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