24 high level liquidhandler (#28)

* unify liquid_handler definition * remove default values * Dev Sync (#25) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> * remove default behavior for visualization * change liquidhandler name * resource create from outer easy * add easy resource creation * easy resource creation logic * remove wrongly debug msg from others * remove wrongly debug msg from others * add missing action clients * fix device_id * fix slot_on_deck * fix registry typo * complete require packages msg converter support array string implements create resource logic * 修复port输入 * fix: remove dirty actions --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
2025-12-17 13:01:12 +00:00 · 2025-05-29 20:40:16 +08:00
parent ec4e6c6cfd
commit bfcb214b53
29 changed files with 276 additions and 223 deletions
--- a/unilabos/ros/nodes/base_device_node.py
+++ b/unilabos/ros/nodes/base_device_node.py
@@ -1,3 +1,4 @@
+import copy
 import functools
 import json
 import threading
@@ -20,7 +21,7 @@ from unilabos_msgs.action import SendCmd
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response

 from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
-    initialize_resources
+    initialize_resources, list_to_nested_dict, dict_to_tree, resource_plr_to_ulab, tree_to_list
 from unilabos.ros.msgs.message_converter import (
    convert_to_ros_msg,
    convert_from_ros_msg,
@@ -312,7 +313,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            # 物料传输到对应的node节点
            rclient = self.create_client(ResourceAdd, "/resources/add")
            rclient.wait_for_service()
+            rclient2 = self.create_client(ResourceAdd, "/resources/add")
+            rclient2.wait_for_service()
            request = ResourceAdd.Request()
+            request2 = ResourceAdd.Request()
            command_json = json.loads(req.command)
            namespace = command_json["namespace"]
            bind_parent_id = command_json["bind_parent_id"]
@@ -321,11 +325,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            other_calling_param = command_json["other_calling_param"]
            resources = command_json["resource"]
            initialize_full = other_calling_param.pop("initialize_full", False)
+            # 用来增加液体
+            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
+                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):
-                if initialize_full:
+                if len(resources) == 1 and isinstance(resources[0], list) and not initialize_full:  # 取消，不存在的情况
+                    # 预先initialize过，以整组的形式传入
+                    request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
+                elif initialize_full:
                    resources = initialize_resources(resources)
-                request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
+                    request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
+                else:
+                    request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
            else:
                if initialize_full:
                    resources = initialize_resources([resources])
@@ -335,20 +351,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
            res.response = "OK"
            # 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})
-            request.resources = [convert_to_ros_msg(Resource, resources)]
+            # request.resources = [convert_to_ros_msg(Resource, resources)]

            try:
                from pylabrobot.resources.resource import Resource as ResourcePLR
                from pylabrobot.resources.deck import Deck
                from pylabrobot.resources import Coordinate
                from pylabrobot.resources import OTDeck
+                from pylabrobot.resources import Plate
                contain_model = not isinstance(resource, Deck)
                if isinstance(resource, ResourcePLR):
                    # resources.list()
-                    plr_instance = resource_ulab_to_plr(resources, contain_model)
+                    resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
+                    plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
+                    if isinstance(plr_instance, Plate):
+                        empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
+                        for liquid_type, liquid_volume, liquid_input_slot in zip(ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT):
+                            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:
                        resource.assign_child_at_slot(plr_instance, **other_calling_param)
-                    resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
+                    else:
+                        _discard_slot = other_calling_param.pop("slot", -1)
+                        resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
+                    request2.resources = [convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])]
+                    rclient2.call(request2)
                # 发送给ResourceMeshManager
                action_client = ActionClient(
                    self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
@@ -526,7 +553,7 @@ 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 ["create_resource_detailed", "create_resource"]:
                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}")
@@ -625,7 +652,7 @@ 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 ["create_resource_detailed", "create_resource"]:
                for k, v in goal.get_fields_and_field_types().items():
                    if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                        continue
@@ -764,7 +791,7 @@ 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") or driver_class.__name__ == "DPLiquidHandler"
+        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "LiquidHandlerAbstract"

        # 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
--- a/unilabos/ros/nodes/presets/host_node.py
+++ b/unilabos/ros/nodes/presets/host_node.py
@@ -17,6 +17,7 @@ from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, Resource
 from unique_identifier_msgs.msg import UUID

 from unilabos.registry.registry import lab_registry
+from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -100,7 +101,14 @@ class HostNode(BaseROS2DeviceNode):
        self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 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.device_machine_names: Dict[str, str] = {device_id: "本地", }  # 存储设备ID到机器名称的映射
-        self._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
+        self._action_clients: Dict[str, ActionClient] = {  # 为了方便了解实际的数据类型，host的默认写好
+            "/devices/host_node/create_resource": ActionClient(
+                self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/create_resource", callback_group=self.callback_group
+            ),
+            "/devices/host_node/create_resource_detailed": ActionClient(
+                self, lab_registry.ResourceCreateFromOuter, "/devices/host_node/create_resource_detailed", callback_group=self.callback_group
+            )
+        }  # 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] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
@@ -141,6 +149,21 @@ class HostNode(BaseROS2DeviceNode):
            ].items():
                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": []
+        })
        resource_with_parent_name = []
        resource_ids_to_instance = {i["id"]: i for i in resources_config}
        for res in resources_config:
@@ -278,7 +301,7 @@ class HostNode(BaseROS2DeviceNode):
                except Exception as e:
                    self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")

-    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
+    def create_resource_detailed(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
        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):
            # 这里要求device_id传入必须是edge_device_id
            namespace = "/devices/" + device_id
@@ -287,7 +310,7 @@ class HostNode(BaseROS2DeviceNode):
            sclient.wait_for_service()
            request = SerialCommand.Request()
            request.command = json.dumps({
-                "resource": resource,
+                "resource": resource,  # 单个/单组 可为 list[list[Resource]]
                "namespace": namespace,
                "edge_device_id": device_id,
                "bind_parent_id": bind_parent_id,
@@ -302,6 +325,31 @@ class HostNode(BaseROS2DeviceNode):
            pass
        pass

+    def create_resource(self, device_id: str, res_id: str, class_name: str, parent: str, bind_locations: Point, liquid_input_slot: list[int], liquid_type: list[str], liquid_volume: list[int], slot_on_deck: int):
+        init_new_res = initialize_resource({
+            "name": res_id,
+            "class": class_name,
+            "parent": parent,
+            "position": {
+                "x": bind_locations.x,
+                "y": bind_locations.y,
+                "z": bind_locations.z,
+            }
+        })  # flatten的格式
+        resources = [init_new_res]
+        device_id = [device_id]
+        bind_parent_id = [parent]
+        bind_location = [bind_locations]
+        other_calling_param = [json.dumps({
+            "ADD_LIQUID_TYPE": liquid_type,
+            "LIQUID_VOLUME": liquid_volume,
+            "LIQUID_INPUT_SLOT": liquid_input_slot,
+            "initialize_full": False,
+            "slot": slot_on_deck
+        })]
+
+        return self.create_resource_detailed(resources, device_id, bind_parent_id, bind_location, other_calling_param)
+
    def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
        """
        根据配置初始化设备，