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新增test_resource动作

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This commit is contained in:
Xuwznln
2025-10-11 02:53:18 +08:00
parent 0c42d60cf2
commit 704e13f030
2 changed files with 99 additions and 29 deletions
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86
unilabos/registry/registry.py
View File

@@ -7,16 +7,17 @@ import importlib
from pathlib import Path
from typing import Any, Dict, List, Union, Tuple
import msgcenterpy
import yaml
from rosidl_parser.definition import UnboundedSequence
from unilabos_msgs.action import LiquidHandlerTransfer
from unilabos_msgs.msg import Resource
from unilabos.config.config import BasicConfig
from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String, \
ros_message_to_json_schema
from unilabos.ros.msgs.message_converter import (
msg_converter_manager,
ros_action_to_json_schema,
String,
ros_message_to_json_schema,
)
from unilabos.utils import logger
from unilabos.utils.decorator import singleton
from unilabos.utils.import_manager import get_enhanced_class_info, get_class
@@ -24,6 +25,7 @@ from unilabos.utils.type_check import NoAliasDumper
DEFAULT_PATHS = [Path(__file__).absolute().parent]
class ROSMsgNotFound(Exception):
pass
@@ -139,13 +141,57 @@ class Registry:
"type": self.EmptyIn,
"goal": {},
"feedback": {},
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
"result": {},
"schema": ros_action_to_json_schema(
self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
),
"goal_default": {},
"handles": {},
},
"test_resource": {
"type": "UniLabJsonCommand",
"goal": {},
"feedback": {},
"result": {},
"schema": {
"description": "",
"properties": {
"feedback": {},
"goal": {
"properties": {
"resource": {
"properties": ros_message_to_json_schema(Resource, "resource"),
"type": "object"
},
"resources": {
"items": {
"properties": ros_message_to_json_schema(Resource, "resources"),
"title": "mount_resource",
"type": "object"
},
"type": "array"
},
"device": {
"type": "object"
},
"devices": {
"items": {
"type": "object"
},
"type": "array"
},
},
"type": "object"
},
"result": {}
},
"required": ["goal"],
"title": "transfer_resource_to_another参数",
"type": "object",
},
"goal_default": {},
"handles": {},
},
},
},
"version": "1.0.0",
@@ -436,10 +482,12 @@ class Registry:
elif param_type == ("list", "unilabos.registry.placeholder_type:ResourceSlot"):
schema["properties"][param_name] = {
"items": ros_message_to_json_schema(Resource, param_name),
"type": "array"
"type": "array",
}
else:
schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
schema["properties"][param_name] = self._generate_schema_from_info(
param_name, param_type, param_default
)
if param_required:
schema["required"].append(param_name)
@@ -512,7 +560,9 @@ class Registry:
status_type = "String" # 替换成ROS的String，便于显示
device_config["class"]["status_types"][status_name] = status_type
try:
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
target_type = self._replace_type_with_class(
status_type, device_id, f"状态 {status_name}"
)
except ROSMsgNotFound:
continue
if target_type in [
@@ -550,10 +600,22 @@ class Registry:
"goal_default": {i["name"]: i["default"] for i in v["args"]},
"handles": [],
"placeholder_keys": {
i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot") else "unilabos_devices"
i["name"]: (
"unilabos_resources"
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
or i["type"]
== ("list", "unilabos.registry.placeholder_type:ResourceSlot")
else "unilabos_devices"
)
for i in v["args"]
if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot", ("list", "unilabos.registry.placeholder_type:ResourceSlot"), ("list", "unilabos.registry.placeholder_type:DeviceSlot")]
}
if i.get("type", "")
in [
"unilabos.registry.placeholder_type:ResourceSlot",
"unilabos.registry.placeholder_type:DeviceSlot",
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
]
},
}
# 不生成已配置action的动作
for k, v in enhanced_info["action_methods"].items()

42
unilabos/ros/nodes/presets/host_node.py
View File

@@ -15,7 +15,6 @@ from rclpy.service import Service
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import (
ResourceAdd,
ResourceGet,
ResourceDelete,
ResourceUpdate,
ResourceList,
@@ -44,6 +43,7 @@ from unilabos.ros.nodes.resource_tracker import (
)
from unilabos.utils.exception import DeviceClassInvalid
from unilabos.utils.type_check import serialize_result_info
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
if TYPE_CHECKING:
from unilabos.app.ws_client import QueueItem, WSResourceChatData
@@ -152,6 +152,12 @@ class HostNode(BaseROS2DeviceNode):
"/devices/host_node/test_latency",
callback_group=self.callback_group,
),
"/devices/host_node/test_resource": ActionClient(
self,
lab_registry.EmptyIn,
"/devices/host_node/test_resource",
callback_group=self.callback_group,
),
} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = (
{}
@@ -234,7 +240,8 @@ class HostNode(BaseROS2DeviceNode):
)
# resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
# resources_config 的 root node 是
for node in resources_config.root_nodes:
for tree in resources_config.trees:
node = tree.root_node
if node.res_content.type == "device":
for sub_node in node.children:
# 只有二级子设备
@@ -245,8 +252,11 @@ class HostNode(BaseROS2DeviceNode):
{"name": sub_node.res_content.name})
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
else:
resource_instance = self.resource_tracker.figure_resource({"name": node.res_content.name})
self._resource_tracker.loop_update_uuid(resource_instance, uuid_mapping)
try:
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
self.resource_tracker.add_resource(plr_resource)
except Exception as ex:
self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
except Exception as ex:
self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
self.lab_logger().error(traceback.format_exc())
@@ -799,7 +809,7 @@ class HostNode(BaseROS2DeviceNode):
ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
),
"resource_get": self.create_service(
ResourceGet, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
),
"resource_delete": self.create_service(
ResourceDelete,
@@ -1011,7 +1021,7 @@ class HostNode(BaseROS2DeviceNode):
resources = [convert_to_ros_msg(Resource, resource) for resource in r]
return resources
def _resource_get_callback(self, request: ResourceGet.Request, response: ResourceGet.Response):
def _resource_get_callback(self, request: SerialCommand.Request, response: SerialCommand.Response):
"""
获取资源回调
@@ -1025,20 +1035,12 @@ class HostNode(BaseROS2DeviceNode):
响应对象，包含查询到的资源
"""
try:
http_req = self.bridges[-1].resource_get(request.id, request.with_children)
response.resources = self._resource_get_process(http_req)
data = json.loads(request.command)
http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
response.response = json.dumps(http_req["data"])
return response
except Exception as e:
self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
# 从 ResourceTreeSet 中查找资源
resources_list = (
[node.res_content.model_dump(by_alias=True) for node in self.resources_config.all_nodes]
if self.resources_config
else []
)
r = [resource for resource in resources_list if resource.get("id") == request.id]
self.lab_logger().debug(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
response.resources = [convert_to_ros_msg(Resource, resource) for resource in r]
return response
def _resource_delete_callback(self, request, response):
@@ -1240,6 +1242,12 @@ class HostNode(BaseROS2DeviceNode):
"status": "success",
}
def test_resource(self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]):
return {
"resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
"devices": [device, *devices],
}
def handle_pong_response(self, pong_data: dict):
"""
处理pong响应