open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-06 06:25:06 +00:00
Code Issues Packages Projects Releases Wiki Activity

修复必须两次启动edge后端才有节点生成的bug

Browse Source 
新增resources报送
This commit is contained in:
Xuwznln
2025-05-28 22:06:49 +08:00
parent 344e91bce3
commit 8a50081c1e
4 changed files with 160 additions and 100 deletions
Download Patch File Download Diff File Expand all files Collapse all files

163
unilabos/ros/nodes/presets/host_node.py
View File

@@ -12,8 +12,14 @@ from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.service import Service
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
SerialCommand # type: ignore
from unilabos_msgs.srv import (
ResourceAdd,
ResourceGet,
ResourceDelete,
ResourceUpdate,
ResourceList,
SerialCommand,
) # type: ignore
from unique_identifier_msgs.msg import UUID
from unilabos.registry.registry import lab_registry
@@ -100,16 +106,26 @@ class HostNode(BaseROS2DeviceNode):
# 创建设备、动作客户端和目标存储
self.devices_names: Dict[str, str] = {device_id: self.namespace} # 存储设备名称和命名空间的映射
self.devices_instances: Dict[str, ROS2DeviceNode] = {} # 存储设备实例
self.device_machine_names: Dict[str, str] = {device_id: "本地", } # 存储设备ID到机器名称的映射
self.device_machine_names: Dict[str, str] = {
device_id: "本地",
} # 存储设备ID到机器名称的映射
self._action_clients: Dict[str, ActionClient] = { # 为了方便了解实际的数据类型，host的默认写好
"/devices/host_node/create_resource": ActionClient(
self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/create_resource", callback_group=self.callback_group
self,
lab_registry.ResourceCreateFromOuterEasy,
"/devices/host_node/create_resource",
callback_group=self.callback_group,
),
"/devices/host_node/create_resource_detailed": ActionClient(
self, lab_registry.ResourceCreateFromOuter, "/devices/host_node/create_resource_detailed", callback_group=self.callback_group
)
self,
lab_registry.ResourceCreateFromOuter,
"/devices/host_node/create_resource_detailed",
callback_group=self.callback_group,
),
} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = {} # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
self._action_value_mappings: Dict[str, Dict] = (
{}
) # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
self._last_discovery_time = 0.0 # 上次设备发现的时间
@@ -123,8 +139,11 @@ class HostNode(BaseROS2DeviceNode):
self.device_status_timestamps = {} # 用来存储设备状态最后更新时间
from unilabos.app.mq import mqtt_client
for device_config in lab_registry.obtain_registry_device_info():
mqtt_client.publish_registry(device_config["id"], device_config)
for device_info in lab_registry.obtain_registry_device_info():
mqtt_client.publish_registry(device_info["id"], device_info)
for resource_info in lab_registry.obtain_registry_resource_info():
mqtt_client.publish_registry(resource_info["id"], resource_info)
# 首次发现网络中的设备
self._discover_devices()
@@ -149,21 +168,20 @@ class HostNode(BaseROS2DeviceNode):
].items():
controller_config["update_rate"] = update_rate
self.initialize_controller(controller_id, controller_config)
resources_config.insert(0, {
"id": "host_node",
"name": "host_node",
"parent": None,
"type": "device",
"class": "host_node",
"position": {
"x": 0,
"y": 0,
"z": 0
resources_config.insert(
0,
{
"id": "host_node",
"name": "host_node",
"parent": None,
"type": "device",
"class": "host_node",
"position": {"x": 0, "y": 0, "z": 0},
"config": {},
"data": {},
"children": [],
},
"config": {},
"data": {},
"children": []
})
)
resource_with_parent_name = []
resource_ids_to_instance = {i["id"]: i for i in resources_config}
for res in resources_config:
@@ -233,7 +251,7 @@ class HostNode(BaseROS2DeviceNode):
target=self._send_re_register,
args=(sclient,),
daemon=True,
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
).start()
elif device_key not in self._online_devices:
# 设备重新上线
@@ -244,7 +262,7 @@ class HostNode(BaseROS2DeviceNode):
target=self._send_re_register,
args=(sclient,),
daemon=True,
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
).start()
# 检测离线设备
@@ -288,7 +306,7 @@ class HostNode(BaseROS2DeviceNode):
self, action_type, action_id, callback_group=self.callback_group
)
self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
action_name = action_id[len(namespace) + 1:]
action_name = action_id[len(namespace) + 1 :]
edge_device_id = namespace[9:]
# from unilabos.app.mq import mqtt_client
# info_with_schema = ros_action_to_json_schema(action_type)
@@ -301,52 +319,81 @@ class HostNode(BaseROS2DeviceNode):
except Exception as e:
self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
def create_resource_detailed(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(resources, device_ids, bind_parent_ids, bind_locations, other_calling_params):
def create_resource_detailed(
self,
resources: list["Resource"],
device_ids: list[str],
bind_parent_ids: list[str],
bind_locations: list[Point],
other_calling_params: list[str],
):
for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(
resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
):
# 这里要求device_id传入必须是edge_device_id
namespace = "/devices/" + device_id
srv_address = f"/srv{namespace}/append_resource"
sclient = self.create_client(SerialCommand, srv_address)
sclient.wait_for_service()
request = SerialCommand.Request()
request.command = json.dumps({
"resource": resource, # 单个/单组 可为 list[list[Resource]]
"namespace": namespace,
"edge_device_id": device_id,
"bind_parent_id": bind_parent_id,
"bind_location": {
"x": bind_location.x,
"y": bind_location.y,
"z": bind_location.z,
request.command = json.dumps(
{
"resource": resource, # 单个/单组 可为 list[list[Resource]]
"namespace": namespace,
"edge_device_id": device_id,
"bind_parent_id": bind_parent_id,
"bind_location": {
"x": bind_location.x,
"y": bind_location.y,
"z": bind_location.z,
},
"other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
},
"other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
}, ensure_ascii=False)
ensure_ascii=False,
)
response = sclient.call(request)
pass
pass
def create_resource(self, device_id: str, res_id: str, class_name: str, parent: str, bind_locations: Point, liquid_input_slot: list[int], liquid_type: list[str], liquid_volume: list[int], slot_on_deck: int):
init_new_res = initialize_resource({
"name": res_id,
"class": class_name,
"parent": parent,
"position": {
"x": bind_locations.x,
"y": bind_locations.y,
"z": bind_locations.z,
def create_resource(
self,
device_id: str,
res_id: str,
class_name: str,
parent: str,
bind_locations: Point,
liquid_input_slot: list[int],
liquid_type: list[str],
liquid_volume: list[int],
slot_on_deck: int,
):
init_new_res = initialize_resource(
{
"name": res_id,
"class": class_name,
"parent": parent,
"position": {
"x": bind_locations.x,
"y": bind_locations.y,
"z": bind_locations.z,
},
}
}) # flatten的格式
) # flatten的格式
resources = [init_new_res]
device_id = [device_id]
bind_parent_id = [parent]
bind_location = [bind_locations]
other_calling_param = [json.dumps({
"ADD_LIQUID_TYPE": liquid_type,
"LIQUID_VOLUME": liquid_volume,
"LIQUID_INPUT_SLOT": liquid_input_slot,
"initialize_full": False,
"slot": slot_on_deck
})]
other_calling_param = [
json.dumps(
{
"ADD_LIQUID_TYPE": liquid_type,
"LIQUID_VOLUME": liquid_volume,
"LIQUID_INPUT_SLOT": liquid_input_slot,
"initialize_full": False,
"slot": slot_on_deck,
}
)
]
return self.create_resource_detailed(resources, device_id, bind_parent_id, bind_location, other_calling_param)
@@ -377,7 +424,9 @@ class HostNode(BaseROS2DeviceNode):
if action_id not in self._action_clients:
action_type = action_value_mapping["type"]
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}") # 子设备再创建用的是Discover发现的
self.lab_logger().debug(
f"[Host Node] Created ActionClient (Local): {action_id}"
) # 子设备再创建用的是Discover发现的
# from unilabos.app.mq import mqtt_client
# info_with_schema = ros_action_to_json_schema(action_type)
# mqtt_client.publish_actions(action_name, {