fix protocol node log_message, added create_resource return value

unilabos/app/ws_client.py

@@ -1093,7 +1093,7 @@ class WebSocketClient(BaseCommunicationClient):
             },
         }
         self.message_processor.send_message(message)
-        logger.debug(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
+        logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
 
     def publish_job_status(
         self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None

unilabos/registry/registry.py

@@ -294,7 +294,7 @@ class Registry:
             logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
             return type_name
         convert_manager = {  # 将python基本对象转为ros2基本对象
-            "builtins:str": "String",
+            "str": "String",
             "bool": "Bool",
             "int": "Int64",
             "float": "Float64",

unilabos/resources/graphio.py

@@ -430,7 +430,7 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
     return resource_plr
 
 
-def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
+def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, with_children=True):
     def replace_plr_type_to_ulab(source: str):
         replace_info = {
             "plate": "plate",
@@ -445,12 +445,12 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
         else:
             print("转换pylabrobot的时候，出现未知类型", source)
             return "container"
-    def resource_plr_to_ulab_inner(d: dict, all_states: dict) -> dict:
+    def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:
         r = {
             "id": d["name"],
             "name": d["name"],
             "sample_id": None,
-            "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]],
+            "children": [resource_plr_to_ulab_inner(child, all_states) for child in d["children"]] if child else [],
             "parent": d["parent_name"] if d["parent_name"] else parent_name if parent_name else None,
             "type": replace_plr_type_to_ulab(d.get("category")),  # FIXME plr自带的type是python class name
             "class": d.get("class", ""),
@@ -465,7 +465,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
         return r
     d = resource_plr.serialize()
     all_states = resource_plr.serialize_all_state()
-    r = resource_plr_to_ulab_inner(d, all_states)
+    r = resource_plr_to_ulab_inner(d, all_states, with_children)
 
     return r
 

unilabos/ros/nodes/base_device_node.py

@@ -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)

unilabos/ros/nodes/presets/host_node.py

@@ -13,6 +13,7 @@ from geometry_msgs.msg import Point
 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 rosidl_runtime_py import set_message_fields
 from unilabos_msgs.msg import Resource  # type: ignore
 from unilabos_msgs.srv import (
     ResourceAdd,
@@ -366,7 +367,7 @@ class HostNode(BaseROS2DeviceNode):
         bind_parent_ids: list[str],
         bind_locations: list[Point],
         other_calling_params: list[str],
-    ):
+    ) -> List[str]:
         responses = []
         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
@@ -403,8 +404,8 @@ class HostNode(BaseROS2DeviceNode):
                 },
                 ensure_ascii=False,
             )
-            response = await sclient.call_async(request)
+            response: SerialCommand.Response = await sclient.call_async(request)
-            responses.append(response)
+            responses.append(response.response)
         return responses
 
     async def create_resource(
@@ -463,11 +464,23 @@ class HostNode(BaseROS2DeviceNode):
             )
         ]
 
-        response = await self.create_resource_detailed(
+        response: List[str] = await self.create_resource_detailed(
             resources, device_ids, bind_parent_id, bind_location, other_calling_param
         )
 
-        return response
+        try:
+            new_li = []
+            for i in response:
+                res = json.loads(i)
+                new_li.append(res)
+            return {
+                "resources": new_li,
+                "liquid_input_resources": new_li
+            }
+        except Exception as ex:
+            pass
+        _n = "\n"
+        raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
 
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """

unilabos/ros/nodes/presets/protocol_node.py

@@ -218,7 +218,7 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
                             [convert_from_ros_msg(rs) for rs in response.resources]
                         )
 
-                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
+                # self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
 
                 from unilabos.resources.graphio import physical_setup_graph
 
@@ -325,6 +325,8 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
     async def execute_single_action(self, device_id, action_name, action_kwargs):
         """执行单个动作"""
         # 构建动作ID
+        if action_name == "log_message":
+            self.lab_logger().info(f"[Protocol Log] {action_kwargs}")
         if device_id in ["", None, "self"]:
             action_id = f"/devices/{self.device_id}/{action_name}"
         else:

unilabos/utils/environment_check.py

@@ -19,7 +19,7 @@ class EnvironmentChecker:
             # 包导入名 : pip安装名
             # "pymodbus.framer.FramerType": "pymodbus==3.9.2",
             "websockets": "websockets",
-            "paho.mqtt": "paho-mqtt",
+            "msgcenterpy": "msgcenterpy",
             "opentrons_shared_data": "opentrons_shared_data",
         }