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feat: add outer resource

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This commit is contained in:
wznln
2025-05-06 21:57:34 +08:00
parent de28c50d8b
commit ed2858a610
4 changed files with 35 additions and 67 deletions
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52
unilabos/ros/nodes/base_device_node.py
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@@ -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()