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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>
This commit is contained in:
Xuwznln
GitHub
@@ -1,3 +1,4 @@
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import copy
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import functools
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import json
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import threading
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@@ -20,7 +21,7 @@ from unilabos_msgs.action import SendCmd
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from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
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from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
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initialize_resources
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initialize_resources, list_to_nested_dict, dict_to_tree, resource_plr_to_ulab, tree_to_list
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from unilabos.ros.msgs.message_converter import (
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convert_to_ros_msg,
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convert_from_ros_msg,
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@@ -312,7 +313,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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# 物料传输到对应的node节点
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rclient = self.create_client(ResourceAdd, "/resources/add")
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rclient.wait_for_service()
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rclient2 = self.create_client(ResourceAdd, "/resources/add")
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rclient2.wait_for_service()
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request = ResourceAdd.Request()
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request2 = ResourceAdd.Request()
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command_json = json.loads(req.command)
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namespace = command_json["namespace"]
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bind_parent_id = command_json["bind_parent_id"]
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@@ -321,11 +325,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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other_calling_param = command_json["other_calling_param"]
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resources = command_json["resource"]
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initialize_full = other_calling_param.pop("initialize_full", False)
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# 用来增加液体
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ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
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LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
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LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
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slot = other_calling_param.pop("slot", -1)
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if slot >= 0: # slot为负数的时候采用assign方法
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other_calling_param["slot"] = slot
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# 本地拿到这个物料，可能需要先做初始化?
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if isinstance(resources, list):
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if initialize_full:
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if len(resources) == 1 and isinstance(resources[0], list) and not initialize_full: # 取消，不存在的情况
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# 预先initialize过，以整组的形式传入
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request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
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elif initialize_full:
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resources = initialize_resources(resources)
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request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
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request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
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else:
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request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
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else:
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if initialize_full:
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resources = initialize_resources([resources])
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@@ -335,20 +351,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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res.response = "OK"
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# 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
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resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
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request.resources = [convert_to_ros_msg(Resource, resources)]
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# request.resources = [convert_to_ros_msg(Resource, resources)]
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try:
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from pylabrobot.resources.resource import Resource as ResourcePLR
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from pylabrobot.resources.deck import Deck
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from pylabrobot.resources import Coordinate
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from pylabrobot.resources import OTDeck
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from pylabrobot.resources import Plate
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contain_model = not isinstance(resource, Deck)
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if isinstance(resource, ResourcePLR):
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# resources.list()
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plr_instance = resource_ulab_to_plr(resources, contain_model)
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resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
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plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
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if isinstance(plr_instance, Plate):
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empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
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for liquid_type, liquid_volume, liquid_input_slot in zip(ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT):
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empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
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plr_instance.set_well_liquids(empty_liquid_info_in)
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if isinstance(resource, OTDeck) and "slot" in other_calling_param:
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resource.assign_child_at_slot(plr_instance, **other_calling_param)
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resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
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else:
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_discard_slot = other_calling_param.pop("slot", -1)
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resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
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request2.resources = [convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])]
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rclient2.call(request2)
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# 发送给ResourceMeshManager
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action_client = ActionClient(
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self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
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@@ -526,7 +553,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
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self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
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# 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
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if action_name != "add_resource_from_outer":
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if action_name not in ["create_resource_detailed", "create_resource"]:
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for k, v in goal.get_fields_and_field_types().items():
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if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
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@@ -625,7 +652,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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del future
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# 向Host更新物料当前状态
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if action_name != "add_resource_from_outer":
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if action_name not in ["create_resource_detailed", "create_resource"]:
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for k, v in goal.get_fields_and_field_types().items():
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if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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continue
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@@ -764,7 +791,7 @@ class ROS2DeviceNode:
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self.resource_tracker = DeviceNodeResourceTracker()
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# use_pylabrobot_creator 使用 cls的包路径检测
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use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "DPLiquidHandler"
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use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "LiquidHandlerAbstract"
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# 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
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# 创建设备类实例
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