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0.10.7 Update (#101)

Browse Source 
* Cleanup registry to be easy-understanding (#76)

* delete deprecated mock devices

* rename categories

* combine chromatographic devices

* rename rviz simulation nodes

* organic virtual devices

* parse vessel_id

* run registry completion before merge

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

* fix: workstation handlers and vessel_id parsing

* fix: working dir error when input config path
feat: report publish topic when error

* modify default discovery_interval to 15s

* feat: add trace log level

* feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79)

* fix: drop_tips not using auto resource select

* fix: discard_tips error

* fix: discard_tips

* fix: prcxi_res

* add: prcxi res
fix: startup slow

* feat: workstation example

* fix pumps and liquid_handler handle

* feat: 优化protocol node节点运行日志

* fix all protocol_compilers and remove deprecated devices

* feat: 新增use_remote_resource参数

* fix and remove redundant info

* bugfixes on organic protocols

* fix filter protocol

* fix protocol node

* 临时兼容错误的driver写法

* fix: prcxi import error

* use call_async in all service to avoid deadlock

* fix: figure_resource

* Update recipe.yaml

* add workstation template and battery example

* feat: add sk & ak

* update workstation base

* Create workstation_architecture.md

* refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode

* refactor: ProtocolNode→WorkstationNode

* Add:msgs.action (#83)

* update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84)

* Add:msgs.action

* update: 将版本号从 0.10.3 更新为 0.10.4

* simplify resource system

* uncompleted refactor

* example for use WorkstationBase

* feat: websocket

* feat: websocket test

* feat: workstation example

* feat: action status

* fix: station自己的方法注册错误

* fix: 还原protocol node处理方法

* fix: build

* fix: missing job_id key

* ws test version 1

* ws test version 2

* ws protocol

* 增加物料关系上传日志

* 增加物料关系上传日志

* 修正物料关系上传

* 修复工站的tracker实例追踪失效问题

* 增加handle检测，增加material edge关系上传

* 修复event loop错误

* 修复edge上报错误

* 修复async错误

* 更新schema的title字段

* 主机节点信息等支持自动刷新

* 注册表编辑器

* 修复status密集发送时，消息出错

* 增加addr参数

* fix: addr param

* fix: addr param

* 取消labid 和 强制config输入

* Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup

- Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes.
- Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume.
- Both actions include response fields for return information and success status.

* Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists

* Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml

* result_info改为字典类型

* 新增uat的地址替换

* runze multiple pump support

(cherry picked from commit 49354fcf39)

* remove runze multiple software obtainer

(cherry picked from commit 8bcc92a394)

* support multiple backbone

(cherry picked from commit 4771ff2347)

* Update runze pump format

* Correct runze multiple backbone

* Update runze_multiple_backbone

* Correct runze pump multiple receive method.

* Correct runze pump multiple receive method.

* 对于PRCXI9320的transfer_group，一对多和多对多

* 移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5

* fix import error

* fix dupe upload registry

* refactor ws client

* add server timeout

* Fix: run-column with correct vessel id (#86)

* fix run_column

* Update run_column_protocol.py

(cherry picked from commit e5aa4d940a)

* resource_update use resource_add

* 新增版位推荐功能

* 重新规定了版位推荐的入参

* update registry with nested obj

* fix protocol node log_message, added create_resource return value

* fix protocol node log_message, added create_resource return value

* try fix add protocol

* fix resource_add

* 修复移液站错误的aspirate注册表

* Feature/xprbalance-zhida (#80)

* feat(devices): add Zhida GC/MS pretreatment automation workstation

* feat(devices): add mettler_toledo xpr balance

* balance

* 重新补全zhida注册表

* PRCXI9320 json

* PRCXI9320 json

* PRCXI9320 json

* fix resource download

* remove class for resource

* bump version to 0.10.6

* 更新所有注册表

* 修复protocolnode的兼容性

* 修复protocolnode的兼容性

* Update install md

* Add Defaultlayout

* 更新物料接口

* fix dict to tree/nested-dict converter

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* frontend_docs

* create/update resources with POST/PUT for big amount/ small amount data

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

* Workstation templates: Resources and its CRUD, and workstation tasks (#95)

* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

---------

Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>

* 更新物料接口

* Workstation dev yb2 (#100)

* Refactor and extend reaction station action messages

* Refactor dispensing station tasks to enhance parameter clarity and add batch processing capabilities

- Updated `create_90_10_vial_feeding_task` to include detailed parameters for 90%/10% vial feeding, improving clarity and usability.
- Introduced `create_batch_90_10_vial_feeding_task` for batch processing of 90%/10% vial feeding tasks with JSON formatted input.
- Added `create_batch_diamine_solution_task` for batch preparation of diamine solution, also utilizing JSON formatted input.
- Refined `create_diamine_solution_task` to include additional parameters for better task configuration.
- Enhanced schema descriptions and default values for improved user guidance.

* 修复to_plr_resources

* add update remove

* 支持选择器注册表自动生成
支持转运物料

* 修复资源添加

* 修复transfer_resource_to_another生成

* 更新transfer_resource_to_another参数，支持spot入参

* 新增test_resource动作

* fix host_node error

* fix host_node test_resource error

* fix host_node test_resource error

* 过滤本地动作

* 移动内部action以兼容host node

* 修复同步任务报错不显示的bug

* feat: 允许返回非本节点物料，后面可以通过decoration进行区分，就不进行warning了

* update todo

* modify bioyond/plr converter, bioyond resource registry, and tests

* pass the tests

* update todo

* add conda-pack-build.yml

* add auto install script for conda-pack-build.yml

(cherry picked from commit 172599adcf)

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* update conda-pack-build.yml

* Add version in __init__.py
Update conda-pack-build.yml
Add create_zip_archive.py

* Update conda-pack-build.yml

* Update conda-pack-build.yml (with mamba)

* Update conda-pack-build.yml

* Fix FileNotFoundError

* Try fix 'charmap' codec can't encode characters in position 16-23: character maps to <undefined>

* Fix unilabos msgs search error

* Fix environment_check.py

* Update recipe.yaml

* Update registry. Update uuid loop figure method. Update install docs.

* Fix nested conda pack

* Fix one-key installation path error

* Bump version to 0.10.7

* Workshop bj (#99)

* Add LaiYu Liquid device integration and tests

Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included.

* feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档

refactor: 重新组织LaiYu_Liquid模块目录结构
docs: 添加SOPA移液器和步进电机控制指令文档
fix: 修正设备配置中的最大体积默认值
test: 新增工作台配置测试用例
chore: 删除过时的测试脚本和配置文件

* add

* 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用

- 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py
- 更新所有相关文件中的导入引用
- 保持代码功能不变，仅改善命名一致性
- 测试确认所有导入正常工作

* 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出

- 添加 LaiYuLiquidBackend 到导入列表
- 添加 LaiYuLiquidBackend 到 __all__ 导出列表
- 确保所有主要类都可以正确导入

* 修复大小写文件夹名字

* 电池装配工站二次开发教程（带目录）上传至dev (#94)

* 电池装配工站二次开发教程

* Update intro.md

* 物料教程

* 更新物料教程，json格式注释

* Update prcxi driver & fix transfer_liquid mix_times (#90)

* Update prcxi driver & fix transfer_liquid mix_times

* fix: correct mix_times type

* Update liquid_handler registry

* test: prcxi.py

* Update registry from pr

* fix ony-key script not exist

* clean files

---------

Co-authored-by: Junhan Chang <changjh@dp.tech>
Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>
Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: LccLink <1951855008@qq.com>
Co-authored-by: lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
Co-authored-by: shiyubo0410 <shiyubo@dp.tech>
This commit is contained in:
Xuwznln
2025-10-12 23:34:26 +08:00
committed by GitHub
parent 172599adcf
commit 9aeffebde1
229 changed files with 136969 additions and 17429 deletions
Download Patch File Download Diff File Expand all files Collapse all files

572
unilabos/ros/nodes/presets/host_node.py
View File

@@ -1,11 +1,11 @@
import collections
import copy
from dataclasses import dataclass, field
import json
import threading
import time
import traceback
import uuid
from typing import Optional, Dict, Any, List, ClassVar, Set, Union
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
from action_msgs.msg import GoalStatus
from geometry_msgs.msg import Point
@@ -15,16 +15,14 @@ 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._serial_command import SerialCommand_Request, SerialCommand_Response
from unique_identifier_msgs.msg import UUID
from unilabos.app.register import register_devices_and_resources
from unilabos.config.config import BasicConfig
from unilabos.registry.registry import lab_registry
from unilabos.resources.graphio import initialize_resource
from unilabos.resources.registry import add_schema
@@ -38,8 +36,22 @@ from unilabos.ros.msgs.message_converter import (
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
from unilabos.ros.nodes.presets.controller_node import ControllerNode
from unilabos.ros.nodes.resource_tracker import (
ResourceDictInstance,
ResourceTreeSet,
ResourceTreeInstance,
)
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
@dataclass
class DeviceActionStatus:
job_ids: Dict[str, float] = field(default_factory=dict)
class HostNode(BaseROS2DeviceNode):
@@ -51,6 +63,10 @@ class HostNode(BaseROS2DeviceNode):
_instance: ClassVar[Optional["HostNode"]] = None
_ready_event: ClassVar[threading.Event] = threading.Event()
_device_action_status: ClassVar[collections.defaultdict[str, DeviceActionStatus]] = collections.defaultdict(
DeviceActionStatus
)
_resource_tracker: ClassVar[DeviceNodeResourceTracker] = DeviceNodeResourceTracker() # 资源管理器实例
@classmethod
def get_instance(cls, timeout=None) -> Optional["HostNode"]:
@@ -61,8 +77,8 @@ class HostNode(BaseROS2DeviceNode):
def __init__(
self,
device_id: str,
devices_config: Dict[str, Any],
resources_config: list,
devices_config: ResourceTreeSet,
resources_config: ResourceTreeSet,
resources_edge_config: list[dict],
physical_setup_graph: Optional[Dict[str, Any]] = None,
controllers_config: Optional[Dict[str, Any]] = None,
@@ -92,7 +108,7 @@ class HostNode(BaseROS2DeviceNode):
action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
hardware_interface={},
print_publish=False,
resource_tracker=DeviceNodeResourceTracker(), # host node并不是通过initialize 包一层传进来的
resource_tracker=self._resource_tracker, # host node并不是通过initialize 包一层传进来的
)
# 设置单例实例
@@ -101,7 +117,7 @@ class HostNode(BaseROS2DeviceNode):
# 初始化配置
self.server_latest_timestamp = 0.0 #
self.devices_config = devices_config
self.resources_config = resources_config
self.resources_config = resources_config # 直接保存 ResourceTreeSet
self.resources_edge_config = resources_edge_config
self.physical_setup_graph = physical_setup_graph
if controllers_config is None:
@@ -136,6 +152,24 @@ 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,
),
"/devices/host_node/_execute_driver_command": ActionClient(
self,
lab_registry.StrSingleInput,
"/devices/host_node/_execute_driver_command",
callback_group=self.callback_group,
),
"/devices/host_node/_execute_driver_command_async": ActionClient(
self,
lab_registry.StrSingleInput,
"/devices/host_node/_execute_driver_command_async",
callback_group=self.callback_group,
),
} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = (
{}
@@ -151,21 +185,14 @@ class HostNode(BaseROS2DeviceNode):
self.device_status = {} # 用来存储设备状态
self.device_status_timestamps = {} # 用来存储设备状态最后更新时间
if BasicConfig.upload_registry:
from unilabos.app.mq import mqtt_client
register_devices_and_resources(mqtt_client, lab_registry)
else:
self.lab_logger().warning("本次启动注册表不报送云端，如果您需要联网调试，请使用unilab-register命令进行单独报送，或者在启动命令增加--upload_registry")
time.sleep(1) # 等待MQTT连接稳定
time.sleep(1) # 等待通信连接稳定
# 首次发现网络中的设备
self._discover_devices()
# 初始化所有本机设备节点，多一次过滤，防止重复初始化
for device_id, device_config in devices_config.items():
if device_config.get("type", "device") != "device":
self.lab_logger().debug(
f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
)
for device_config in devices_config.root_nodes:
device_id = device_config.res_content.id
if device_config.res_content.type != "device":
continue
if device_id not in self.devices_names:
self.initialize_device(device_id, device_config)
@@ -180,56 +207,81 @@ 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},
"config": {},
"data": {},
"children": [],
},
)
resource_with_parent_name = []
resource_ids_to_instance = {i["id"]: i for i in resources_config}
resource_name_to_with_parent_name = {}
for res in resources_config:
# if res.get("parent") and res.get("type") == "device" and res.get("class"):
# parent_id = res.get("parent")
# parent_res = resource_ids_to_instance[parent_id]
# if parent_res.get("type") == "device" and parent_res.get("class"):
# resource_with_parent_name.append(copy.deepcopy(res))
# resource_name_to_with_parent_name[resource_with_parent_name[-1]["id"]] = f"{parent_res['id']}/{res['id']}"
# resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
# continue
resource_with_parent_name.append(copy.deepcopy(res))
# for edge in self.resources_edge_config:
# edge["source"] = resource_name_to_with_parent_name.get(edge.get("source"), edge.get("source"))
# edge["target"] = resource_name_to_with_parent_name.get(edge.get("target"), edge.get("target"))
# 创建 host_node 作为一个单独的 ResourceTree
host_node_dict = {
"id": "host_node",
"uuid": str(uuid.uuid4()),
"parent_uuid": "",
"name": "host_node",
"type": "device",
"class": "host_node",
"config": {},
"data": {},
"children": [],
"description": "",
"schema": {},
"model": {},
"icon": "",
}
# 创建 host_node 的 ResourceTree
host_node_instance = ResourceDictInstance.get_resource_instance_from_dict(host_node_dict)
host_node_tree = ResourceTreeInstance(host_node_instance)
resources_config.trees.insert(0, host_node_tree)
try:
for bridge in self.bridges:
if hasattr(bridge, "resource_add"):
if hasattr(bridge, "resource_tree_add") and resources_config:
from unilabos.app.web.client import HTTPClient
client: HTTPClient = bridge
resource_start_time = time.time()
resource_add_res = client.resource_add(add_schema(resource_with_parent_name), False)
# 传递 ResourceTreeSet 对象，在 client 中转换为字典并获取 UUID 映射
uuid_mapping = client.resource_tree_add(resources_config, "", True)
resource_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
)
resource_add_res = client.resource_edge_add(self.resources_edge_config, False)
for edge in self.resources_edge_config:
edge["source_uuid"] = uuid_mapping.get(edge["source_uuid"], edge["source_uuid"])
edge["target_uuid"] = uuid_mapping.get(edge["target_uuid"], edge["target_uuid"])
resource_add_res = client.resource_edge_add(self.resources_edge_config)
resource_edge_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料关系上传 {round(resource_edge_end_time - resource_end_time, 5) * 1000} ms"
)
# 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
# 创建反向映射：new_uuid -> old_uuid
reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
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
if sub_node.res_content.type != "device":
# slave节点走c2s更新接口，拿到add自行update uuid
device_tracker = self.devices_instances[node.res_content.id].resource_tracker
# sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
if old_uuid:
# 找到旧UUID，使用UUID查找
resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
else:
# 未找到旧UUID，使用name查找
resource_instance = device_tracker.figure_resource(
{"name": sub_node.res_content.name}
)
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
else:
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())
# 创建定时器，定期发现设备
self._discovery_timer = self.create_timer(
discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
@@ -278,23 +330,23 @@ class HostNode(BaseROS2DeviceNode):
self.devices_names[edge_device_id] = namespace
self._create_action_clients_for_device(device_id, namespace)
self._online_devices.add(device_key)
sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
threading.Thread(
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}_re_register_device_{namespace}",
).start()
elif device_key not in self._online_devices:
# 设备重新上线
self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
self._online_devices.add(device_key)
sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
sclient = self.create_client(SerialCommand, f"/srv{namespace}/re_register_device")
threading.Thread(
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}_re_register_device_{namespace}",
).start()
# 检测离线设备
@@ -340,9 +392,10 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().trace(f"[Host Node] Created ActionClient (Discovery): {action_id}")
action_name = action_id[len(namespace) + 1 :]
edge_device_id = namespace[9:]
# from unilabos.app.mq import mqtt_client
# from unilabos.app.comm_factory import get_communication_client
# comm_client = get_communication_client()
# info_with_schema = ros_action_to_json_schema(action_type)
# mqtt_client.publish_actions(action_name, {
# comm_client.publish_actions(action_name, {
# "device_id": edge_device_id,
# "device_type": "",
# "action_name": action_name,
@@ -358,14 +411,16 @@ class HostNode(BaseROS2DeviceNode):
bind_parent_ids: list[str],
bind_locations: list[Point],
other_calling_params: list[str],
):
) -> List[str]:
responses = []
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
if device_id not in self.devices_names:
self.lab_logger().error(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
self.lab_logger().error(
f"[Host Node] Device {device_id} not found in devices_names. Create resource failed."
)
raise ValueError(f"[Host Node] Device {device_id} not found in devices_names. Create resource failed.")
device_key = f"{self.devices_names[device_id]}/{device_id}"
@@ -393,8 +448,8 @@ class HostNode(BaseROS2DeviceNode):
},
ensure_ascii=False,
)
response = await sclient.call_async(request)
responses.append(response)
response: SerialCommand.Response = await sclient.call_async(request)
responses.append(response.response)
return responses
async def create_resource(
@@ -425,10 +480,12 @@ class HostNode(BaseROS2DeviceNode):
res_creation_input.update(
{
"data": {
"liquids": [{
"liquid_type": liquid_type[0] if liquid_type else None,
"liquid_volume": liquid_volume[0] if liquid_volume else None,
}]
"liquids": [
{
"liquid_type": liquid_type[0] if liquid_type else None,
"liquid_volume": liquid_volume[0] if liquid_volume else None,
}
]
}
}
)
@@ -451,11 +508,22 @@ class HostNode(BaseROS2DeviceNode):
)
]
response = await self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
response: List[str] = await self.create_resource_detailed(
resources, device_ids, bind_parent_id, bind_location, other_calling_param
)
return response
try:
new_li = []
for i in response:
res = json.loads(i)
new_li.append(res)
return {"resources": new_li, "liquid_input_resources": new_li}
except Exception as ex:
pass
_n = "\n"
raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
"""
根据配置初始化设备，
@@ -468,9 +536,8 @@ class HostNode(BaseROS2DeviceNode):
"""
self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
device_config_copy = copy.deepcopy(device_config)
try:
d = initialize_device_from_dict(device_id, device_config_copy)
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
except DeviceClassInvalid as e:
self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
d = None
@@ -482,7 +549,9 @@ class HostNode(BaseROS2DeviceNode):
self.devices_instances[device_id] = d
# noinspection PyProtectedMember
for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith("UniLabJsonCommand"):
if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
"UniLabJsonCommand"
):
continue
action_id = f"/devices/{device_id}/{action_name}"
if action_id not in self._action_clients:
@@ -491,9 +560,10 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().trace(
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
# from unilabos.app.comm_factory import get_communication_client
# comm_client = get_communication_client()
# info_with_schema = ros_action_to_json_schema(action_type)
# mqtt_client.publish_actions(action_name, {
# comm_client.publish_actions(action_name, {
# "device_id": device_id,
# "device_type": device_config["class"],
# "action_name": action_name,
@@ -523,7 +593,7 @@ class HostNode(BaseROS2DeviceNode):
# 解析设备名和属性名
parts = topic.split("/")
if len(parts) >= 4: # 可能有ProtocolNode，创建更长的设备
if len(parts) >= 4: # 可能有WorkstationNode，创建更长的设备
device_id = "/".join(parts[2:-1])
property_name = parts[-1]
@@ -591,46 +661,39 @@ class HostNode(BaseROS2DeviceNode):
if hasattr(bridge, "publish_device_status"):
bridge.publish_device_status(self.device_status, device_id, property_name)
if bCreate:
self.lab_logger().trace(
f"Status created: {device_id}.{property_name} = {msg.data}"
)
self.lab_logger().trace(f"Status created: {device_id}.{property_name} = {msg.data}")
else:
self.lab_logger().debug(
f"Status updated: {device_id}.{property_name} = {msg.data}"
)
self.lab_logger().debug(f"Status updated: {device_id}.{property_name} = {msg.data}")
def send_goal(
self,
device_id: str,
item: "QueueItem",
action_type: str,
action_name: str,
action_kwargs: Dict[str, Any],
goal_uuid: Optional[str] = None,
server_info: Optional[Dict[str, Any]] = None,
) -> None:
"""
向设备发送目标请求
Args:
device_id: 设备ID
action_type: 动作类型
action_name: 动作名称
action_kwargs: 动作参数
goal_uuid: 目标UUID，如果为None则自动生成
server_info: 服务器发送信息，包含发送时间戳等
"""
if BasicConfig.direct_end:
raise ValueError("direct_end")
u = uuid.UUID(item.job_id)
device_id = item.device_id
action_name = item.action_name
if action_type.startswith("UniLabJsonCommand"):
if action_name.startswith("auto-"):
action_name = action_name[5:]
action_id = f"/devices/{device_id}/_execute_driver_command"
action_kwargs = {
"string": json.dumps({
"function_name": action_name,
"function_args": action_kwargs,
})
"string": json.dumps(
{
"function_name": action_name,
"function_args": action_kwargs,
}
)
}
if action_type.startswith("UniLabJsonCommandAsync"):
action_id = f"/devices/{device_id}/_execute_driver_command_async"
@@ -647,79 +710,73 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
action_client.wait_for_server()
uuid_str = goal_uuid
if goal_uuid is not None:
u = uuid.UUID(goal_uuid)
goal_uuid_obj = UUID(uuid=list(u.bytes))
else:
goal_uuid_obj = None
goal_uuid_obj = UUID(uuid=list(u.bytes))
future = action_client.send_goal_async(
goal_msg,
feedback_callback=lambda feedback_msg: self.feedback_callback(action_id, uuid_str, feedback_msg),
feedback_callback=lambda feedback_msg: self.feedback_callback(item, action_id, feedback_msg),
goal_uuid=goal_uuid_obj,
)
future.add_done_callback(lambda future: self.goal_response_callback(action_id, uuid_str, future))
future.add_done_callback(lambda future: self.goal_response_callback(item, action_id, future))
def goal_response_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
def goal_response_callback(self, item: "QueueItem", action_id: str, future) -> None:
"""目标响应回调"""
goal_handle = future.result()
if not goal_handle.accepted:
self.lab_logger().warning(f"[Host Node] Goal {action_id} ({uuid_str}) rejected")
self.lab_logger().warning(f"[Host Node] Goal {item.action_name} ({item.job_id}) rejected")
return
self.lab_logger().info(f"[Host Node] Goal {action_id} ({uuid_str}) accepted")
if uuid_str:
self._goals[uuid_str] = goal_handle
goal_handle.get_result_async().add_done_callback(
lambda future: self.get_result_callback(action_id, uuid_str, future)
)
self.lab_logger().info(f"[Host Node] Goal {action_id} ({item.job_id}) accepted")
self._goals[item.job_id] = goal_handle
goal_handle.get_result_async().add_done_callback(
lambda future: self.get_result_callback(item, action_id, future)
)
def feedback_callback(self, action_id: str, uuid_str: Optional[str], feedback_msg) -> None:
def feedback_callback(self, item: "QueueItem", action_id: str, feedback_msg) -> None:
"""反馈回调"""
feedback_data = convert_from_ros_msg(feedback_msg)
feedback_data.pop("goal_id")
self.lab_logger().debug(f"[Host Node] Feedback for {action_id} ({uuid_str}): {feedback_data}")
self.lab_logger().trace(f"[Host Node] Feedback for {action_id} ({item.job_id}): {feedback_data}")
if uuid_str:
for bridge in self.bridges:
if hasattr(bridge, "publish_job_status"):
bridge.publish_job_status(feedback_data, uuid_str, "running")
for bridge in self.bridges:
if hasattr(bridge, "publish_job_status"):
bridge.publish_job_status(feedback_data, item, "running")
def get_result_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
def get_result_callback(self, item: "QueueItem", action_id: str, future) -> None:
"""获取结果回调"""
job_id = item.job_id
result_msg = future.result().result
result_data = convert_from_ros_msg(result_msg)
status = "success"
return_info_str = result_data.get("return_info")
if return_info_str is not None:
try:
ret = json.loads(return_info_str)
suc = ret.get("suc", False)
return_info = json.loads(return_info_str)
suc = return_info.get("suc", False)
if not suc:
status = "failed"
except json.JSONDecodeError:
status = "failed"
return_info = serialize_result_info("", False, result_data)
self.lab_logger().critical("错误的return_info类型，请断点修复")
else:
# 无 return_info 字段时，回退到 success 字段（若存在）
suc_field = result_data.get("success")
if isinstance(suc_field, bool):
status = "success" if suc_field else "failed"
return_info_str = serialize_result_info("", suc_field, result_data)
return_info = serialize_result_info("", suc_field, result_data)
else:
# 最保守的回退：标记失败并返回空JSON
status = "failed"
return_info_str = serialize_result_info("缺少return_info", False, result_data)
return_info = serialize_result_info("缺少return_info", False, result_data)
self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): {status}")
self.lab_logger().info(f"[Host Node] Result for {action_id} ({job_id}): {status}")
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
if uuid_str:
if job_id:
for bridge in self.bridges:
if hasattr(bridge, "publish_job_status"):
bridge.publish_job_status(result_data, uuid_str, status, return_info_str)
bridge.publish_job_status(result_data, item, status, return_info)
def cancel_goal(self, goal_uuid: str) -> None:
"""取消目标"""
@@ -729,14 +786,14 @@ class HostNode(BaseROS2DeviceNode):
else:
self.lab_logger().warning(f"[Host Node] Goal {goal_uuid} not found, cannot cancel")
def get_goal_status(self, uuid_str: str) -> int:
def get_goal_status(self, job_id: str) -> int:
"""获取目标状态"""
if uuid_str in self._goals:
g = self._goals[uuid_str]
if job_id in self._goals:
g = self._goals[job_id]
status = g.status
self.lab_logger().debug(f"[Host Node] Goal status for {uuid_str}: {status}")
self.lab_logger().debug(f"[Host Node] Goal status for {job_id}: {status}")
return status
self.lab_logger().warning(f"[Host Node] Goal {uuid_str} not found, status unknown")
self.lab_logger().warning(f"[Host Node] Goal {job_id} not found, status unknown")
return GoalStatus.STATUS_UNKNOWN
"""Controller Node"""
@@ -774,7 +831,7 @@ 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,
@@ -797,15 +854,134 @@ class HostNode(BaseROS2DeviceNode):
self._node_info_update_callback,
callback_group=ReentrantCallbackGroup(),
),
"c2s_update_resource_tree": self.create_service(
SerialCommand,
"/c2s_update_resource_tree",
self._resource_tree_update_callback,
callback_group=ReentrantCallbackGroup(),
),
}
def _resource_tree_action_add_callback(self, data: dict, response: SerialCommand_Response): # OK
resource_tree_set = ResourceTreeSet.load(data["data"])
mount_uuid = data["mount_uuid"]
first_add = data["first_add"]
self.lab_logger().info(
f"[Host Node-Resource] Loaded ResourceTreeSet with {len(resource_tree_set.trees)} trees, "
f"{len(resource_tree_set.all_nodes)} total nodes"
)
# 处理资源添加逻辑
success = False
uuid_mapping = {}
if len(self.bridges) > 0:
from unilabos.app.web.client import HTTPClient
client: HTTPClient = self.bridges[-1]
resource_start_time = time.time()
uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
success = True
resource_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料创建上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
)
if uuid_mapping:
self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
if success:
from unilabos.resources.graphio import physical_setup_graph
# 将资源添加到本地图中
for node in resource_tree_set.all_nodes:
resource_dict = node.res_content.model_dump(by_alias=True)
if resource_dict.get("id") not in physical_setup_graph.nodes:
physical_setup_graph.add_node(resource_dict["id"], **resource_dict)
else:
physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
response.response = json.dumps(uuid_mapping) if success else "FAILED"
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
uuid_list: List[str] = data["data"]
with_children: bool = data["with_children"]
from unilabos.app.web.client import http_client
resource_response = http_client.resource_tree_get(uuid_list, with_children)
response.response = json.dumps(resource_response)
def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
"""
子节点通知Host物料树删除
"""
self.lab_logger().info(f"[Host Node-Resource] Resource tree remove request received")
response.response = "OK"
self.lab_logger().info(f"[Host Node-Resource] Resource tree remove completed")
def _resource_tree_action_update_callback(self, data: dict, response: SerialCommand_Response):
"""
子节点通知Host物料树更新
"""
resource_tree_set = ResourceTreeSet.load(data["data"])
self.lab_logger().info(
f"[Host Node-Resource] Loaded ResourceTreeSet with {len(resource_tree_set.trees)} trees, "
f"{len(resource_tree_set.all_nodes)} total nodes"
)
from unilabos.app.web.client import http_client
resource_start_time = time.time()
uuid_mapping = http_client.resource_tree_update(resource_tree_set, "", False)
success = bool(uuid_mapping)
resource_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料更新上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
)
if uuid_mapping:
self.lab_logger().info(f"[Host Node-Resource] UUID映射: {len(uuid_mapping)} 个节点")
# 还需要加入到资源图中，暂不实现，考虑资源图新的获取方式
response.response = json.dumps(uuid_mapping)
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
def _resource_tree_update_callback(self, request: SerialCommand_Request, response: SerialCommand_Response):
"""
子节点通知Host物料树更新
接收序列化的 ResourceTreeSet 数据并进行处理
"""
self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received")
try:
# 解析请求数据
data = json.loads(request.command)
action = data["action"]
data = data["data"]
if action == "add":
self._resource_tree_action_add_callback(data, response)
elif action == "get":
self._resource_tree_action_get_callback(data, response)
elif action == "update":
self._resource_tree_action_update_callback(data, response)
elif action == "remove":
self._resource_tree_action_remove_callback(data, response)
else:
self.lab_logger().error(f"[Host Node-Resource] Invalid action: {action}")
response.response = "ERROR"
except Exception as e:
self.lab_logger().error(f"[Host Node-Resource] Error adding resource tree: {e}")
self.lab_logger().error(traceback.format_exc())
response.response = f"ERROR: {str(e)}"
return response
def _node_info_update_callback(self, request, response):
"""
更新节点信息回调
"""
self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
try:
from unilabos.app.mq import mqtt_client
from unilabos.app.communication import get_communication_client
info = json.loads(request.command)
if "SYNC_SLAVE_NODE_INFO" in info:
@@ -814,9 +990,10 @@ class HostNode(BaseROS2DeviceNode):
edge_device_id = info["edge_device_id"]
self.device_machine_names[edge_device_id] = machine_name
else:
comm_client = get_communication_client()
registry_config = info["registry_config"]
for device_config in registry_config:
mqtt_client.publish_registry(device_config["id"], device_config)
comm_client.publish_registry(device_config["id"], device_config)
self.lab_logger().debug(f"[Host Node] Node info update: {info}")
response.response = "OK"
except Exception as e:
@@ -843,14 +1020,16 @@ class HostNode(BaseROS2DeviceNode):
success = False
if len(self.bridges) > 0: # 边的提交待定
from unilabos.app.web.client import HTTPClient
client: HTTPClient = self.bridges[-1]
r = client.resource_add(add_schema(resources), False)
r = client.resource_add(add_schema(resources))
success = bool(r)
response.success = success
if success:
from unilabos.resources.graphio import physical_setup_graph
for resource in resources:
if resource.get("id") not in physical_setup_graph.nodes:
physical_setup_graph.add_node(resource["id"], **resource)
@@ -860,7 +1039,13 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info(f"[Host Node-Resource] Add request completed, success: {success}")
return response
def _resource_get_callback(self, request: ResourceGet.Request, response: ResourceGet.Response):
def _resource_get_process(self, data: Dict[str, Any]):
r = data["data"]
self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
resources = [convert_to_ros_msg(Resource, resource) for resource in r]
return resources
def _resource_get_callback(self, request: SerialCommand.Request, response: SerialCommand.Response):
"""
获取资源回调
@@ -873,23 +1058,13 @@ class HostNode(BaseROS2DeviceNode):
Returns:
响应对象，包含查询到的资源
"""
self.lab_logger().info(f"[Host Node-Resource] Get request for ID: {request.id}")
if len(self.bridges) > 0:
# 云上物料服务，根据 id 查询物料
try:
r = self.bridges[-1].resource_get(request.id, request.with_children)["data"]
self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
except Exception as e:
self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
r = [resource for resource in self.resources_config if resource.get("id") == request.id]
self.lab_logger().warning(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
else:
# 本地物料服务，根据 id 查询物料
r = [resource for resource in self.resources_config 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]
try:
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)}")
return response
def _resource_delete_callback(self, request, response):
@@ -991,9 +1166,10 @@ class HostNode(BaseROS2DeviceNode):
send_timestamp = time.time()
# 发送ping
from unilabos.app.mq import mqtt_client
from unilabos.app.communication import get_communication_client
mqtt_client.send_ping(ping_id, send_timestamp)
comm_client = get_communication_client()
comm_client.send_ping(ping_id, send_timestamp)
# 等待pong响应
timeout = 10.0
@@ -1073,6 +1249,7 @@ class HostNode(BaseROS2DeviceNode):
else:
self.lab_logger().warning("⚠️ 无法获取服务端任务下发时间，跳过任务延迟分析")
raw_delay_ms = -1
corrected_delay_ms = -1
self.lab_logger().info("=" * 60)
@@ -1089,6 +1266,14 @@ 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
@@ -1108,3 +1293,76 @@ class HostNode(BaseROS2DeviceNode):
)
else:
self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")
def notify_resource_tree_update(self, device_id: str, action: str, resource_uuid_list: List[str]) -> bool:
"""
通知设备节点更新资源树
Args:
device_id: 目标设备ID
action: 操作类型 "add", "update", "remove"
resource_uuid_list: 资源UUIDs
Returns:
bool: 操作是否成功
"""
try:
# 检查设备是否存在
if device_id not in self.devices_names:
self.lab_logger().error(f"[Host Node-Resource] Device {device_id} not found in devices_names")
return False
namespace = self.devices_names[device_id]
device_key = f"{namespace}/{device_id}"
# 检查设备是否在线
if device_key not in self._online_devices:
self.lab_logger().error(f"[Host Node-Resource] Device {device_key} is offline")
return False
# 构建服务地址
srv_address = f"/srv{namespace}/s2c_resource_tree"
self.lab_logger().info(f"[Host Node-Resource] Notifying {device_id} for resource tree {action} operation")
# 创建服务客户端
sclient = self.create_client(SerialCommand, srv_address)
# 等待服务可用（设置超时）
if not sclient.wait_for_service(timeout_sec=5.0):
self.lab_logger().error(f"[Host Node-Resource] Service {srv_address} not available")
return False
# 构建请求数据
request_data = [
{
"action": action,
"data": resource_uuid_list,
}
]
# 创建请求
request = SerialCommand.Request()
request.command = json.dumps(request_data, ensure_ascii=False)
# 发送异步请求
future = sclient.call_async(request)
# 等待响应
timeout = 30.0
start_time = time.time()
while not future.done():
if time.time() - start_time > timeout:
self.lab_logger().error(f"[Host Node-Resource] Timeout waiting for response from {device_id}")
return False
time.sleep(0.05)
response = future.result()
self.lab_logger().info(
f"[Host Node-Resource] Resource tree {action} notification completed for {device_id}"
)
return True
except Exception as e:
self.lab_logger().error(f"[Host Node-Resource] Error notifying resource tree update: {str(e)}")
self.lab_logger().error(traceback.format_exc())
return False