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complete require packages

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msg converter support array string
implements create resource logic
This commit is contained in:
wznln
2025-05-15 02:47:45 +08:00
parent 93c40e236f
commit c04202c6e0
10 changed files with 61 additions and 27 deletions
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14
unilabos/registry/registry.py
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@@ -20,10 +20,10 @@ class Registry:
if registry_paths:
self.registry_paths.extend(registry_paths)
self.ResourceCreateFromOuter = self._replace_type_with_class(
"ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
"ResourceCreateFromOuter", "host_node", f"动作 create_resource_detailed"
)
self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
"ResourceCreateFromOuterEasy", "host_node", f"动作 add_resource_from_outer_easy"
"ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
)
self.device_type_registry = {
"host_node": {
@@ -33,7 +33,7 @@ class Registry:
"type": "python",
"status_types": {},
"action_value_mappings": {
"add_resource_from_outer": {
"create_resource_detailed": {
"type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
"goal": {
"resources": "resources",
@@ -48,7 +48,7 @@ class Registry:
},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter)
},
"add_resource_from_outer_easy": {
"create_resource": {
"type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
"goal": {
"res_id": "res_id",
@@ -56,9 +56,9 @@ class Registry:
"parent": "parent",
"device_id": "device_id",
"bind_locations": "bind_locations",
"liquid_input_slot": "liquid_input_slot",
"liquid_type": "liquid_type",
"liquid_volume": "liquid_volume",
"liquid_input_slot": "liquid_input_slot[]",
"liquid_type": "liquid_type[]",
"liquid_volume": "liquid_volume[]",
"slot_on_deck": "slot_on_deck",
},
"feedback": {},

3
unilabos/resources/graphio.py
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@@ -189,6 +189,7 @@ def dict_from_graph(graph: nx.Graph) -> dict:
def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
# 将节点转换为字典，以便通过 ID 快速查找
nodes_list = [node for node in nodes.values() if node.get("type") == "device" or not devices_only]
id_list = [node["id"] for node in nodes_list]
# 初始化每个节点的 children 为包含节点字典的列表
for node in nodes_list:
@@ -196,7 +197,7 @@ def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
# 找到根节点并返回
root_nodes = [
node for node in nodes_list if len(nodes_list) == 1 or node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan]
node for node in nodes_list if len(nodes_list) == 1 or node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or node.get("parent", node.get("parent_name")) not in id_list
]
# 如果存在多个根节点，返回所有根节点

3
unilabos/ros/msgs/message_converter.py
View File

@@ -348,7 +348,10 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
if isinstance(td, NamespacedType):
target_class = msg_converter_manager.get_class(f"{'.'.join(td.namespaces)}.{td.name}")
setattr(ros_msg, key, [convert_to_ros_msg(target_class, v) for v in value])
elif isinstance(td, UnboundedString):
setattr(ros_msg, key, value)
else:
logger.warning(f"Not Supported type: {td}")
setattr(ros_msg, key, []) # FIXME
elif "array.array" in str(type(attr)):
if attr.typecode == "f":

38
unilabos/ros/nodes/base_device_node.py
View File

@@ -1,3 +1,4 @@
import copy
import json
import threading
import time
@@ -19,7 +20,7 @@ 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,
@@ -311,7 +312,10 @@ 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"]
@@ -320,16 +324,23 @@ 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])
@@ -339,20 +350,31 @@ 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
@@ -515,7 +537,7 @@ 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 not in ["add_resource_from_outer", "add_resource_from_outer_easy"]:
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}")
@@ -614,7 +636,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
del future
# 向Host更新物料当前状态
if action_name not in ["add_resource_from_outer", "add_resource_from_outer_easy"]:
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

20
unilabos/ros/nodes/presets/host_node.py
View File

@@ -102,11 +102,11 @@ class HostNode(BaseROS2DeviceNode):
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] = { # 为了方便了解实际的数据类型，host的默认写好
"/devices/host_node/add_resource_from_outer_easy": ActionClient(
self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/add_resource_from_outer_easy", callback_group=self.callback_group
"/devices/host_node/create_resource": ActionClient(
self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/create_resource", callback_group=self.callback_group
),
"/devices/host_node/add_resource_from_outer": ActionClient(
self, lab_registry.ResourceCreateFromOuter, "/devices/host_node/add_resource_from_outer", 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
@@ -290,7 +290,7 @@ 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
@@ -299,7 +299,7 @@ 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,
@@ -314,7 +314,7 @@ class HostNode(BaseROS2DeviceNode):
pass
pass
def add_resource_from_outer_easy(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):
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,
@@ -324,8 +324,8 @@ class HostNode(BaseROS2DeviceNode):
"y": bind_locations.y,
"z": bind_locations.z,
}
})
resources = init_new_res
}) # flatten的格式
resources = [init_new_res]
device_id = [device_id]
bind_parent_id = [parent]
bind_location = [bind_locations]
@@ -337,7 +337,7 @@ class HostNode(BaseROS2DeviceNode):
"slot": slot_on_deck
})]
return self.add_resource_from_outer(resources, device_id, bind_parent_id, bind_location, other_calling_param)
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:
"""