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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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38
unilabos/ros/nodes/base_device_node.py
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@@ -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