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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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35
unilabos/ros/nodes/base_device_node.py
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@@ -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