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container 添加和更新完成

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This commit is contained in:
Xuwznln
2025-06-15 17:37:38 +08:00
parent a354965f8e
commit f7db8d17c5
6 changed files with 79 additions and 27 deletions
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2
test/experiments/mock_devices/mock_all.json
View File

@@ -4,7 +4,7 @@
"id": "MockChiller1",
"name": "模拟冷却器",
"children": [
"MockContainerForChiller1"
],
"parent": null,
"type": "device",

16
unilabos/resources/container.py
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@@ -8,18 +8,21 @@ from unilabos.ros.msgs.message_converter import convert_from_ros_msg
class RegularContainer(object):
# 第一个参数必须是id传入
# noinspection PyShadowingBuiltins
def __init__(self, id: str, data: dict = None):
def __init__(self, id: str):
self.id = id
self.ulr_resource = Resource()
self.ulr_resource_data = data
self._data = None
@property
def ulr_resource_data(self):
return json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
if self._data is None:
self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
return self._data
@ulr_resource_data.setter
def ulr_resource_data(self, value: dict):
self.ulr_resource.data = json.dumps(value)
self._data = value
self.ulr_resource.data = json.dumps(self._data)
@property
def liquid_type(self):
@@ -48,6 +51,7 @@ class RegularContainer(object):
获取UlrResource对象
:return: UlrResource对象
"""
self.ulr_resource_data = self.ulr_resource_data # 确保数据被更新
return self.ulr_resource
def get_ulr_resource_as_dict(self) -> Resource:
@@ -55,7 +59,9 @@ class RegularContainer(object):
获取UlrResource对象
:return: UlrResource对象
"""
return convert_from_ros_msg(self.ulr_resource)
to_dict = convert_from_ros_msg(self.get_ulr_resource())
to_dict["type"] = "container"
return to_dict
def __str__(self):
return f"{self.id}"

5
unilabos/resources/graphio.py
View File

@@ -4,8 +4,10 @@ import json
from typing import Union
import numpy as np
import networkx as nx
from unilabos_msgs.msg import Resource
from unilabos.resources.container import RegularContainer
from unilabos.ros.msgs.message_converter import convert_from_ros_msg_with_mapping, convert_to_ros_msg
try:
from pylabrobot.resources.resource import Resource as ResourcePLR
@@ -469,7 +471,8 @@ def initialize_resource(resource_config: dict) -> list[dict]:
r["position"] = resource_config["position"]
r = tree_to_list([r])
elif resource_class_config["type"] == "unilabos":
res_instance: RegularContainer = RESOURCE(id=resource_config["name"], data=resource_config.get("data", {}))
res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
res_instance.ulr_resource = convert_to_ros_msg(Resource, {k:v for k,v in resource_config.items() if k != "class"})
r = [res_instance.get_ulr_resource_as_dict()]
elif isinstance(RESOURCE, dict):
r = [RESOURCE.copy()]

35
unilabos/ros/nodes/base_device_node.py
View File

@@ -19,6 +19,7 @@ from rclpy.service import Service
from unilabos_msgs.action import SendCmd
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unilabos.resources.container import RegularContainer
from unilabos.resources.graphio import (
convert_resources_to_type,
convert_resources_from_type,
@@ -343,9 +344,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
print("create container")
slot = other_calling_param.pop("slot", "-1")
resource = None
if slot != "-1": # slot为负数的时候采用assign方法
other_calling_param["slot"] = slot
# 本地拿到这个物料，可能需要先做初始化?
@@ -364,6 +364,28 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if initialize_full:
resources = initialize_resources([resources])
request.resources = [convert_to_ros_msg(Resource, resources)]
if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
container_instance = request.resources[0]
container_query_dict: dict = resources
found_resources = self.resource_tracker.figure_resource({"id": container_query_dict["name"]}, try_mode=True)
if not len(found_resources):
self.resource_tracker.add_resource(container_instance)
logger.info(f"添加物料{container_query_dict['name']}到资源跟踪器")
else:
assert len(found_resources) == 1, f"找到多个同名物料: {container_query_dict['name']}, 请检查物料系统"
resource = found_resources[0]
if isinstance(resource, Resource):
regular_container = RegularContainer(resource.id)
regular_container.ulr_resource = resource
regular_container.ulr_resource_data.update(json.loads(container_instance.data))
logger.info(f"更新物料{container_query_dict['name']}的数据{resource.data} ULR")
elif isinstance(resource, dict):
if "data" not in resource:
resource["data"] = {}
resource["data"].update(json.loads(container_instance.data))
logger.info(f"更新物料{container_query_dict['name']}的数据{resource['data']} dict")
else:
logger.info(f"更新物料{container_query_dict['name']}出现不支持的数据类型{type(resource)} {resource}")
response = rclient.call(request)
# 应该先add_resource了
res.response = "OK"
@@ -387,7 +409,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
res.response = serialize_result_info(traceback.format_exc(), False, {})
return res
# 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})
if bind_parent_id != self.node_name:
resource = self.resource_tracker.figure_resource({"name": bind_parent_id}) # 拿到父节点，进行具体assign等操作
# request.resources = [convert_to_ros_msg(Resource, resources)]
try:
@@ -437,7 +460,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
"bind_parent_id": bind_parent_id,
}
)
future = action_client.send_goal_async(goal, goal_uuid=uuid.uuid4())
future = action_client.send_goal_async(goal)
def done_cb(*args):
self.lab_logger().info(f"向meshmanager发送新增resource完成")
@@ -903,9 +926,9 @@ class ROS2DeviceNode:
from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
if self._driver_class is ROS2ProtocolNode:
self._driver_creator = ProtocolNodeCreator(driver_class, children=children)
self._driver_creator = ProtocolNodeCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
else:
self._driver_creator = DeviceClassCreator(driver_class)
self._driver_creator = DeviceClassCreator(driver_class, children=children, resource_tracker=self.resource_tracker)
if driver_is_ros:
driver_params["device_id"] = device_id

18
unilabos/ros/nodes/resource_tracker.py
View File

@@ -25,7 +25,7 @@ class DeviceNodeResourceTracker(object):
def clear_resource(self):
self.resources = []
def figure_resource(self, query_resource):
def figure_resource(self, query_resource, try_mode=False):
if isinstance(query_resource, list):
return [self.figure_resource(r) for r in query_resource]
res_id = query_resource.id if hasattr(query_resource, "id") else (query_resource.get("id") if isinstance(query_resource, dict) else None)
@@ -45,10 +45,14 @@ class DeviceNodeResourceTracker(object):
res_list.extend(
self.loop_find_resource(r, resource_cls_type, identifier_key, getattr(query_resource, identifier_key))
)
assert len(res_list) == 1, f"{query_resource} 找到多个资源，请检查资源是否唯一: {res_list}"
if not try_mode:
assert len(res_list) > 0, f"没有找到资源 {query_resource}，请检查资源是否存在"
assert len(res_list) == 1, f"{query_resource} 找到多个资源，请检查资源是否唯一: {res_list}"
else:
return [i[1] for i in res_list]
# 后续加入其他对比方式
self.resource2parent_resource[id(query_resource)] = res_list[0][0]
self.resource2parent_resource[id(res_list[0][1])] = res_list[0][0]
# 后续加入其他对比方式
return res_list[0][1]
def loop_find_resource(self, resource, target_resource_cls_type, identifier_key, compare_value, parent_res=None) -> List[Tuple[Any, Any]]:
@@ -57,8 +61,12 @@ class DeviceNodeResourceTracker(object):
children = getattr(resource, "children", [])
for child in children:
res_list.extend(self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource))
if target_resource_cls_type == type(resource) or target_resource_cls_type == dict:
if hasattr(resource, identifier_key):
if target_resource_cls_type == type(resource):
if target_resource_cls_type == dict:
if identifier_key in resource:
if resource[identifier_key] == compare_value:
res_list.append((parent_res, resource))
elif hasattr(resource, identifier_key):
if getattr(resource, identifier_key) == compare_value:
res_list.append((parent_res, resource))
return res_list

30
unilabos/ros/utils/driver_creator.py
View File

@@ -33,7 +33,7 @@ class DeviceClassCreator(Generic[T]):
这个类提供了从任意类创建实例的通用方法。
"""
def __init__(self, cls: Type[T]):
def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
"""
初始化设备类创建器
@@ -42,6 +42,18 @@ class DeviceClassCreator(Generic[T]):
"""
self.device_cls = cls
self.device_instance: Optional[T] = None
self.children = children
self.resource_tracker = resource_tracker
def attach_resource(self):
"""
附加资源到设备类实例
"""
if self.device_instance is not None:
for c in self.children.values():
if c["type"] == "container":
self.resource_tracker.add_resource(c)
def create_instance(self, data: Dict[str, Any]) -> T:
"""
@@ -60,6 +72,7 @@ class DeviceClassCreator(Generic[T]):
}
)
self.post_create()
self.attach_resource()
return self.device_instance
def get_instance(self) -> Optional[T]:
@@ -90,14 +103,15 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
cls: PyLabRobot设备类
children: 子资源字典，用于资源替换
"""
super().__init__(cls)
self.children = children
self.resource_tracker = resource_tracker
super().__init__(cls, children, resource_tracker)
# 检查类是否具有deserialize方法
self.has_deserialize = hasattr(cls, "deserialize") and callable(getattr(cls, "deserialize"))
if not self.has_deserialize:
logger.warning(f"类 {cls.__name__} 没有deserialize方法，将使用标准构造函数")
def attach_resource(self):
pass # 只能增加实例化物料，原来默认物料仅为字典查询
def _process_resource_mapping(self, resource, source_type):
if source_type == dict:
from pylabrobot.resources.resource import Resource
@@ -260,7 +274,7 @@ class ProtocolNodeCreator(DeviceClassCreator[T]):
这个类提供了针对ProtocolNode设备类的实例创建方法，处理children参数。
"""
def __init__(self, cls: Type[T], children: Dict[str, Any]):
def __init__(self, cls: Type[T], children: Dict[str, Any], resource_tracker: DeviceNodeResourceTracker):
"""
初始化ProtocolNode设备类创建器
@@ -268,8 +282,7 @@ class ProtocolNodeCreator(DeviceClassCreator[T]):
cls: ProtocolNode设备类
children: 子资源字典，用于资源替换
"""
super().__init__(cls)
self.children = children
super().__init__(cls, children, resource_tracker)
def create_instance(self, data: Dict[str, Any]) -> T:
"""
@@ -282,8 +295,7 @@ class ProtocolNodeCreator(DeviceClassCreator[T]):
ProtocolNode设备类实例
"""
try:
# 创建实例
# 创建实例，额外补充一个给protocol node的字段，后面考虑取消
data["children"] = self.children
self.device_instance = super(ProtocolNodeCreator, self).create_instance(data)
self.post_create()