修改消息转换

unilabos/devices/liquid_handling/prcxi/prcxi.py

@@ -442,7 +442,7 @@ class PRCXI9300TubeRack(TubeRack):
 
         # 清理临时数据
         del self._temp_ordering
-        
+
     def load_state(self, state: Dict[str, Any]) -> None:
         """从给定的状态加载工作台信息。"""
         # super().load_state(state)
@@ -1160,8 +1160,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
             protocol_name = f"protocol_{time.time()}"
         self.protocol_name = protocol_name
         self.steps_todo_list = []
-        matrices = self.api_client.matrix_by_id("5de524d0-3f95-406c-86dd-f83626ebc7cb")["WorkTablets"]
-        
+
         if not len(self.matrix_id):
             self.matrix_id = str(uuid.uuid4())
             
@@ -1224,17 +1223,17 @@ class PRCXI9300Backend(LiquidHandlerBackend):
                 print("PRCXI9300 error code cleared.")
                 self.api_client.call("IAutomation", "Stop")
                 # 执行重置
-                # print("Starting PRCXI9300 reset...")
-                # self.api_client.call("IAutomation", "Reset")
+                print("Starting PRCXI9300 reset...")
+                self.api_client.call("IAutomation", "Reset")
                 
-                # # 检查重置状态并等待完成
-                # while not self.is_reset_ok:
-                #     print("Waiting for PRCXI9300 to reset...")
-                #     if hasattr(self, '_ros_node') and self._ros_node is not None:
-                #         await self._ros_node.sleep(1)
-                #     else:
-                #         await asyncio.sleep(1)
-                # print("PRCXI9300 reset successfully.")
+                # 检查重置状态并等待完成
+                while not self.is_reset_ok:
+                    print("Waiting for PRCXI9300 to reset...")
+                    if hasattr(self, '_ros_node') and self._ros_node is not None:
+                        await self._ros_node.sleep(1)
+                    else:
+                        await asyncio.sleep(1)
+                print("PRCXI9300 reset successfully.")
                 
                 self.api_client.update_clamp_jaw_position(self.matrix_id, self.plate_positions)
 

unilabos/ros/msgs/message_converter.py

@@ -374,9 +374,35 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
                     setattr(ros_msg, key, [])  # FIXME
             elif "array.array" in str(type(attr)):
                 if attr.typecode == "f" or attr.typecode == "d":
+                    # 如果是单个值，转换为列表
+                    if value is None:
+                        value = []
+                    elif not isinstance(value, Iterable) or isinstance(value, (str, bytes)):
+                        value = [value]
                     setattr(ros_msg, key, [float(i) for i in value])
                 else:
-                    setattr(ros_msg, key, value)
+                    # 对于整数数组，需要确保是序列且每个值在有效范围内
+                    if value is None:
+                        value = []
+                    elif not isinstance(value, Iterable) or isinstance(value, (str, bytes)):
+                        # 如果是单个值，转换为列表
+                        value = [value]
+                    # 确保每个整数值在有效范围内（-2147483648 到 2147483647）
+                    converted_value = []
+                    for i in value:
+                        if i is None:
+                            continue  # 跳过 None 值
+                        if isinstance(i, (int, float)):
+                            int_val = int(i)
+                            # 确保在 int32 范围内
+                            if int_val < -2147483648:
+                                int_val = -2147483648
+                            elif int_val > 2147483647:
+                                int_val = 2147483647
+                            converted_value.append(int_val)
+                        else:
+                            converted_value.append(i)
+                    setattr(ros_msg, key, converted_value)
             else:
                 nested_ros_msg = convert_to_ros_msg(type(attr)(), value)
                 setattr(ros_msg, key, nested_ros_msg)