新增test_resource动作

unilabos/registry/registry.py

@@ -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, \
+from unilabos.ros.msgs.message_converter import (
-    ros_message_to_json_schema
+    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()

unilabos/ros/nodes/presets/host_node.py

@@ -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})
+                            try:
-                            self._resource_tracker.loop_update_uuid(resource_instance, uuid_mapping)
+                                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)
+            data = json.loads(request.command)
-            response.resources = self._resource_get_process(http_req)
+            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