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fix protocol node log_message, added create_resource return value

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Xuwznln
2025-09-19 05:31:49 +08:00
parent 01f8816597
commit da4bd927e0
7 changed files with 43 additions and 17 deletions
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19
unilabos/ros/nodes/base_device_node.py
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@@ -12,6 +12,7 @@ import asyncio
import rclpy
import yaml
from msgcenterpy import ROS2MessageInstance
from rclpy.node import Node
from rclpy.action import ActionServer, ActionClient
from rclpy.action.server import ServerGoalHandle
@@ -177,7 +178,7 @@ class PropertyPublisher:
try:
self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
except AttributeError as ex:
logger.error(f"创建发布者失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}")
self.node.lab_logger().error(f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}")
self.timer = node.create_timer(self.timer_period, self.publish_property)
self.__loop = get_event_loop()
str_msg_type = str(msg_type)[8:-2]
@@ -399,9 +400,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
else:
logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
response = await rclient.call_async(request)
response: ResourceAdd.Response = await rclient.call_async(request)
# 应该先add_resource了
res.response = "OK"
final_response = {
"created_resources": [ROS2MessageInstance(i).get_python_dict() for i in request.resources],
"liquid_input_resources": []
}
res.response = json.dumps(final_response)
# 如果driver自己就有assign的方法，那就使用driver自己的assign方法
if hasattr(self.driver_instance, "create_resource"):
create_resource_func = getattr(self.driver_instance, "create_resource")
@@ -418,7 +423,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
)
res.response = get_result_info_str("", True, ret)
except Exception as e:
traceback.print_exc()
self.lab_logger().error(f"运行设备的create_resource出错：{create_resource_func}\n{traceback.format_exc()}")
res.response = get_result_info_str(traceback.format_exc(), False, {})
return res
# 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
@@ -438,6 +443,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# resources.list()
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(
@@ -445,6 +451,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
):
empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
plr_instance.set_well_liquids(empty_liquid_info_in)
input_wells_ulr = [
convert_to_ros_msg(Resource, resource_plr_to_ulab(plr_instance.get_well(LIQUID_INPUT_SLOT), with_children=False)) for r in LIQUID_INPUT_SLOT
]
final_response["liquid_input_resources"] = [ROS2MessageInstance(i).get_python_dict() for i in input_wells_ulr]
res.response = json.dumps(final_response)
if isinstance(resource, OTDeck) and "slot" in other_calling_param:
other_calling_param["slot"] = int(other_calling_param["slot"])
resource.assign_child_at_slot(plr_instance, **other_calling_param)