complete require packages

msg converter support array string
implements create resource logic

test/commands/resource_add.md

@@ -1,5 +1,5 @@
 使用plr_test.json启动，将Well加入Plate中
 
 ```bash
-ros2 action send_goal /devices/host_node/add_resource_from_outer unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
+ros2 action send_goal /devices/host_node/create_resource_detailed unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
 ```

unilabos-linux-64.yaml

@@ -56,6 +56,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-osx-64.yaml

@@ -56,6 +56,8 @@ dependencies:
   # - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-osx-arm64.yaml

@@ -58,6 +58,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-win64.yaml

@@ -56,6 +56,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation # ignored because of NO python3.11 package in WIN64
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   # ros-humble-unilabos-msgs

unilabos/registry/registry.py

@@ -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_input_slot": "liquid_input_slot[]",
-                                "liquid_type": "liquid_type",
+                                "liquid_type": "liquid_type[]",
-                                "liquid_volume": "liquid_volume",
+                                "liquid_volume": "liquid_volume[]",
                                 "slot_on_deck": "slot_on_deck",
                             },
                             "feedback": {},

unilabos/resources/graphio.py

@@ -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

unilabos/ros/msgs/message_converter.py

@@ -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":

unilabos/ros/nodes/base_device_node.py

@@ -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]
+                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)
+                    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

unilabos/ros/nodes/presets/host_node.py

@@ -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(
+            "/devices/host_node/create_resource": ActionClient(
-                self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/add_resource_from_outer_easy", callback_group=self.callback_group
+                self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/create_resource", callback_group=self.callback_group
             ),
-            "/devices/host_node/add_resource_from_outer": ActionClient(
+            "/devices/host_node/create_resource_detailed": ActionClient(
-                self, lab_registry.ResourceCreateFromOuter, "/devices/host_node/add_resource_from_outer", callback_group=self.callback_group
+                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,
             }
-        })
+        })  # flatten的格式
-        resources = init_new_res
+        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:
         """