open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-05 14:05:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

Dev backward (#228)

Browse Source 
* Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

* CI Check Fix 1

* CI Check Fix 2

* CI Check Fix 3

* CI Check Fix 4

* CI Check Fix 5

* Upgrade to py 3.11.14; ros 0.7; unilabos 0.10.16

* Update to ROS2 Humble 0.7

* Fix Build 1

* Fix Build 2

* Fix Build 3

* Fix Build 4

* Fix Build 5

* Fix Build 6

* Fix Build 7

* ci(deps): bump actions/configure-pages from 4 to 5 (#222)

Bumps [actions/configure-pages](https://github.com/actions/configure-pages) from 4 to 5.
- [Release notes](https://github.com/actions/configure-pages/releases)
- [Commits](https://github.com/actions/configure-pages/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/configure-pages
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-artifact from 4 to 6 (#224)

Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4 to 6.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](https://github.com/actions/upload-artifact/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-pages-artifact from 3 to 4 (#225)

Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 3 to 4.
- [Release notes](https://github.com/actions/upload-pages-artifact/releases)
- [Commits](https://github.com/actions/upload-pages-artifact/compare/v3...v4)

---
updated-dependencies:
- dependency-name: actions/upload-pages-artifact
  dependency-version: '4'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/checkout from 4 to 6 (#223)

Bumps [actions/checkout](https://github.com/actions/checkout) from 4 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* Fix Build 8

* Fix Build 9

* Fix Build 10

* Fix Build 11

* Fix Build 12

* Fix Build 13

* v0.10.17

(cherry picked from commit 176de521b4)

* CI Check use production mode

* Fix OT2 & ReAdd Virtual Devices

* add msg goal

* transfer liquid handles

* gather query

* add unilabos_class

* Support root node change pos

* save class name when deserialize & protocol execute test

* fix upload workflow json

* workflow upload & set liquid fix & add set liquid with plate

* speed up registry load

---------

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: hanhua@dp.tech <2509856570@qq.com>
This commit is contained in:
Xuwznln
2026-02-02 23:57:13 +08:00
committed by GitHub
parent c4a3be1498
commit e30c01d54e
65 changed files with 4603 additions and 1655 deletions
Download Patch File Download Diff File Expand all files Collapse all files

58
unilabos/ros/nodes/base_device_node.py
View File

@@ -49,7 +49,6 @@ from unilabos.resources.resource_tracker import (
ResourceTreeInstance,
ResourceDictInstance,
)
from unilabos.ros.x.rclpyx import get_event_loop
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
from rclpy.task import Task, Future
from unilabos.utils.import_manager import default_manager
@@ -185,7 +184,7 @@ class PropertyPublisher:
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()
self.__loop = ROS2DeviceNode.get_asyncio_loop()
str_msg_type = str(msg_type)[8:-2]
self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
@@ -885,6 +884,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
parent_appended = True
# 加载状态
original_instance.location = plr_resource.location
original_instance.rotation = plr_resource.rotation
original_instance.barcode = plr_resource.barcode
original_instance.load_all_state(states)
child_count = len(original_instance.get_all_children())
self.lab_logger().info(
@@ -1320,19 +1322,32 @@ class BaseROS2DeviceNode(Node, Generic[T]):
resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
# 批量查询资源
queried_resources = []
for resource_data in resource_inputs:
queried_resources: list = [None] * len(resource_inputs)
uuid_indices: list[tuple[int, str, dict]] = [] # (index, uuid, resource_data)
# 第一遍：处理没有uuid的资源，收集有uuid的资源信息
for idx, resource_data in enumerate(resource_inputs):
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
if unilabos_uuid is None:
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
else:
resource_tree = await self.get_resource([unilabos_uuid])
plr_resource = resource_tree.to_plr_resources()[0]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources.append(plr_resource)
uuid_indices.append((idx, unilabos_uuid, resource_data))
# 第二遍：批量查询有uuid的资源
if uuid_indices:
uuids = [item[1] for item in uuid_indices]
resource_tree = await self.get_resource(uuids)
plr_resources = resource_tree.to_plr_resources()
for i, (idx, _, resource_data) in enumerate(uuid_indices):
plr_resource = plr_resources[i]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
@@ -1757,6 +1772,15 @@ class ROS2DeviceNode:
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
_asyncio_loop = None
_asyncio_loop_running = False
_asyncio_loop_thread = None
@classmethod
def get_asyncio_loop(cls):
return cls._asyncio_loop
@staticmethod
async def safe_task_wrapper(trace_callback, func, **kwargs):
try:
@@ -1833,6 +1857,11 @@ class ROS2DeviceNode:
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._asyncio_loop_running and ROS2DeviceNode._asyncio_loop_thread is not None:
pass
elif ROS2DeviceNode._asyncio_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__")
@@ -1924,6 +1953,17 @@ class ROS2DeviceNode:
except Exception as e:
self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
def _start_loop(self):
def run_event_loop():
loop = asyncio.new_event_loop()
ROS2DeviceNode._asyncio_loop = loop
asyncio.set_event_loop(loop)
loop.run_forever()
ROS2DeviceNode._asyncio_loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
ROS2DeviceNode._asyncio_loop_thread.start()
logger.info(f"循环线程已启动")
class DeviceInfoType(TypedDict):
id: str