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Fix/resource UUID and doc fix (#109)

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* Fix ResourceTreeSet load error

* Raise error when using unsupported type to create ResourceTreeSet

* Fix children key error

* Fix children key error

* Fix workstation resource not tracking

* Fix workstation deck & children resource dupe

* Fix workstation deck & children resource dupe

* Fix multiple resource error

* Fix resource tree update

* Fix resource tree update

* Force confirm uuid

* Tip more error log

* Refactor Bioyond workstation and experiment workflow (#105)

Refactored the Bioyond workstation classes to improve parameter handling and workflow management. Updated experiment.py to use BioyondReactionStation with deck and material mappings, and enhanced workflow step parameter mapping and execution logic. Adjusted JSON experiment configs, improved workflow sequence handling, and added UUID assignment to PLR materials. Removed unused station_config and material cache logic, and added detailed docstrings and debug output for workflow methods.

* Fix resource get.
Fix resource parent not found.
Mapping uuid for all resources.

* mount parent uuid

* Add logging configuration based on BasicConfig in main function

* fix workstation node error

* fix workstation node error

* Update boot example

* temp fix for resource get

* temp fix for resource get

* provide error info when cant find plr type

* pack repo info

* fix to plr type error

* fix to plr type error

* Update regular container method

* support no size init

* fix comprehensive_station.json

* fix comprehensive_station.json

* fix type conversion

* fix state loading for regular container

* Update deploy-docs.yml

* Update deploy-docs.yml

---------

Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
This commit is contained in:
Xuwznln
2025-10-16 17:26:07 +08:00
committed by GitHub
parent c85c49817d
commit 7c440d10ab
24 changed files with 1072 additions and 447 deletions
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44
unilabos/ros/nodes/base_device_node.py
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@@ -6,7 +6,7 @@ import threading
import time
import traceback
import uuid
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
from concurrent.futures import ThreadPoolExecutor
import asyncio
@@ -132,6 +132,7 @@ class ROSLoggerAdapter:
def init_wrapper(
self,
device_id: str,
device_uuid: str,
driver_class: type[T],
device_config: Dict[str, Any],
status_types: Dict[str, Any],
@@ -150,6 +151,7 @@ def init_wrapper(
if children is None:
children = []
kwargs["device_id"] = device_id
kwargs["device_uuid"] = device_uuid
kwargs["driver_class"] = driver_class
kwargs["device_config"] = device_config
kwargs["driver_params"] = driver_params
@@ -266,6 +268,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self,
driver_instance: T,
device_id: str,
device_uuid: str,
status_types: Dict[str, Any],
action_value_mappings: Dict[str, Any],
hardware_interface: Dict[str, Any],
@@ -278,6 +281,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
Args:
driver_instance: 设备实例
device_id: 设备标识符
device_uuid: 设备标识符
status_types: 需要发布的状态和传感器信息
action_value_mappings: 设备动作
hardware_interface: 硬件接口配置
@@ -285,7 +289,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
"""
self.driver_instance = driver_instance
self.device_id = device_id
self.uuid = str(uuid.uuid4())
self.uuid = device_uuid
self.publish_high_frequency = False
self.callback_group = ReentrantCallbackGroup()
self.resource_tracker = resource_tracker
@@ -554,6 +558,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
async def update_resource(self, resources: List["ResourcePLR"]):
r = SerialCommand.Request()
tree_set = ResourceTreeSet.from_plr_resources(resources)
for tree in tree_set.trees:
root_node = tree.root_node
if not root_node.res_content.uuid_parent:
logger.warning(f"更新无父节点物料{root_node}，自动以当前设备作为根节点")
root_node.res_content.parent_uuid = self.uuid
r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"})
response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r) # type: ignore
try:
@@ -648,15 +657,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
results.append({"success": True, "action": "update"})
elif action == "remove":
# 移除资源
plr_resources: List[ResourcePLR] = [
self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
]
found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
[{"uuid": uid} for uid in resources_uuid], try_mode=True
)
found_plr_resources = []
other_plr_resources = []
for res_list in found_resources:
for res in res_list:
if issubclass(res.__class__, ResourcePLR):
found_plr_resources.append(res)
else:
other_plr_resources.append(res)
func = getattr(self.driver_instance, "resource_tree_remove", None)
if callable(func):
func(plr_resources)
for plr_resource in plr_resources:
func(found_plr_resources)
for plr_resource in found_plr_resources:
plr_resource.parent.unassign_child_resource(plr_resource)
self.resource_tracker.remove_resource(plr_resource)
self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
for res in other_plr_resources:
self.resource_tracker.remove_resource(res)
self.lab_logger().info(f"移除物料 {res} 及其子节点")
results.append({"success": True, "action": "remove"})
except Exception as e:
error_msg = f"Error processing {action} operation: {str(e)}"
@@ -936,7 +957,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 通过资源跟踪器获取本地实例
final_resources = queried_resources if is_sequence else queried_resources[0]
action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)
final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources
]
action_kwargs[k] = final_resources
except Exception as e:
self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
@@ -1347,6 +1371,7 @@ class ROS2DeviceNode:
def __init__(
self,
device_id: str,
device_uuid: str,
driver_class: Type[T],
device_config: Dict[str, Any],
driver_params: Dict[str, Any],
@@ -1362,6 +1387,7 @@ class ROS2DeviceNode:
Args:
device_id: 设备标识符
device_uuid: 设备uuid
driver_class: 设备类
device_config: 原始初始化的json
driver_params: driver初始化的参数
@@ -1436,6 +1462,7 @@ class ROS2DeviceNode:
children=children,
driver_instance=self._driver_instance, # type: ignore
device_id=device_id,
device_uuid=device_uuid,
status_types=status_types,
action_value_mappings=action_value_mappings,
hardware_interface=hardware_interface,
@@ -1446,6 +1473,7 @@ class ROS2DeviceNode:
self._ros_node = BaseROS2DeviceNode(
driver_instance=self._driver_instance,
device_id=device_id,
device_uuid=device_uuid,
status_types=status_types,
action_value_mappings=action_value_mappings,
hardware_interface=hardware_interface,