diff --git a/README.md b/README.md index 4345f6d..3435276 100644 --- a/README.md +++ b/README.md @@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name # Currently, you need to install the `unilabos_msgs` package # You can download the system-specific package from the Release page -conda install ros-humble-unilabos-msgs-0.9.3-xxxxx.tar.bz2 +conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2 # Install PyLabRobot and other prerequisites git clone https://github.com/PyLabRobot/pylabrobot plr_repo diff --git a/README_zh.md b/README_zh.md index 5a84b51..4f3607d 100644 --- a/README_zh.md +++ b/README_zh.md @@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名 # 现阶段，需要安装 `unilabos_msgs` 包 # 可以前往 Release 页面下载系统对应的包进行安装 -conda install ros-humble-unilabos-msgs-0.9.3-xxxxx.tar.bz2 +conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2 # 安装PyLabRobot等前置 git clone https://github.com/PyLabRobot/pylabrobot plr_repo diff --git a/recipes/ros-humble-unilabos-msgs/recipe.yaml b/recipes/ros-humble-unilabos-msgs/recipe.yaml index b39e6cd..febca42 100644 --- a/recipes/ros-humble-unilabos-msgs/recipe.yaml +++ b/recipes/ros-humble-unilabos-msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.9.3 + version: 0.9.4 source: path: ../../unilabos_msgs folder: ros-humble-unilabos-msgs/src/work diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 1aea514..51ddea1 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.9.3" + version: "0.9.4" source: path: ../.. diff --git a/setup.py b/setup.py index 6a57457..038d820 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.9.3', + version='0.9.4', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/device_mesh/view_robot.rviz b/unilabos/device_mesh/view_robot.rviz index ea5eadc..50e0543 100644 --- a/unilabos/device_mesh/view_robot.rviz +++ b/unilabos/device_mesh/view_robot.rviz @@ -576,7 +576,7 @@ Window Geometry: Hide Left Dock: false Hide Right Dock: true MotionPlanning: - collapsed: false + collapsed: true MotionPlanning - Trajectory Slider: collapsed: false QMainWindow State: 000000ff00000000fd0000000400000000000003a30000079bfc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000027000004c60000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000280020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000007a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000004f9000002c9000002b800ffffff000000010000010f00000387fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000003870000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000bc50000079b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730000000000ffffffff0000000000000000 diff --git a/unilabos/registry/device_comms/modbus_ioboard.yaml b/unilabos/registry/device_comms/modbus_ioboard.yaml index 1473241..b1d04ee 100644 --- a/unilabos/registry/device_comms/modbus_ioboard.yaml +++ b/unilabos/registry/device_comms/modbus_ioboard.yaml @@ -5,6 +5,6 @@ io_snrd: type: python hardware_interface: name: modbus_client - extra_info: address + extra_info: [] read: read_io_coil write: write_io_coil \ No newline at end of file diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index dcf0759..eafdd71 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -343,8 +343,8 @@ class BaseROS2DeviceNode(Node, Generic[T]): ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", []) LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", []) LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", []) - slot = other_calling_param.pop("slot", -1) - if slot >= 0: # slot为负数的时候采用assign方法 + slot = other_calling_param.pop("slot", "-1") + if slot != "-1": # 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): @@ -368,16 +368,21 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 如果driver自己就有assign的方法，那就使用driver自己的assign方法 if hasattr(self.driver_instance, "create_resource"): create_resource_func = getattr(self.driver_instance, "create_resource") - create_resource_func( - resource_tracker=self.resource_tracker, - resources=request.resources, - bind_parent_id=bind_parent_id, - bind_location=location, - liquid_input_slot=LIQUID_INPUT_SLOT, - liquid_type=ADD_LIQUID_TYPE, - liquid_volume=LIQUID_VOLUME, - slot_on_deck=slot, - ) + try: + ret = create_resource_func( + resource_tracker=self.resource_tracker, + resources=request.resources, + bind_parent_id=bind_parent_id, + bind_location=location, + liquid_input_slot=LIQUID_INPUT_SLOT, + liquid_type=ADD_LIQUID_TYPE, + liquid_volume=LIQUID_VOLUME, + slot_on_deck=slot, + ) + res.response = serialize_result_info("", True, ret) + except Exception as e: + traceback.print_exc() + res.response = serialize_result_info(traceback.format_exc(), False, {}) return res # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中 resource = self.resource_tracker.figure_resource({"name": bind_parent_id}) @@ -403,9 +408,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume) plr_instance.set_well_liquids(empty_liquid_info_in) if isinstance(resource, OTDeck) and "slot" in other_calling_param: + other_calling_param["slot"] = int(other_calling_param["slot"]) resource.assign_child_at_slot(plr_instance, **other_calling_param) else: - _discard_slot = other_calling_param.pop("slot", -1) + _discard_slot = other_calling_param.pop("slot", "-1") resource.assign_child_resource( plr_instance, Coordinate(location["x"], location["y"], location["z"]), diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index a869b13..712e9b3 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -342,6 +342,7 @@ class HostNode(BaseROS2DeviceNode): bind_locations: list[Point], other_calling_params: 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 ): @@ -367,8 +368,8 @@ class HostNode(BaseROS2DeviceNode): ensure_ascii=False, ) response = sclient.call(request) - pass - pass + responses.append(response) + return responses def create_resource( self, @@ -380,7 +381,7 @@ class HostNode(BaseROS2DeviceNode): liquid_input_slot: list[int], liquid_type: list[str], liquid_volume: list[int], - slot_on_deck: int, + slot_on_deck: str, ): init_new_res = initialize_resource( { diff --git a/unilabos/ros/nodes/presets/protocol_node.py b/unilabos/ros/nodes/presets/protocol_node.py index c4dfd08..23e08d0 100644 --- a/unilabos/ros/nodes/presets/protocol_node.py +++ b/unilabos/ros/nodes/presets/protocol_node.py @@ -1,6 +1,7 @@ import time import asyncio import traceback +from types import MethodType from typing import Union import rclpy @@ -87,7 +88,10 @@ class ROS2ProtocolNode(BaseROS2DeviceNode): # 如果硬件接口是字符串，通过通信设备提供 if isinstance(name, str) and name in self.sub_devices: + communicate_device = self.sub_devices[name] + communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface self._setup_hardware_proxy(d, self.sub_devices[name], read, write) + self.lab_logger().info(f"\n通信代理：为子设备{device_id}\n 添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n 添加了{write}方法(来源：{name} {communicate_hardware_info['read']})") def _setup_protocol_names(self, protocol_type): # 处理协议类型 @@ -241,20 +245,23 @@ class ROS2ProtocolNode(BaseROS2DeviceNode): def _setup_hardware_proxy(self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method): """为设备设置硬件接口代理""" - extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])] - write_func = getattr(communication_device.ros_node_instance, communication_device.ros_node_instance._hardware_interface["write"]) - read_func = getattr(communication_device.ros_node_instance, communication_device.ros_node_instance._hardware_interface["read"]) + # extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])] + write_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]) + read_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]) - def _read(): - return read_func(*extra_info) + def _read(*args, **kwargs): + return read_func(*args, **kwargs) - def _write(command): - return write_func(*extra_info, command) + def _write(*args, **kwargs): + return write_func(*args, **kwargs) if read_method: - setattr(device.driver_instance, read_method, _read) + bound_read = MethodType(_read, device.driver_instance) + setattr(device.driver_instance, read_method, bound_read) + if write_method: - setattr(device.driver_instance, write_method, _write) + bound_write = MethodType(_write, device.driver_instance) + setattr(device.driver_instance, write_method, bound_write) async def _update_resources(self, goal, protocol_kwargs): diff --git a/unilabos_msgs/action/ResourceCreateFromOuterEasy.action b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action index b4adaed..420602e 100644 --- a/unilabos_msgs/action/ResourceCreateFromOuterEasy.action +++ b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action @@ -6,7 +6,7 @@ geometry_msgs/Point bind_locations int32[] liquid_input_slot string[] liquid_type float32[] liquid_volume -int32 slot_on_deck +string slot_on_deck --- string return_info bool success