easy resource creation logic

unilabos/registry/registry.py

@@ -51,11 +51,14 @@ class Registry:
                         "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",
+                                "res_id": "res_id",
+                                "class_name": "class_name",
+                                "parent": "parent",
                                 "bind_locations": "bind_locations",
-                                "other_calling_params": "other_calling_params",
+                                "liquid_input_slot": "liquid_input_slot",
+                                "liquid_type": "liquid_type",
+                                "liquid_volume": "liquid_volume",
+                                "slot_on_deck": "slot_on_deck",
                             },
                             "feedback": {},
                             "result": {

unilabos/ros/msgs/message_converter.py

@@ -574,6 +574,7 @@ basic_type_map = {
     'int64': {'type': 'integer'},
     'uint64': {'type': 'integer', 'minimum': 0},
     'double': {'type': 'number'},
+    'float': {'type': 'number'},
     'float32': {'type': 'number'},
     'float64': {'type': 'number'},
     'string': {'type': 'string'},

unilabos/ros/nodes/base_device_node.py

@@ -515,7 +515,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
             self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
             # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
-            if action_name != "add_resource_from_outer":
+            if action_name not in ["add_resource_from_outer", "add_resource_from_outer_easy"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
@@ -614,7 +614,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             del future
 
             # 向Host更新物料当前状态
-            if action_name != "add_resource_from_outer":
+            if action_name not in ["add_resource_from_outer", "add_resource_from_outer_easy"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         continue

unilabos/ros/nodes/presets/host_node.py

@@ -143,7 +143,19 @@ class HostNode(BaseROS2DeviceNode):
                 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": []
         })
         try:
             for bridge in self.bridges: