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12 Commits
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0c42d60cf2 |
@@ -111,8 +111,8 @@ new_device: # 设备名，要唯一
|
||||
|
||||
1. 以 `auto-` 开头的动作：从你 Python 类的方法自动生成
|
||||
2. 通用的驱动动作：
|
||||
- `_execute_driver_command`：同步执行驱动命令
|
||||
- `_execute_driver_command_async`：异步执行驱动命令
|
||||
- `_execute_driver_command`：同步执行驱动命令（仅本地可用）
|
||||
- `_execute_driver_command_async`：异步执行驱动命令（仅本地可用）
|
||||
|
||||
### 如果要手动定义动作
|
||||
|
||||
|
||||
181
test/resources/bioyond_materials_liquidhandling_1.json
Normal file
181
test/resources/bioyond_materials_liquidhandling_1.json
Normal file
@@ -0,0 +1,181 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1c62c4-c3d2-b803-b72d-7f1153ffef3b",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00050",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 287.16699029126215,
|
||||
"lockQuantity": 285.16699029126215,
|
||||
"unit": "毫升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-efce-0939-69ca5a7dfd39",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0008",
|
||||
"x": 2,
|
||||
"y": 4,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-0e03-1bc1-1296-dae1905c4108",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00052",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 386.8990291262136,
|
||||
"lockQuantity": 45.89902912621359,
|
||||
"unit": "毫升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-f3e7-871a-e470d144296f",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0005",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-0e03-68a4-bcb3-02fc6ba72d1b",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00053",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 400.0,
|
||||
"lockQuantity": 0.0,
|
||||
"unit": "",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0006",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-d850-5439-4499f20f07fe",
|
||||
"typeName": "分装板",
|
||||
"code": "0007-00185",
|
||||
"barCode": "",
|
||||
"name": "1010",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 2.0,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0009",
|
||||
"x": 3,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-28a4-f5d0-f7e2436c575f",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-94ae-f770-27847e73ad38",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-3ed6-3607-133df89baf5b",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-f2fa-66bf-94c565d852fb",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-72b6-e015-be7b93cf09eb",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-81cf-7dad-2e51cab9ffd6",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-81d3-ad30-48134afc9ce7",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-3fa1-cc72-fda6276ae38d",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-dbdf-d966-9a8926fe1e06",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-c632-c7da-02d385b18628",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-f099-b260-e3089a2d08c3",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-561f-73b6-f8501f814dbb",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
216
test/resources/bioyond_materials_liquidhandling_2.json
Normal file
216
test/resources/bioyond_materials_liquidhandling_2.json
Normal file
@@ -0,0 +1,216 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00407",
|
||||
"barCode": "",
|
||||
"name": "ODA",
|
||||
"quantity": 25.0,
|
||||
"lockQuantity": 2.0,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-7887-9258-e8f8ab7c8a7a",
|
||||
"typeName": "样品板",
|
||||
"code": "0008-00160",
|
||||
"barCode": "",
|
||||
"name": "1010sample",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 27.69187,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0002",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cde21-a4f4-0339-f2b6-8e680ad7e8c7",
|
||||
"detailMaterialId": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
|
||||
"code": null,
|
||||
"name": "MPDA",
|
||||
"quantity": "10.505",
|
||||
"lockQuantity": "-0.0174",
|
||||
"unit": "克",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-a21a-23cf-bb7857b41947",
|
||||
"detailMaterialId": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
|
||||
"code": null,
|
||||
"name": "ODA",
|
||||
"quantity": "1.795",
|
||||
"lockQuantity": "2.0093",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-af1b-ba0b-2874836800e9",
|
||||
"detailMaterialId": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
|
||||
"code": null,
|
||||
"name": "ODA",
|
||||
"quantity": "25",
|
||||
"lockQuantity": "2",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00406",
|
||||
"barCode": "",
|
||||
"name": "ODA",
|
||||
"quantity": 1.795,
|
||||
"lockQuantity": 2.00927,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00408",
|
||||
"barCode": "",
|
||||
"name": "MPDA",
|
||||
"quantity": 10.505,
|
||||
"lockQuantity": -0.0174,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92a-08f6-c822-732ab734154c",
|
||||
"typeName": "样品板",
|
||||
"code": "0008-00161",
|
||||
"barCode": "",
|
||||
"name": "1010sample2",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 3.0,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cdeff-c92b-3ace-9623-0bcdef6fa07d",
|
||||
"detailMaterialId": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
|
||||
"code": null,
|
||||
"name": "BTDA1",
|
||||
"quantity": "0.362",
|
||||
"lockQuantity": "14.494",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-856e-f481-792b91b6dbde",
|
||||
"detailMaterialId": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
|
||||
"code": null,
|
||||
"name": "BTDA3",
|
||||
"quantity": "1.935",
|
||||
"lockQuantity": "13.067",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-d144-c5e5-ab9d94e21187",
|
||||
"detailMaterialId": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
|
||||
"code": null,
|
||||
"name": "BTDA2",
|
||||
"quantity": "1.903",
|
||||
"lockQuantity": "13.035",
|
||||
"unit": "克",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00411",
|
||||
"barCode": "",
|
||||
"name": "BTDA3",
|
||||
"quantity": 1.935,
|
||||
"lockQuantity": 13.067,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00410",
|
||||
"barCode": "",
|
||||
"name": "BTDA2",
|
||||
"quantity": 1.903,
|
||||
"lockQuantity": 13.035,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00409",
|
||||
"barCode": "",
|
||||
"name": "BTDA1",
|
||||
"quantity": 0.362,
|
||||
"lockQuantity": 14.494,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
}
|
||||
]
|
||||
@@ -1,5 +1,4 @@
|
||||
{
|
||||
"data": [
|
||||
[
|
||||
{
|
||||
"id": "3a1c67a9-aed7-b94d-9e24-bfdf10c8baa9",
|
||||
"typeName": "烧杯",
|
||||
@@ -191,8 +190,4 @@
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"code": 1,
|
||||
"message": "",
|
||||
"timestamp": 1758560573511
|
||||
}
|
||||
]
|
||||
@@ -2,6 +2,7 @@ import pytest
|
||||
import json
|
||||
import os
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
@@ -13,23 +14,63 @@ lab_registry.setup()
|
||||
type_mapping = {
|
||||
"烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6VialCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6StockCarrier",
|
||||
"分装板": "BIOYOND_PolymerStation_6VialCarrier",
|
||||
"样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
|
||||
"90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
|
||||
"10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
|
||||
}
|
||||
|
||||
type_uuid_mapping = {
|
||||
"烧杯": "",
|
||||
"试剂瓶": "",
|
||||
"样品板": "",
|
||||
"分装板": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
|
||||
"样品瓶": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
|
||||
"90%分装小瓶": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
|
||||
"10%分装小瓶": "3a14196c-76be-2279-4e22-7310d69aed68",
|
||||
}
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bioyond_materials() -> list[dict]:
|
||||
def bioyond_materials_reaction() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)["data"]
|
||||
with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
def test_bioyond_to_plr(bioyond_materials) -> list[dict]:
|
||||
@pytest.fixture
|
||||
def bioyond_materials_liquidhandling_1() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bioyond_materials_liquidhandling_2() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
@pytest.mark.parametrize("materials_fixture", [
|
||||
"bioyond_materials_reaction",
|
||||
"bioyond_materials_liquidhandling_1",
|
||||
])
|
||||
def test_bioyond_to_plr(materials_fixture, request) -> list[dict]:
|
||||
materials = request.getfixturevalue(materials_fixture)
|
||||
deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
|
||||
print("将 BioYond 物料数据转换为 PLR 格式...")
|
||||
output = resource_bioyond_to_plr(bioyond_materials, type_mapping=type_mapping, deck=deck)
|
||||
output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
|
||||
print(deck.summary())
|
||||
print([resource.serialize() for resource in output])
|
||||
print([resource.serialize_all_state() for resource in output])
|
||||
json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
|
||||
|
||||
@@ -45,7 +45,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
for i, arg in enumerate(sys.argv):
|
||||
for option_string in option_strings:
|
||||
if arg.startswith(option_string):
|
||||
new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
|
||||
new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
|
||||
sys.argv[i] = new_arg
|
||||
break
|
||||
|
||||
|
||||
@@ -155,11 +155,12 @@ class BioyondWorkstation(WorkstationBase):
|
||||
"resources": [self.deck]
|
||||
})
|
||||
|
||||
def transfer_resource_to_another(self, resource: ResourceSlot, mount_device_id: DeviceSlot, mount_resource: ResourceSlot):
|
||||
def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
|
||||
ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
|
||||
"plr_resources": [resource],
|
||||
"plr_resources": resource,
|
||||
"target_device_id": mount_device_id,
|
||||
"target_resource_uuid": getattr(mount_resource, "unilabos_uuid", None),
|
||||
"target_resources": mount_resource,
|
||||
"sites": sites,
|
||||
})
|
||||
|
||||
def _configure_station_type(self, station_config: Optional[Dict[str, Any]] = None) -> None:
|
||||
|
||||
@@ -889,6 +889,7 @@ dispensing_station.bioyond:
|
||||
mount_device_id: null
|
||||
mount_resource: null
|
||||
resource: null
|
||||
sites: null
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
mount_device_id: unilabos_devices
|
||||
@@ -904,155 +905,164 @@ dispensing_station.bioyond:
|
||||
mount_device_id:
|
||||
type: object
|
||||
mount_resource:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
items:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: mount_resource
|
||||
type: object
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: mount_resource
|
||||
type: object
|
||||
type: array
|
||||
resource:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
items:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: resource
|
||||
type: object
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: resource
|
||||
type: object
|
||||
type: array
|
||||
sites:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
required:
|
||||
- resource
|
||||
- mount_device_id
|
||||
- mount_resource
|
||||
- sites
|
||||
- mount_device_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
|
||||
@@ -883,6 +883,7 @@ reaction_station.bioyond:
|
||||
mount_device_id: null
|
||||
mount_resource: null
|
||||
resource: null
|
||||
sites: null
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
mount_device_id: unilabos_devices
|
||||
@@ -898,155 +899,164 @@ reaction_station.bioyond:
|
||||
mount_device_id:
|
||||
type: object
|
||||
mount_resource:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
items:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: mount_resource
|
||||
type: object
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: mount_resource
|
||||
type: object
|
||||
type: array
|
||||
resource:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
items:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: resource
|
||||
type: object
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: resource
|
||||
type: object
|
||||
type: array
|
||||
sites:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
required:
|
||||
- resource
|
||||
- mount_device_id
|
||||
- mount_resource
|
||||
- sites
|
||||
- mount_device_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
|
||||
@@ -7134,6 +7134,7 @@ workstation.bioyond:
|
||||
mount_device_id: null
|
||||
mount_resource: null
|
||||
resource: null
|
||||
sites: null
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
mount_device_id: unilabos_devices
|
||||
@@ -7149,155 +7150,164 @@ workstation.bioyond:
|
||||
mount_device_id:
|
||||
type: object
|
||||
mount_resource:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
items:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: mount_resource
|
||||
type: object
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: mount_resource
|
||||
type: object
|
||||
type: array
|
||||
resource:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
items:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: resource
|
||||
type: object
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: resource
|
||||
type: object
|
||||
type: array
|
||||
sites:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
required:
|
||||
- resource
|
||||
- mount_device_id
|
||||
- mount_resource
|
||||
- sites
|
||||
- mount_device_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
|
||||
@@ -7,14 +7,17 @@ import importlib
|
||||
from pathlib import Path
|
||||
from typing import Any, Dict, List, Union, Tuple
|
||||
|
||||
import msgcenterpy
|
||||
import yaml
|
||||
from unilabos_msgs.msg import Resource
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list
|
||||
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String, \
|
||||
ros_message_to_json_schema
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
msg_converter_manager,
|
||||
ros_action_to_json_schema,
|
||||
String,
|
||||
ros_message_to_json_schema,
|
||||
)
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.decorator import singleton
|
||||
from unilabos.utils.import_manager import get_enhanced_class_info, get_class
|
||||
@@ -22,6 +25,7 @@ from unilabos.utils.type_check import NoAliasDumper
|
||||
|
||||
DEFAULT_PATHS = [Path(__file__).absolute().parent]
|
||||
|
||||
|
||||
class ROSMsgNotFound(Exception):
|
||||
pass
|
||||
|
||||
@@ -51,6 +55,7 @@ class Registry:
|
||||
"ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
|
||||
)
|
||||
self.EmptyIn = self._replace_type_with_class("EmptyIn", "host_node", f"")
|
||||
self.StrSingleInput = self._replace_type_with_class("StrSingleInput", "host_node", f"")
|
||||
self.device_type_registry = {}
|
||||
self.device_module_to_registry = {}
|
||||
self.resource_type_registry = {}
|
||||
@@ -137,13 +142,53 @@ class Registry:
|
||||
"type": self.EmptyIn,
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
|
||||
"result": {},
|
||||
"schema": ros_action_to_json_schema(
|
||||
self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
|
||||
),
|
||||
"goal_default": {},
|
||||
"handles": {},
|
||||
},
|
||||
"auto-test_resource": {
|
||||
"type": "UniLabJsonCommand",
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": {
|
||||
"description": "",
|
||||
"properties": {
|
||||
"feedback": {},
|
||||
"goal": {
|
||||
"properties": {
|
||||
"resource": ros_message_to_json_schema(Resource, "resource"),
|
||||
"resources": {
|
||||
"items": {
|
||||
"properties": ros_message_to_json_schema(
|
||||
Resource, "resources"
|
||||
),
|
||||
"type": "object",
|
||||
},
|
||||
"type": "array",
|
||||
},
|
||||
"device": {"type": "string"},
|
||||
"devices": {"items": {"type": "string"}, "type": "array"},
|
||||
},
|
||||
"type": "object",
|
||||
},
|
||||
"result": {},
|
||||
},
|
||||
"title": "test_resource",
|
||||
"type": "object",
|
||||
},
|
||||
"placeholder_keys": {
|
||||
"device": "unilabos_devices",
|
||||
"devices": "unilabos_devices",
|
||||
"resource": "unilabos_resources",
|
||||
"resources": "unilabos_resources",
|
||||
},
|
||||
"goal_default": {},
|
||||
"handles": {},
|
||||
},
|
||||
},
|
||||
},
|
||||
"version": "1.0.0",
|
||||
@@ -157,6 +202,8 @@ class Registry:
|
||||
}
|
||||
}
|
||||
)
|
||||
# 为host_node添加内置的驱动命令动作
|
||||
self._add_builtin_actions(self.device_type_registry["host_node"], "host_node")
|
||||
logger.trace(f"[UniLab Registry] ----------Setup----------")
|
||||
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
|
||||
for i, path in enumerate(self.registry_paths):
|
||||
@@ -431,8 +478,15 @@ class Registry:
|
||||
param_required = arg_info.get("required", True)
|
||||
if param_type == "unilabos.registry.placeholder_type:ResourceSlot":
|
||||
schema["properties"][param_name] = ros_message_to_json_schema(Resource, param_name)
|
||||
elif param_type == ("list", "unilabos.registry.placeholder_type:ResourceSlot"):
|
||||
schema["properties"][param_name] = {
|
||||
"items": ros_message_to_json_schema(Resource, param_name),
|
||||
"type": "array",
|
||||
}
|
||||
else:
|
||||
schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
|
||||
schema["properties"][param_name] = self._generate_schema_from_info(
|
||||
param_name, param_type, param_default
|
||||
)
|
||||
if param_required:
|
||||
schema["required"].append(param_name)
|
||||
|
||||
@@ -444,6 +498,43 @@ class Registry:
|
||||
"required": ["goal"],
|
||||
}
|
||||
|
||||
def _add_builtin_actions(self, device_config: Dict[str, Any], device_id: str):
|
||||
"""
|
||||
为设备配置添加内置的执行驱动命令动作
|
||||
|
||||
Args:
|
||||
device_config: 设备配置字典
|
||||
device_id: 设备ID
|
||||
"""
|
||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||
|
||||
if "class" not in device_config:
|
||||
return
|
||||
|
||||
if "action_value_mappings" not in device_config["class"]:
|
||||
device_config["class"]["action_value_mappings"] = {}
|
||||
|
||||
for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]:
|
||||
device_config["class"]["action_value_mappings"][additional_action] = {
|
||||
"type": self._replace_type_with_class("StrSingleInput", device_id, f"动作 {additional_action}"),
|
||||
"goal": {"string": "string"},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": ros_action_to_json_schema(
|
||||
self._replace_type_with_class("StrSingleInput", device_id, f"动作 {additional_action}")
|
||||
),
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(
|
||||
get_yaml_from_goal_type(
|
||||
self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
).Goal
|
||||
)
|
||||
)
|
||||
),
|
||||
"handles": {},
|
||||
}
|
||||
|
||||
def load_device_types(self, path: os.PathLike, complete_registry: bool):
|
||||
# return
|
||||
abs_path = Path(path).absolute()
|
||||
@@ -505,7 +596,9 @@ class Registry:
|
||||
status_type = "String" # 替换成ROS的String，便于显示
|
||||
device_config["class"]["status_types"][status_name] = status_type
|
||||
try:
|
||||
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
|
||||
target_type = self._replace_type_with_class(
|
||||
status_type, device_id, f"状态 {status_name}"
|
||||
)
|
||||
except ROSMsgNotFound:
|
||||
continue
|
||||
if target_type in [
|
||||
@@ -543,10 +636,22 @@ class Registry:
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": [],
|
||||
"placeholder_keys": {
|
||||
i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" else "unilabos_devices"
|
||||
i["name"]: (
|
||||
"unilabos_resources"
|
||||
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
|
||||
or i["type"]
|
||||
== ("list", "unilabos.registry.placeholder_type:ResourceSlot")
|
||||
else "unilabos_devices"
|
||||
)
|
||||
for i in v["args"]
|
||||
if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot"]
|
||||
}
|
||||
if i.get("type", "")
|
||||
in [
|
||||
"unilabos.registry.placeholder_type:ResourceSlot",
|
||||
"unilabos.registry.placeholder_type:DeviceSlot",
|
||||
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
|
||||
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
|
||||
]
|
||||
},
|
||||
}
|
||||
# 不生成已配置action的动作
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
@@ -605,30 +710,8 @@ class Registry:
|
||||
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
||||
for additional_action in ["_execute_driver_command", "_execute_driver_command_async"]:
|
||||
device_config["class"]["action_value_mappings"][additional_action] = {
|
||||
"type": self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
),
|
||||
"goal": {"string": "string"},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": ros_action_to_json_schema(
|
||||
self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
)
|
||||
),
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(
|
||||
get_yaml_from_goal_type(
|
||||
self._replace_type_with_class(
|
||||
"StrSingleInput", device_id, f"动作 {additional_action}"
|
||||
).Goal
|
||||
)
|
||||
)
|
||||
),
|
||||
"handles": {},
|
||||
}
|
||||
# 添加内置的驱动命令动作
|
||||
self._add_builtin_actions(device_config, device_id)
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
device_config["registry_type"] = "device"
|
||||
logger.trace( # type: ignore
|
||||
@@ -652,7 +735,16 @@ class Registry:
|
||||
device_info_copy = copy.deepcopy(device_info)
|
||||
if "class" in device_info_copy and "action_value_mappings" in device_info_copy["class"]:
|
||||
action_mappings = device_info_copy["class"]["action_value_mappings"]
|
||||
for action_name, action_config in action_mappings.items():
|
||||
# 过滤掉内置的驱动命令动作
|
||||
builtin_actions = ["_execute_driver_command", "_execute_driver_command_async"]
|
||||
filtered_action_mappings = {
|
||||
action_name: action_config
|
||||
for action_name, action_config in action_mappings.items()
|
||||
if action_name not in builtin_actions
|
||||
}
|
||||
device_info_copy["class"]["action_value_mappings"] = filtered_action_mappings
|
||||
|
||||
for action_name, action_config in filtered_action_mappings.items():
|
||||
if "schema" in action_config and action_config["schema"]:
|
||||
schema = action_config["schema"]
|
||||
# 确保schema结构存在
|
||||
|
||||
@@ -34,3 +34,16 @@ BIOYOND_PolymerStation_6VialCarrier:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_6StockCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6StockCarrier
|
||||
type: pylabrobot
|
||||
description: BIOYOND_PolymerStation_6StockCarrier
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
|
||||
24
unilabos/registry/resources/bioyond/bottles.yaml
Normal file
24
unilabos/registry/resources/bioyond/bottles.yaml
Normal file
@@ -0,0 +1,24 @@
|
||||
BIOYOND_PolymerStation_Solid_Stock:
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Stock
|
||||
type: pylabrobot
|
||||
|
||||
BIOYOND_PolymerStation_Solid_Vial:
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solid_Vial
|
||||
type: pylabrobot
|
||||
|
||||
BIOYOND_PolymerStation_Liquid_Vial:
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial
|
||||
type: pylabrobot
|
||||
|
||||
BIOYOND_PolymerStation_Solution_Beaker:
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Solution_Beaker
|
||||
type: pylabrobot
|
||||
|
||||
BIOYOND_PolymerStation_Reagent_Bottle:
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reagent_Bottle
|
||||
type: pylabrobot
|
||||
@@ -1,7 +1,13 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Solid_Stock,
|
||||
BIOYOND_PolymerStation_Solid_Vial,
|
||||
BIOYOND_PolymerStation_Liquid_Vial,
|
||||
BIOYOND_PolymerStation_Solution_Beaker,
|
||||
BIOYOND_PolymerStation_Reagent_Bottle
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
|
||||
|
||||
@@ -92,6 +98,57 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="BIOYOND_PolymerStation_6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
for i in range(6):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
@@ -138,8 +195,10 @@ def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
for i in range(6):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_vial_{ordering[i]}")
|
||||
for i in range(3):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_solidvial_{ordering[i]}")
|
||||
for i in range(3, 6):
|
||||
carrier[i] = BIOYOND_PolymerStation_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
|
||||
@@ -2,12 +2,30 @@ from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
# 工厂函数
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Solid_Vial(
|
||||
def BIOYOND_PolymerStation_Solid_Stock(
|
||||
name: str,
|
||||
diameter: float = 20.0,
|
||||
height: float = 100.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建粉末瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Solid_Stock",
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Solid_Vial(
|
||||
name: str,
|
||||
diameter: float = 25.0,
|
||||
height: float = 60.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建粉末瓶"""
|
||||
return Bottle(
|
||||
@@ -20,6 +38,24 @@ def BIOYOND_PolymerStation_Solid_Vial(
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Liquid_Vial(
|
||||
name: str,
|
||||
diameter: float = 25.0,
|
||||
height: float = 60.0,
|
||||
max_volume: float = 30000.0, # 30mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""创建滴定液瓶"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Liquid_Vial",
|
||||
)
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Solution_Beaker(
|
||||
name: str,
|
||||
diameter: float = 60.0,
|
||||
|
||||
@@ -9,7 +9,10 @@ from unilabos_msgs.msg import Resource
|
||||
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.ros.msgs.message_converter import convert_to_ros_msg
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
)
|
||||
from unilabos.utils.banner_print import print_status
|
||||
|
||||
try:
|
||||
@@ -51,20 +54,51 @@ def canonicalize_nodes_data(
|
||||
if child in id2idx:
|
||||
nodes[id2idx[child]]["parent"] = parent
|
||||
|
||||
# 第三步：打印节点信息（用于调试）
|
||||
# 第三步：使用 ResourceInstanceDictFlatten 标准化每个节点
|
||||
standardized_instances = []
|
||||
known_nodes: Dict[str, ResourceDictInstance] = {} # {node_id: ResourceDictInstance}
|
||||
uuid_to_instance: Dict[str, ResourceDictInstance] = {} # {uuid: ResourceDictInstance}
|
||||
|
||||
for node in nodes:
|
||||
try:
|
||||
print_status(f"DeviceId: {node['id']}, Class: {node['class']}", "info")
|
||||
# 使用标准化方法
|
||||
resource_instance = ResourceDictInstance.get_resource_instance_from_dict(node)
|
||||
known_nodes[node["id"]] = resource_instance
|
||||
uuid_to_instance[resource_instance.res_content.uuid] = resource_instance
|
||||
standardized_instances.append(resource_instance)
|
||||
except Exception as e:
|
||||
print_status(f"Failed to read node {node.get('id', 'unknown')}: {e}", "error")
|
||||
print_status(f"Failed to standardize node {node.get('id', 'unknown')}:\n{traceback.format_exc()}", "error")
|
||||
continue
|
||||
|
||||
# 第四步：使用 from_raw_list 创建 ResourceTreeSet（自动处理标准化、parent-children关系）
|
||||
try:
|
||||
resource_tree_set = ResourceTreeSet.from_raw_list(nodes)
|
||||
except Exception as e:
|
||||
print_status(f"Failed to create ResourceTreeSet:\n{traceback.format_exc()}", "error")
|
||||
raise
|
||||
# 第四步：建立 parent 和 children 关系
|
||||
for node in nodes:
|
||||
node_id = node["id"]
|
||||
if node_id not in known_nodes:
|
||||
continue
|
||||
|
||||
current_instance = known_nodes[node_id]
|
||||
|
||||
# 优先使用 parent_uuid 进行匹配，如果不存在则使用 parent
|
||||
parent_uuid = node.get("parent_uuid")
|
||||
parent_id = node.get("parent")
|
||||
parent_instance = None
|
||||
|
||||
# 优先用 parent_uuid 匹配
|
||||
if parent_uuid and parent_uuid in uuid_to_instance:
|
||||
parent_instance = uuid_to_instance[parent_uuid]
|
||||
# 否则用 parent_id 匹配
|
||||
elif parent_id and parent_id in known_nodes:
|
||||
parent_instance = known_nodes[parent_id]
|
||||
|
||||
# 设置 parent 引用
|
||||
if parent_instance:
|
||||
current_instance.res_content.parent = parent_instance.res_content
|
||||
# 将当前节点添加到父节点的 children 列表
|
||||
parent_instance.children.append(current_instance)
|
||||
|
||||
# 第五步：创建 ResourceTreeSet
|
||||
resource_tree_set = ResourceTreeSet.from_nested_list(standardized_instances)
|
||||
return resource_tree_set
|
||||
|
||||
|
||||
@@ -576,10 +610,22 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
|
||||
+ (detail.get("y", 0) - 1)
|
||||
)
|
||||
bottle = plr_material[number]
|
||||
if detail["name"] in type_mapping:
|
||||
# plr_material.unassign_child_resource(bottle)
|
||||
plr_material.sites[number] = None
|
||||
plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
|
||||
)
|
||||
else:
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
else:
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
bottle.tracker.liquids = [
|
||||
(material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0)
|
||||
]
|
||||
|
||||
plr_materials.append(plr_material)
|
||||
|
||||
@@ -599,6 +645,36 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
|
||||
return plr_materials
|
||||
|
||||
|
||||
def resource_plr_to_bioyond(plr_materials: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
|
||||
bioyond_materials = []
|
||||
for plr_material in plr_materials:
|
||||
material = {
|
||||
"name": plr_material.name,
|
||||
"typeName": plr_material.__class__.__name__,
|
||||
"code": plr_material.code,
|
||||
"quantity": 0,
|
||||
"detail": [],
|
||||
"locations": [],
|
||||
}
|
||||
if hasattr(plr_material, "capacity") and plr_material.capacity > 1:
|
||||
for idx in range(plr_material.capacity):
|
||||
bottle = plr_material[idx]
|
||||
detail = {
|
||||
"x": (idx // (plr_material.num_items_x * plr_material.num_items_y)) + 1,
|
||||
"y": ((idx % (plr_material.num_items_x * plr_material.num_items_y)) // plr_material.num_items_x) + 1,
|
||||
"z": (idx % plr_material.num_items_x) + 1,
|
||||
"code": bottle.code if hasattr(bottle, "code") else "",
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
}
|
||||
material["detail"].append(detail)
|
||||
material["quantity"] = 1.0
|
||||
else:
|
||||
bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
|
||||
material["quantity"] = sum(qty for _, qty in bottle.tracker.liquids) if hasattr(plr_material, "tracker") else 0
|
||||
bioyond_materials.append(material)
|
||||
return bioyond_materials
|
||||
|
||||
|
||||
def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
|
||||
"""Initializes a resource based on its configuration.
|
||||
|
||||
|
||||
@@ -5,15 +5,19 @@ Automated Liquid Handling Station Resource Classes - Simplified Version
|
||||
|
||||
from __future__ import annotations
|
||||
|
||||
from typing import Dict, Optional
|
||||
from typing import Dict, List, Optional, TypeVar, Union, Sequence, Tuple
|
||||
|
||||
import pylabrobot
|
||||
|
||||
from pylabrobot.resources.coordinate import Coordinate
|
||||
from pylabrobot.resources.container import Container
|
||||
from pylabrobot.resources.resource_holder import ResourceHolder
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from pylabrobot.resources import Well, ResourceHolder
|
||||
from pylabrobot.resources.coordinate import Coordinate
|
||||
|
||||
|
||||
class Bottle(Container):
|
||||
LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ"
|
||||
|
||||
|
||||
class Bottle(Well):
|
||||
"""瓶子类 - 简化版，不追踪瓶盖"""
|
||||
|
||||
def __init__(
|
||||
@@ -37,6 +41,8 @@ class Bottle(Container):
|
||||
max_volume=max_volume,
|
||||
category=category,
|
||||
model=model,
|
||||
bottom_type="flat",
|
||||
cross_section_type="circle"
|
||||
)
|
||||
self.diameter = diameter
|
||||
self.height = height
|
||||
@@ -50,13 +56,6 @@ class Bottle(Container):
|
||||
"barcode": self.barcode,
|
||||
}
|
||||
|
||||
|
||||
from string import ascii_uppercase as LETTERS
|
||||
from typing import Dict, List, Optional, Type, TypeVar, Union, Sequence, Tuple
|
||||
|
||||
import pylabrobot
|
||||
from pylabrobot.resources.resource_holder import ResourceHolder
|
||||
|
||||
T = TypeVar("T", bound=ResourceHolder)
|
||||
|
||||
S = TypeVar("S", bound=ResourceHolder)
|
||||
|
||||
@@ -1,11 +1,12 @@
|
||||
import copy
|
||||
import inspect
|
||||
import io
|
||||
import json
|
||||
import threading
|
||||
import time
|
||||
import traceback
|
||||
import uuid
|
||||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, Union, TYPE_CHECKING
|
||||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
import asyncio
|
||||
@@ -24,7 +25,6 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialComma
|
||||
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.graphio import (
|
||||
convert_resources_to_type,
|
||||
resource_ulab_to_plr,
|
||||
initialize_resources,
|
||||
dict_to_tree,
|
||||
@@ -34,7 +34,6 @@ from unilabos.resources.graphio import (
|
||||
from unilabos.resources.plr_additional_res_reg import register
|
||||
from unilabos.ros.msgs.message_converter import (
|
||||
convert_to_ros_msg,
|
||||
convert_from_ros_msg,
|
||||
convert_from_ros_msg_with_mapping,
|
||||
convert_to_ros_msg_with_mapping,
|
||||
)
|
||||
@@ -48,11 +47,14 @@ from unilabos_msgs.srv import (
|
||||
) # type: ignore
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet, ResourceDict, \
|
||||
ResourceDictInstance
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
DeviceNodeResourceTracker,
|
||||
ResourceTreeSet,
|
||||
)
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
from unilabos.utils.async_util import run_async_func
|
||||
from unilabos.utils.import_manager import default_manager
|
||||
from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
|
||||
from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
|
||||
|
||||
@@ -332,7 +334,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
# 创建资源管理客户端
|
||||
self._resource_clients: Dict[str, Client] = {
|
||||
"resource_add": self.create_client(ResourceAdd, "/resources/add"),
|
||||
"resource_get": self.create_client(ResourceGet, "/resources/get"),
|
||||
"resource_get": self.create_client(SerialCommand, "/resources/get"),
|
||||
"resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
|
||||
"resource_update": self.create_client(ResourceUpdate, "/resources/update"),
|
||||
"resource_list": self.create_client(ResourceList, "/resources/list"),
|
||||
@@ -345,7 +347,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
res.response = ""
|
||||
return res
|
||||
|
||||
|
||||
async 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")
|
||||
@@ -578,9 +579,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
for i in data:
|
||||
action = i.get("action") # remove, add, update
|
||||
resources_uuid: List[str] = i.get("data") # 资源数据
|
||||
additional_add_params = i.get("additional_add_params", {}) # 额外参数
|
||||
self.lab_logger().info(
|
||||
f"[Resource Tree Update] Processing {action} operation, "
|
||||
f"resources count: {len(resources_uuid)}"
|
||||
f"[Resource Tree Update] Processing {action} operation, " f"resources count: {len(resources_uuid)}"
|
||||
)
|
||||
tree_set = None
|
||||
if action in ["add", "update"]:
|
||||
@@ -606,13 +607,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
|
||||
if parent_resource is None:
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在")
|
||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在"
|
||||
)
|
||||
else:
|
||||
try:
|
||||
parent_resource.assign_child_resource(plr_resource, location=None)
|
||||
# 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步
|
||||
additional_params = {}
|
||||
site = additional_add_params.get("site", None)
|
||||
spec = inspect.signature(parent_resource.assign_child_resource)
|
||||
if "spot" in spec.parameters:
|
||||
additional_params["spot"] = site
|
||||
parent_resource.assign_child_resource(
|
||||
plr_resource, location=None, **additional_params
|
||||
)
|
||||
except Exception as e:
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}")
|
||||
f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}"
|
||||
)
|
||||
func = getattr(self.driver_instance, "resource_tree_add", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
@@ -623,10 +634,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
for plr_resource, tree in zip(plr_resources, tree_set.trees):
|
||||
states = plr_resource.serialize_all_state()
|
||||
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
|
||||
{"uuid": tree.root_node.res_content.uuid}, try_mode=False)
|
||||
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
|
||||
)
|
||||
original_instance.load_all_state(states)
|
||||
self.lab_logger().info(
|
||||
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个")
|
||||
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
|
||||
)
|
||||
|
||||
func = getattr(self.driver_instance, "resource_tree_update", None)
|
||||
if callable(func):
|
||||
@@ -634,8 +647,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
results.append({"success": True, "action": "update"})
|
||||
elif action == "remove":
|
||||
# 移除资源
|
||||
plr_resources: List[ResourcePLR] = [self.resource_tracker.uuid_to_resources[i] for
|
||||
i in resources_uuid]
|
||||
plr_resources: List[ResourcePLR] = [
|
||||
self.resource_tracker.uuid_to_resources[i] for i in resources_uuid
|
||||
]
|
||||
func = getattr(self.driver_instance, "resource_tree_remove", None)
|
||||
if callable(func):
|
||||
func(plr_resources)
|
||||
@@ -666,14 +680,26 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
return res
|
||||
|
||||
async def transfer_resource_to_another(self, plr_resources: List["ResourcePLR"], target_device_id, target_resource_uuid: str):
|
||||
async def transfer_resource_to_another(
|
||||
self,
|
||||
plr_resources: List["ResourcePLR"],
|
||||
target_device_id: str,
|
||||
target_resources: List["ResourcePLR"],
|
||||
sites: List[str],
|
||||
):
|
||||
# 准备工作
|
||||
uids = []
|
||||
target_uids = []
|
||||
for plr_resource in plr_resources:
|
||||
uid = getattr(plr_resource, "unilabos_uuid", None)
|
||||
if uid is None:
|
||||
raise ValueError(f"物料{plr_resource}没有unilabos_uuid属性，无法转运")
|
||||
raise ValueError(f"来源物料{plr_resource}没有unilabos_uuid属性，无法转运")
|
||||
uids.append(uid)
|
||||
for target_resource in target_resources:
|
||||
uid = getattr(target_resource, "unilabos_uuid", None)
|
||||
if uid is None:
|
||||
raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
|
||||
target_uids.append(uid)
|
||||
srv_address = f"/srv{target_device_id}/s2c_resource_tree"
|
||||
sclient = self.create_client(SerialCommand, srv_address)
|
||||
# 等待服务可用（设置超时）
|
||||
@@ -682,37 +708,48 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
raise ValueError(f"[{self.device_id} Node-Resource] Service {srv_address} not available")
|
||||
|
||||
# 先从当前节点移除资源
|
||||
await self.s2c_resource_tree(SerialCommand_Request(command=json.dumps([{
|
||||
"action": "remove",
|
||||
"data": uids # 只移除父节点
|
||||
}], ensure_ascii=False)), SerialCommand_Response())
|
||||
await self.s2c_resource_tree(
|
||||
SerialCommand_Request(
|
||||
command=json.dumps([{"action": "remove", "data": uids}], ensure_ascii=False) # 只移除父节点
|
||||
),
|
||||
SerialCommand_Response(),
|
||||
)
|
||||
|
||||
# 通知云端转运资源
|
||||
tree_set = ResourceTreeSet.from_plr_resources(plr_resources)
|
||||
for root_node in tree_set.root_nodes:
|
||||
root_node.res_content.parent = None
|
||||
root_node.res_content.parent_uuid = target_resource_uuid
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"}) # 和Update Resource一致
|
||||
response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||
self.lab_logger().info(f"资源云端转运到{target_device_id}结果: {response.response}")
|
||||
for plr_resource, target_uid, site in zip(plr_resources, target_uids, sites):
|
||||
tree_set = ResourceTreeSet.from_plr_resources([plr_resource])
|
||||
for root_node in tree_set.root_nodes:
|
||||
root_node.res_content.parent = None
|
||||
root_node.res_content.parent_uuid = target_uid
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps({"data": {"data": tree_set.dump()}, "action": "update"}) # 和Update Resource一致
|
||||
response: SerialCommand_Response = await self._resource_clients["c2s_update_resource_tree"].call_async(r) # type: ignore
|
||||
self.lab_logger().info(f"资源云端转运到{target_device_id}结果: {response.response}")
|
||||
|
||||
# 创建请求
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps([{
|
||||
"action": "add",
|
||||
"data": tree_set.all_nodes_uuid # 只添加父节点，子节点会自动添加
|
||||
}], ensure_ascii=False)
|
||||
# 创建请求
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps(
|
||||
[
|
||||
{
|
||||
"action": "add",
|
||||
"data": tree_set.all_nodes_uuid, # 只添加父节点，子节点会自动添加
|
||||
"additional_add_params": {"site": site},
|
||||
}
|
||||
],
|
||||
ensure_ascii=False,
|
||||
)
|
||||
|
||||
future = sclient.call_async(request)
|
||||
timeout = 30.0
|
||||
start_time = time.time()
|
||||
while not future.done():
|
||||
if time.time() - start_time > timeout:
|
||||
self.lab_logger().error(f"[{self.device_id} Node-Resource] Timeout waiting for response from {target_device_id}")
|
||||
return False
|
||||
time.sleep(0.05)
|
||||
self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
|
||||
future = sclient.call_async(request)
|
||||
timeout = 30.0
|
||||
start_time = time.time()
|
||||
while not future.done():
|
||||
if time.time() - start_time > timeout:
|
||||
self.lab_logger().error(
|
||||
f"[{self.device_id} Node-Resource] Timeout waiting for response from {target_device_id}"
|
||||
)
|
||||
return False
|
||||
time.sleep(0.05)
|
||||
self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
|
||||
return None
|
||||
|
||||
def register_device(self):
|
||||
@@ -872,46 +909,34 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
self.lab_logger().info(f"{action_name} 查询资源状态: Key: {k} Type: {v}")
|
||||
current_resources: Union[List[Resource], List[List[Resource]]] = []
|
||||
# TODO: resource后面需要分组
|
||||
only_one_resource = False
|
||||
|
||||
try:
|
||||
if isinstance(action_kwargs[k], list) and len(action_kwargs[k]) > 1:
|
||||
for i in action_kwargs[k]:
|
||||
r = ResourceGet.Request()
|
||||
r.id = i["id"] # splash optional
|
||||
r.with_children = True
|
||||
response = await self._resource_clients["resource_get"].call_async(r)
|
||||
current_resources.append(response.resources)
|
||||
else:
|
||||
only_one_resource = True
|
||||
r = ResourceGet.Request()
|
||||
r.id = (
|
||||
action_kwargs[k]["id"]
|
||||
if v == "unilabos_msgs/Resource"
|
||||
else action_kwargs[k][0]["id"]
|
||||
)
|
||||
r.with_children = True
|
||||
response = await self._resource_clients["resource_get"].call_async(r)
|
||||
current_resources.extend(response.resources)
|
||||
except Exception:
|
||||
logger.error(f"资源查询失败，默认使用本地资源")
|
||||
# 删除对response.resources的检查，因为它总是存在
|
||||
type_hint = action_paramtypes[k]
|
||||
final_type = get_type_class(type_hint)
|
||||
if only_one_resource:
|
||||
resources_list: List[Dict[str, Any]] = [convert_from_ros_msg(rs) for rs in current_resources] # type: ignore
|
||||
self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
|
||||
final_resource = convert_resources_to_type(resources_list, final_type)
|
||||
# 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
|
||||
else:
|
||||
resources_list: List[List[Dict[str, Any]]] = [[convert_from_ros_msg(rs) for rs in sub_res_list] for sub_res_list in current_resources] # type: ignore
|
||||
final_resource = [
|
||||
convert_resources_to_type(sub_res_list, final_type)[0]
|
||||
for sub_res_list in resources_list
|
||||
]
|
||||
try:
|
||||
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource, try_mode=False)
|
||||
# 统一处理单个或多个资源
|
||||
is_sequence = v != "unilabos_msgs/Resource"
|
||||
resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
|
||||
|
||||
# 批量查询资源
|
||||
queried_resources = []
|
||||
for resource_data in resource_inputs:
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps({"id": resource_data["id"], "with_children": True})
|
||||
# 发送请求并等待响应
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"resource_get"
|
||||
].call_async(r)
|
||||
raw_data = json.loads(response.response)
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_list(raw_data)
|
||||
plr_resource = tree_set.to_plr_resources()[0]
|
||||
queried_resources.append(plr_resource)
|
||||
|
||||
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
|
||||
|
||||
# 通过资源跟踪器获取本地实例
|
||||
final_resources = queried_resources if is_sequence else queried_resources[0]
|
||||
action_kwargs[k] = self.resource_tracker.figure_resource(final_resources, try_mode=False)
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"{action_name} 物料实例获取失败: {e}\n{traceback.format_exc()}")
|
||||
error_skip = True
|
||||
@@ -939,7 +964,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
error(
|
||||
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
|
||||
)
|
||||
error(traceback.format_exc())
|
||||
|
||||
future.add_done_callback(_handle_future_exception)
|
||||
except Exception as e:
|
||||
@@ -956,6 +980,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
action_return_value = fut.result()
|
||||
execution_success = True
|
||||
except Exception as e:
|
||||
execution_error = traceback.format_exc()
|
||||
error(
|
||||
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
|
||||
)
|
||||
@@ -1064,6 +1089,206 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
return execute_callback
|
||||
|
||||
def _execute_driver_command(self, string: str):
|
||||
try:
|
||||
target = json.loads(string)
|
||||
except Exception as ex:
|
||||
try:
|
||||
target = yaml.safe_load(io.StringIO(string))
|
||||
except Exception as ex2:
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
try:
|
||||
function_name = target["function_name"]
|
||||
function_args = target["function_args"]
|
||||
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
||||
function = getattr(self.driver_instance, function_name)
|
||||
assert callable(
|
||||
function
|
||||
), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
|
||||
|
||||
# 处理 ResourceSlot 类型参数
|
||||
args_list = default_manager._analyze_method_signature(function)["args"]
|
||||
for arg in args_list:
|
||||
arg_name = arg["name"]
|
||||
arg_type = arg["type"]
|
||||
|
||||
# 跳过不在 function_args 中的参数
|
||||
if arg_name not in function_args:
|
||||
continue
|
||||
|
||||
# 处理单个 ResourceSlot
|
||||
if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
|
||||
resource_data = function_args[arg_name]
|
||||
if isinstance(resource_data, dict) and "id" in resource_data:
|
||||
try:
|
||||
converted_resource = self._convert_resource_sync(resource_data)
|
||||
function_args[arg_name] = converted_resource
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
|
||||
|
||||
# 处理 ResourceSlot 列表
|
||||
elif isinstance(arg_type, tuple) and len(arg_type) == 2:
|
||||
resource_slot_type = "unilabos.registry.placeholder_type:ResourceSlot"
|
||||
if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
|
||||
resource_list = function_args[arg_name]
|
||||
if isinstance(resource_list, list):
|
||||
try:
|
||||
converted_resources = []
|
||||
for resource_data in resource_list:
|
||||
if isinstance(resource_data, dict) and "id" in resource_data:
|
||||
converted_resource = self._convert_resource_sync(resource_data)
|
||||
converted_resources.append(converted_resource)
|
||||
function_args[arg_name] = converted_resources
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
|
||||
|
||||
return function(**function_args)
|
||||
except KeyError as ex:
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
def _convert_resource_sync(self, resource_data: Dict[str, Any]):
|
||||
"""同步转换资源数据为实例"""
|
||||
# 创建资源查询请求
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps({"id": resource_data["id"], "with_children": True})
|
||||
|
||||
# 同步调用资源查询服务
|
||||
future = self._resource_clients["resource_get"].call_async(r)
|
||||
|
||||
# 等待结果（使用while循环，每次sleep 0.5秒，最多等待5秒）
|
||||
timeout = 30.0
|
||||
elapsed = 0.0
|
||||
while not future.done() and elapsed < timeout:
|
||||
time.sleep(0.05)
|
||||
elapsed += 0.05
|
||||
|
||||
if not future.done():
|
||||
raise Exception(f"资源查询超时: {resource_data['id']}")
|
||||
|
||||
response = future.result()
|
||||
if response is None:
|
||||
raise Exception(f"资源查询返回空结果: {resource_data['id']}")
|
||||
|
||||
current_resources = json.loads(response.response)
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_list(current_resources)
|
||||
plr_resource = tree_set.to_plr_resources()[0]
|
||||
|
||||
# 通过资源跟踪器获取本地实例
|
||||
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
|
||||
if len(res) == 0:
|
||||
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
|
||||
return plr_resource
|
||||
elif len(res) == 1:
|
||||
return res[0]
|
||||
else:
|
||||
raise ValueError(f"资源转换得到多个实例: {res}")
|
||||
|
||||
async def _execute_driver_command_async(self, string: str):
|
||||
try:
|
||||
target = json.loads(string)
|
||||
except Exception as ex:
|
||||
try:
|
||||
target = yaml.safe_load(io.StringIO(string))
|
||||
except Exception as ex2:
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
try:
|
||||
function_name = target["function_name"]
|
||||
function_args = target["function_args"]
|
||||
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
||||
function = getattr(self.driver_instance, function_name)
|
||||
assert callable(
|
||||
function
|
||||
), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
|
||||
assert asyncio.iscoroutinefunction(
|
||||
function
|
||||
), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
|
||||
|
||||
# 处理 ResourceSlot 类型参数
|
||||
args_list = default_manager._analyze_method_signature(function)["args"]
|
||||
for arg in args_list:
|
||||
arg_name = arg["name"]
|
||||
arg_type = arg["type"]
|
||||
|
||||
# 跳过不在 function_args 中的参数
|
||||
if arg_name not in function_args:
|
||||
continue
|
||||
|
||||
# 处理单个 ResourceSlot
|
||||
if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
|
||||
resource_data = function_args[arg_name]
|
||||
if isinstance(resource_data, dict) and "id" in resource_data:
|
||||
try:
|
||||
converted_resource = await self._convert_resource_async(resource_data)
|
||||
function_args[arg_name] = converted_resource
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
|
||||
|
||||
# 处理 ResourceSlot 列表
|
||||
elif isinstance(arg_type, tuple) and len(arg_type) == 2:
|
||||
resource_slot_type = "unilabos.registry.placeholder_type:ResourceSlot"
|
||||
if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
|
||||
resource_list = function_args[arg_name]
|
||||
if isinstance(resource_list, list):
|
||||
try:
|
||||
converted_resources = []
|
||||
for resource_data in resource_list:
|
||||
if isinstance(resource_data, dict) and "id" in resource_data:
|
||||
converted_resource = await self._convert_resource_async(resource_data)
|
||||
converted_resources.append(converted_resource)
|
||||
function_args[arg_name] = converted_resources
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
|
||||
)
|
||||
raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
|
||||
|
||||
return await function(**function_args)
|
||||
except KeyError as ex:
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
|
||||
async def _convert_resource_async(self, resource_data: Dict[str, Any]):
|
||||
"""异步转换资源数据为实例"""
|
||||
# 创建资源查询请求
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps({"id": resource_data["id"], "with_children": True})
|
||||
|
||||
# 异步调用资源查询服务
|
||||
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
|
||||
current_resources = json.loads(response.response)
|
||||
|
||||
# 转换为 PLR 资源
|
||||
tree_set = ResourceTreeSet.from_raw_list(current_resources)
|
||||
plr_resource = tree_set.to_plr_resources()[0]
|
||||
|
||||
# 通过资源跟踪器获取本地实例
|
||||
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
|
||||
if len(res) == 0:
|
||||
# todo: 后续通过decoration来区分，减少warning
|
||||
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
|
||||
return plr_resource
|
||||
elif len(res) == 1:
|
||||
return res[0]
|
||||
else:
|
||||
raise ValueError(f"资源转换得到多个实例: {res}")
|
||||
|
||||
# 异步上下文管理方法
|
||||
async def __aenter__(self):
|
||||
"""进入异步上下文"""
|
||||
@@ -1230,65 +1455,14 @@ class ROS2DeviceNode:
|
||||
self._ros_node: BaseROS2DeviceNode
|
||||
self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
|
||||
self.driver_instance._ros_node = self._ros_node # type: ignore
|
||||
self.driver_instance._execute_driver_command = self._execute_driver_command # type: ignore
|
||||
self.driver_instance._execute_driver_command_async = self._execute_driver_command_async # type: ignore
|
||||
self.driver_instance._execute_driver_command = self._ros_node._execute_driver_command # type: ignore
|
||||
self.driver_instance._execute_driver_command_async = self._ros_node._execute_driver_command_async # type: ignore
|
||||
if hasattr(self.driver_instance, "post_init"):
|
||||
try:
|
||||
self.driver_instance.post_init(self._ros_node) # type: ignore
|
||||
except Exception as e:
|
||||
self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
|
||||
|
||||
def _execute_driver_command(self, string: str):
|
||||
try:
|
||||
target = json.loads(string)
|
||||
except Exception as ex:
|
||||
try:
|
||||
target = yaml.safe_load(io.StringIO(string))
|
||||
except Exception as ex2:
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
try:
|
||||
function_name = target["function_name"]
|
||||
function_args = target["function_args"]
|
||||
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
||||
function = getattr(self.driver_instance, function_name)
|
||||
assert callable(
|
||||
function
|
||||
), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
|
||||
return function(**function_args)
|
||||
except KeyError as ex:
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
|
||||
async def _execute_driver_command_async(self, string: str):
|
||||
try:
|
||||
target = json.loads(string)
|
||||
except Exception as ex:
|
||||
try:
|
||||
target = yaml.safe_load(io.StringIO(string))
|
||||
except Exception as ex2:
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON/YAML解析失败: \n{ex}\n{ex2}\n原内容: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
try:
|
||||
function_name = target["function_name"]
|
||||
function_args = target["function_args"]
|
||||
assert isinstance(function_args, dict), "执行动作时JSON必须为dict类型\n原JSON: {string}"
|
||||
function = getattr(self.driver_instance, function_name)
|
||||
assert callable(
|
||||
function
|
||||
), f"执行动作时JSON中的function_name对应的函数不可调用: {function_name}\n原JSON: {string}"
|
||||
assert asyncio.iscoroutinefunction(
|
||||
function
|
||||
), f"执行动作时JSON中的function并非异步: {function_name}\n原JSON: {string}"
|
||||
return await function(**function_args)
|
||||
except KeyError as ex:
|
||||
raise JsonCommandInitError(
|
||||
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
|
||||
)
|
||||
|
||||
def _start_loop(self):
|
||||
def run_event_loop():
|
||||
loop = asyncio.new_event_loop()
|
||||
|
||||
@@ -15,7 +15,6 @@ from rclpy.service import Service
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
ResourceGet,
|
||||
ResourceDelete,
|
||||
ResourceUpdate,
|
||||
ResourceList,
|
||||
@@ -44,6 +43,7 @@ from unilabos.ros.nodes.resource_tracker import (
|
||||
)
|
||||
from unilabos.utils.exception import DeviceClassInvalid
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from unilabos.app.ws_client import QueueItem, WSResourceChatData
|
||||
@@ -152,6 +152,24 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"/devices/host_node/test_latency",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/test_resource": ActionClient(
|
||||
self,
|
||||
lab_registry.EmptyIn,
|
||||
"/devices/host_node/test_resource",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/_execute_driver_command": ActionClient(
|
||||
self,
|
||||
lab_registry.StrSingleInput,
|
||||
"/devices/host_node/_execute_driver_command",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/_execute_driver_command_async": ActionClient(
|
||||
self,
|
||||
lab_registry.StrSingleInput,
|
||||
"/devices/host_node/_execute_driver_command_async",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
} # 用来存储多个ActionClient实例
|
||||
self._action_value_mappings: Dict[str, Dict] = (
|
||||
{}
|
||||
@@ -234,7 +252,8 @@ class HostNode(BaseROS2DeviceNode):
|
||||
)
|
||||
# resources_config 通过各个设备的 resource_tracker 进行uuid更新，利用uuid_mapping
|
||||
# resources_config 的 root node 是
|
||||
for node in resources_config.root_nodes:
|
||||
for tree in resources_config.trees:
|
||||
node = tree.root_node
|
||||
if node.res_content.type == "device":
|
||||
for sub_node in node.children:
|
||||
# 只有二级子设备
|
||||
@@ -245,8 +264,11 @@ class HostNode(BaseROS2DeviceNode):
|
||||
{"name": sub_node.res_content.name})
|
||||
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
|
||||
else:
|
||||
resource_instance = self.resource_tracker.figure_resource({"name": node.res_content.name})
|
||||
self._resource_tracker.loop_update_uuid(resource_instance, uuid_mapping)
|
||||
try:
|
||||
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
self.resource_tracker.add_resource(plr_resource)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
|
||||
except Exception as ex:
|
||||
self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
@@ -799,7 +821,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
"resource_get": self.create_service(
|
||||
ResourceGet, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
|
||||
SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup()
|
||||
),
|
||||
"resource_delete": self.create_service(
|
||||
ResourceDelete,
|
||||
@@ -1011,7 +1033,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
resources = [convert_to_ros_msg(Resource, resource) for resource in r]
|
||||
return resources
|
||||
|
||||
def _resource_get_callback(self, request: ResourceGet.Request, response: ResourceGet.Response):
|
||||
def _resource_get_callback(self, request: SerialCommand.Request, response: SerialCommand.Response):
|
||||
"""
|
||||
获取资源回调
|
||||
|
||||
@@ -1025,20 +1047,12 @@ class HostNode(BaseROS2DeviceNode):
|
||||
响应对象，包含查询到的资源
|
||||
"""
|
||||
try:
|
||||
http_req = self.bridges[-1].resource_get(request.id, request.with_children)
|
||||
response.resources = self._resource_get_process(http_req)
|
||||
data = json.loads(request.command)
|
||||
http_req = self.bridges[-1].resource_get(data["id"], data["with_children"])
|
||||
response.response = json.dumps(http_req["data"])
|
||||
return response
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-Resource] Error retrieving from bridge: {str(e)}")
|
||||
# 从 ResourceTreeSet 中查找资源
|
||||
resources_list = (
|
||||
[node.res_content.model_dump(by_alias=True) for node in self.resources_config.all_nodes]
|
||||
if self.resources_config
|
||||
else []
|
||||
)
|
||||
r = [resource for resource in resources_list if resource.get("id") == request.id]
|
||||
self.lab_logger().debug(f"[Host Node-Resource] Retrieved from local: {len(r)} resources")
|
||||
response.resources = [convert_to_ros_msg(Resource, resource) for resource in r]
|
||||
return response
|
||||
|
||||
def _resource_delete_callback(self, request, response):
|
||||
@@ -1240,6 +1254,12 @@ class HostNode(BaseROS2DeviceNode):
|
||||
"status": "success",
|
||||
}
|
||||
|
||||
def test_resource(self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]):
|
||||
return {
|
||||
"resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
|
||||
"devices": [device, *devices],
|
||||
}
|
||||
|
||||
def handle_pong_response(self, pong_data: dict):
|
||||
"""
|
||||
处理pong响应
|
||||
|
||||
@@ -29,9 +29,11 @@ from unilabos.utils.type_check import serialize_result_info, get_result_info_str
|
||||
if TYPE_CHECKING:
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
|
||||
|
||||
class ROS2WorkstationNodeTempError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
ROS2WorkstationNode代表管理ROS2环境中设备通信和动作的协议节点。
|
||||
@@ -63,10 +65,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
driver_instance=driver_instance,
|
||||
device_id=device_id,
|
||||
status_types=status_types,
|
||||
action_value_mappings={
|
||||
**action_value_mappings,
|
||||
**self.protocol_action_mappings
|
||||
},
|
||||
action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},
|
||||
hardware_interface=hardware_interface,
|
||||
print_publish=print_publish,
|
||||
resource_tracker=resource_tracker,
|
||||
@@ -89,7 +88,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
d = self.initialize_device(device_id, device_config)
|
||||
except Exception as ex:
|
||||
self.lab_logger().error(
|
||||
f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}")
|
||||
f"[Protocol Node] Failed to initialize device {device_id}: {ex}\n{traceback.format_exc()}"
|
||||
)
|
||||
d = None
|
||||
if d is None:
|
||||
continue
|
||||
@@ -109,10 +109,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
if d:
|
||||
hardware_interface = d.ros_node_instance._hardware_interface
|
||||
if (
|
||||
hasattr(d.driver_instance, hardware_interface["name"])
|
||||
and hasattr(d.driver_instance, hardware_interface["write"])
|
||||
and (
|
||||
hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
|
||||
hasattr(d.driver_instance, hardware_interface["name"])
|
||||
and hasattr(d.driver_instance, hardware_interface["write"])
|
||||
and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
|
||||
):
|
||||
|
||||
name = getattr(d.driver_instance, hardware_interface["name"])
|
||||
@@ -160,7 +159,8 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
node.resource_tracker = self.resource_tracker # 站内应当共享资源跟踪器
|
||||
for action_name, action_mapping in node._action_value_mappings.items():
|
||||
if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith(
|
||||
"UniLabJsonCommand"):
|
||||
"UniLabJsonCommand"
|
||||
):
|
||||
continue
|
||||
action_id = f"/devices/{device_id_abs}/{action_name}"
|
||||
if action_id not in self._action_clients:
|
||||
@@ -245,8 +245,10 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
logs.append(step)
|
||||
elif isinstance(step, list):
|
||||
logs.append(step)
|
||||
self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: "
|
||||
f"{json.dumps(logs, indent=4, ensure_ascii=False)}")
|
||||
self.lab_logger().info(
|
||||
f"Goal received: {protocol_kwargs}, running steps: "
|
||||
f"{json.dumps(logs, indent=4, ensure_ascii=False)}"
|
||||
)
|
||||
|
||||
time_start = time.time()
|
||||
time_overall = 100
|
||||
@@ -268,7 +270,9 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
if not ret_info.get("suc", False):
|
||||
raise RuntimeError(f"Step {i + 1} failed.")
|
||||
except ROS2WorkstationNodeTempError as ex:
|
||||
step_results.append({"step": i + 1, "action": action["action_name"], "result": ex.args[0]})
|
||||
step_results.append(
|
||||
{"step": i + 1, "action": action["action_name"], "result": ex.args[0]}
|
||||
)
|
||||
elif isinstance(action, list):
|
||||
# 如果是并行动作，同时执行
|
||||
actions = action
|
||||
@@ -307,8 +311,12 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
except Exception as e:
|
||||
# 捕获并记录错误信息
|
||||
str_step_results = [
|
||||
{k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v for k, v in
|
||||
i.items()} for i in step_results]
|
||||
{
|
||||
k: dict(message_to_ordereddict(v)) if k == "result" and hasattr(v, "SLOT_TYPES") else v
|
||||
for k, v in i.items()
|
||||
}
|
||||
for i in step_results
|
||||
]
|
||||
execution_error = f"{traceback.format_exc()}\n\nStep Result: {pformat(str_step_results)}"
|
||||
execution_success = False
|
||||
self.lab_logger().error(f"协议 {protocol_name} 执行出错: {str(e)} \n{traceback.format_exc()}")
|
||||
@@ -381,7 +389,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
"""还没有改过的部分"""
|
||||
|
||||
def _setup_hardware_proxy(
|
||||
self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
|
||||
self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
|
||||
):
|
||||
"""为设备设置硬件接口代理"""
|
||||
# extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
|
||||
@@ -405,17 +413,3 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
|
||||
if write_method:
|
||||
# bound_write = MethodType(_write, device.driver_instance)
|
||||
setattr(device.driver_instance, write_method, _write)
|
||||
|
||||
async def _update_resources(self, goal, protocol_kwargs):
|
||||
"""更新资源状态"""
|
||||
for k, v in goal.get_fields_and_field_types().items():
|
||||
if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||||
if protocol_kwargs[k] is not None:
|
||||
try:
|
||||
r = ResourceUpdate.Request()
|
||||
r.resources = [
|
||||
convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
|
||||
]
|
||||
await self._resource_clients["resource_update"].call_async(r)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"更新资源失败: {e}")
|
||||
Reference in New Issue
Block a user