feat: add more necessary params

unilabos/app/main.py

@@ -77,9 +77,9 @@ def parse_args():
     )
     parser.add_argument(
         "--visual",
-        choices=["rviz", "web", "disable"],
+        choices=["rviz", "web", "deck", "disable"],
         default="disable",
-        help="选择可视化工具: rviz, web",
+        help="选择可视化工具: rviz, web, deck(2D bird view)",
     )
     return parser.parse_args()
 
@@ -179,7 +179,7 @@ def main():
         signal.signal(signal.SIGTERM, _exit)
         mqtt_client.start()
     args_dict["resources_mesh_config"] = {}
-
+    # web visiualize 2D
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
         if devices_and_resources is not None:

unilabos/registry/registry.py

@@ -37,6 +37,9 @@ class Registry:
                             "goal": {
                                 "resources": "resources",
                                 "device_ids": "device_ids",
+                                "bind_parent_ids": "bind_parent_ids",
+                                "bind_locations": "bind_locations",
+                                "other_calling_params": "other_calling_params",
                             },
                             "feedback": {},
                             "result": {

unilabos/resources/registry.py

@@ -1,5 +1,5 @@
-import sys
-
+import traceback
+from unilabos.utils.log import logger
 
 resource_schema = {
     "workstation": {"type": "object", "properties": {}},
@@ -132,7 +132,8 @@ def add_schema(resources_config: list[dict]) -> list[dict]:
             try:
                 if type(resource["children"][0]) == dict:
                     resource["children"] = add_schema(resource["children"])
-            except:
-                sys.exit(0)
+            except Exception as ex:
+                logger.error("添加物料schema时出错")
+                traceback.print_exc()
 
     return resources_config

unilabos/ros/nodes/base_device_node.py

@@ -15,8 +15,9 @@ from rclpy.action.server import ServerGoalHandle
 from rclpy.client import Client
 from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.service import Service
+from unilabos_msgs.srv._serial_command import SerialCommand_Request
 
-from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
+from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
@@ -304,7 +305,42 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             res.response = ""
             return res
 
-        def append_resource(req, res):
+        def append_resource(req: SerialCommand_Request, res):
+            # 物料传输到对应的node节点
+            rclient = self.create_client(ResourceAdd, "/resources/add")
+            rclient.wait_for_service()
+            request = ResourceAdd.Request()
+            command_json = json.loads(req.command)
+            namespace = command_json["namespace"]
+            bind_parent_id = command_json["bind_parent_id"]
+            edge_device_id = command_json["edge_device_id"]
+            location = command_json["location"]
+            other_calling_param = command_json["other_calling_param"]
+            resources = command_json["resource"]
+            # 本地拿到这个物料，可能需要先做初始化?
+            if isinstance(resources, list):
+                request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
+            else:
+                request.resources = [convert_to_ros_msg(Resource, resources)]
+            response = rclient.call(request)
+            # 应该本地先add_resource？
+            res.response = "OK"
+            # 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
+            resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
+            try:
+                from pylabrobot.resources.resource import Resource as ResourcePLR
+                from pylabrobot.resources.deck import Deck
+                from pylabrobot.resources import Coordinate
+                contain_model = not isinstance(resource, Deck)
+                if isinstance(resource, ResourcePLR):
+                    # resources.list()
+                    plr_instance = resource_ulab_to_plr(resources, contain_model)
+                    resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
+            except ImportError:
+                self.lab_logger().error("Host请求添加物料时，本环境并不存在pylabrobot")
+            except Exception as e:
+                self.lab_logger().error("Host请求添加物料时出错")
+                self.lab_logger().error(traceback.format_exc())
             pass
 
         self._service_server: Dict[str, Service] = {

unilabos/ros/nodes/presets/host_node.py

@@ -7,6 +7,7 @@ import uuid
 from typing import Optional, Dict, Any, List, ClassVar, Set
 
 from action_msgs.msg import GoalStatus
+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
@@ -267,21 +268,27 @@ class HostNode(BaseROS2DeviceNode):
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
-    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str]):
-        for resource, device_id, bind_parent_id in zip(resources, device_ids, bind_parent_ids):
+    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
+        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):
             # 这里要求device_id传入必须是edge_device_id
             namespace = "/devices/" + device_id
             srv_address = f"/srv{namespace}/append_resource"
             sclient = self.create_client(SerialCommand, srv_address)
+            sclient.wait_for_service()
             request = SerialCommand.Request()
             request.command = json.dumps({
-                "machine_name": BasicConfig.machine_name,
-                "type": "slave",
-                "devices_config": devices_config_copy,
-                "registry_config": lab_registry.obtain_registry_device_info()
-            }, ensure_ascii=False, cls=TypeEncoder)
+                "resource": resource,
+                "namespace": namespace,
+                "edge_device_id": device_id,
+                "bind_parent_id": bind_parent_id,
+                "bind_location": {
+                    "x": bind_location.x,
+                    "y": bind_location.y,
+                    "z": bind_location.z,
+                },
+                "other_calling_param": json.loads(other_calling_param),
+            }, ensure_ascii=False)
             response = sclient.call(request)
-            print("111")
         pass
 
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:

unilabos_msgs/action/ResourceCreateFromOuter.action

@@ -1,6 +1,8 @@
 Resource[] resources
 string[] device_ids
 string[] bind_parent_ids
+geometry_msgs/Point[] bind_locations
+string[] other_calling_params
 ---
 bool success
 ---