feat: add outer resource

test/commands/resource_add.md

@@ -0,0 +1,5 @@
+使用plr_test.json启动，将Well加入Plate中
+
+```bash
+ros2 action send_goal /devices/host_node/add_resource_from_outer unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
+```

test/experiments/plr_test.json

@@ -6679,8 +6679,7 @@
                 "plate_well_11_3",
                 "plate_well_11_4",
                 "plate_well_11_5",
-                "plate_well_11_6",
-                "plate_well_11_7"
+                "plate_well_11_6"
             ],
             "parent": "deck",
             "type": "device",
@@ -10508,45 +10507,6 @@
                 "pending_liquids": [],
                 "liquid_history": []
             }
-        },
-        {
-            "id": "plate_well_11_7",
-            "name": "plate_well_11_7",
-            "sample_id": null,
-            "children": [],
-            "parent": "plate",
-            "type": "device",
-            "class": "",
-            "position": {
-                "x": 109.87,
-                "y": 7.77,
-                "z": 3.03
-            },
-            "config": {
-                "type": "Well",
-                "size_x": 6.86,
-                "size_y": 6.86,
-                "size_z": 10.67,
-                "rotation": {
-                    "x": 0,
-                    "y": 0,
-                    "z": 0,
-                    "type": "Rotation"
-                },
-                "category": "well",
-                "model": null,
-                "max_volume": 360,
-                "material_z_thickness": 0.5,
-                "compute_volume_from_height": null,
-                "compute_height_from_volume": null,
-                "bottom_type": "flat",
-                "cross_section_type": "circle"
-            },
-            "data": {
-                "liquids": [],
-                "pending_liquids": [],
-                "liquid_history": []
-            }
         }
     ],
     "links": []

unilabos/ros/nodes/base_device_node.py

@@ -15,7 +15,7 @@ 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_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
 from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr
 from unilabos.ros.msgs.message_converter import (
@@ -305,7 +305,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             res.response = ""
             return res
 
-        def append_resource(req: SerialCommand_Request, res):
+        def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
             # 物料传输到对应的node节点
             rclient = self.create_client(ResourceAdd, "/resources/add")
             rclient.wait_for_service()
@@ -314,7 +314,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             namespace = command_json["namespace"]
             bind_parent_id = command_json["bind_parent_id"]
             edge_device_id = command_json["edge_device_id"]
-            location = command_json["location"]
+            location = command_json["bind_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?
@@ -341,8 +341,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             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
+            return res
 
+        # noinspection PyTypeChecker
         self._service_server: Dict[str, Service] = {
             "query_host_name": self.create_service(
                 SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
@@ -571,27 +572,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             del future
 
             # 向Host更新物料当前状态
-            for k, v in goal.get_fields_and_field_types().items():
-                if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
-                    continue
-                self.lab_logger().info(f"更新资源状态: {k}")
-                r = ResourceUpdate.Request()
-                # 仅当action_kwargs[k]不为None时尝试转换
-                akv = action_kwargs[k]
-                apv = action_paramtypes[k]
-                final_type = get_type_class(apv)
-                if final_type is None:
-                    continue
-                try:
-                    r.resources = [
-                        convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
-                        for rs in convert_resources_from_type(akv, final_type)  # type: ignore  # FIXME  # 考虑反查到最大的
-                    ]
-                    response = await self._resource_clients["resource_update"].call_async(r)
-                    self.lab_logger().debug(f"资源更新结果: {response}")
-                except Exception as e:
-                    self.lab_logger().error(f"资源更新失败: {e}")
-                    self.lab_logger().error(traceback.format_exc())
+            if action_name != "add_resource_from_outer":
+                for k, v in goal.get_fields_and_field_types().items():
+                    if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
+                        continue
+                    self.lab_logger().info(f"更新资源状态: {k}")
+                    r = ResourceUpdate.Request()
+                    # 仅当action_kwargs[k]不为None时尝试转换
+                    akv = action_kwargs[k]
+                    apv = action_paramtypes[k]
+                    final_type = get_type_class(apv)
+                    if final_type is None:
+                        continue
+                    try:
+                        r.resources = [
+                            convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
+                            for rs in convert_resources_from_type(akv, final_type)  # type: ignore  # FIXME  # 考虑反查到最大的
+                        ]
+                        response = await self._resource_clients["resource_update"].call_async(r)
+                        self.lab_logger().debug(f"资源更新结果: {response}")
+                    except Exception as e:
+                        self.lab_logger().error(f"资源更新失败: {e}")
+                        self.lab_logger().error(traceback.format_exc())
 
             # 发布结果
             goal_handle.succeed()

unilabos/ros/nodes/presets/host_node.py

@@ -286,9 +286,10 @@ class HostNode(BaseROS2DeviceNode):
                     "y": bind_location.y,
                     "z": bind_location.z,
                 },
-                "other_calling_param": json.loads(other_calling_param),
+                "other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
             }, ensure_ascii=False)
             response = sclient.call(request)
+            pass
         pass
 
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None: