mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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34 icon support online (#35)
* unify liquid_handler definition * remove default values * Dev Sync (#25) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> * remove default behavior for visualization * change liquidhandler name * resource create from outer easy * add easy resource creation * easy resource creation logic * remove wrongly debug msg from others * remove wrongly debug msg from others * add missing action clients * fix device_id * fix slot_on_deck * fix registry typo * complete require packages msg converter support array string implements create resource logic * 修复port输入 * 修复必须两次启动edge后端才有节点生成的bug 新增resources报送 * 新增延迟统计 --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
This commit is contained in:
Xuwznln
GitHub
@@ -25,58 +25,10 @@ class Registry:
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self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
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"ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
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)
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self.device_type_registry = {
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"host_node": {
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"description": "UniLabOS主机节点",
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"class": {
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"module": "unilabos.ros.nodes.presets.host_node",
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"type": "python",
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"status_types": {},
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"action_value_mappings": {
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"create_resource_detailed": {
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"type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
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"goal": {
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"resources": "resources",
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"device_ids": "device_ids",
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"bind_parent_ids": "bind_parent_ids",
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"bind_locations": "bind_locations",
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"other_calling_params": "other_calling_params",
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},
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"feedback": {},
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"result": {
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"success": "success"
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},
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"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter)
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},
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"create_resource": {
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"type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
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"goal": {
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"res_id": "res_id",
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"class_name": "class_name",
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"parent": "parent",
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"device_id": "device_id",
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"bind_locations": "bind_locations",
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"liquid_input_slot": "liquid_input_slot[]",
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"liquid_type": "liquid_type[]",
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"liquid_volume": "liquid_volume[]",
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"slot_on_deck": "slot_on_deck",
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},
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"feedback": {},
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"result": {
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"success": "success"
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},
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"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy)
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}
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}
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},
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"schema": {
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"properties": {},
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"additionalProperties": False,
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"type": "object"
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},
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"file_path": "/"
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}
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}
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self.EmptyIn = self._replace_type_with_class(
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"EmptyIn", "host_node", f""
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)
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self.device_type_registry = {}
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self.resource_type_registry = {}
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self._setup_called = False # 跟踪setup是否已调用
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# 其他状态变量
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@@ -88,9 +40,70 @@ class Registry:
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logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
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return
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# 标记setup已被调用
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self._setup_called = True
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from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
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self.device_type_registry.update(
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{
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"host_node": {
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"description": "UniLabOS主机节点",
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"class": {
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"module": "unilabos.ros.nodes.presets.host_node",
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"type": "python",
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"status_types": {},
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"action_value_mappings": {
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"create_resource_detailed": {
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"type": self.ResourceCreateFromOuter,
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"goal": {
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"resources": "resources",
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"device_ids": "device_ids",
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"bind_parent_ids": "bind_parent_ids",
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"bind_locations": "bind_locations",
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"other_calling_params": "other_calling_params",
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},
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"feedback": {},
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"result": {"success": "success"},
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"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter),
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"goal_default": yaml.safe_load(
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io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
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),
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},
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"create_resource": {
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"type": self.ResourceCreateFromOuterEasy,
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"goal": {
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"res_id": "res_id",
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"class_name": "class_name",
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"parent": "parent",
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"device_id": "device_id",
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"bind_locations": "bind_locations",
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"liquid_input_slot": "liquid_input_slot[]",
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"liquid_type": "liquid_type[]",
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"liquid_volume": "liquid_volume[]",
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"slot_on_deck": "slot_on_deck",
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},
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"feedback": {},
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"result": {"success": "success"},
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"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy),
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"goal_default": yaml.safe_load(
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io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
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),
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},
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"test_latency": {
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"type": self.EmptyIn,
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"goal": {},
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"feedback": {},
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"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
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"schema": ros_action_to_json_schema(self.EmptyIn),
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"goal_default": {},
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},
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},
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},
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"icon": "icon_device.webp",
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"registry_type": "device",
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"schema": {"properties": {}, "additionalProperties": False, "type": "object"},
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"file_path": "/",
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}
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}
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)
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logger.debug(f"[UniLab Registry] ----------Setup----------")
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self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
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for i, path in enumerate(self.registry_paths):
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@@ -100,6 +113,8 @@ class Registry:
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self.load_device_types(path)
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self.load_resource_types(path)
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logger.info("[UniLab Registry] 注册表设置完成")
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# 标记setup已被调用
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self._setup_called = True
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def load_resource_types(self, path: os.PathLike):
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abs_path = Path(path).absolute()
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@@ -115,6 +130,9 @@ class Registry:
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resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
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if "description" not in resource_info:
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resource_info["description"] = ""
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if "icon" not in resource_info:
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resource_info["icon"] = ""
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resource_info["registry_type"] = "resource"
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self.resource_type_registry.update(data)
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logger.debug(
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f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
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@@ -164,6 +182,7 @@ class Registry:
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)
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current_device_number = len(self.device_type_registry) + 1
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from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
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for i, file in enumerate(files):
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data = yaml.safe_load(open(file, encoding="utf-8"))
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if data:
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@@ -173,6 +192,9 @@ class Registry:
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device_config["file_path"] = str(file.absolute()).replace("\\", "/")
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if "description" not in device_config:
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device_config["description"] = ""
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if "icon" not in device_config:
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device_config["icon"] = ""
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device_config["registry_type"] = "device"
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if "class" in device_config:
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# 处理状态类型
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if "status_types" in device_config["class"]:
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@@ -189,7 +211,9 @@ class Registry:
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action_config["type"], device_id, f"动作 {action_name}"
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)
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if action_config["type"] is not None:
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action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
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action_config["goal_default"] = yaml.safe_load(
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io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal))
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)
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action_config["schema"] = ros_action_to_json_schema(action_config["type"])
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else:
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logger.warning(
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@@ -212,13 +236,17 @@ class Registry:
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def obtain_registry_device_info(self):
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devices = []
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for device_id, device_info in self.device_type_registry.items():
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msg = {
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"id": device_id,
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**device_info
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}
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msg = {"id": device_id, **device_info}
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devices.append(msg)
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return devices
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def obtain_registry_resource_info(self):
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resources = []
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for resource_id, resource_info in self.resource_type_registry.items():
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msg = {"id": resource_id, **resource_info}
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resources.append(msg)
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return resources
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# 全局单例实例
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lab_registry = Registry()
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