mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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Initial commit
This commit is contained in:
Junhan Chang
0
unilabos/ros/nodes/__init__.py
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0
unilabos/ros/nodes/__init__.py
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672
unilabos/ros/nodes/base_device_node.py
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672
unilabos/ros/nodes/base_device_node.py
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@@ -0,0 +1,672 @@
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import threading
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import time
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import traceback
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import uuid
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from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional
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from concurrent.futures import ThreadPoolExecutor
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import asyncio
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import rclpy
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from rclpy.node import Node
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from rclpy.action import ActionServer
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from rclpy.action.server import ServerGoalHandle
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from rclpy.client import Client
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from rclpy.callback_groups import ReentrantCallbackGroup
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from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
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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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convert_from_ros_msg_with_mapping,
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convert_to_ros_msg_with_mapping,
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)
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from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList # type: ignore
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
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from unilabos.ros.x.rclpyx import get_event_loop
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from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
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from unilabos.utils.async_util import run_async_func
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from unilabos.utils.log import info, debug, warning, error, critical, logger
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from unilabos.utils.type_check import get_type_class
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T = TypeVar("T")
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# 在线设备注册表
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registered_devices: Dict[str, "DeviceInfoType"] = {}
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# 实现同时记录自定义日志和ROS2日志的适配器
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class ROSLoggerAdapter:
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"""同时向自定义日志和ROS2日志发送消息的适配器"""
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@property
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def identifier(self):
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return f"{self.namespace}/{self.node_name}"
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def __init__(self, ros_logger, node_name, namespace):
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"""
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初始化日志适配器
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Args:
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ros_logger: ROS2日志记录器
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node_name: 节点名称
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namespace: 命名空间
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"""
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self.ros_logger = ros_logger
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self.node_name = node_name
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self.namespace = namespace
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self.level_2_logger_func = {
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"info": info,
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"debug": debug,
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"warning": warning,
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"error": error,
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"critical": critical,
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}
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def _log(self, level, msg, *args, **kwargs):
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"""实际执行日志记录的内部方法"""
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# 添加前缀，使日志更易识别
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msg = f"[{self.identifier}] {msg}"
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# 向ROS2日志发送消息（标准库logging不支持stack_level参数）
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ros_log_func = getattr(self.ros_logger, "debug") # 默认发送debug，这样不会显示在控制台
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ros_log_func(msg)
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self.level_2_logger_func[level](msg, *args, stack_level=1, **kwargs)
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def debug(self, msg, *args, **kwargs):
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"""记录DEBUG级别日志"""
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self._log("debug", msg, *args, **kwargs)
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def info(self, msg, *args, **kwargs):
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"""记录INFO级别日志"""
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self._log("info", msg, *args, **kwargs)
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def warning(self, msg, *args, **kwargs):
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"""记录WARNING级别日志"""
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self._log("warning", msg, *args, **kwargs)
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def error(self, msg, *args, **kwargs):
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"""记录ERROR级别日志"""
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self._log("error", msg, *args, **kwargs)
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def critical(self, msg, *args, **kwargs):
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"""记录CRITICAL级别日志"""
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self._log("critical", msg, *args, **kwargs)
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def init_wrapper(
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self,
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device_id: str,
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driver_class: type[T],
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status_types: Dict[str, Any],
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action_value_mappings: Dict[str, Any],
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hardware_interface: Dict[str, Any],
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print_publish: bool,
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children: Optional[list] = None,
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driver_params: Optional[Dict[str, Any]] = None,
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driver_is_ros: bool = False,
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*args,
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**kwargs,
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):
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"""初始化设备节点的包装函数，和ROS2DeviceNode初始化保持一致"""
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if driver_params is None:
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driver_params = kwargs.copy()
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if children is None:
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children = []
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kwargs["device_id"] = device_id
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kwargs["driver_class"] = driver_class
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kwargs["driver_params"] = driver_params
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kwargs["status_types"] = status_types
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kwargs["action_value_mappings"] = action_value_mappings
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kwargs["hardware_interface"] = hardware_interface
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kwargs["children"] = children
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kwargs["print_publish"] = print_publish
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kwargs["driver_is_ros"] = driver_is_ros
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super(type(self), self).__init__(*args, **kwargs)
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class PropertyPublisher:
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def __init__(
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self,
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node: "BaseROS2DeviceNode",
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name: str,
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get_method,
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msg_type,
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initial_period: float = 5.0,
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print_publish=True,
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):
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self.node = node
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self.name = name
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self.msg_type = msg_type
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self.get_method = get_method
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self.timer_period = initial_period
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self.print_publish = print_publish
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self._value = None
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self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
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self.timer = node.create_timer(self.timer_period, self.publish_property)
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self.__loop = get_event_loop()
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str_msg_type = str(msg_type)[8:-2]
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self.node.lab_logger().debug(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
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def get_property(self):
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if asyncio.iscoroutinefunction(self.get_method):
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# 如果是异步函数，运行事件循环并等待结果
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self.node.get_logger().debug(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
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loop = self.__loop
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if loop:
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future = asyncio.run_coroutine_threadsafe(self.get_method(), loop)
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self._value = future.result()
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return self._value
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else:
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self.node.get_logger().error(f"【PropertyPublisher.get_property】事件循环未初始化")
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return None
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else:
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# 如果是同步函数，直接调用并返回结果
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self.node.get_logger().debug(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
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self._value = self.get_method()
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return self._value
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async def get_property_async(self):
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try:
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# 获取异步属性值
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self.node.get_logger().debug(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
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self._value = await self.get_method()
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except Exception as e:
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self.node.get_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
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def publish_property(self):
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try:
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self.node.get_logger().debug(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
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value = self.get_property()
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if self.print_publish:
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self.node.get_logger().info(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
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if value is not None:
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msg = convert_to_ros_msg(self.msg_type, value)
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self.publisher_.publish(msg)
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self.node.get_logger().debug(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
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except Exception as e:
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traceback.print_exc()
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self.node.get_logger().error(f"【PropertyPublisher.publish_property】发布属性出错: {str(e)}")
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def change_frequency(self, period):
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# 动态改变定时器频率
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self.timer_period = period
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self.node.get_logger().info(
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f"【PropertyPublisher.change_frequency】修改 {self.name} 定时器周期为: {self.timer_period} 秒"
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)
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# 重置定时器
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self.timer.cancel()
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self.timer = self.node.create_timer(self.timer_period, self.publish_property)
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class BaseROS2DeviceNode(Node, Generic[T]):
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"""
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ROS2设备节点基类
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这个类提供了ROS2设备节点的基本功能，包括属性发布、动作服务等。
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通过泛型参数T来指定具体的设备类型。
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"""
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@property
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def identifier(self):
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return f"{self.namespace}/{self.device_id}"
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node_name: str
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namespace: str
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# TODO 要删除，添加时间相关的属性，避免动态添加属性的警告
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time_spent = 0.0
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time_remaining = 0.0
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create_action_server = True
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def __init__(
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self,
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driver_instance: T,
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device_id: str,
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status_types: Dict[str, Any],
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action_value_mappings: Dict[str, Any],
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hardware_interface: Dict[str, Any],
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print_publish=True,
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resource_tracker: Optional["DeviceNodeResourceTracker"] = None,
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):
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"""
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初始化ROS2设备节点
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Args:
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driver_instance: 设备实例
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device_id: 设备标识符
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status_types: 需要发布的状态和传感器信息
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action_value_mappings: 设备动作
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hardware_interface: 硬件接口配置
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print_publish: 是否打印发布信息
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"""
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self.driver_instance = driver_instance
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self.device_id = device_id
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self.uuid = str(uuid.uuid4())
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self.publish_high_frequency = False
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self.callback_group = ReentrantCallbackGroup()
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self.resource_tracker = resource_tracker
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# 初始化ROS节点
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self.node_name = f'{device_id.split("/")[-1]}'
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self.namespace = f"/devices/{device_id}"
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Node.__init__(self, self.node_name, namespace=self.namespace) # type: ignore
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if self.resource_tracker is None:
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self.lab_logger().critical("资源跟踪器未初始化，请检查")
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# 创建自定义日志记录器
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self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.node_name, self.namespace)
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self._action_servers = {}
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self._property_publishers = {}
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self._status_types = status_types
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self._action_value_mappings = action_value_mappings
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self._hardware_interface = hardware_interface
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self._print_publish = print_publish
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# 创建属性发布者
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for attr_name, msg_type in self._status_types.items():
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if isinstance(attr_name, (int, float)):
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if "param" in msg_type.keys():
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pass
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else:
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for k, v in msg_type.items():
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self.create_ros_publisher(k, v, initial_period=5.0)
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else:
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self.create_ros_publisher(attr_name, msg_type)
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# 创建动作服务
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if self.create_action_server:
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for action_name, action_value_mapping in self._action_value_mappings.items():
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self.create_ros_action_server(action_name, action_value_mapping)
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# 创建线程池执行器
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self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1))
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# 创建资源管理客户端
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self._resource_clients: Dict[str, Client] = {
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"resource_add": self.create_client(ResourceAdd, "/resources/add"),
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"resource_get": self.create_client(ResourceGet, "/resources/get"),
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"resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
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"resource_update": self.create_client(ResourceUpdate, "/resources/update"),
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"resource_list": self.create_client(ResourceList, "/resources/list"),
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}
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# 向全局在线设备注册表添加设备信息
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self.register_device()
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rclpy.get_global_executor().add_node(self)
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self.lab_logger().debug(f"ROS节点初始化完成")
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def register_device(self):
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"""向注册表中注册设备信息"""
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topics_info = self._property_publishers.copy()
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actions_info = self._action_servers.copy()
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# 创建设备信息
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device_info = DeviceInfoType(
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id=self.device_id,
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uuid=self.uuid,
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node_name=self.node_name,
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namespace=self.namespace,
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driver_instance=self.driver_instance,
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status_publishers=topics_info,
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actions=actions_info,
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hardware_interface=self._hardware_interface,
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base_node_instance=self,
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)
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# 加入全局注册表
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registered_devices[self.device_id] = device_info
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def lab_logger(self):
|
||||
"""
|
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获取实验室自定义日志记录器
|
||||
|
||||
这个日志记录器会同时向ROS2日志和自定义日志发送消息，
|
||||
并使用node_name和namespace作为标识。
|
||||
|
||||
Returns:
|
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日志记录器实例
|
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"""
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return self._lab_logger
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def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
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"""创建ROS发布者"""
|
||||
|
||||
# 获取属性值的方法
|
||||
def get_device_attr():
|
||||
try:
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
return getattr(self.driver_instance, f"get_{attr_name}")()
|
||||
else:
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||||
return getattr(self.driver_instance, attr_name)
|
||||
except AttributeError as ex:
|
||||
self.lab_logger().error(
|
||||
f"publish error, {str(type(self.driver_instance))[8:-2]} has no attribute '{attr_name}'"
|
||||
)
|
||||
|
||||
self._property_publishers[attr_name] = PropertyPublisher(
|
||||
self, attr_name, get_device_attr, msg_type, initial_period, self._print_publish
|
||||
)
|
||||
|
||||
def create_ros_action_server(self, action_name, action_value_mapping):
|
||||
"""创建ROS动作服务器"""
|
||||
action_type = action_value_mapping["type"]
|
||||
str_action_type = str(action_type)[8:-2]
|
||||
|
||||
self._action_servers[action_name] = ActionServer(
|
||||
self,
|
||||
action_type,
|
||||
action_name,
|
||||
execute_callback=self._create_execute_callback(action_name, action_value_mapping),
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
|
||||
self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
|
||||
def _create_execute_callback(self, action_name, action_value_mapping):
|
||||
"""创建动作执行回调函数"""
|
||||
|
||||
async def execute_callback(goal_handle: ServerGoalHandle):
|
||||
self.lab_logger().info(f"执行动作: {action_name}")
|
||||
goal = goal_handle.request
|
||||
|
||||
# 从目标消息中提取参数, 并调用对应的方法
|
||||
if "sequence" in self._action_value_mappings:
|
||||
# 如果一个指令对应函数的连续调用，如启动和等待结果，默认参数应该属于第一个函数调用
|
||||
def ACTION(**kwargs):
|
||||
for i, action in enumerate(self._action_value_mappings["sequence"]):
|
||||
if i == 0:
|
||||
self.lab_logger().info(f"执行序列动作第一步: {action}")
|
||||
getattr(self.driver_instance, action)(**kwargs)
|
||||
else:
|
||||
self.lab_logger().info(f"执行序列动作后续步骤: {action}")
|
||||
getattr(self.driver_instance, action)()
|
||||
|
||||
action_paramtypes = get_type_hints(
|
||||
getattr(self.driver_instance, self._action_value_mappings["sequence"][0])
|
||||
)
|
||||
else:
|
||||
ACTION = getattr(self.driver_instance, action_name)
|
||||
action_paramtypes = get_type_hints(ACTION)
|
||||
|
||||
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
|
||||
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}")
|
||||
try:
|
||||
r = ResourceGet.Request()
|
||||
r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
|
||||
r.with_children = True
|
||||
response = await self._resource_clients["resource_get"].call_async(r)
|
||||
except Exception:
|
||||
logger.error(f"资源查询失败，默认使用本地资源")
|
||||
# 删除对response.resources的检查，因为它总是存在
|
||||
resources_list = [convert_from_ros_msg(rs) for rs in response.resources] # type: ignore # FIXME
|
||||
self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
|
||||
type_hint = action_paramtypes[k]
|
||||
final_type = get_type_class(type_hint)
|
||||
# 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
|
||||
final_resource = convert_resources_to_type(resources_list, final_type)
|
||||
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
|
||||
|
||||
self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
|
||||
time_start = time.time()
|
||||
time_overall = 100
|
||||
|
||||
# 将阻塞操作放入线程池执行
|
||||
if asyncio.iscoroutinefunction(ACTION):
|
||||
try:
|
||||
self.lab_logger().info(f"异步执行动作 {ACTION}")
|
||||
future = ROS2DeviceNode.run_async_func(ACTION, **action_kwargs)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
|
||||
raise e
|
||||
else:
|
||||
self.lab_logger().info(f"同步执行动作 {ACTION}")
|
||||
future = self._executor.submit(ACTION, **action_kwargs)
|
||||
|
||||
action_type = action_value_mapping["type"]
|
||||
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
|
||||
result_msg_types = action_type.Result.get_fields_and_field_types()
|
||||
|
||||
while not future.done():
|
||||
if goal_handle.is_cancel_requested:
|
||||
self.lab_logger().info(f"取消动作: {action_name}")
|
||||
future.cancel() # 尝试取消线程池中的任务
|
||||
goal_handle.canceled()
|
||||
return action_type.Result()
|
||||
|
||||
self.time_spent = time.time() - time_start
|
||||
self.time_remaining = time_overall - self.time_spent
|
||||
|
||||
# 发布反馈
|
||||
feedback_values = {}
|
||||
for msg_name, attr_name in action_value_mapping["feedback"].items():
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
method = getattr(self.driver_instance, f"get_{attr_name}")
|
||||
if not asyncio.iscoroutinefunction(method):
|
||||
feedback_values[msg_name] = method()
|
||||
elif hasattr(self.driver_instance, attr_name):
|
||||
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||||
|
||||
if self._print_publish:
|
||||
self.lab_logger().info(f"反馈: {feedback_values}")
|
||||
|
||||
feedback_msg = convert_to_ros_msg_with_mapping(
|
||||
ros_msg_type=action_type.Feedback(),
|
||||
obj=feedback_values,
|
||||
value_mapping=action_value_mapping["feedback"],
|
||||
)
|
||||
|
||||
goal_handle.publish_feedback(feedback_msg)
|
||||
time.sleep(0.5)
|
||||
|
||||
if future.cancelled():
|
||||
self.lab_logger().info(f"动作 {action_name} 已取消")
|
||||
return action_type.Result()
|
||||
|
||||
self.lab_logger().info(f"动作执行完成: {action_name}")
|
||||
del future
|
||||
|
||||
# 向Host更新物料当前状态
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
continue
|
||||
self.lab_logger().info(f"更新资源状态: {k}")
|
||||
r = ResourceUpdate.Request()
|
||||
# 仅当action_kwargs[k]不为None时尝试转换
|
||||
akv = action_kwargs[k]
|
||||
apv = action_paramtypes[k]
|
||||
final_type = get_type_class(apv)
|
||||
if final_type is None:
|
||||
continue
|
||||
try:
|
||||
r.resources = [
|
||||
convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
|
||||
for rs in convert_resources_from_type(akv, final_type) # type: ignore # FIXME # 考虑反查到最大的
|
||||
]
|
||||
response = await self._resource_clients["resource_update"].call_async(r)
|
||||
self.lab_logger().debug(f"资源更新结果: {response}")
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"资源更新失败: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
|
||||
# 发布结果
|
||||
goal_handle.succeed()
|
||||
self.lab_logger().info(f"设置动作成功: {action_name}")
|
||||
|
||||
result_values = {}
|
||||
for msg_name, attr_name in action_value_mapping["result"].items():
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
result_values[msg_name] = getattr(self.driver_instance, f"get_{attr_name}")()
|
||||
elif hasattr(self.driver_instance, attr_name):
|
||||
result_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||||
|
||||
result_msg = convert_to_ros_msg_with_mapping(
|
||||
ros_msg_type=action_type.Result(), obj=result_values, value_mapping=action_value_mapping["result"]
|
||||
)
|
||||
|
||||
for attr_name in result_msg_types.keys():
|
||||
if attr_name in ["success", "reached_goal"]:
|
||||
setattr(result_msg, attr_name, True)
|
||||
|
||||
self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
|
||||
return result_msg
|
||||
|
||||
return execute_callback
|
||||
|
||||
# 异步上下文管理方法
|
||||
async def __aenter__(self):
|
||||
"""进入异步上下文"""
|
||||
self.lab_logger().info(f"进入异步上下文: {self.device_id}")
|
||||
if hasattr(self.driver_instance, "__aenter__"):
|
||||
await self.driver_instance.__aenter__() # type: ignore
|
||||
self.lab_logger().info(f"异步上下文初始化完成: {self.device_id}")
|
||||
return self
|
||||
|
||||
async def __aexit__(self, exc_type, exc_val, exc_tb):
|
||||
"""退出异步上下文"""
|
||||
self.lab_logger().info(f"退出异步上下文: {self.device_id}")
|
||||
if hasattr(self.driver_instance, "__aexit__"):
|
||||
await self.driver_instance.__aexit__(exc_type, exc_val, exc_tb) # type: ignore
|
||||
self.lab_logger().info(f"异步上下文清理完成: {self.device_id}")
|
||||
|
||||
|
||||
class DeviceInitError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class ROS2DeviceNode:
|
||||
"""
|
||||
ROS2设备节点类
|
||||
|
||||
这个类封装了设备类实例和ROS2节点的功能，提供ROS2接口。
|
||||
它不继承设备类，而是通过代理模式访问设备类的属性和方法。
|
||||
"""
|
||||
|
||||
# 类变量，用于循环管理
|
||||
_loop = None
|
||||
_loop_running = False
|
||||
_loop_thread = None
|
||||
|
||||
@classmethod
|
||||
def get_loop(cls):
|
||||
return cls._loop
|
||||
|
||||
@classmethod
|
||||
def run_async_func(cls, func, **kwargs):
|
||||
return run_async_func(func, loop=cls._loop, **kwargs)
|
||||
|
||||
@property
|
||||
def driver_instance(self):
|
||||
return self._driver_instance
|
||||
|
||||
@property
|
||||
def ros_node_instance(self):
|
||||
return self._ros_node
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
driver_class: Type[T],
|
||||
driver_params: Dict[str, Any],
|
||||
status_types: Dict[str, Any],
|
||||
action_value_mappings: Dict[str, Any],
|
||||
hardware_interface: Dict[str, Any],
|
||||
children: Dict[str, Any],
|
||||
print_publish: bool = True,
|
||||
driver_is_ros: bool = False,
|
||||
):
|
||||
"""
|
||||
初始化ROS2设备节点
|
||||
|
||||
Args:
|
||||
device_id: 设备标识符
|
||||
driver_class: 设备类
|
||||
status_types: 状态类型映射
|
||||
action_value_mappings: 动作值映射
|
||||
hardware_interface: 硬件接口配置
|
||||
children:
|
||||
print_publish: 是否打印发布信息
|
||||
driver_is_ros:
|
||||
"""
|
||||
# 在初始化时检查循环状态
|
||||
if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
|
||||
pass
|
||||
elif ROS2DeviceNode._loop_thread is None:
|
||||
self._start_loop()
|
||||
|
||||
# 保存设备类是否支持异步上下文
|
||||
self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
|
||||
self._driver_class = driver_class
|
||||
self.driver_is_ros = driver_is_ros
|
||||
self.resource_tracker = DeviceNodeResourceTracker()
|
||||
|
||||
# use_pylabrobot_creator 使用 cls的包路径检测
|
||||
use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot")
|
||||
|
||||
# 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
|
||||
# 创建设备类实例
|
||||
if use_pylabrobot_creator:
|
||||
self._driver_creator = PyLabRobotCreator(
|
||||
driver_class, children=children, resource_tracker=self.resource_tracker
|
||||
)
|
||||
else:
|
||||
from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
|
||||
|
||||
if self._driver_class is ROS2ProtocolNode:
|
||||
self._driver_creator = ProtocolNodeCreator(driver_class, children=children)
|
||||
else:
|
||||
self._driver_creator = DeviceClassCreator(driver_class)
|
||||
|
||||
if driver_is_ros:
|
||||
driver_params["device_id"] = device_id
|
||||
driver_params["resource_tracker"] = self.resource_tracker
|
||||
self._driver_instance = self._driver_creator.create_instance(driver_params)
|
||||
if self._driver_instance is None:
|
||||
logger.critical(f"设备实例创建失败 {driver_class}, params: {driver_params}")
|
||||
raise DeviceInitError("错误: 设备实例创建失败")
|
||||
|
||||
# 创建ROS2节点
|
||||
if driver_is_ros:
|
||||
self._ros_node = self._driver_instance # type: ignore
|
||||
else:
|
||||
self._ros_node = BaseROS2DeviceNode(
|
||||
driver_instance=self._driver_instance,
|
||||
device_id=device_id,
|
||||
status_types=status_types,
|
||||
action_value_mappings=action_value_mappings,
|
||||
hardware_interface=hardware_interface,
|
||||
print_publish=print_publish,
|
||||
resource_tracker=self.resource_tracker,
|
||||
)
|
||||
self._ros_node: BaseROS2DeviceNode
|
||||
self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
|
||||
|
||||
def _start_loop(self):
|
||||
def run_event_loop():
|
||||
loop = asyncio.new_event_loop()
|
||||
ROS2DeviceNode._loop = loop
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_forever()
|
||||
|
||||
ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
|
||||
ROS2DeviceNode._loop_thread.start()
|
||||
logger.info(f"循环线程已启动")
|
||||
|
||||
|
||||
class DeviceInfoType(TypedDict):
|
||||
id: str
|
||||
uuid: str
|
||||
node_name: str
|
||||
namespace: str
|
||||
driver_instance: Any
|
||||
status_publishers: Dict[str, PropertyPublisher]
|
||||
actions: Dict[str, ActionServer]
|
||||
hardware_interface: Dict[str, Any]
|
||||
base_node_instance: BaseROS2DeviceNode
|
||||
0
unilabos/ros/nodes/presets/__init__.py
Normal file
0
unilabos/ros/nodes/presets/__init__.py
Normal file
122
unilabos/ros/nodes/presets/controller_node.py
Normal file
122
unilabos/ros/nodes/presets/controller_node.py
Normal file
@@ -0,0 +1,122 @@
|
||||
from typing import Callable, Dict
|
||||
from std_msgs.msg import Float64
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
|
||||
|
||||
|
||||
class ControllerNode(BaseROS2DeviceNode):
|
||||
namespace_prefix = "/controllers"
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
controller_func: Callable,
|
||||
update_rate: float,
|
||||
inputs: Dict[str, Dict[str, type | str]],
|
||||
outputs: Dict[str, Dict[str, type]],
|
||||
parameters: Dict,
|
||||
resource_tracker: DeviceNodeResourceTracker,
|
||||
):
|
||||
"""
|
||||
通用控制器节点
|
||||
|
||||
:param controller_id: 控制器的唯一标识符（作为命名空间的一部分）
|
||||
:param update_rate: 控制器更新频率 (Hz)
|
||||
:param controller_func: 控制器函数，接收 Python 格式的 inputs 和 parameters 返回 outputs
|
||||
:param input_types: 输入话题及其消息类型的字典
|
||||
:param output_types: 输出话题及其消息类型的字典
|
||||
:param parameters: 控制器函数的额外参数
|
||||
"""
|
||||
# 先准备所需的属性，以便在调用父类初始化前就可以使用
|
||||
self.device_id = device_id
|
||||
self.controller_func = controller_func
|
||||
self.update_rate = update_rate
|
||||
self.update_time = 1.0 / update_rate
|
||||
self.parameters = parameters
|
||||
self.inputs = {topic: None for topic in inputs.keys()}
|
||||
self.control_input_subscribers = {}
|
||||
self.control_output_publishers = {}
|
||||
self.topic_mapping = {
|
||||
**{input_info["topic"]: input for input, input_info in inputs.items()},
|
||||
**{output_info["topic"]: output for output, output_info in outputs.items()},
|
||||
}
|
||||
|
||||
# 调用BaseROS2DeviceNode初始化，使用自身作为driver_instance
|
||||
status_types = {}
|
||||
action_value_mappings = {}
|
||||
hardware_interface = {}
|
||||
|
||||
# 使用短ID作为节点名，完整ID（带namespace_prefix）作为device_id
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
status_types=status_types,
|
||||
action_value_mappings=action_value_mappings,
|
||||
hardware_interface=hardware_interface,
|
||||
print_publish=False,
|
||||
resource_tracker=resource_tracker
|
||||
)
|
||||
|
||||
# 原始初始化逻辑
|
||||
# 初始化订阅者
|
||||
for input, input_info in inputs.items():
|
||||
msg_type = input_info["type"]
|
||||
topic = str(input_info["topic"])
|
||||
self.control_input_subscribers[input] = self.create_subscription(
|
||||
msg_type, topic, lambda msg, t=topic: self.input_callback(t, msg), 10
|
||||
)
|
||||
|
||||
# 初始化发布者
|
||||
for output, output_info in outputs.items():
|
||||
self.lab_logger().info(f"Creating publisher for {output} {output_info}")
|
||||
msg_type = output_info["type"]
|
||||
topic = str(output_info["topic"])
|
||||
self.control_output_publishers[output] = self.create_publisher(msg_type, topic, 10)
|
||||
|
||||
# 定时器，用于定期调用控制逻辑
|
||||
self.timer = self.create_timer(self.update_time, self.control_loop)
|
||||
|
||||
def input_callback(self, topic: str, msg):
|
||||
"""
|
||||
更新指定话题的输入数据，并将 ROS 消息转换为普通 Python 数据。
|
||||
支持 `std_msgs` 类型消息。
|
||||
"""
|
||||
self.inputs[self.topic_mapping[topic]] = msg.data
|
||||
self.lab_logger().info(f"Received input on topic {topic}: {msg.data}")
|
||||
|
||||
def control_loop(self):
|
||||
"""主控制逻辑"""
|
||||
# 检查所有输入是否已更新
|
||||
if all(value is not None for value in self.inputs.values()):
|
||||
self.lab_logger().info(
|
||||
f"Calling controller function with inputs: {self.inputs}, parameters: {self.parameters}"
|
||||
)
|
||||
try:
|
||||
# 调用控制器函数，传入 Python 格式的数据
|
||||
outputs = self.controller_func(**self.inputs, **self.parameters)
|
||||
self.lab_logger().info(f"Inputs: {self.inputs}, Outputs: {outputs}")
|
||||
self.inputs = {topic: None for topic in self.inputs.keys()}
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"Controller function execution failed: {e}")
|
||||
return
|
||||
|
||||
# 发布控制信号，将普通 Python 数据转换为 ROS 消息
|
||||
if isinstance(outputs, dict):
|
||||
for topic, value in outputs.items():
|
||||
if topic in self.control_output_publishers:
|
||||
# 支持 Float64 输出
|
||||
if isinstance(value, (float, int)):
|
||||
self.control_output_publishers[topic].publish(Float64(data=value))
|
||||
else:
|
||||
self.lab_logger().error(f"Unsupported output type for topic {topic}: {type(value)}")
|
||||
else:
|
||||
self.lab_logger().warning(f"Output topic {topic} is not defined in output_types.")
|
||||
else:
|
||||
publisher = list(self.control_output_publishers.values())[0]
|
||||
if isinstance(outputs, (float, int)):
|
||||
publisher.publish(Float64(data=outputs))
|
||||
else:
|
||||
self.lab_logger().error(f"Unsupported output type: {type(outputs)}")
|
||||
else:
|
||||
self.lab_logger().info("Waiting for all inputs to be received.")
|
||||
623
unilabos/ros/nodes/presets/host_node.py
Normal file
623
unilabos/ros/nodes/presets/host_node.py
Normal file
@@ -0,0 +1,623 @@
|
||||
import copy
|
||||
import threading
|
||||
import time
|
||||
import uuid
|
||||
from typing import Optional, Dict, Any, List, ClassVar, Set
|
||||
|
||||
from action_msgs.msg import GoalStatus
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList # type: ignore
|
||||
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
||||
from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from rclpy.service import Service
|
||||
from unique_identifier_msgs.msg import UUID
|
||||
|
||||
from unilabos.resources.registry import add_schema
|
||||
from unilabos.ros.initialize_device import initialize_device_from_dict
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
get_msg_type,
|
||||
get_ros_type_by_msgname,
|
||||
convert_from_ros_msg,
|
||||
convert_to_ros_msg,
|
||||
msg_converter_manager, ros_action_to_json_schema,
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
|
||||
from unilabos.ros.nodes.presets.controller_node import ControllerNode
|
||||
|
||||
|
||||
class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
主机节点类，负责管理设备、资源和控制器
|
||||
|
||||
作为单例模式实现，确保整个应用中只有一个主机节点实例
|
||||
"""
|
||||
|
||||
_instance: ClassVar[Optional["HostNode"]] = None
|
||||
_ready_event: ClassVar[threading.Event] = threading.Event()
|
||||
|
||||
@classmethod
|
||||
def get_instance(cls, timeout=None) -> Optional["HostNode"]:
|
||||
if cls._ready_event.wait(timeout):
|
||||
return cls._instance
|
||||
return None
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
devices_config: Dict[str, Any],
|
||||
resources_config: Any,
|
||||
physical_setup_graph: Optional[Dict[str, Any]] = None,
|
||||
controllers_config: Optional[Dict[str, Any]] = None,
|
||||
bridges: Optional[List[Any]] = None,
|
||||
discovery_interval: float = 180.0, # 设备发现间隔，单位为秒
|
||||
):
|
||||
"""
|
||||
初始化主机节点
|
||||
|
||||
Args:
|
||||
device_id: 节点名称
|
||||
devices_config: 设备配置
|
||||
resources_config: 资源配置
|
||||
physical_setup_graph: 物理设置图
|
||||
controllers_config: 控制器配置
|
||||
bridges: 桥接器列表
|
||||
discovery_interval: 设备发现间隔（秒），默认5秒
|
||||
"""
|
||||
if self._instance is not None:
|
||||
self._instance.lab_logger().critical("[Host Node] HostNode instance already exists.")
|
||||
# 初始化Node基类，传递空参数覆盖列表
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
hardware_interface={},
|
||||
print_publish=False,
|
||||
resource_tracker=DeviceNodeResourceTracker(), # host node并不是通过initialize 包一层传进来的
|
||||
)
|
||||
|
||||
# 设置单例实例
|
||||
self.__class__._instance = self
|
||||
|
||||
# 初始化配置
|
||||
self.devices_config = devices_config
|
||||
self.resources_config = resources_config
|
||||
self.physical_setup_graph = physical_setup_graph
|
||||
if controllers_config is None:
|
||||
controllers_config = {}
|
||||
self.controllers_config = controllers_config
|
||||
if bridges is None:
|
||||
bridges = []
|
||||
self.bridges = bridges
|
||||
|
||||
# 创建设备、动作客户端和目标存储
|
||||
self.devices_names: Dict[str, str] = {} # 存储设备名称和命名空间的映射
|
||||
self.devices_instances: Dict[str, ROS2DeviceNode] = {} # 存储设备实例
|
||||
self._action_clients: Dict[str, ActionClient] = {} # 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
|
||||
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
|
||||
self._online_devices: Set[str] = set() # 用于跟踪在线设备
|
||||
self._last_discovery_time = 0.0 # 上次设备发现的时间
|
||||
self._discovery_lock = threading.Lock() # 设备发现的互斥锁
|
||||
self._subscribed_topics = set() # 用于跟踪已订阅的话题
|
||||
|
||||
# 创建物料增删改查服务（非客户端）
|
||||
self._init_resource_service()
|
||||
|
||||
self.device_status = {} # 用来存储设备状态
|
||||
self.device_status_timestamps = {} # 用来存储设备状态最后更新时间
|
||||
|
||||
# 首次发现网络中的设备
|
||||
self._discover_devices()
|
||||
|
||||
# 初始化所有本机设备节点，多一次过滤，防止重复初始化
|
||||
for device_id, device_config in devices_config.items():
|
||||
if device_config.get("type", "device") != "device":
|
||||
self.lab_logger().debug(f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
|
||||
continue
|
||||
if device_id not in self.devices_names:
|
||||
self.initialize_device(device_id, device_config)
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Device {device_id} already existed, skipping.")
|
||||
self.update_device_status_subscriptions()
|
||||
# TODO: 需要验证 初始化所有控制器节点
|
||||
if controllers_config:
|
||||
update_rate = controllers_config["controller_manager"]["ros__parameters"]["update_rate"]
|
||||
for controller_id, controller_config in controllers_config["controller_manager"]["ros__parameters"][
|
||||
"controllers"
|
||||
].items():
|
||||
controller_config["update_rate"] = update_rate
|
||||
self.initialize_controller(controller_id, controller_config)
|
||||
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "resource_add"):
|
||||
self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
|
||||
bridge.resource_add(add_schema(resources_config))
|
||||
|
||||
# 创建定时器，定期发现设备
|
||||
self._discovery_timer = self.create_timer(
|
||||
discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
|
||||
)
|
||||
|
||||
self.lab_logger().info("[Host Node] Host node initialized.")
|
||||
HostNode._ready_event.set()
|
||||
|
||||
def _discover_devices(self) -> None:
|
||||
"""
|
||||
发现网络中的设备
|
||||
|
||||
检测ROS2网络中的所有设备节点，并为它们创建ActionClient
|
||||
同时检测设备离线情况
|
||||
"""
|
||||
self.lab_logger().debug("[Host Node] Discovering devices in the network...")
|
||||
|
||||
# 获取当前所有设备
|
||||
nodes_and_names = self.get_node_names_and_namespaces()
|
||||
|
||||
# 跟踪本次发现的设备，用于检测离线设备
|
||||
current_devices = set()
|
||||
|
||||
for device_id, namespace in nodes_and_names:
|
||||
if not namespace.startswith("/devices"):
|
||||
continue
|
||||
|
||||
# 将设备添加到当前设备集合
|
||||
device_key = f"{namespace}/{device_id}"
|
||||
current_devices.add(device_key)
|
||||
|
||||
# 如果是新设备，记录并创建ActionClient
|
||||
if device_id not in self.devices_names:
|
||||
self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
|
||||
self.devices_names[device_id] = namespace
|
||||
self._create_action_clients_for_device(device_id, namespace)
|
||||
self._online_devices.add(device_key)
|
||||
elif device_key not in self._online_devices:
|
||||
# 设备重新上线
|
||||
self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
|
||||
self._online_devices.add(device_key)
|
||||
|
||||
# 检测离线设备
|
||||
offline_devices = self._online_devices - current_devices
|
||||
for device_key in offline_devices:
|
||||
self.lab_logger().warning(f"[Host Node] Device offline: {device_key}")
|
||||
self._online_devices.discard(device_key)
|
||||
|
||||
# 更新在线设备列表
|
||||
self._online_devices = current_devices
|
||||
self.lab_logger().debug(f"[Host Node] Total online devices: {len(self._online_devices)}")
|
||||
|
||||
def _discovery_devices_callback(self) -> None:
|
||||
"""
|
||||
设备发现定时器回调函数
|
||||
"""
|
||||
# 使用互斥锁确保同时只有一个发现过程
|
||||
if self._discovery_lock.acquire(blocking=False):
|
||||
try:
|
||||
self._discover_devices()
|
||||
# 发现新设备后，更新设备状态订阅
|
||||
self.update_device_status_subscriptions()
|
||||
finally:
|
||||
self._discovery_lock.release()
|
||||
else:
|
||||
self.lab_logger().debug("[Host Node] Device discovery already in progress, skipping.")
|
||||
|
||||
def _create_action_clients_for_device(self, device_id: str, namespace: str) -> None:
|
||||
"""
|
||||
为设备创建所有必要的ActionClient
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
namespace: 设备命名空间
|
||||
"""
|
||||
for action_id, action_types in get_action_server_names_and_types_by_node(self, device_id, namespace):
|
||||
if action_id not in self._action_clients:
|
||||
try:
|
||||
action_type = get_ros_type_by_msgname(action_types[0])
|
||||
self._action_clients[action_id] = ActionClient(
|
||||
self, action_type, action_id, callback_group=self.callback_group
|
||||
)
|
||||
self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
|
||||
from unilabos.app.mq import mqtt_client
|
||||
info_with_schema = ros_action_to_json_schema(action_type)
|
||||
mqtt_client.publish_actions(action_id, info_with_schema)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
|
||||
|
||||
def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
|
||||
"""
|
||||
根据配置初始化设备
|
||||
|
||||
此函数根据提供的设备配置动态导入适当的设备类并创建其实例。
|
||||
同时为设备的动作值映射设置动作客户端。
|
||||
|
||||
Args:
|
||||
device_id: 设备唯一标识符
|
||||
device_config: 设备配置字典，包含类型和其他参数
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
|
||||
|
||||
device_config_copy = copy.deepcopy(device_config)
|
||||
d = initialize_device_from_dict(device_id, device_config_copy)
|
||||
if d is None:
|
||||
return
|
||||
# noinspection PyProtectedMember
|
||||
self.devices_names[device_id] = d._ros_node.namespace
|
||||
self.devices_instances[device_id] = d
|
||||
# noinspection PyProtectedMember
|
||||
for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
if action_id not in self._action_clients:
|
||||
action_type = action_value_mapping["type"]
|
||||
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
|
||||
self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
|
||||
from unilabos.app.mq import mqtt_client
|
||||
info_with_schema = ros_action_to_json_schema(action_type)
|
||||
mqtt_client.publish_actions(action_id, info_with_schema)
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] ActionClient {action_id} already exists.")
|
||||
device_key = f"{self.devices_names[device_id]}/{device_id}"
|
||||
# 添加到在线设备列表
|
||||
self._online_devices.add(device_key)
|
||||
|
||||
def update_device_status_subscriptions(self) -> None:
|
||||
"""
|
||||
更新设备状态订阅
|
||||
|
||||
扫描所有设备话题，为新的话题创建订阅，确保不会重复订阅
|
||||
"""
|
||||
topic_names_and_types = self.get_topic_names_and_types()
|
||||
for topic, types in topic_names_and_types:
|
||||
# 检查是否为设备状态话题且未订阅过
|
||||
if (
|
||||
topic.startswith("/devices/")
|
||||
and not types[0].endswith("FeedbackMessage")
|
||||
and "_action" not in topic
|
||||
and topic not in self._subscribed_topics
|
||||
):
|
||||
|
||||
# 解析设备名和属性名
|
||||
parts = topic.split("/")
|
||||
if len(parts) >= 4:
|
||||
device_id = parts[-2]
|
||||
property_name = parts[-1]
|
||||
|
||||
# 初始化设备状态字典
|
||||
if device_id not in self.device_status:
|
||||
self.device_status[device_id] = {}
|
||||
self.device_status_timestamps[device_id] = {}
|
||||
|
||||
# 默认初始化属性值为 None
|
||||
self.device_status[device_id][property_name] = None
|
||||
self.device_status_timestamps[device_id][property_name] = 0 # 初始化时间戳
|
||||
|
||||
# 动态创建订阅
|
||||
try:
|
||||
type_class = msg_converter_manager.search_class(types[0].replace("/", "."))
|
||||
if type_class is None:
|
||||
self.lab_logger().error(f"[Host Node] Invalid type {types[0]} for {topic}")
|
||||
else:
|
||||
self.create_subscription(
|
||||
type_class,
|
||||
topic,
|
||||
lambda msg, d=device_id, p=property_name: self.property_callback(msg, d, p),
|
||||
1,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
# 标记为已订阅
|
||||
self._subscribed_topics.add(topic)
|
||||
self.lab_logger().debug(f"[Host Node] Subscribed to new topic: {topic}")
|
||||
except (NameError, SyntaxError) as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to create subscription for topic {topic}: {e}")
|
||||
|
||||
"""设备相关"""
|
||||
|
||||
def property_callback(self, msg, device_id: str, property_name: str) -> None:
|
||||
"""
|
||||
更新设备状态字典中的属性值，并发送到桥接器。
|
||||
|
||||
Args:
|
||||
msg: 接收到的消息
|
||||
device_id: 设备ID
|
||||
property_name: 属性名称
|
||||
"""
|
||||
# 更新设备状态字典
|
||||
if hasattr(msg, "data"):
|
||||
bChange = False
|
||||
if isinstance(msg.data, (float, int, str)):
|
||||
if self.device_status[device_id][property_name] != msg.data:
|
||||
bChange = True
|
||||
self.device_status[device_id][property_name] = msg.data
|
||||
# 更新时间戳
|
||||
self.device_status_timestamps[device_id][property_name] = time.time()
|
||||
else:
|
||||
self.lab_logger().debug(
|
||||
f"[Host Node] Unsupported data type for {device_id}/{property_name}: {type(msg.data)}"
|
||||
)
|
||||
|
||||
# 所有 Bridge 对象都应具有 publish_device_status 方法；都会收到设备状态更新
|
||||
if bChange:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_device_status"):
|
||||
bridge.publish_device_status(self.device_status, device_id, property_name)
|
||||
self.lab_logger().debug(
|
||||
f"[Host Node] Status updated: {device_id}.{property_name} = {msg.data}"
|
||||
)
|
||||
|
||||
def send_goal(
|
||||
self, device_id: str, action_name: str, action_kwargs: Dict[str, Any], goal_uuid: Optional[str] = None
|
||||
) -> None:
|
||||
"""
|
||||
向设备发送目标请求
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
action_name: 动作名称
|
||||
action_kwargs: 动作参数
|
||||
goal_uuid: 目标UUID，如果为None则自动生成
|
||||
"""
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
if action_id not in self._action_clients:
|
||||
self.lab_logger().error(f"[Host Node] ActionClient {action_id} not found.")
|
||||
return
|
||||
|
||||
action_client: ActionClient = self._action_clients[action_id]
|
||||
|
||||
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
||||
|
||||
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
|
||||
action_client.wait_for_server()
|
||||
|
||||
uuid_str = goal_uuid
|
||||
if goal_uuid is not None:
|
||||
u = uuid.UUID(goal_uuid)
|
||||
goal_uuid_obj = UUID(uuid=list(u.bytes))
|
||||
else:
|
||||
goal_uuid_obj = None
|
||||
|
||||
future = action_client.send_goal_async(
|
||||
goal_msg,
|
||||
feedback_callback=lambda feedback_msg: self.feedback_callback(action_id, uuid_str, feedback_msg),
|
||||
goal_uuid=goal_uuid_obj,
|
||||
)
|
||||
future.add_done_callback(lambda future: self.goal_response_callback(action_id, uuid_str, future))
|
||||
|
||||
def goal_response_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
|
||||
"""目标响应回调"""
|
||||
goal_handle = future.result()
|
||||
if not goal_handle.accepted:
|
||||
self.lab_logger().warning(f"[Host Node] Goal {action_id} ({uuid_str}) rejected")
|
||||
return
|
||||
|
||||
self.lab_logger().info(f"[Host Node] Goal {action_id} ({uuid_str}) accepted")
|
||||
if uuid_str:
|
||||
self._goals[uuid_str] = goal_handle
|
||||
goal_handle.get_result_async().add_done_callback(
|
||||
lambda future: self.get_result_callback(action_id, uuid_str, future)
|
||||
)
|
||||
|
||||
def feedback_callback(self, action_id: str, uuid_str: Optional[str], feedback_msg) -> None:
|
||||
"""反馈回调"""
|
||||
feedback_data = convert_from_ros_msg(feedback_msg)
|
||||
feedback_data.pop("goal_id")
|
||||
self.lab_logger().debug(f"[Host Node] Feedback for {action_id} ({uuid_str}): {feedback_data}")
|
||||
|
||||
if uuid_str:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
bridge.publish_job_status(feedback_data, uuid_str, "running")
|
||||
|
||||
def get_result_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
|
||||
"""获取结果回调"""
|
||||
result_msg = future.result().result
|
||||
result_data = convert_from_ros_msg(result_msg)
|
||||
self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): success")
|
||||
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
|
||||
|
||||
if uuid_str:
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_job_status"):
|
||||
bridge.publish_job_status(result_data, uuid_str, "success")
|
||||
|
||||
def cancel_goal(self, goal_uuid: str) -> None:
|
||||
"""取消目标"""
|
||||
if goal_uuid in self._goals:
|
||||
self.lab_logger().info(f"[Host Node] Cancelling goal {goal_uuid}")
|
||||
self._goals[goal_uuid].cancel_goal_async()
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Goal {goal_uuid} not found, cannot cancel")
|
||||
|
||||
def get_goal_status(self, uuid_str: str) -> int:
|
||||
"""获取目标状态"""
|
||||
if uuid_str in self._goals:
|
||||
g = self._goals[uuid_str]
|
||||
status = g.status
|
||||
self.lab_logger().debug(f"[Host Node] Goal status for {uuid_str}: {status}")
|
||||
return status
|
||||
self.lab_logger().warning(f"[Host Node] Goal {uuid_str} not found, status unknown")
|
||||
return GoalStatus.STATUS_UNKNOWN
|
||||
|
||||
"""Controller Node"""
|
||||
|
||||
def initialize_controller(self, controller_id: str, controller_config: Dict[str, Any]) -> None:
|
||||
"""
|
||||
初始化控制器
|
||||
|
||||
Args:
|
||||
controller_id: 控制器ID
|
||||
controller_config: 控制器配置
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node] Initializing controller: {controller_id}")
|
||||
|
||||
class_name = controller_config.pop("type")
|
||||
controller_func = globals()[class_name]
|
||||
|
||||
for input_name, input_info in controller_config["inputs"].items():
|
||||
controller_config["inputs"][input_name]["type"] = get_msg_type(eval(input_info["type"]))
|
||||
for output_name, output_info in controller_config["outputs"].items():
|
||||
controller_config["outputs"][output_name]["type"] = get_msg_type(eval(output_info["type"]))
|
||||
|
||||
if controller_config["parameters"] is None:
|
||||
controller_config["parameters"] = {}
|
||||
|
||||
controller = ControllerNode(controller_id, controller_func=controller_func, **controller_config)
|
||||
self.lab_logger().info(f"[Host Node] Controller {controller_id} created.")
|
||||
# rclpy.get_global_executor().add_node(controller)
|
||||
|
||||
"""Resource"""
|
||||
|
||||
def _init_resource_service(self):
|
||||
self._resource_services: Dict[str, Service] = {
|
||||
"resource_add": self.create_service(
|
||||
ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
"resource_get": self.create_service(
|
||||
ResourceGet, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
"resource_delete": self.create_service(
|
||||
ResourceDelete,
|
||||
"/resources/delete",
|
||||
self._resource_delete_callback,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
),
|
||||
"resource_update": self.create_service(
|
||||
ResourceUpdate,
|
||||
"/resources/update",
|
||||
self._resource_update_callback,
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
),
|
||||
"resource_list": self.create_service(
|
||||
ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
}
|
||||
|
||||
def _resource_add_callback(self, request, response):
|
||||
"""
|
||||
添加资源回调
|
||||
|
||||
处理添加资源请求，将资源数据传递到桥接器
|
||||
|
||||
Args:
|
||||
request: 包含资源数据的请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含操作结果
|
||||
"""
|
||||
resources = [convert_from_ros_msg(resource) for resource in request.resources]
|
||||
self.lab_logger().info(f"[Host Node-Resource] Add request received: {len(resources)} resources")
|
||||
|
||||
success = False
|
||||
if len(self.bridges) > 0:
|
||||
r = self.bridges[-1].resource_add(add_schema(resources))
|
||||
success = bool(r)
|
||||
|
||||
response.success = success
|
||||
self.lab_logger().info(f"[Host Node-Resource] Add request completed, success: {success}")
|
||||
return response
|
||||
|
||||
def _resource_get_callback(self, request, response):
|
||||
"""
|
||||
获取资源回调
|
||||
|
||||
处理获取资源请求，从桥接器或本地查询资源数据
|
||||
|
||||
Args:
|
||||
request: 包含资源ID的请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含查询到的资源
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node-Resource] Get request for ID: {request.id}")
|
||||
|
||||
if len(self.bridges) > 0:
|
||||
# 云上物料服务，根据 id 查询物料
|
||||
try:
|
||||
r = self.bridges[-1].resource_get(request.id, request.with_children)["data"]
|
||||
self.lab_logger().debug(f"[Host Node-Resource] Retrieved from bridge: {len(r)} resources")
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
|
||||
r = []
|
||||
else:
|
||||
# 本地物料服务，根据 id 查询物料
|
||||
r = [resource for resource in self.resources_config if resource.get("id") == request.id]
|
||||
self.lab_logger().debug(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
|
||||
|
||||
response.resources = [convert_to_ros_msg(Resource, resource) for resource in r]
|
||||
return response
|
||||
|
||||
def _resource_delete_callback(self, request, response):
|
||||
"""
|
||||
删除资源回调
|
||||
|
||||
处理删除资源请求，将删除指令传递到桥接器
|
||||
|
||||
Args:
|
||||
request: 包含资源ID的请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含操作结果
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node-Resource] Delete request for ID: {request.id}")
|
||||
|
||||
success = False
|
||||
if len(self.bridges) > 0:
|
||||
try:
|
||||
r = self.bridges[-1].resource_delete(request.id)
|
||||
success = bool(r)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-Resource] Error deleting resource: {str(e)}")
|
||||
|
||||
response.success = success
|
||||
self.lab_logger().info(f"[Host Node-Resource] Delete request completed, success: {success}")
|
||||
return response
|
||||
|
||||
def _resource_update_callback(self, request, response):
|
||||
"""
|
||||
更新资源回调
|
||||
|
||||
处理更新资源请求，将更新指令传递到桥接器
|
||||
|
||||
Args:
|
||||
request: 包含资源数据的请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含操作结果
|
||||
"""
|
||||
resources = [convert_from_ros_msg(resource) for resource in request.resources]
|
||||
self.lab_logger().info(f"[Host Node-Resource] Update request received: {len(resources)} resources")
|
||||
|
||||
success = False
|
||||
if len(self.bridges) > 0:
|
||||
try:
|
||||
r = self.bridges[-1].resource_update(add_schema(resources))
|
||||
success = bool(r)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-Resource] Error updating resources: {str(e)}")
|
||||
|
||||
response.success = success
|
||||
self.lab_logger().info(f"[Host Node-Resource] Update request completed, success: {success}")
|
||||
return response
|
||||
|
||||
def _resource_list_callback(self, request, response):
|
||||
"""
|
||||
列出资源回调
|
||||
|
||||
处理列出资源请求，返回所有可用资源
|
||||
|
||||
Args:
|
||||
request: 请求对象
|
||||
response: 响应对象
|
||||
|
||||
Returns:
|
||||
响应对象，包含资源列表
|
||||
"""
|
||||
self.lab_logger().info(f"[Host Node-Resource] List request received")
|
||||
# 这里可以实现返回资源列表的逻辑
|
||||
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
|
||||
return response
|
||||
267
unilabos/ros/nodes/presets/protocol_node.py
Normal file
267
unilabos/ros/nodes/presets/protocol_node.py
Normal file
@@ -0,0 +1,267 @@
|
||||
import time
|
||||
import asyncio
|
||||
import traceback
|
||||
from typing import Union
|
||||
|
||||
import rclpy
|
||||
from unilabos.messages import * # type: ignore # protocol names
|
||||
from rclpy.action import ActionServer, ActionClient
|
||||
from rclpy.action.server import ServerGoalHandle
|
||||
from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import ResourceGet, ResourceUpdate # type: ignore
|
||||
|
||||
from unilabos.compile import action_protocol_generators
|
||||
from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
|
||||
from unilabos.ros.initialize_device import initialize_device_from_dict
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
get_action_type,
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
|
||||
|
||||
|
||||
class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
ROS2ProtocolNode代表管理ROS2环境中设备通信和动作的协议节点。
|
||||
它初始化设备节点，处理动作客户端，并基于指定的协议执行工作流。
|
||||
它还物理上代表一组协同工作的设备，如带夹持器的机械臂，带传送带的CNC机器等。
|
||||
"""
|
||||
|
||||
# create_action_server = False # Action Server要自己创建
|
||||
|
||||
def __init__(self, device_id: str, children: dict, protocol_type: Union[str, list[str]], resource_tracker: DeviceNodeResourceTracker, *args, **kwargs):
|
||||
self._setup_protocol_names(protocol_type)
|
||||
|
||||
# 初始化其它属性
|
||||
self.children = children
|
||||
self._busy = False
|
||||
self.sub_devices = {}
|
||||
self._goals = {}
|
||||
self._protocol_servers = {}
|
||||
self._action_clients = {}
|
||||
|
||||
# 初始化基类，让基类处理常规动作
|
||||
super().__init__(
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
status_types={},
|
||||
action_value_mappings=self.protocol_action_mappings,
|
||||
hardware_interface={},
|
||||
print_publish=False,
|
||||
resource_tracker=resource_tracker,
|
||||
)
|
||||
|
||||
# 初始化子设备
|
||||
communication_node_id = None
|
||||
for device_id, device_config in self.children.items():
|
||||
if device_config.get("type", "device") != "device":
|
||||
self.lab_logger().debug(f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
|
||||
continue
|
||||
d = self.initialize_device(device_id, device_config)
|
||||
if d is None:
|
||||
continue
|
||||
|
||||
if "serial_" in device_id or "io_" in device_id:
|
||||
communication_node_id = device_id
|
||||
continue
|
||||
|
||||
# 设置硬件接口代理
|
||||
if d and hasattr(d, "_hardware_interface"):
|
||||
if (
|
||||
hasattr(d, d._hardware_interface["name"])
|
||||
and hasattr(d, d._hardware_interface["write"])
|
||||
and (d._hardware_interface["read"] is None or hasattr(d, d._hardware_interface["read"]))
|
||||
):
|
||||
|
||||
name = getattr(d, d._hardware_interface["name"])
|
||||
read = d._hardware_interface.get("read", None)
|
||||
write = d._hardware_interface.get("write", None)
|
||||
|
||||
# 如果硬件接口是字符串，通过通信设备提供
|
||||
if isinstance(name, str) and communication_node_id in self.sub_devices:
|
||||
self._setup_hardware_proxy(d, self.sub_devices[communication_node_id], read, write)
|
||||
|
||||
def _setup_protocol_names(self, protocol_type):
|
||||
# 处理协议类型
|
||||
if isinstance(protocol_type, str):
|
||||
if "," not in protocol_type:
|
||||
self.protocol_names = [protocol_type]
|
||||
else:
|
||||
self.protocol_names = [protocol.strip() for protocol in protocol_type.split(",")]
|
||||
else:
|
||||
self.protocol_names = protocol_type
|
||||
# 准备协议相关的动作值映射
|
||||
self.protocol_action_mappings = {}
|
||||
for protocol_name in self.protocol_names:
|
||||
protocol_type = globals()[protocol_name]
|
||||
self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
|
||||
|
||||
def initialize_device(self, device_id, device_config):
|
||||
"""初始化设备并创建相应的动作客户端"""
|
||||
device_id_abs = f"{self.device_id}/{device_id}"
|
||||
self.lab_logger().info(f"初始化子设备: {device_id_abs}")
|
||||
d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)
|
||||
|
||||
# 为子设备的每个动作创建动作客户端
|
||||
if d is not None and hasattr(d, "ros_node_instance"):
|
||||
node = d.ros_node_instance
|
||||
for action_name, action_mapping in node._action_value_mappings.items():
|
||||
action_id = f"/devices/{device_id_abs}/{action_name}"
|
||||
if action_id not in self._action_clients:
|
||||
self._action_clients[action_id] = ActionClient(
|
||||
self, action_mapping["type"], action_id, callback_group=self.callback_group
|
||||
)
|
||||
self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}")
|
||||
return d
|
||||
|
||||
def create_ros_action_server(self, action_name, action_value_mapping):
|
||||
"""创建ROS动作服务器"""
|
||||
# 和Base创建的路径是一致的
|
||||
protocol_name = action_name
|
||||
action_type = action_value_mapping["type"]
|
||||
str_action_type = str(action_type)[8:-2]
|
||||
protocol_type = globals()[protocol_name]
|
||||
protocol_steps_generator = action_protocol_generators[protocol_type]
|
||||
|
||||
self._action_servers[action_name] = ActionServer(
|
||||
self,
|
||||
action_type,
|
||||
action_name,
|
||||
execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
|
||||
callback_group=ReentrantCallbackGroup(),
|
||||
)
|
||||
|
||||
self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
|
||||
def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
|
||||
async def execute_protocol(goal_handle: ServerGoalHandle):
|
||||
"""执行完整的工作流"""
|
||||
self.get_logger().info(f'Executing {protocol_name} action...')
|
||||
action_value_mapping = self._action_value_mappings[protocol_name]
|
||||
print('+'*30)
|
||||
print(protocol_steps_generator)
|
||||
# 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
|
||||
goal = goal_handle.request
|
||||
protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
|
||||
|
||||
# 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()
|
||||
r.id = protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["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])
|
||||
|
||||
from unilabos.resources.graphio import physical_setup_graph
|
||||
self.get_logger().info(f'Working on physical setup: {physical_setup_graph}')
|
||||
protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
|
||||
|
||||
self.get_logger().info(f'Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}')
|
||||
|
||||
time_start = time.time()
|
||||
time_overall = 100
|
||||
self._busy = True
|
||||
|
||||
# 逐步执行工作流
|
||||
for i, action in enumerate(protocol_steps):
|
||||
self.get_logger().info(f'Running step {i+1}: {action}')
|
||||
if type(action) == dict:
|
||||
# 如果是单个动作，直接执行
|
||||
if action["action_name"] == "wait":
|
||||
time.sleep(action["action_kwargs"]["time"])
|
||||
else:
|
||||
result = await self.execute_single_action(**action)
|
||||
elif type(action) == list:
|
||||
# 如果是并行动作，同时执行
|
||||
actions = action
|
||||
futures = [rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions]
|
||||
results = [await f for f in futures]
|
||||
|
||||
# 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)
|
||||
|
||||
goal_handle.succeed()
|
||||
result = action_value_mapping["type"].Result()
|
||||
result.success = True
|
||||
|
||||
self._busy = False
|
||||
return result
|
||||
return execute_protocol
|
||||
|
||||
async def execute_single_action(self, device_id, action_name, action_kwargs):
|
||||
"""执行单个动作"""
|
||||
# 构建动作ID
|
||||
if device_id in ["", None, "self"]:
|
||||
action_id = f"/devices/{self.device_id}/{action_name}"
|
||||
else:
|
||||
action_id = f"/devices/{self.device_id}/{device_id}/{action_name}"
|
||||
|
||||
# 检查动作客户端是否存在
|
||||
if action_id not in self._action_clients:
|
||||
self.lab_logger().error(f"找不到动作客户端: {action_id}")
|
||||
return None
|
||||
|
||||
# 发送动作请求
|
||||
action_client = self._action_clients[action_id]
|
||||
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
||||
|
||||
self.lab_logger().info(f"发送动作请求到: {action_id}")
|
||||
action_client.wait_for_server()
|
||||
|
||||
# 等待动作完成
|
||||
request_future = action_client.send_goal_async(goal_msg)
|
||||
handle = await request_future
|
||||
|
||||
if not handle.accepted:
|
||||
self.lab_logger().error(f"动作请求被拒绝: {action_name}")
|
||||
return None
|
||||
|
||||
result_future = await handle.get_result_async()
|
||||
self.lab_logger().info(f"动作完成: {action_name}")
|
||||
|
||||
return result_future.result
|
||||
|
||||
|
||||
"""还没有改过的部分"""
|
||||
|
||||
def _setup_hardware_proxy(self, device, communication_device, read_method, write_method):
|
||||
"""为设备设置硬件接口代理"""
|
||||
extra_info = [getattr(device, info) for info in communication_device._hardware_interface.get("extra_info", [])]
|
||||
write_func = getattr(communication_device, communication_device._hardware_interface["write"])
|
||||
read_func = getattr(communication_device, communication_device._hardware_interface["read"])
|
||||
|
||||
def _read():
|
||||
return read_func(*extra_info)
|
||||
|
||||
def _write(command):
|
||||
return write_func(*extra_info, command)
|
||||
|
||||
if read_method:
|
||||
setattr(device, read_method, _read)
|
||||
if write_method:
|
||||
setattr(device, write_method, _write)
|
||||
|
||||
|
||||
async def _update_resources(self, goal, protocol_kwargs):
|
||||
"""更新资源状态"""
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
if protocol_kwargs[k] is not None:
|
||||
try:
|
||||
r = ResourceUpdate.Request()
|
||||
r.resources = [
|
||||
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
|
||||
]
|
||||
await self._resource_clients["resource_update"].call_async(r)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"更新资源失败: {e}")
|
||||
84
unilabos/ros/nodes/presets/serial_node.py
Normal file
84
unilabos/ros/nodes/presets/serial_node.py
Normal file
@@ -0,0 +1,84 @@
|
||||
from threading import Lock
|
||||
|
||||
from unilabos_msgs.srv import SerialCommand
|
||||
from serial import Serial, SerialException
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
|
||||
|
||||
|
||||
class ROS2SerialNode(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
|
||||
# 保存属性，以便在调用父类初始化前使用
|
||||
self.port = port
|
||||
self.baudrate = baudrate
|
||||
self._hardware_interface = {"name": "hardware_interface", "write": "send_command", "read": "read_data"}
|
||||
self._busy = False
|
||||
self._closing = False
|
||||
self._query_lock = Lock()
|
||||
|
||||
# 初始化硬件接口
|
||||
try:
|
||||
self.hardware_interface = Serial(baudrate=baudrate, port=port)
|
||||
except (OSError, SerialException) as e:
|
||||
# 因为还没调用父类初始化，无法使用日志，直接抛出异常
|
||||
raise RuntimeError(f"Failed to connect to serial port {port} at {baudrate} baudrate.") from e
|
||||
|
||||
# 初始化BaseROS2DeviceNode，使用自身作为driver_instance
|
||||
BaseROS2DeviceNode.__init__(
|
||||
self,
|
||||
driver_instance=self,
|
||||
device_id=device_id,
|
||||
status_types={},
|
||||
action_value_mappings={},
|
||||
hardware_interface=self._hardware_interface,
|
||||
print_publish=False,
|
||||
resource_tracker=resource_tracker,
|
||||
)
|
||||
|
||||
# 现在可以使用日志
|
||||
self.lab_logger().info(
|
||||
f"【ROS2SerialNode.__init__】初始化串口节点: {device_id}, 端口: {port}, 波特率: {baudrate}"
|
||||
)
|
||||
self.lab_logger().info(f"【ROS2SerialNode.__init__】成功连接串口设备")
|
||||
|
||||
# 创建服务
|
||||
self.create_service(SerialCommand, "serialwrite", self.handle_serial_request)
|
||||
self.lab_logger().info(f"【ROS2SerialNode.__init__】创建串口写入服务: serialwrite")
|
||||
|
||||
def send_command(self, command: str):
|
||||
self.lab_logger().info(f"【ROS2SerialNode.send_command】发送命令: {command}")
|
||||
with self._query_lock:
|
||||
if self._closing:
|
||||
self.lab_logger().error(f"【ROS2SerialNode.send_command】设备正在关闭，无法发送命令")
|
||||
raise RuntimeError
|
||||
|
||||
full_command = f"{command}\n"
|
||||
full_command_data = bytearray(full_command, "ascii")
|
||||
|
||||
response = self.hardware_interface.write(full_command_data)
|
||||
# time.sleep(0.05)
|
||||
output = self._receive(self.hardware_interface.read_until(b"\n"))
|
||||
self.lab_logger().info(f"【ROS2SerialNode.send_command】接收响应: {output}")
|
||||
return output
|
||||
|
||||
def read_data(self):
|
||||
self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取数据")
|
||||
with self._query_lock:
|
||||
if self._closing:
|
||||
self.lab_logger().error(f"【ROS2SerialNode.read_data】设备正在关闭，无法读取数据")
|
||||
raise RuntimeError
|
||||
data = self.hardware_interface.read_until(b"\n")
|
||||
result = self._receive(data)
|
||||
self.lab_logger().debug(f"【ROS2SerialNode.read_data】读取到数据: {result}")
|
||||
return result
|
||||
|
||||
def _receive(self, data: bytes):
|
||||
ascii_string = "".join(chr(byte) for byte in data)
|
||||
self.lab_logger().debug(f"【ROS2SerialNode._receive】接收数据: {ascii_string}")
|
||||
return ascii_string
|
||||
|
||||
def handle_serial_request(self, request, response):
|
||||
self.lab_logger().info(f"【ROS2SerialNode.handle_serial_request】收到串口命令请求: {request.command}")
|
||||
response.response = self.send_command(request.command)
|
||||
self.lab_logger().info(f"【ROS2SerialNode.handle_serial_request】命令响应: {response.response}")
|
||||
return response
|
||||
67
unilabos/ros/nodes/resource_tracker.py
Normal file
67
unilabos/ros/nodes/resource_tracker.py
Normal file
@@ -0,0 +1,67 @@
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
|
||||
class DeviceNodeResourceTracker:
|
||||
|
||||
def __init__(self):
|
||||
self.resources = []
|
||||
self.root_resource2resource = {}
|
||||
pass
|
||||
|
||||
def root_resource(self, resource):
|
||||
if id(resource) in self.root_resource2resource:
|
||||
return self.root_resource2resource[id(resource)]
|
||||
else:
|
||||
return resource
|
||||
|
||||
def add_resource(self, resource):
|
||||
# 使用内存地址跟踪是否为同一个resource
|
||||
for r in self.resources:
|
||||
if id(r) == id(resource):
|
||||
return
|
||||
# 添加资源到跟踪器
|
||||
self.resources.append(resource)
|
||||
|
||||
def clear_resource(self):
|
||||
self.resources = []
|
||||
|
||||
def figure_resource(self, resource):
|
||||
# 使用内存地址跟踪是否为同一个resource
|
||||
if isinstance(resource, list):
|
||||
return [self.figure_resource(r) for r in resource]
|
||||
res_id = resource.id if hasattr(resource, "id") else None
|
||||
res_name = resource.name if hasattr(resource, "name") else None
|
||||
res_identifier = res_id if res_id else res_name
|
||||
identifier_key = "id" if res_id else "name"
|
||||
resource_cls_type = type(resource)
|
||||
if res_identifier is None:
|
||||
logger.warning(f"resource {resource} 没有id或name，暂不能对应figure")
|
||||
res_list = []
|
||||
for r in self.resources:
|
||||
res_list.extend(
|
||||
self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(resource, identifier_key))
|
||||
)
|
||||
assert len(res_list) == 1, f"找到多个资源，请检查资源是否唯一: {res_list}"
|
||||
self.root_resource2resource[id(resource)] = res_list[0]
|
||||
# 后续加入其他对比方式
|
||||
return res_list[0]
|
||||
|
||||
def loop_find_resource(self, resource, resource_cls_type, identifier_key, compare_value):
|
||||
res_list = []
|
||||
children = getattr(resource, "children", [])
|
||||
for child in children:
|
||||
res_list.extend(self.loop_find_resource(child, resource_cls_type, identifier_key, compare_value))
|
||||
if resource_cls_type == type(resource):
|
||||
if hasattr(resource, identifier_key):
|
||||
if getattr(resource, identifier_key) == compare_value:
|
||||
res_list.append(resource)
|
||||
return res_list
|
||||
|
||||
def filter_find_list(self, res_list, compare_std_dict):
|
||||
new_list = []
|
||||
for res in res_list:
|
||||
for k, v in compare_std_dict.items():
|
||||
if hasattr(res, k):
|
||||
if getattr(res, k) == v:
|
||||
new_list.append(res)
|
||||
return new_list
|
||||
Reference in New Issue
Block a user