feat: resource tracker support dict

unilabos/ros/nodes/base_device_node.py

@@ -304,10 +304,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             res.response = ""
             return res
 
+        def append_resource(req, res):
+            pass
+
         self._service_server: Dict[str, Service] = {
             "query_host_name": self.create_service(
                 SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
             ),
+            "append_resource": self.create_service(
+                SerialCommand, f"/srv{self.namespace}/append_resource", append_resource, callback_group=self.callback_group
+            ),
         }
 
         # 向全局在线设备注册表添加设备信息
@@ -667,7 +673,7 @@ class ROS2DeviceNode:
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot")
+        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "DPLiquidHandler"
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例

unilabos/ros/nodes/presets/host_node.py

@@ -269,6 +269,18 @@ class HostNode(BaseROS2DeviceNode):
 
     def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str]):
         for resource, device_id, bind_parent_id in zip(resources, device_ids, bind_parent_ids):
+            # 这里要求device_id传入必须是edge_device_id
+            namespace = "/devices/" + device_id
+            srv_address = f"/srv{namespace}/append_resource"
+            sclient = self.create_client(SerialCommand, srv_address)
+            request = SerialCommand.Request()
+            request.command = json.dumps({
+                "machine_name": BasicConfig.machine_name,
+                "type": "slave",
+                "devices_config": devices_config_copy,
+                "registry_config": lab_registry.obtain_registry_device_info()
+            }, ensure_ascii=False, cls=TypeEncoder)
+            response = sclient.call(request)
             print("111")
         pass
 

unilabos/ros/nodes/resource_tracker.py

@@ -1,7 +1,7 @@
 from unilabos.utils.log import logger
 
 
-class DeviceNodeResourceTracker:
+class DeviceNodeResourceTracker(object):
 
     def __init__(self):
         self.resources = []
@@ -15,44 +15,46 @@ class DeviceNodeResourceTracker:
             return resource
 
     def add_resource(self, resource):
-        # 使用内存地址跟踪是否为同一个resource
         for r in self.resources:
             if id(r) == id(resource):
                 return
-        # 添加资源到跟踪器
         self.resources.append(resource)
 
     def clear_resource(self):
         self.resources = []
 
-    def figure_resource(self, resource):
+    def figure_resource(self, query_resource):
-        # 使用内存地址跟踪是否为同一个resource
+        if isinstance(query_resource, list):
-        if isinstance(resource, list):
+            return [self.figure_resource(r) for r in query_resource]
-            return [self.figure_resource(r) for r in resource]
+        res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
-        res_id = resource.id if hasattr(resource, "id") else None
+        res_name = query_resource.name if hasattr(query_resource, "name") else (query_resource.get("name") if isinstance(query_resource, dict) else None)
-        res_name = resource.name if hasattr(resource, "name") else None
         res_identifier = res_id if res_id else res_name
         identifier_key = "id" if res_id else "name"
-        resource_cls_type = type(resource)
+        resource_cls_type = type(query_resource)
         if res_identifier is None:
-            logger.warning(f"resource {resource} 没有id或name，暂不能对应figure")
+            logger.warning(f"resource {query_resource} 没有id或name，暂不能对应figure")
         res_list = []
         for r in self.resources:
-            res_list.extend(
+            if isinstance(query_resource, dict):
-                self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(resource, identifier_key))
+                res_list.extend(
-            )
+                    self.loop_find_resource(r, resource_cls_type, identifier_key, query_resource[identifier_key])
+                )
+            else:
+                res_list.extend(
+                    self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key))
+                )
         assert len(res_list) == 1, f"找到多个资源，请检查资源是否唯一: {res_list}"
-        self.root_resource2resource[id(resource)] = res_list[0]
+        self.root_resource2resource[id(query_resource)] = res_list[0]
         # 后续加入其他对比方式
         return res_list[0]
 
-    def loop_find_resource(self, resource, resource_cls_type, identifier_key, compare_value):
+    def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value):
         res_list = []
-        print(resource, resource_cls_type, identifier_key, compare_value)
+        # print(resource, target_resource_cls_type, identifier_key, compare_value)
         children = getattr(resource, "children", [])
         for child in children:
-            res_list.extend(self.loop_find_resource(child, resource_cls_type, identifier_key, compare_value))
+            res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value))
-        if resource_cls_type == type(resource):
+        if target_resource_cls_type == type(resource) or target_resource_cls_type == dict:
             if hasattr(resource, identifier_key):
                 if getattr(resource, identifier_key) == compare_value:
                     res_list.append(resource)

unilabos/ros/utils/driver_creator.py

@@ -218,12 +218,14 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
                         logger.error(f"PyLabRobot反序列化失败: {deserialize_error}")
                         logger.error(f"PyLabRobot反序列化堆栈: {stack}")
 
-            return self.device_instance
+        return self.device_instance
 
     def post_create(self):
         if hasattr(self.device_instance, "setup") and asyncio.iscoroutinefunction(getattr(self.device_instance, "setup")):
             from unilabos.ros.nodes.base_device_node import ROS2DeviceNode
-            ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(lambda x: logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成"))
+            def done_cb(*args):
+                logger.debug(f"PyLabRobot设备实例 {self.device_instance} 设置完成")
+            ROS2DeviceNode.run_async_func(getattr(self.device_instance, "setup")).add_done_callback(done_cb)
 
 
 class ProtocolNodeCreator(DeviceClassCreator[T]):