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fix: Protocol node resource run (#65)

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* stir和adjustph的中的bug修不好

* fix sub-resource query in protocol node compiling

* add resource placeholder to vessels

* add the rest yaml

* Update work_station.yaml

---------

Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn>
This commit is contained in:
Junhan Chang
2025-07-19 04:19:57 +08:00
committed by GitHub
parent 4cd40865b4
commit c2dfe689aa
11 changed files with 252 additions and 148 deletions
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65
unilabos/ros/nodes/presets/protocol_node.py
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@@ -189,45 +189,26 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
# # 🔧 完全禁用Host查询，直接使用转换后的数据
# print(f"🔧 跳过Host查询，直接使用转换后的数据")
# 🔧 额外验证：确保vessel数据完整
if 'vessel' in protocol_kwargs:
vessel_data = protocol_kwargs['vessel']
#print(f"🔍 验证vessel数据: {vessel_data}")
# 如果vessel是空字典，尝试重新构建
if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
# print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
# 直接从原始goal提取vessel
if hasattr(goal, 'vessel') and goal.vessel:
# print(f"🔍 原始goal.vessel: {goal.vessel}")
# 手动转换vessel
vessel_data = {
'id': goal.vessel.id,
'name': goal.vessel.name,
'type': goal.vessel.type,
'category': goal.vessel.category,
'config': goal.vessel.config,
'data': goal.vessel.data
}
protocol_kwargs['vessel'] = vessel_data
# print(f"✅ 手动重建vessel数据: {vessel_data}")
else:
# print(f"❌ 无法从原始goal提取vessel数据")
# 创建一个基本的vessel
vessel_data = {'id': 'default_vessel'}
protocol_kwargs['vessel'] = vessel_data
# print(f"🔧 创建默认vessel: {vessel_data}")
# 向Host查询物料当前状态
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
r = ResourceGet.Request()
resource_id = (
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
)
r.id = resource_id
r.with_children = True
response = await self._resource_clients["resource_get"].call_async(r)
protocol_kwargs[k] = list_to_nested_dict(
[convert_from_ros_msg(rs) for rs in response.resources]
)
#print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
#print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
from unilabos.resources.graphio import physical_setup_graph
self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
self.lab_logger().info(f"Protocol kwargs: {goal}")
self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
@@ -263,14 +244,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
}
)
# # 向Host更新物料当前状态
# for k, v in goal.get_fields_and_field_types().items():
# if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
# r = ResourceUpdate.Request()
# r.resources = [
# convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
# ]
# response = await self._resource_clients["resource_update"].call_async(r)
# 向Host更新物料当前状态
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
r = ResourceUpdate.Request()
r.resources = [
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
]
response = await self._resource_clients["resource_update"].call_async(r)
# 设置成功状态和返回值
execution_success = True