16 @@ class PRCXI9300Deck(Deck):
def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs): def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs):
super().__init__(name, size_x, size_y, size_z) super().__init__(name, size_x, size_y, size_z)
self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位 self.slots = [None] * 16 # PRCXI 9300/9320 最大有 16 个槽位
self.slot_locations = [Coordinate(0, 0, 0)] * 16
def assign_child_at_slot(self, resource: Resource, slot: int, reassign: bool = False) -> None:
if self.slots[slot - 1] is not None and not reassign:
raise ValueError(f"Spot {slot} is already occupied")
self.slots[slot - 1] = resource
super().assign_child_resource(resource, location=self.slot_locations[slot - 1])
class PRCXI9300Container(Plate): class PRCXI9300Container(Plate):
"""PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。 """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。

2
unilabos/resources/graphio.py
View File

@@ -134,7 +134,7 @@ def canonicalize_nodes_data(
parent_instance.children.append(current_instance) parent_instance.children.append(current_instance)
# 第五步：创建 ResourceTreeSet # 第五步：创建 ResourceTreeSet
resource_tree_set = ResourceTreeSet.from_nested_list(standardized_instances) resource_tree_set = ResourceTreeSet.from_nested_instance_list(standardized_instances)
return resource_tree_set return resource_tree_set

207
unilabos/ros/nodes/base_device_node.py
View File

@@ -5,7 +5,8 @@ import json
import threading import threading
import time import time
import traceback import traceback
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union, \
Tuple
from concurrent.futures import ThreadPoolExecutor from concurrent.futures import ThreadPoolExecutor
import asyncio import asyncio
@@ -362,78 +363,82 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return res return res
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response): async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
from pylabrobot.resources.resource import Resource as ResourcePLR
from pylabrobot.resources.deck import Deck
from pylabrobot.resources import Coordinate
from pylabrobot.resources import Plate
# 物料传输到对应的node节点 # 物料传输到对应的node节点
rclient = self.create_client(ResourceAdd, "/resources/add") client = self._resource_clients["c2s_update_resource_tree"]
rclient.wait_for_service() request = SerialCommand.Request()
rclient2 = self.create_client(ResourceAdd, "/resources/add") request2 = SerialCommand.Request()
rclient2.wait_for_service()
request = ResourceAdd.Request()
request2 = ResourceAdd.Request()
command_json = json.loads(req.command) command_json = json.loads(req.command)
namespace = command_json["namespace"] namespace = command_json["namespace"]
bind_parent_id = command_json["bind_parent_id"] bind_parent_id = command_json["bind_parent_id"]
edge_device_id = command_json["edge_device_id"] edge_device_id = command_json["edge_device_id"]
location = command_json["bind_location"] location = command_json["bind_location"]
other_calling_param = command_json["other_calling_param"] other_calling_param = command_json["other_calling_param"]
resources = command_json["resource"] input_resources = command_json["resource"]
initialize_full = other_calling_param.pop("initialize_full", False) initialize_full = other_calling_param.pop("initialize_full", False)
# 用来增加液体 # 用来增加液体
ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", []) ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", []) LIQUID_VOLUME: List[float] = other_calling_param.pop("LIQUID_VOLUME", [])
LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", []) LIQUID_INPUT_SLOT: List[int] = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
slot = other_calling_param.pop("slot", "-1") slot = other_calling_param.pop("slot", "-1")
resource = None if slot != -1: # slot为负数的时候采用assign方法
if slot != "-1": # slot为负数的时候采用assign方法
other_calling_param["slot"] = slot other_calling_param["slot"] = slot
# 本地拿到这个物料，可能需要先做初始化? # 本地拿到这个物料，可能需要先做初始化
if isinstance(resources, list): if isinstance(input_resources, list) and initialize_full:
if ( input_resources = initialize_resources(input_resources)
len(resources) == 1 and isinstance(resources[0], list) and not initialize_full elif initialize_full:
): # 取消，不存在的情况 input_resources = initialize_resources([input_resources])
# 预先initialize过，以整组的形式传入 rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]] parent_resource = None
elif initialize_full: if bind_parent_id != self.node_name:
resources = initialize_resources(resources) parent_resource = self.resource_tracker.figure_resource(
request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources] {"name": bind_parent_id}
else: )
request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources] for r in rts.root_nodes:
else: # noinspection PyUnresolvedReferences
if initialize_full: r.res_content.parent_uuid = parent_resource.unilabos_uuid
resources = initialize_resources([resources])
request.resources = [convert_to_ros_msg(Resource, resources)] if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1 and len(rts.root_nodes) == 1 and isinstance(rts.root_nodes[0], RegularContainer):
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1: # noinspection PyTypeChecker
container_instance = request.resources[0] container_instance: RegularContainer = rts.root_nodes[0]
container_query_dict: dict = resources
found_resources = self.resource_tracker.figure_resource( found_resources = self.resource_tracker.figure_resource(
{"id": container_query_dict["name"]}, try_mode=True {"id": container_instance.name}, try_mode=True
) )
if not len(found_resources): if not len(found_resources):
self.resource_tracker.add_resource(container_instance) self.resource_tracker.add_resource(container_instance)
logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器") logger.info(f"添加物料{container_instance.name}到资源跟踪器")
else: else:
assert ( assert (
len(found_resources) == 1 len(found_resources) == 1
), f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统" ), f"找到多个同名物料: {container_instance.name}, 请检查物料系统"
resource = found_resources[0] found_resource = found_resources[0]
if isinstance(resource, Resource): if isinstance(found_resource, RegularContainer):
regular_container = RegularContainer(resource.id) logger.info(f"更新物料{container_instance.name}的数据{found_resource.state}")
regular_container.ulr_resource = resource found_resource.state.update(json.loads(container_instance.state))
regular_container.ulr_resource_data.update(json.loads(container_instance.data)) elif isinstance(found_resource, dict):
logger.info(f"更新物料{container_query_dict['name']}的数据{resource.data} ULR") raise ValueError("已不支持 字典 版本的RegularContainer")
elif isinstance(resource, dict):
if "data" not in resource:
resource["data"] = {}
resource["data"].update(json.loads(container_instance.data))
request.resources[0].name = resource["name"]
logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
else: else:
logger.info( logger.info(
f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}" f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
) )
response: ResourceAdd.Response = await rclient.call_async(request) # noinspection PyUnresolvedReferences
# 应该先add_resource了 request.command = json.dumps({
"action": "add",
"data": {
"data": rts.dump(),
"mount_uuid": parent_resource.unilabos_uuid if parent_resource is not None else "",
"first_add": False,
},
})
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
final_response = { final_response = {
"created_resources": [ROS2MessageInstance(i).get_python_dict() for i in request.resources], "created_resources": rts.dump(),
"liquid_input_resources": [], "liquid_input_resources": [],
} }
res.response = json.dumps(final_response) res.response = json.dumps(final_response)
@@ -458,59 +463,63 @@ class BaseROS2DeviceNode(Node, Generic[T]):
) )
res.response = get_result_info_str(traceback.format_exc(), False, {}) res.response = get_result_info_str(traceback.format_exc(), False, {})
return res return res
# 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
if bind_parent_id != self.node_name:
resource = self.resource_tracker.figure_resource(
{"name": bind_parent_id}
) # 拿到父节点，进行具体assign等操作
# request.resources = [convert_to_ros_msg(Resource, resources)]
try: try:
from pylabrobot.resources.resource import Resource as ResourcePLR if len(rts.root_nodes) == 1 and parent_resource is not None:
from pylabrobot.resources.deck import Deck plr_instance = rts.to_plr_resources()[0]
from pylabrobot.resources import Coordinate
from pylabrobot.resources import OTDeck
from pylabrobot.resources import Plate
contain_model = not isinstance(resource, Deck)
if isinstance(resource, ResourcePLR):
# resources.list()
plr_instance = ResourceTreeSet.from_raw_list(resources).to_plr_resources()[0]
# resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
# plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
if isinstance(plr_instance, Plate): if isinstance(plr_instance, Plate):
empty_liquid_info_in = [(None, 0)] * plr_instance.num_items empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
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")
for liquid_type, liquid_volume, liquid_input_slot in zip( for liquid_type, liquid_volume, liquid_input_slot in zip(
ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
): ):
empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume) empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
plr_instance.set_well_liquids(empty_liquid_info_in) plr_instance.set_well_liquids(empty_liquid_info_in)
input_wells_ulr = [ try:
convert_to_ros_msg( # noinspection PyProtectedMember
Resource, keys = list(plr_instance._ordering.keys())
resource_plr_to_ulab(plr_instance.get_well(LIQUID_INPUT_SLOT), with_children=False), for ind, r in enumerate(LIQUID_INPUT_SLOT[:]):
) if isinstance(r, int):
for r in LIQUID_INPUT_SLOT # noinspection PyTypeChecker
] LIQUID_INPUT_SLOT[ind] = keys[r]
final_response["liquid_input_resources"] = [ input_wells = [plr_instance.get_well(r) for r in LIQUID_INPUT_SLOT]
ROS2MessageInstance(i).get_python_dict() for i in input_wells_ulr except AttributeError:
] # 按照id回去失败，回退到children
input_wells = []
for r in LIQUID_INPUT_SLOT:
input_wells.append(plr_instance.children[r])
final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
res.response = json.dumps(final_response) res.response = json.dumps(final_response)
if isinstance(resource, OTDeck) and "slot" in other_calling_param: if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
other_calling_param["slot"] = int(other_calling_param["slot"]) other_calling_param["slot"] = int(other_calling_param["slot"])
resource.assign_child_at_slot(plr_instance, **other_calling_param) parent_resource.assign_child_at_slot(plr_instance, **other_calling_param)
else: else:
_discard_slot = other_calling_param.pop("slot", "-1") _discard_slot = other_calling_param.pop("slot", -1)
resource.assign_child_resource( parent_resource.assign_child_resource(
plr_instance, plr_instance,
Coordinate(location["x"], location["y"], location["z"]), Coordinate(location["x"], location["y"], location["z"]),
**other_calling_param, **other_calling_param,
) )
request2.resources = [ # 调整了液体以及Deck之后要重新Assign
convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)]) # noinspection PyUnresolvedReferences
] rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
rclient2.call(request2) if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
request.command = json.dumps({
"action": "add",
"data": {
"data": rts_with_parent.dump(),
"mount_uuid": rts_with_parent.root_nodes[0].res_content.uuid_parent,
"first_add": False,
},
})
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
# 这里created_resources不包含parent_resource
# 发送给ResourceMeshManager # 发送给ResourceMeshManager
action_client = ActionClient( action_client = ActionClient(
self, self,
@@ -521,7 +530,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
goal = SendCmd.Goal() goal = SendCmd.Goal()
goal.command = json.dumps( goal.command = json.dumps(
{ {
"resources": resources, "resources": input_resources,
"bind_parent_id": bind_parent_id, "bind_parent_id": bind_parent_id,
} }
) )
@@ -614,7 +623,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
) )
) # type: ignore ) # type: ignore
raw_nodes = json.loads(response.response) raw_nodes = json.loads(response.response)
tree_set = ResourceTreeSet.from_raw_list(raw_nodes) tree_set = ResourceTreeSet.from_raw_dict_list(raw_nodes)
self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树") self.lab_logger().debug(f"获取资源结果: {len(tree_set.trees)} 个资源树")
return tree_set return tree_set
@@ -642,7 +651,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
raw_data = json.loads(response.response) raw_data = json.loads(response.response)
# 转换为 PLR 资源 # 转换为 PLR 资源
tree_set = ResourceTreeSet.from_raw_list(raw_data) tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
plr_resource = tree_set.to_plr_resources()[0] plr_resource = tree_set.to_plr_resources()[0]
self.lab_logger().debug(f"获取资源 {resource_id} 成功") self.lab_logger().debug(f"获取资源 {resource_id} 成功")
return plr_resource return plr_resource
@@ -787,7 +796,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
} }
def _handle_update( def _handle_update(
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any] plr_resources: List[Union[ResourcePLR, ResourceDictInstance]], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
) -> Dict[str, Any]: ) -> Dict[str, Any]:
""" """
处理资源更新操作的内部函数 处理资源更新操作的内部函数
@@ -801,6 +810,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
操作结果字典 操作结果字典
""" """
for plr_resource, tree in zip(plr_resources, tree_set.trees): for plr_resource, tree in zip(plr_resources, tree_set.trees):
if isinstance(plr_resource, ResourceDictInstance):
self._lab_logger.info(f"跳过 非资源{plr_resource.res_content.name} 的更新")
continue
states = plr_resource.serialize_all_state() states = plr_resource.serialize_all_state()
original_instance: ResourcePLR = self.resource_tracker.figure_resource( original_instance: ResourcePLR = self.resource_tracker.figure_resource(
{"uuid": tree.root_node.res_content.uuid}, try_mode=False {"uuid": tree.root_node.res_content.uuid}, try_mode=False
@@ -880,7 +892,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
elif action == "update": elif action == "update":
if tree_set is None: if tree_set is None:
raise ValueError("tree_set不能为None") raise ValueError("tree_set不能为None")
plr_resources = tree_set.to_plr_resources() plr_resources = []
for tree in tree_set.trees:
if tree.root_node.res_content.type == "device":
plr_resources.append(tree.root_node)
else:
plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0])
result = _handle_update(plr_resources, tree_set, additional_add_params) result = _handle_update(plr_resources, tree_set, additional_add_params)
results.append(result) results.append(result)
elif action == "remove": elif action == "remove":
@@ -1523,7 +1540,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
raw_data = json.loads(response.response) raw_data = json.loads(response.response)
# 转换为 PLR 资源 # 转换为 PLR 资源
tree_set = ResourceTreeSet.from_raw_list(raw_data) tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
plr_resource = tree_set.to_plr_resources()[0] plr_resource = tree_set.to_plr_resources()[0]
# 通过资源跟踪器获取本地实例 # 通过资源跟踪器获取本地实例

9
unilabos/ros/nodes/presets/host_node.py
View File

@@ -45,6 +45,7 @@ from unilabos.ros.nodes.resource_tracker import (
) )
from unilabos.utils import logger from unilabos.utils import logger
from unilabos.utils.exception import DeviceClassInvalid from unilabos.utils.exception import DeviceClassInvalid
from unilabos.utils.log import warning
from unilabos.utils.type_check import serialize_result_info from unilabos.utils.type_check import serialize_result_info
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
@@ -180,7 +181,7 @@ class HostNode(BaseROS2DeviceNode):
for plr_resource in ResourceTreeSet([tree]).to_plr_resources(): for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
self._resource_tracker.add_resource(plr_resource) self._resource_tracker.add_resource(plr_resource)
except Exception as ex: except Exception as ex:
self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！") warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！")
except Exception as ex: except Exception as ex:
logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}") logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
# 初始化Node基类，传递空参数覆盖列表 # 初始化Node基类，传递空参数覆盖列表
@@ -455,10 +456,10 @@ class HostNode(BaseROS2DeviceNode):
async def create_resource( async def create_resource(
self, self,
device_id: str, device_id: DeviceSlot,
res_id: str, res_id: str,
class_name: str, class_name: str,
parent: str, parent: ResourceSlot,
bind_locations: Point, bind_locations: Point,
liquid_input_slot: list[int] = [], liquid_input_slot: list[int] = [],
liquid_type: list[str] = [], liquid_type: list[str] = [],
@@ -805,7 +806,7 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id[:8]}): {status}") self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id[:8]}): {status}")
if goal_status != GoalStatus.STATUS_CANCELED: if goal_status != GoalStatus.STATUS_CANCELED:
self.lab_logger().debug(f"[Host Node] Result data: {result_data}") self.lab_logger().trace(f"[Host Node] Result data: {result_data}")
# 清理 _goals 中的记录 # 清理 _goals 中的记录
if job_id in self._goals: if job_id in self._goals:

2
unilabos/ros/nodes/presets/workstation.py
View File

@@ -244,7 +244,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
r r
) # type: ignore ) # type: ignore
raw_data = json.loads(response.response) raw_data = json.loads(response.response)
tree_set = ResourceTreeSet.from_raw_list(raw_data) tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
target = tree_set.dump() target = tree_set.dump()
protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target protocol_kwargs[k] = target[0][0] if v == "unilabos_msgs/Resource" else target
except Exception as ex: except Exception as ex:

10
unilabos/ros/nodes/resource_tracker.py
View File

@@ -523,7 +523,7 @@ class ResourceTreeSet(object):
return plr_resources return plr_resources
@classmethod @classmethod
def from_raw_list(cls, raw_list: List[Dict[str, Any]]) -> "ResourceTreeSet": def from_raw_dict_list(cls, raw_list: List[Dict[str, Any]]) -> "ResourceTreeSet":
""" """
从原始字典列表创建 ResourceTreeSet，自动建立 parent-children 关系 从原始字典列表创建 ResourceTreeSet，自动建立 parent-children 关系
@@ -573,10 +573,10 @@ class ResourceTreeSet(object):
parent_instance.children.append(instance) parent_instance.children.append(instance)
# 第四步：使用 from_nested_list 创建 ResourceTreeSet # 第四步：使用 from_nested_list 创建 ResourceTreeSet
return cls.from_nested_list(instances) return cls.from_nested_instance_list(instances)
@classmethod @classmethod
def from_nested_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet": def from_nested_instance_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet":
""" """
从扁平化的资源列表创建ResourceTreeSet，自动按根节点分组 从扁平化的资源列表创建ResourceTreeSet，自动按根节点分组
@@ -785,7 +785,7 @@ class ResourceTreeSet(object):
""" """
nested_lists = [] nested_lists = []
for tree_data in data: for tree_data in data:
nested_lists.extend(ResourceTreeSet.from_raw_list(tree_data).trees) nested_lists.extend(ResourceTreeSet.from_raw_dict_list(tree_data).trees)
return cls(nested_lists) return cls(nested_lists)
@@ -965,7 +965,7 @@ class DeviceNodeResourceTracker(object):
if current_uuid in self.uuid_to_resources: if current_uuid in self.uuid_to_resources:
self.uuid_to_resources.pop(current_uuid) self.uuid_to_resources.pop(current_uuid)
self.uuid_to_resources[new_uuid] = res self.uuid_to_resources[new_uuid] = res
logger.debug(f"更新uuid: {current_uuid} -> {new_uuid}") logger.trace(f"更新uuid: {current_uuid} -> {new_uuid}")
replaced = 1 replaced = 1
return replaced return replaced