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support sleep and create_task in node

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Xuwznln
2025-11-03 15:42:12 +08:00
parent 062f1a2153
commit 6e3eacd2f0
3 changed files with 257 additions and 160 deletions
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395
unilabos/devices/liquid_handling/prcxi/prcxi.py
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@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class PRCXIError(RuntimeError):
@@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
)
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
def post_init(self, ros_node: BaseROS2DeviceNode):
super().post_init(ros_node)
self._unilabos_backend.post_init(ros_node)
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
return super().set_liquid(wells, liquid_names, volumes)
@@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
_num_channels = 8 # 默认通道数为 8
_is_reset_ok = False
_ros_node: BaseROS2DeviceNode
@property
def is_reset_ok(self) -> bool:
@@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self._execute_setup = setup
self.debug = debug
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def create_protocol(self, protocol_name):
self.protocol_name = protocol_name
self.steps_todo_list = []
@@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.api_client.call("IAutomation", "Reset")
while not self.is_reset_ok:
print("Waiting for PRCXI9300 to reset...")
await asyncio.sleep(1)
await self._ros_node.sleep(1)
print("PRCXI9300 reset successfully.")
except ConnectionRefusedError as e:
raise RuntimeError(
@@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
tipspot_index = tipspot.parent.children.index(tipspot)
tip_columns.append(tipspot_index // 8)
if len(set(tip_columns)) != 1:
raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns))
raise ValueError(
"All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
)
PlateNo = plate_indexes[0] + 1
hole_col = tip_columns[0] + 1
hole_row = 1
@@ -1109,12 +1120,15 @@ class PRCXI9300Api:
"LiquidDispensingMethod": liquid_method,
}
class DefaultLayout:
def __init__(self, product_name: str = "PRCXI9300"):
self.labresource = {}
if product_name not in ["PRCXI9300", "PRCXI9320"]:
raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.")
raise ValueError(
f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
)
if product_name == "PRCXI9300":
self.rows = 2
@@ -1129,25 +1143,93 @@ class DefaultLayout:
self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
self.trash_slot = 16
self.waste_liquid_slot = 12
self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets":
[{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示
{"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}},
{"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示
]
}
self.default_layout = {
"MatrixId": f"{time.time()}",
"MatrixName": f"{time.time()}",
"MatrixCount": 16,
"WorkTablets": [
{
"Number": 1,
"Code": "T1",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 2,
"Code": "T2",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 3,
"Code": "T3",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 4,
"Code": "T4",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 5,
"Code": "T5",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 6,
"Code": "T6",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 7,
"Code": "T7",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 8,
"Code": "T8",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 9,
"Code": "T9",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 10,
"Code": "T10",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 11,
"Code": "T11",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 12,
"Code": "T12",
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
}, # 这个设置成废液槽，用储液槽表示
{
"Number": 13,
"Code": "T13",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 14,
"Code": "T14",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 15,
"Code": "T15",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 16,
"Code": "T16",
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
}, # 这个设置成垃圾桶，用储液槽表示
],
}
def get_layout(self) -> Dict[str, Any]:
return {
@@ -1155,7 +1237,7 @@ class DefaultLayout:
"columns": self.columns,
"layout": self.layout,
"trash_slot": self.trash_slot,
"waste_liquid_slot": self.waste_liquid_slot
"waste_liquid_slot": self.waste_liquid_slot,
}
def get_trash_slot(self) -> int:
@@ -1178,17 +1260,19 @@ class DefaultLayout:
reserved_positions = {12, 16}
available_positions = [i for i in range(1, 17) if i not in reserved_positions]
# 计算总需求
# 计算总需求
total_needed = sum(count for _, _, count in needs)
if total_needed > len(available_positions):
raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）")
raise ValueError(
f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
)
# 依次分配位置
current_pos = 0
for reagent_name, material_name, count in needs:
material_uuid = self.labresource[material_name]['uuid']
material_enum = self.labresource[material_name]['materialEnum']
material_uuid = self.labresource[material_name]["uuid"]
material_enum = self.labresource[material_name]["materialEnum"]
for _ in range(count):
if current_pos >= len(available_positions):
@@ -1196,17 +1280,18 @@ class DefaultLayout:
position = available_positions[current_pos]
# 找到对应的tablet并更新
for tablet in self.default_layout['WorkTablets']:
if tablet['Number'] == position:
tablet['Material']['uuid'] = material_uuid
tablet['Material']['materialEnum'] = material_enum
layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position))
for tablet in self.default_layout["WorkTablets"]:
if tablet["Number"] == position:
tablet["Material"]["uuid"] = material_uuid
tablet["Material"]["materialEnum"] = material_enum
layout_list.append(
dict(reagent_name=reagent_name, material_name=material_name, positions=position)
)
break
current_pos += 1
return self.default_layout, layout_list
if __name__ == "__main__":
# Example usage
# 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
@@ -1302,10 +1387,7 @@ if __name__ == "__main__":
# # # plate2.set_well_liquids(plate_2_liquids)
# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
# timeout=10.0, setup=False, debug=False,
# simulator=True,
# matrix_id="71593",
@@ -1391,10 +1473,7 @@ if __name__ == "__main__":
# # input("Press Enter to continue...") # Wait for user input before proceeding
# # print("PRCXI9300Handler initialized with deck and host settings.")
### 9320 ###
### 9320 ###
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
@@ -1412,12 +1491,15 @@ if __name__ == "__main__":
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
return new_plate
def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container:
def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
tip_racks = opentrons_96_tiprack_10ul(name).serialize()
tip_rack = PRCXI9300Container(
name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({
k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()
})
name=name,
size_x=50,
size_y=50,
size_z=10,
category="tip_rack",
ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
)
tip_rack_serialized = tip_rack.serialize()
tip_rack_serialized["parent_name"] = deck.name
@@ -1629,6 +1711,7 @@ if __name__ == "__main__":
)
backend: PRCXI9300Backend = handler.backend
from pylabrobot.resources import set_volume_tracking
set_volume_tracking(enabled=True)
# res = backend.api_client.get_all_materials()
asyncio.run(handler.setup()) # Initialize the handler and setup the connection
@@ -1640,10 +1723,10 @@ if __name__ == "__main__":
for well in plate13.get_all_items():
# well_pos = well.name.split("_")[1] # 走一行
# if well_pos.startswith("A"):
if well.name.startswith("PlateT13"): # 走整个Plate
# if well_pos.startswith("A"):
if well.name.startswith("PlateT13"): # 走整个Plate
asyncio.run(handler.dispense([well], [0.01], [0]))
# asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
# asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0]))
# asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0]))
@@ -1652,26 +1735,25 @@ if __name__ == "__main__":
asyncio.run(handler.run_protocol())
time.sleep(5)
os._exit(0)
# 第一种情景：一个孔往多个孔加液
# 第一种情景：一个孔往多个孔加液
# plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
# plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
# 第二个情景：多个孔往多个孔加液(但是个数得对应)
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23)
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
# 第二个情景：多个孔往多个孔加液(但是个数得对应)
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
# A = tree_to_list([resource_plr_to_ulab(deck)])
# # with open("deck.json", "w", encoding="utf-8") as f:
# # json.dump(A, f, indent=4, ensure_ascii=False)
# A = tree_to_list([resource_plr_to_ulab(deck)])
# # with open("deck.json", "w", encoding="utf-8") as f:
# # json.dump(A, f, indent=4, ensure_ascii=False)
# print(plate11.get_well(0).tracker.get_used_volume())
# Initialize the backend and setup the connection
# print(plate11.get_well(0).tracker.get_used_volume())
# Initialize the backend and setup the connection
asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking
# asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
# print(plate8.children[8])
# asyncio.run(handler.run_protocol())
@@ -1685,121 +1767,118 @@ if __name__ == "__main__":
# print(plate1.children[0])
# asyncio.run(handler.discard_tips([0]))
# asyncio.run(handler.add_liquid(
# asp_vols=[10]*7,
# dis_vols=[10]*7,
# reagent_sources=plate11.children[:7],
# targets=plate1.children[2:9],
# use_channels=[0],
# flow_rates=[None] * 7,
# offsets=[Coordinate(0, 0, 0)] * 7,
# liquid_height=[None] * 7,
# blow_out_air_volume=[None] * 2,
# delays=None,
# mix_time=3,
# mix_vol=5,
# spread="custom",
# ))
# asyncio.run(handler.add_liquid(
# asp_vols=[10]*7,
# dis_vols=[10]*7,
# reagent_sources=plate11.children[:7],
# targets=plate1.children[2:9],
# use_channels=[0],
# flow_rates=[None] * 7,
# offsets=[Coordinate(0, 0, 0)] * 7,
# liquid_height=[None] * 7,
# blow_out_air_volume=[None] * 2,
# delays=None,
# mix_time=3,
# mix_vol=5,
# spread="custom",
# ))
# asyncio.run(handler.run_protocol()) # Run the protocol
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[10]*2,
# # # dis_vols=[10]*2,
# # # sources=plate11.children[:2],
# # # targets=plate11.children[-2:],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # mix_times=3,
# # # mix_vol=5,
# # # spread="wide",
# # # tip_racks=[plate8]
# # # ))
# # # asyncio.run(handler.remove_liquid(
# # # vols=[10]*2,
# # # sources=plate11.children[:2],
# # # waste_liquid=plate11.children[43],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # spread="wide"
# # # ))
# # asyncio.run(handler.run_protocol())
# # # asyncio.run(handler.discard_tips())
# # # asyncio.run(handler.mix(well_containers.children[:8
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[10]*2,
# # # dis_vols=[10]*2,
# # # sources=plate11.children[:2],
# # # targets=plate11.children[-2:],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # mix_times=3,
# # # mix_vol=5,
# # # spread="wide",
# # # tip_racks=[plate8]
# # # ))
# # # asyncio.run(handler.remove_liquid(
# # # vols=[10]*2,
# # # sources=plate11.children[:2],
# # # waste_liquid=plate11.children[43],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # spread="wide"
# # # ))
# # asyncio.run(handler.run_protocol())
# # # asyncio.run(handler.discard_tips())
# # # asyncio.run(handler.mix(well_containers.children[:8
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # asyncio.run(handler.remove_liquid(
# # # vols=[100]*16,
# # # sources=well_containers.children[-16:],
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # flow_rates=[None] * 32,
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # spread="wide",
# # # ))
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[100]*16,
# # # dis_vols=[100]*16,
# # # tip_racks=[tip_rack],
# # # sources=well_containers.children[-16:],
# # # targets=well_containers.children[:16],
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # asp_flow_rates=[None] * 16,
# # # dis_flow_rates=[None] * 16,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # mix_times=3,
# # # mix_vol=50,
# # # spread="wide",
# # # ))
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # input("pick_up_tips add step")
#asyncio.run(handler.run_protocol()) # Run the protocol
# # # input("Running protocol...")
# # # input("Press Enter to continue...") # Wait for user input before proceeding
# # # print("PRCXI9300Handler initialized with deck and host settings.")
# 一些推荐版位组合的测试样例：
# 一些推荐版位组合的测试样例：
# # # asyncio.run(handler.remove_liquid(
# # # vols=[100]*16,
# # # sources=well_containers.children[-16:],
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # flow_rates=[None] * 32,
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # spread="wide",
# # # ))
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[100]*16,
# # # dis_vols=[100]*16,
# # # tip_racks=[tip_rack],
# # # sources=well_containers.children[-16:],
# # # targets=well_containers.children[:16],
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # asp_flow_rates=[None] * 16,
# # # dis_flow_rates=[None] * 16,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # mix_times=3,
# # # mix_vol=50,
# # # spread="wide",
# # # ))
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # input("pick_up_tips add step")
# asyncio.run(handler.run_protocol()) # Run the protocol
# # # input("Running protocol...")
# # # input("Press Enter to continue...") # Wait for user input before proceeding
# # # print("PRCXI9300Handler initialized with deck and host settings.")
# 一些推荐版位组合的测试样例：
# 一些推荐版位组合的测试样例：
with open("prcxi_material.json", "r") as f:
material_info = json.load(f)
layout = DefaultLayout("PRCXI9320")
layout.add_lab_resource(material_info)
MatrixLayout_1, dict_1 = layout.recommend_layout([
("reagent_1", "96 细胞培养皿", 3),
("reagent_2", "12道储液槽", 1),
("reagent_3", "200μL Tip头", 7),
("reagent_4", "10μL加长 Tip头", 1),
])
MatrixLayout_1, dict_1 = layout.recommend_layout(
[
("reagent_1", "96 细胞培养皿", 3),
("reagent_2", "12道储液槽", 1),
("reagent_3", "200μL Tip头", 7),
("reagent_4", "10μL加长 Tip头", 1),
]
)
print(dict_1)
MatrixLayout_2, dict_2 = layout.recommend_layout([
("reagent_1", "96深孔板", 4),
("reagent_2", "12道储液槽", 1),
("reagent_3", "200μL Tip头", 1),
("reagent_4", "10μL加长 Tip头", 1),
])
MatrixLayout_2, dict_2 = layout.recommend_layout(
[
("reagent_1", "96深孔板", 4),
("reagent_2", "12道储液槽", 1),
("reagent_3", "200μL Tip头", 1),
("reagent_4", "10μL加长 Tip头", 1),
]
)
# with open("prcxi_material.json", "r") as f:
# material_info = json.load(f)

19
unilabos/ros/nodes/base_device_node.py
View File

@@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import (
)
from unilabos.ros.x.rclpyx import get_event_loop
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
from rclpy.task import Task
from rclpy.task import Task, Future
from unilabos.utils.import_manager import default_manager
from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
rclpy.get_global_executor().add_node(self)
self.lab_logger().debug(f"ROS节点初始化完成")
async def sleep(self, rel_time: float, callback_group=None):
if callback_group is None:
callback_group = self.callback_group
await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
@classmethod
async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
async def update_resource(self, resources: List["ResourcePLR"]):
r = SerialCommand.Request()
tree_set = ResourceTreeSet.from_plr_resources(resources)
@@ -1399,6 +1408,14 @@ class ROS2DeviceNode:
future.add_done_callback(_handle_future_exception)
return future
@classmethod
async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
future = Future()
timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
await future
timer.cancel()
node.destroy_timer(timer)
@property
def driver_instance(self):
return self._driver_instance

3
unilabos/ros/nodes/presets/host_node.py
View File

@@ -18,7 +18,8 @@ from unilabos_msgs.srv import (
ResourceDelete,
ResourceUpdate,
ResourceList,
SerialCommand, ResourceGet,
SerialCommand,
ResourceGet,
) # type: ignore
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unique_identifier_msgs.msg import UUID