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Ready for open source (#47)
* Create app/main API * create example device * create ROS backend and example device SDK Wrapper * Add ROS host and host starting from app.py * Add gripper device and mock implementation * add "status_types" & "action_types" to ROS device decorator * add ActionServer debug example * [bugfix] complete mock gripper example * ROS Backend Host for Device action calling and Resource management * add conda/mamba ENV file * add host_node communication with app/main.py * add action message value mappings and converters * Update ilabos.yaml * Update issue templates * example devices.json and resources.json * Fix Device wrapper to use async property and actions (#7) * Fix Device wrapper to use async property and actions * Resolve #1 : support async get methods and actions. Give new examples. * add both sync/async GRBL controller SDK * 2 call device actions from appmainpy api to ros hostpy (#8) * feature: add job * fix:node start * feature:add get job status * fix:get device * clean * Resolve #5 device connection diagram and workflow compilation support (#9) * add syringe pump device and its compilation using device connection diagram * add RunzeSyringePump real device with ROS2 example * Prototype machine with 1 pump and 1 CNC * add ROS2ProtocolNode and related functions * add ilabos_msgs (to use PumpTransfer action) * add example device connection graph * refactor protocol_node code into separate file * add ROS2SerialNode * add SerialCommand srv in ilabos_msgs * add pump_protocol example, and fix bugs * [fix] serial service: avoid async service deadlock by directly call serial `send_command` * use SendCmd instead of SingleJointPosition for valve control * initialize device connection graph when server starts * Fix #5: async workflow execution (#16) * add rclpyx and protocol example for async-native workflow * use async in ROS2ProtocolNode, and host initialization * add examples of "ros-async" protocol implementation, and `run_in_event_loop` for using native async functions * use "ros-async" in protocols and device nodes * fix pump_protocol: push to 0.0 μL * Envs, docs, and conda recipes (#19) * update ENV: use python 3.11 and deprecate ros-humble-gazebo-ros * add ilabos-msgs conda recipe * Update ilabos.yaml * fix recipe and env yaml * Add sphinx docs * add aichemeco * add bioyong * add bioyong * Support XDL devices & protocols (#20) * [Feature] support multiple protocols in a single ProtocolNode * add Junjie's code * Support "Clean" protocol * Update Grignard_flow_batchreact_single_pumpvalve.json * test_grignard_add * add stir device node and example * Update device_node.py add print_publish flag to control the node's log output * NH4Cl_add * add "HeaterStirrer" device and "HeatChill" action * add wait time after each pump action for equilibration * fix stir * add Separate protocol * Refactor Separator device and Stir action * add rotavap_node * fix stir * add chiller node * Move rinsings into PumpTransfer * Fix SeparateProtocol under refactored Separator device and Stir action * Supports automatically add new protocol action_types * fix PumpTransfer protocol because of rinsing * Add Rotavap and Chiller devices * fix SeparateProtocol * add EvaporateProtocol * add rotavap devices config * fix HeaterStirrer and SeparatorController IO * Fix automatically add new protocol action_types * Add HeaterStirrer and SeparatorController device config * fix pump protocols * Fix Evaporate action * Update evaporate_protocol.py * add temp_sensor node and add function remap * update docs --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: q434343 <554662886@qq.com> * fix aichemeco * [Bugfix] fix Windows conda packaging * add file upload api * update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64 * update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64 * Create aichemeco_simple.py * fix * update * add aichemeco file * MQTT [1/2]: action start (#25) * add mq * fix * clean * add class * fix excel * update bioyong * add api * fix --------- Co-authored-by: caok@dp.tech <xiaoyeqiannian@163.com> * motor & grasp * Add Grasp motor support and enhance EleGripper class - Introduced a new motor configuration for Grasp in sjtu.json. - Updated EleGripper class to inherit from UniversalDriver and added status property. - Implemented move_and_rotate method for coordinated movement. - Adjusted threading logic in EleGripper initialization. - Registered Grasp motor in ROS2 device node configuration. This commit enhances the motor control capabilities by integrating the Grasp motor and improving the existing EleGripper functionality. * fix read data lenth * Update Grasp.py * MQTT (2/2): publish Device Status, Action Feedback & Results (#27) * Add bridges in HostNode for device_status publishing * Add "bridges" selection (fastapi & mqtt) when app start * add MQ feedback & result publisher, and fix message converter * fix UUID converting between ROS and MQ * lint api model.py * Continuous controllers: PID, MPC, custom controllers etc. (#23) * add controller config & wrapper * add controller setup at app.main * control loop example * fix com port * add agv , ur_arm and raman * MQTT (3/4): Unified Resources and Sync when starting the server (#28) * update http upload api * generate uuid when init device * example resource json * fix * add new example full-content json (device, resource, graph) * fix full-content json and related reading code * fix * add json_schema when initialize resources * fix * update schema * refactor heaterstirrer.dalong * fix * fix refactor heaterstirrer.dalong * refactor syringepump.runze: use ml instead of μL * Update ilabos/ros/host.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Distributed initialization with self-organizing network (#29) * add distributed launching option "--without_host" * fix --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> * Refactor Workstation: Add resource service and tracking (#30) * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * Create HT_hiwo.json * add children in resources * bugfixes * fix rpc * add Revvity winprep --------- Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com> * Distributed launch (2/2): distributed resource create (#32) * add resource_add request to host for slave mode * add AGV * fix protocol resources * optimize host callbacks * bugfixes * add revvity registry --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> * Refactor Driver Files Structure (#33) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> * add: NMR LH and RU device control (#34) * Add Registry for device drivers and Support GraphML (#35) * read chemputer graphml * read graphml in app/main * add devices in ros/devices * add schema for devices * read registry directory and initialize when entry from main * Delete devices.py * Update add_protocol.md * delete unecessary files * feat: 2278 devices registry yaml (#36) * read chemputer graphml * read graphml in app/main * add devices in ros/devices * add schema for devices * read registry directory and initialize when entry from main * Delete devices.py * add: NMR LH and RU device control * fix: modify jiageng devices registry --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Device/Resource Registry and GraphML support (#37) * add resource type conversion to PLR * add resource registry and test * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml --------- Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> * Uni-Lab Doc v0.2 (#39) * add Uni-Lab docs * change doc name * Dev (#41) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev * add HPLC registry and json * 升级 ros2-distro-mutex 依赖版本至 0.6 * 修改 ros2-distro-mutex 依赖版本为通配符匹配 * 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间 * add resource type conversion to PLR * add resource registry and test * feat: 更新oss上传 * fix device id * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * use robostack-staging * rclpy version test * lower rclpy * ensure 0.6* env * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml * Feature/device node later init (#40) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> * Dev (#45) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev * add HPLC registry and json * 升级 ros2-distro-mutex 依赖版本至 0.6 * 修改 ros2-distro-mutex 依赖版本为通配符匹配 * 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间 * add resource type conversion to PLR * add resource registry and test * feat: 更新oss上传 * fix device id * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * use robostack-staging * rclpy version test * lower rclpy * ensure 0.6* env * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml * Feature/device node later init (#40) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * Feature/device node later init (#42) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * Feature/device node later init (#43) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * plr * action * plr reg fix * Feature/device node later init (#44) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * plr * fix convert error fix async logic error added async error print * new device test * test resource add * test resource add * test resource add * test resource add * local env setup * node type fix temp fix root_node error fix convert res from type error * resource tracker * fix bug from qhh * fix bug from qhh * fix bug from qhh * fix bug from qhh * refactor MQTT client logging and connection handling; update group ID in config * driver_params allow empty * allow other init param * fix driver param and enhance type hint * refactor MQConfig to use double quotes for string literals * fix wrong function calling * fix wrong function calling * fix log for mac * fix networkx compatibility * add mqtt loggers * add action to jsonschema converter * random client id * type converter & registry * correct conversion * fix action publish only from discovered devices * add "Bio" tag for action doc generation * 改进module提示 * Fix doc * mqtt不连接也可用 性价样例提示 * add docs * 更新plr test案例 * Update intro.md * 更新有机案例 * skip --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Junhan Chang <1700011741@pku.edu.cn> --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Junhan Chang <1700011741@pku.edu.cn> * Canonicalize before Open Source (#46) * big big refactor try01 * refactor 02 --------- Co-authored-by: ck <xiaoyeqiannian@163.com> Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: q434343 <554662886@qq.com> Co-authored-by: Xuwznln <xuwznln@gmail.com> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com> Co-authored-by: Xuwznln <1023025701@qq.com> Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: Jiawei <91898272+jiawei723@users.noreply.github.com> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com>
This commit is contained in:
Junhan Chang
GitHub
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unilabos/ros/nodes/presets/host_node.py
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unilabos/ros/nodes/presets/host_node.py
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import copy
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import threading
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import time
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import uuid
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from typing import Optional, Dict, Any, List, ClassVar, Set
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from action_msgs.msg import GoalStatus
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList # type: ignore
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from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.service import Service
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from unique_identifier_msgs.msg import UUID
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from unilabos.resources.registry import add_schema
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from unilabos.ros.initialize_device import initialize_device_from_dict
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
get_msg_type,
|
||||
get_ros_type_by_msgname,
|
||||
convert_from_ros_msg,
|
||||
convert_to_ros_msg,
|
||||
msg_converter_manager, ros_action_to_json_schema,
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.presets.controller_node import ControllerNode
|
||||
|
||||
|
||||
class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
主机节点类，负责管理设备、资源和控制器
|
||||
|
||||
作为单例模式实现，确保整个应用中只有一个主机节点实例
|
||||
"""
|
||||
|
||||
_instance: ClassVar[Optional["HostNode"]] = None
|
||||
_ready_event: ClassVar[threading.Event] = threading.Event()
|
||||
|
||||
@classmethod
|
||||
def get_instance(cls, timeout=None) -> Optional["HostNode"]:
|
||||
if cls._ready_event.wait(timeout):
|
||||
return cls._instance
|
||||
return None
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
devices_config: Dict[str, Any],
|
||||
resources_config: Any,
|
||||
physical_setup_graph: Optional[Dict[str, Any]] = None,
|
||||
controllers_config: Optional[Dict[str, Any]] = None,
|
||||
bridges: Optional[List[Any]] = None,
|
||||
discovery_interval: float = 180.0, # 设备发现间隔，单位为秒
|
||||
):
|
||||
"""
|
||||
初始化主机节点
|
||||
|
||||
Args:
|
||||
device_id: 节点名称
|
||||
devices_config: 设备配置
|
||||
resources_config: 资源配置
|
||||
physical_setup_graph: 物理设置图
|
||||
controllers_config: 控制器配置
|
||||
bridges: 桥接器列表
|
||||
discovery_interval: 设备发现间隔（秒），默认5秒
|
||||
"""
|
||||
if self._instance is not None:
|
||||
self._instance.lab_logger().critical("[Host Node] HostNode instance already exists.")
|
||||
# 初始化Node基类，传递空参数覆盖列表
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
status_types={},
|
||||
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
|
||||
)
|
||||
|
||||
# 设置单例实例
|
||||
self.__class__._instance = self
|
||||
|
||||
# 初始化配置
|
||||
self.devices_config = devices_config
|
||||
self.resources_config = resources_config
|
||||
self.physical_setup_graph = physical_setup_graph
|
||||
if controllers_config is None:
|
||||
controllers_config = {}
|
||||
self.controllers_config = controllers_config
|
||||
if bridges is None:
|
||||
bridges = []
|
||||
self.bridges = bridges
|
||||
|
||||
# 创建设备、动作客户端和目标存储
|
||||
self.devices_names: Dict[str, str] = {} # 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._action_clients: Dict[str, ActionClient] = {} # 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._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
|
||||
self._online_devices: Set[str] = set() # 用于跟踪在线设备
|
||||
self._last_discovery_time = 0.0 # 上次设备发现的时间
|
||||
self._discovery_lock = threading.Lock() # 设备发现的互斥锁
|
||||
self._subscribed_topics = set() # 用于跟踪已订阅的话题
|
||||
|
||||
# 创建物料增删改查服务（非客户端）
|
||||
self._init_resource_service()
|
||||
|
||||
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
|
||||
|
||||
# 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.")
|
||||
continue
|
||||
if device_id not in self.devices_names:
|
||||
self.initialize_device(device_id, device_config)
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Device {device_id} already existed, skipping.")
|
||||
self.update_device_status_subscriptions()
|
||||
# TODO: 需要验证 初始化所有控制器节点
|
||||
if controllers_config:
|
||||
update_rate = controllers_config["controller_manager"]["ros__parameters"]["update_rate"]
|
||||
for controller_id, controller_config in controllers_config["controller_manager"]["ros__parameters"][
|
||||
"controllers"
|
||||
].items():
|
||||
controller_config["update_rate"] = update_rate
|
||||
self.initialize_controller(controller_id, controller_config)
|
||||
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "resource_add"):
|
||||
self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
|
||||
bridge.resource_add(add_schema(resources_config))
|
||||
|
||||
# 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()
|
||||
)
|
||||
|
||||
self.lab_logger().info("[Host Node] Host node initialized.")
|
||||
HostNode._ready_event.set()
|
||||
|
||||
def _discover_devices(self) -> None:
|
||||
"""
|
||||
发现网络中的设备
|
||||
|
||||
检测ROS2网络中的所有设备节点，并为它们创建ActionClient
|
||||
同时检测设备离线情况
|
||||
"""
|
||||
self.lab_logger().debug("[Host Node] Discovering devices in the network...")
|
||||
|
||||
# 获取当前所有设备
|
||||
nodes_and_names = self.get_node_names_and_namespaces()
|
||||
|
||||
# 跟踪本次发现的设备，用于检测离线设备
|
||||
current_devices = set()
|
||||
|
||||
for device_id, namespace in nodes_and_names:
|
||||
if not namespace.startswith("/devices"):
|
||||
continue
|
||||
|
||||
# 将设备添加到当前设备集合
|
||||
device_key = f"{namespace}/{device_id}"
|
||||
current_devices.add(device_key)
|
||||
|
||||
# 如果是新设备，记录并创建ActionClient
|
||||
if device_id not in self.devices_names:
|
||||
self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
|
||||
self.devices_names[device_id] = namespace
|
||||
self._create_action_clients_for_device(device_id, namespace)
|
||||
self._online_devices.add(device_key)
|
||||
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)
|
||||
|
||||
# 检测离线设备
|
||||
offline_devices = self._online_devices - current_devices
|
||||
for device_key in offline_devices:
|
||||
self.lab_logger().warning(f"[Host Node] Device offline: {device_key}")
|
||||
self._online_devices.discard(device_key)
|
||||
|
||||
# 更新在线设备列表
|
||||
self._online_devices = current_devices
|
||||
self.lab_logger().debug(f"[Host Node] Total online devices: {len(self._online_devices)}")
|
||||
|
||||
def _discovery_devices_callback(self) -> None:
|
||||
"""
|
||||
设备发现定时器回调函数
|
||||
"""
|
||||
# 使用互斥锁确保同时只有一个发现过程
|
||||
if self._discovery_lock.acquire(blocking=False):
|
||||
try:
|
||||
self._discover_devices()
|
||||
# 发现新设备后，更新设备状态订阅
|
||||
self.update_device_status_subscriptions()
|
||||
finally:
|
||||
self._discovery_lock.release()
|
||||
else:
|
||||
self.lab_logger().debug("[Host Node] Device discovery already in progress, skipping.")
|
||||
|
||||
def _create_action_clients_for_device(self, device_id: str, namespace: str) -> None:
|
||||
"""
|
||||
为设备创建所有必要的ActionClient
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
namespace: 设备命名空间
|
||||
"""
|
||||
for action_id, action_types in get_action_server_names_and_types_by_node(self, device_id, namespace):
|
||||
if action_id not in self._action_clients:
|
||||
try:
|
||||
action_type = get_ros_type_by_msgname(action_types[0])
|
||||
self._action_clients[action_id] = ActionClient(
|
||||
self, action_type, action_id, callback_group=self.callback_group
|
||||
)
|
||||
self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
|
||||
from unilabos.app.mq import mqtt_client
|
||||
info_with_schema = ros_action_to_json_schema(action_type)
|
||||
mqtt_client.publish_actions(action_id, info_with_schema)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
|
||||
|
||||
def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
|
||||
"""
|
||||
根据配置初始化设备
|
||||
|
||||
此函数根据提供的设备配置动态导入适当的设备类并创建其实例。
|
||||
同时为设备的动作值映射设置动作客户端。
|
||||
|
||||
Args:
|
||||
device_id: 设备唯一标识符
|
||||
device_config: 设备配置字典，包含类型和其他参数
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
|
||||
|
||||
device_config_copy = copy.deepcopy(device_config)
|
||||
d = initialize_device_from_dict(device_id, device_config_copy)
|
||||
if d is None:
|
||||
return
|
||||
# noinspection PyProtectedMember
|
||||
self.devices_names[device_id] = d._ros_node.namespace
|
||||
self.devices_instances[device_id] = d
|
||||
# noinspection PyProtectedMember
|
||||
for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
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: {action_id}")
|
||||
from unilabos.app.mq import mqtt_client
|
||||
info_with_schema = ros_action_to_json_schema(action_type)
|
||||
mqtt_client.publish_actions(action_id, info_with_schema)
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] ActionClient {action_id} already exists.")
|
||||
device_key = f"{self.devices_names[device_id]}/{device_id}"
|
||||
# 添加到在线设备列表
|
||||
self._online_devices.add(device_key)
|
||||
|
||||
def update_device_status_subscriptions(self) -> None:
|
||||
"""
|
||||
更新设备状态订阅
|
||||
|
||||
扫描所有设备话题，为新的话题创建订阅，确保不会重复订阅
|
||||
"""
|
||||
topic_names_and_types = self.get_topic_names_and_types()
|
||||
for topic, types in topic_names_and_types:
|
||||
# 检查是否为设备状态话题且未订阅过
|
||||
if (
|
||||
topic.startswith("/devices/")
|
||||
and not types[0].endswith("FeedbackMessage")
|
||||
and "_action" not in topic
|
||||
and topic not in self._subscribed_topics
|
||||
):
|
||||
|
||||
# 解析设备名和属性名
|
||||
parts = topic.split("/")
|
||||
if len(parts) >= 4:
|
||||
device_id = parts[-2]
|
||||
property_name = parts[-1]
|
||||
|
||||
# 初始化设备状态字典
|
||||
if device_id not in self.device_status:
|
||||
self.device_status[device_id] = {}
|
||||
self.device_status_timestamps[device_id] = {}
|
||||
|
||||
# 默认初始化属性值为 None
|
||||
self.device_status[device_id][property_name] = None
|
||||
self.device_status_timestamps[device_id][property_name] = 0 # 初始化时间戳
|
||||
|
||||
# 动态创建订阅
|
||||
try:
|
||||
type_class = msg_converter_manager.search_class(types[0].replace("/", "."))
|
||||
if type_class is None:
|
||||
self.lab_logger().error(f"[Host Node] Invalid type {types[0]} for {topic}")
|
||||
else:
|
||||
self.create_subscription(
|
||||
type_class,
|
||||
topic,
|
||||
lambda msg, d=device_id, p=property_name: self.property_callback(msg, d, p),
|
||||
1,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
# 标记为已订阅
|
||||
self._subscribed_topics.add(topic)
|
||||
self.lab_logger().debug(f"[Host Node] Subscribed to new topic: {topic}")
|
||||
except (NameError, SyntaxError) as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to create subscription for topic {topic}: {e}")
|
||||
|
||||
"""设备相关"""
|
||||
|
||||
def property_callback(self, msg, device_id: str, property_name: str) -> None:
|
||||
"""
|
||||
更新设备状态字典中的属性值，并发送到桥接器。
|
||||
|
||||
Args:
|
||||
msg: 接收到的消息
|
||||
device_id: 设备ID
|
||||
property_name: 属性名称
|
||||
"""
|
||||
# 更新设备状态字典
|
||||
if hasattr(msg, "data"):
|
||||
bChange = False
|
||||
if isinstance(msg.data, (float, int, str)):
|
||||
if self.device_status[device_id][property_name] != msg.data:
|
||||
bChange = True
|
||||
self.device_status[device_id][property_name] = msg.data
|
||||
# 更新时间戳
|
||||
self.device_status_timestamps[device_id][property_name] = time.time()
|
||||
else:
|
||||
self.lab_logger().debug(
|
||||
f"[Host Node] Unsupported data type for {device_id}/{property_name}: {type(msg.data)}"
|
||||
)
|
||||
|
||||
# 所有 Bridge 对象都应具有 publish_device_status 方法；都会收到设备状态更新
|
||||
if bChange:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_device_status"):
|
||||
bridge.publish_device_status(self.device_status, device_id, property_name)
|
||||
self.lab_logger().debug(
|
||||
f"[Host Node] Status updated: {device_id}.{property_name} = {msg.data}"
|
||||
)
|
||||
|
||||
def send_goal(
|
||||
self, device_id: str, action_name: str, action_kwargs: Dict[str, Any], goal_uuid: Optional[str] = None
|
||||
) -> None:
|
||||
"""
|
||||
向设备发送目标请求
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
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
|
||||
"""
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
if action_id not in self._action_clients:
|
||||
self.lab_logger().error(f"[Host Node] ActionClient {action_id} not found.")
|
||||
return
|
||||
|
||||
action_client: ActionClient = self._action_clients[action_id]
|
||||
|
||||
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
||||
|
||||
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
|
||||
|
||||
future = action_client.send_goal_async(
|
||||
goal_msg,
|
||||
feedback_callback=lambda feedback_msg: self.feedback_callback(action_id, uuid_str, feedback_msg),
|
||||
goal_uuid=goal_uuid_obj,
|
||||
)
|
||||
future.add_done_callback(lambda future: self.goal_response_callback(action_id, uuid_str, future))
|
||||
|
||||
def goal_response_callback(self, action_id: str, uuid_str: Optional[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")
|
||||
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)
|
||||
)
|
||||
|
||||
def feedback_callback(self, action_id: str, uuid_str: Optional[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}")
|
||||
|
||||
if uuid_str:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
bridge.publish_job_status(feedback_data, uuid_str, "running")
|
||||
|
||||
def get_result_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
|
||||
"""获取结果回调"""
|
||||
result_msg = future.result().result
|
||||
result_data = convert_from_ros_msg(result_msg)
|
||||
self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): success")
|
||||
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
|
||||
|
||||
if uuid_str:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
bridge.publish_job_status(result_data, uuid_str, "success")
|
||||
|
||||
def cancel_goal(self, goal_uuid: str) -> None:
|
||||
"""取消目标"""
|
||||
if goal_uuid in self._goals:
|
||||
self.lab_logger().info(f"[Host Node] Cancelling goal {goal_uuid}")
|
||||
self._goals[goal_uuid].cancel_goal_async()
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Goal {goal_uuid} not found, cannot cancel")
|
||||
|
||||
def get_goal_status(self, uuid_str: str) -> int:
|
||||
"""获取目标状态"""
|
||||
if uuid_str in self._goals:
|
||||
g = self._goals[uuid_str]
|
||||
status = g.status
|
||||
self.lab_logger().debug(f"[Host Node] Goal status for {uuid_str}: {status}")
|
||||
return status
|
||||
self.lab_logger().warning(f"[Host Node] Goal {uuid_str} not found, status unknown")
|
||||
return GoalStatus.STATUS_UNKNOWN
|
||||
|
||||
"""Controller Node"""
|
||||
|
||||
def initialize_controller(self, controller_id: str, controller_config: Dict[str, Any]) -> None:
|
||||
"""
|
||||
初始化控制器
|
||||
|
||||
Args:
|
||||
controller_id: 控制器ID
|
||||
controller_config: 控制器配置
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node] Initializing controller: {controller_id}")
|
||||
|
||||
class_name = controller_config.pop("type")
|
||||
controller_func = globals()[class_name]
|
||||
|
||||
for input_name, input_info in controller_config["inputs"].items():
|
||||
controller_config["inputs"][input_name]["type"] = get_msg_type(eval(input_info["type"]))
|
||||
for output_name, output_info in controller_config["outputs"].items():
|
||||
controller_config["outputs"][output_name]["type"] = get_msg_type(eval(output_info["type"]))
|
||||
|
||||
if controller_config["parameters"] is None:
|
||||
controller_config["parameters"] = {}
|
||||
|
||||
controller = ControllerNode(controller_id, controller_func=controller_func, **controller_config)
|
||||
self.lab_logger().info(f"[Host Node] Controller {controller_id} created.")
|
||||
# rclpy.get_global_executor().add_node(controller)
|
||||
|
||||
"""Resource"""
|
||||
|
||||
def _init_resource_service(self):
|
||||
self._resource_services: Dict[str, Service] = {
|
||||
"resource_add": self.create_service(
|
||||
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()
|
||||
),
|
||||
"resource_delete": self.create_service(
|
||||
ResourceDelete,
|
||||
"/resources/delete",
|
||||
self._resource_delete_callback,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
),
|
||||
"resource_update": self.create_service(
|
||||
ResourceUpdate,
|
||||
"/resources/update",
|
||||
self._resource_update_callback,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
),
|
||||
"resource_list": self.create_service(
|
||||
ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
}
|
||||
|
||||
def _resource_add_callback(self, request, response):
|
||||
"""
|
||||
添加资源回调
|
||||
|
||||
处理添加资源请求，将资源数据传递到桥接器
|
||||
|
||||
Args:
|
||||
request: 包含资源数据的请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含操作结果
|
||||
"""
|
||||
resources = [convert_from_ros_msg(resource) for resource in request.resources]
|
||||
self.lab_logger().info(f"[Host Node-Resource] Add request received: {len(resources)} resources")
|
||||
|
||||
success = False
|
||||
if len(self.bridges) > 0:
|
||||
r = self.bridges[-1].resource_add(add_schema(resources))
|
||||
success = bool(r)
|
||||
|
||||
response.success = success
|
||||
self.lab_logger().info(f"[Host Node-Resource] Add request completed, success: {success}")
|
||||
return response
|
||||
|
||||
def _resource_get_callback(self, request, response):
|
||||
"""
|
||||
获取资源回调
|
||||
|
||||
处理获取资源请求，从桥接器或本地查询资源数据
|
||||
|
||||
Args:
|
||||
request: 包含资源ID的请求对象
|
||||
response: 响应对象
|
||||
|
||||
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 = []
|
||||
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]
|
||||
return response
|
||||
|
||||
def _resource_delete_callback(self, request, response):
|
||||
"""
|
||||
删除资源回调
|
||||
|
||||
处理删除资源请求，将删除指令传递到桥接器
|
||||
|
||||
Args:
|
||||
request: 包含资源ID的请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含操作结果
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node-Resource] Delete request for ID: {request.id}")
|
||||
|
||||
success = False
|
||||
if len(self.bridges) > 0:
|
||||
try:
|
||||
r = self.bridges[-1].resource_delete(request.id)
|
||||
success = bool(r)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-Resource] Error deleting resource: {str(e)}")
|
||||
|
||||
response.success = success
|
||||
self.lab_logger().info(f"[Host Node-Resource] Delete request completed, success: {success}")
|
||||
return response
|
||||
|
||||
def _resource_update_callback(self, request, response):
|
||||
"""
|
||||
更新资源回调
|
||||
|
||||
处理更新资源请求，将更新指令传递到桥接器
|
||||
|
||||
Args:
|
||||
request: 包含资源数据的请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含操作结果
|
||||
"""
|
||||
resources = [convert_from_ros_msg(resource) for resource in request.resources]
|
||||
self.lab_logger().info(f"[Host Node-Resource] Update request received: {len(resources)} resources")
|
||||
|
||||
success = False
|
||||
if len(self.bridges) > 0:
|
||||
try:
|
||||
r = self.bridges[-1].resource_update(add_schema(resources))
|
||||
success = bool(r)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-Resource] Error updating resources: {str(e)}")
|
||||
|
||||
response.success = success
|
||||
self.lab_logger().info(f"[Host Node-Resource] Update request completed, success: {success}")
|
||||
return response
|
||||
|
||||
def _resource_list_callback(self, request, response):
|
||||
"""
|
||||
列出资源回调
|
||||
|
||||
处理列出资源请求，返回所有可用资源
|
||||
|
||||
Args:
|
||||
request: 请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含资源列表
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node-Resource] List request received")
|
||||
# 这里可以实现返回资源列表的逻辑
|
||||
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
|
||||
return response
|
||||
Reference in New Issue
Block a user