resource create from outer easy

unilabos/registry/registry.py

@@ -1,5 +1,4 @@
 import io
-import json
 import os
 import sys
 from pathlib import Path
@@ -7,10 +6,9 @@ from typing import Any
 
 import yaml
 
-from unilabos.utils import logger
 from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
+from unilabos.utils import logger
 from unilabos.utils.decorator import singleton
-from unilabos.utils.type_check import TypeEncoder
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
@@ -21,10 +19,12 @@ class Registry:
         self.registry_paths = DEFAULT_PATHS.copy()  # 使用copy避免修改默认值
         if registry_paths:
             self.registry_paths.extend(registry_paths)
-        action_type = self._replace_type_with_class(
+        ResourceCreateFromOuter = self._replace_type_with_class(
             "ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
         )
-        schema = ros_action_to_json_schema(action_type)
+        ResourceCreateFromOuterEasy = self._replace_type_with_class(
+            "ResourceCreateFromOuterEasy", "host_node", f"动作 add_resource_from_outer_easy"
+        )
         self.device_type_registry = {
             "host_node": {
                 "description": "UniLabOS主机节点",
@@ -46,7 +46,22 @@ class Registry:
                             "result": {
                                 "success": "success"
                             },
-                            "schema": schema
+                            "schema": ros_action_to_json_schema(ResourceCreateFromOuter)
+                        },
+                        "add_resource_from_outer_easy": {
+                            "type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
+                            "goal": {
+                                "resources": "resources",
+                                "device_ids": "device_ids",
+                                "bind_parent_ids": "bind_parent_ids",
+                                "bind_locations": "bind_locations",
+                                "other_calling_params": "other_calling_params",
+                            },
+                            "feedback": {},
+                            "result": {
+                                "success": "success"
+                            },
+                            "schema": ros_action_to_json_schema(ResourceCreateFromOuterEasy)
                         }
                     }
                 },

unilabos/resources/graphio.py

@@ -421,7 +421,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
     return r
 
 
-def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict]:
+def initialize_resource(resource_config: dict) -> list[dict]:
     """Initializes a resource based on its configuration.
 
     If the config is detailed, then do nothing;
@@ -433,6 +433,7 @@ def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict]
     Returns:
         None
     """
+    from unilabos.registry.registry import lab_registry
     resource_class_config = resource_config.get("class", None)
     if resource_class_config is None:
         return [resource_config]
@@ -476,9 +477,8 @@ def initialize_resources(resources_config) -> list[dict]:
         None
     """
 
-    from unilabos.registry.registry import lab_registry
     resources = []
     for resource_config in resources_config:
-        resources.extend(initialize_resource(resource_config, lab_registry))
+        resources.extend(initialize_resource(resource_config))
 
     return resources

unilabos/ros/nodes/base_device_node.py

@@ -320,6 +320,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             other_calling_param = command_json["other_calling_param"]
             resources = command_json["resource"]
             initialize_full = other_calling_param.pop("initialize_full", False)
+            ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
+            LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
+            slot = other_calling_param.pop("slot", -1)
+            if slot >= 0:  # slot为负数的时候采用assign方法
+                other_calling_param["slot"] = slot
             # 本地拿到这个物料，可能需要先做初始化?
             if isinstance(resources, list):
                 if initialize_full:

unilabos/ros/nodes/presets/host_node.py

@@ -17,6 +17,7 @@ from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, Resource
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.registry import lab_registry
+from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -141,7 +142,9 @@ class HostNode(BaseROS2DeviceNode):
             ].items():
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
+        resources_config.insert(0, {
 
+        })
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
@@ -292,6 +295,31 @@ class HostNode(BaseROS2DeviceNode):
             pass
         pass
 
+    def add_resource_from_outer_easy(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,
+            }
+        })
+        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
+        })]
+
+        return self.add_resource_from_outer(resources, device_id, bind_parent_id, bind_location, other_calling_param)
+
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """
         根据配置初始化设备，

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -1,10 +1,11 @@
-string id
-string class
+string res_id
+string class_name
 string parent
 geometry_msgs/Point bind_locations
 int32[] liquid_input_slot
 string[] liquid_type
 float32[] liquid_volume
+int32[] slot_on_deck
 ---
 bool success
 ---