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easy resource creation logic

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This commit is contained in:
wznln
2025-05-14 23:52:01 +08:00
parent 6eac72ed27
commit 9d2d70c804
4 changed files with 23 additions and 7 deletions
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11
unilabos/registry/registry.py
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@@ -51,11 +51,14 @@ class Registry:
"add_resource_from_outer_easy": { "add_resource_from_outer_easy": {
"type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"), "type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
"goal": { "goal": {
"resources": "resources", "res_id": "res_id",
"device_ids": "device_ids", "class_name": "class_name",
"bind_parent_ids": "bind_parent_ids", "parent": "parent",
"bind_locations": "bind_locations", "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": {}, "feedback": {},
"result": { "result": {

1
unilabos/ros/msgs/message_converter.py
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@@ -574,6 +574,7 @@ basic_type_map = {
'int64': {'type': 'integer'}, 'int64': {'type': 'integer'},
'uint64': {'type': 'integer', 'minimum': 0}, 'uint64': {'type': 'integer', 'minimum': 0},
'double': {'type': 'number'}, 'double': {'type': 'number'},
'float': {'type': 'number'},
'float32': {'type': 'number'}, 'float32': {'type': 'number'},
'float64': {'type': 'number'}, 'float64': {'type': 'number'},
'string': {'type': 'string'}, 'string': {'type': 'string'},

4
unilabos/ros/nodes/base_device_node.py
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@@ -515,7 +515,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"]) 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}") 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 # 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(): for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]: 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}") 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 del future
# 向Host更新物料当前状态 # 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(): for k, v in goal.get_fields_and_field_types().items():
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]: if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
continue continue

14
unilabos/ros/nodes/presets/host_node.py
View File

@@ -143,7 +143,19 @@ class HostNode(BaseROS2DeviceNode):
controller_config["update_rate"] = update_rate controller_config["update_rate"] = update_rate
self.initialize_controller(controller_id, controller_config) self.initialize_controller(controller_id, controller_config)
resources_config.insert(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": []
}) })
try: try:
for bridge in self.bridges: for bridge in self.bridges: