open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-08 07:55:12 +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

68
unilabos/ros/nodes/presets/host_node.py
View File

@@ -5,7 +5,8 @@ import threading
import time
import traceback
import uuid
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
from typing_extensions import TypedDict
from action_msgs.msg import GoalStatus
from geometry_msgs.msg import Point
@@ -62,6 +63,18 @@ class TestResourceReturn(TypedDict):
devices: List[DeviceSlot]
class TestLatencyReturn(TypedDict):
"""test_latency方法的返回值类型"""
avg_rtt_ms: float
avg_time_diff_ms: float
max_time_error_ms: float
task_delay_ms: float
raw_delay_ms: float
test_count: int
status: str
class HostNode(BaseROS2DeviceNode):
"""
主机节点类，负责管理设备、资源和控制器
@@ -795,6 +808,7 @@ class HostNode(BaseROS2DeviceNode):
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}: {str(goal_msg)[:1000]}")
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
action_client.wait_for_server()
goal_uuid_obj = UUID(uuid=list(u.bytes))
@@ -853,8 +867,13 @@ class HostNode(BaseROS2DeviceNode):
# 适配后端的一些额外处理
return_value = return_info.get("return_value")
if isinstance(return_value, dict):
unilabos_samples = return_info.get("unilabos_samples")
if isinstance(unilabos_samples, list):
unilabos_samples = return_value.pop("unilabos_samples", None)
if isinstance(unilabos_samples, list) and unilabos_samples:
self.lab_logger().info(
f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
f"{'...' if len(unilabos_samples) > 5 else ''}"
)
return_info["unilabos_samples"] = unilabos_samples
suc = return_info.get("suc", False)
if not suc:
@@ -881,7 +900,7 @@ class HostNode(BaseROS2DeviceNode):
# 清理 _goals 中的记录
if job_id in self._goals:
del self._goals[job_id]
self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals")
# 存储结果供 HTTP API 查询
try:
@@ -1326,10 +1345,20 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
return response
def test_latency(self):
def test_latency(self) -> TestLatencyReturn:
"""
测试网络延迟的action实现
通过5次ping-pong机制校对时间误差并计算实际延迟
Returns:
TestLatencyReturn: 包含延迟测试结果的字典，包括：
- avg_rtt_ms: 平均往返时间（毫秒）
- avg_time_diff_ms: 平均时间差（毫秒）
- max_time_error_ms: 最大时间误差（毫秒）
- task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算
- raw_delay_ms: 原始时间差（毫秒），-1表示无法计算
- test_count: 有效测试次数
- status: 测试状态，"success"表示成功，"all_timeout"表示全部超时
"""
import uuid as uuid_module
@@ -1392,7 +1421,15 @@ class HostNode(BaseROS2DeviceNode):
if not ping_results:
self.lab_logger().error("❌ 所有ping-pong测试都失败了")
return {"status": "all_timeout"}
return {
"avg_rtt_ms": -1.0,
"avg_time_diff_ms": -1.0,
"max_time_error_ms": -1.0,
"task_delay_ms": -1.0,
"raw_delay_ms": -1.0,
"test_count": 0,
"status": "all_timeout",
}
# 统计分析
rtts = [r["rtt_ms"] for r in ping_results]
@@ -1400,7 +1437,7 @@ class HostNode(BaseROS2DeviceNode):
avg_rtt_ms = sum(rtts) / len(rtts)
avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs)))
self.lab_logger().info("-" * 50)
self.lab_logger().info("[测试统计]")
@@ -1440,7 +1477,7 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info("=" * 60)
return {
res: TestLatencyReturn = {
"avg_rtt_ms": avg_rtt_ms,
"avg_time_diff_ms": avg_time_diff_ms,
"max_time_error_ms": max_time_diff_error_ms,
@@ -1451,9 +1488,14 @@ class HostNode(BaseROS2DeviceNode):
"test_count": len(ping_results),
"status": "success",
}
return res
def test_resource(
self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None
self,
resource: ResourceSlot = None,
resources: List[ResourceSlot] = None,
device: DeviceSlot = None,
devices: List[DeviceSlot] = None,
) -> TestResourceReturn:
if resources is None:
resources = []
@@ -1514,7 +1556,9 @@ class HostNode(BaseROS2DeviceNode):
# 构建服务地址
srv_address = f"/srv{namespace}/s2c_resource_tree"
self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------")
self.lab_logger().trace(
f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------"
)
# 创建服务客户端
sclient = self.create_client(SerialCommand, srv_address)
@@ -1549,7 +1593,9 @@ class HostNode(BaseROS2DeviceNode):
time.sleep(0.05)
response = future.result()
self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------")
self.lab_logger().trace(
f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------"
)
return True
except Exception as e:

63
unilabos/ros/nodes/presets/workstation.py
View File

@@ -6,8 +6,6 @@ from typing import List, Dict, Any, Optional, TYPE_CHECKING
import rclpy
from rosidl_runtime_py import message_to_ordereddict
from unilabos_msgs.msg import Resource
from unilabos_msgs.srv import ResourceUpdate
from unilabos.messages import * # type: ignore # protocol names
from rclpy.action import ActionServer, ActionClient
@@ -15,7 +13,6 @@ from rclpy.action.server import ServerGoalHandle
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unilabos.compile import action_protocol_generators
from unilabos.resources.graphio import nested_dict_to_list
from unilabos.ros.initialize_device import initialize_device_from_dict
from unilabos.ros.msgs.message_converter import (
get_action_type,
@@ -231,15 +228,15 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
try:
# 统一处理单个或多个资源
resource_id = (
protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
protocol_kwargs[k]["id"]
if v == "unilabos_msgs/Resource"
else protocol_kwargs[k][0]["id"]
)
resource_uuid = protocol_kwargs[k].get("uuid", None)
r = SerialCommand_Request()
r.command = json.dumps({"id": resource_id, "uuid": resource_uuid, "with_children": True})
# 发送请求并等待响应
response: SerialCommand_Response = await self._resource_clients[
"resource_get"
].call_async(
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(
r
) # type: ignore
raw_data = json.loads(response.response)
@@ -307,12 +304,52 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
# 向Host更新物料当前状态
for k, v in goal.get_fields_and_field_types().items():
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
r = ResourceUpdate.Request()
r.resources = [
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
]
response = await self._resource_clients["resource_update"].call_async(r)
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
continue
self.lab_logger().info(f"更新资源状态: {k}")
try:
# 去重：使用 seen 集合获取唯一的资源对象
seen = set()
unique_resources = []
# 获取资源数据，统一转换为列表
resource_data = protocol_kwargs[k]
is_sequence = v != "unilabos_msgs/Resource"
if not is_sequence:
resource_list = [resource_data] if isinstance(resource_data, dict) else resource_data
else:
# 处理序列类型，可能是嵌套列表
resource_list = []
if isinstance(resource_data, list):
for item in resource_data:
if isinstance(item, list):
resource_list.extend(item)
else:
resource_list.append(item)
else:
resource_list = [resource_data]
for res_data in resource_list:
if not isinstance(res_data, dict):
continue
res_name = res_data.get("id") or res_data.get("name")
if not res_name:
continue
# 使用 resource_tracker 获取本地 PLR 实例
plr = self.resource_tracker.figure_resource({"name": res_name}, try_mode=False)
# 获取父资源
res = self.resource_tracker.parent_resource(plr)
if id(res) not in seen:
seen.add(id(res))
unique_resources.append(res)
# 使用新的资源树接口更新
if unique_resources:
await self.update_resource(unique_resources)
except Exception as e:
self.lab_logger().error(f"资源更新失败: {e}")
self.lab_logger().error(traceback.format_exc())
# 设置成功状态和返回值
execution_success = True