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1
.gitignore
vendored
1
.gitignore
vendored
@@ -6,7 +6,6 @@ __pycache__/
|
||||
.vscode
|
||||
*.py[cod]
|
||||
*$py.class
|
||||
service
|
||||
|
||||
# C extensions
|
||||
*.so
|
||||
|
||||
69
README.md
69
README.md
@@ -4,86 +4,83 @@
|
||||
|
||||
# Uni-Lab-OS
|
||||
|
||||
<!-- Language switcher -->
|
||||
**English** | [中文](README_zh.md)
|
||||
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
||||
|
||||
Uni-Lab Operating System is a platform for laboratory automation, designed to connect and control various experimental equipment, enabling automation and standardization of experimental workflows.
|
||||
Uni-Lab 操作系统是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
|
||||
|
||||
## Key Features
|
||||
## 核心特点
|
||||
|
||||
- Multi-device integration management
|
||||
- Automated experimental workflows
|
||||
- Cloud connectivity capabilities
|
||||
- Flexible configuration system
|
||||
- Support for multiple experimental protocols
|
||||
- 多设备集成管理
|
||||
- 自动化实验流程
|
||||
- 云端连接能力
|
||||
- 灵活的配置系统
|
||||
- 支持多种实验协议
|
||||
|
||||
## Documentation
|
||||
## 文档
|
||||
|
||||
Detailed documentation can be found at:
|
||||
详细文档可在以下位置找到:
|
||||
|
||||
- [Online Documentation](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
|
||||
- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
|
||||
|
||||
## Quick Start
|
||||
## 快速开始
|
||||
|
||||
1. Configure Conda Environment
|
||||
1. 配置Conda环境
|
||||
|
||||
Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
|
||||
```bash
|
||||
# Create new environment
|
||||
# 创建新环境
|
||||
mamba env create -f unilabos-[YOUR_OS].yaml
|
||||
mamba activate unilab
|
||||
|
||||
# Or update existing environment
|
||||
# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
|
||||
conda env update --file unilabos-[YOUR_OS].yml -n environment_name
|
||||
# 或更新现有环境
|
||||
# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
|
||||
conda env update --file unilabos-[YOUR_OS].yml -n 环境名
|
||||
|
||||
# Currently, you need to install the `unilabos_msgs` package
|
||||
# You can download the system-specific package from the Release page
|
||||
conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
|
||||
# 现阶段，需要安装 `unilabos_msgs` 包
|
||||
# 可以前往 Release 页面下载系统对应的包进行安装
|
||||
conda install ros-humble-unilabos-msgs-0.9.0-xxxxx.tar.bz2
|
||||
|
||||
# Install PyLabRobot and other prerequisites
|
||||
# 安装PyLabRobot等前置
|
||||
git clone https://github.com/PyLabRobot/pylabrobot plr_repo
|
||||
cd plr_repo
|
||||
pip install .[opentrons]
|
||||
```
|
||||
|
||||
2. Install Uni-Lab-OS:
|
||||
2. 安装 Uni-Lab-OS:
|
||||
|
||||
```bash
|
||||
# Clone the repository
|
||||
# 克隆仓库
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# Install Uni-Lab-OS
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. Start Uni-Lab System:
|
||||
3. 启动 Uni-Lab 系统:
|
||||
|
||||
Please refer to [Documentation - Boot Examples](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
|
||||
请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
|
||||
|
||||
## Message Format
|
||||
## 消息格式
|
||||
|
||||
Uni-Lab-OS uses pre-built `unilabos_msgs` for system communication. You can find the built versions on the [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) page.
|
||||
Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
|
||||
|
||||
## License
|
||||
## 许可证
|
||||
|
||||
This project is licensed under GPL-3.0 - see the [LICENSE](LICENSE) file for details.
|
||||
此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
|
||||
|
||||
## Project Statistics
|
||||
## 项目统计
|
||||
|
||||
### Stars Trend
|
||||
### Stars 趋势
|
||||
|
||||
<a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
|
||||
<img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
|
||||
</a>
|
||||
|
||||
## Contact Us
|
||||
## 联系我们
|
||||
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
89
README_zh.md
89
README_zh.md
@@ -1,89 +0,0 @@
|
||||
<div align="center">
|
||||
<img src="docs/logo.png" alt="Uni-Lab Logo" width="200"/>
|
||||
</div>
|
||||
|
||||
# Uni-Lab-OS
|
||||
|
||||
<!-- Language switcher -->
|
||||
[English](README.md) | **中文**
|
||||
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/stargazers)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/network/members)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
[](https://github.com/dptech-corp/Uni-Lab-OS/blob/main/LICENSE)
|
||||
|
||||
Uni-Lab 操作系统是一个用于实验室自动化的综合平台，旨在连接和控制各种实验设备，实现实验流程的自动化和标准化。
|
||||
|
||||
## 核心特点
|
||||
|
||||
- 多设备集成管理
|
||||
- 自动化实验流程
|
||||
- 云端连接能力
|
||||
- 灵活的配置系统
|
||||
- 支持多种实验协议
|
||||
|
||||
## 文档
|
||||
|
||||
详细文档可在以下位置找到:
|
||||
|
||||
- [在线文档](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/)
|
||||
|
||||
## 快速开始
|
||||
|
||||
1. 配置Conda环境
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
||||
|
||||
```bash
|
||||
# 创建新环境
|
||||
mamba env create -f unilabos-[YOUR_OS].yaml
|
||||
mamba activate unilab
|
||||
|
||||
# 或更新现有环境
|
||||
# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
|
||||
conda env update --file unilabos-[YOUR_OS].yml -n 环境名
|
||||
|
||||
# 现阶段，需要安装 `unilabos_msgs` 包
|
||||
# 可以前往 Release 页面下载系统对应的包进行安装
|
||||
conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
|
||||
|
||||
# 安装PyLabRobot等前置
|
||||
git clone https://github.com/PyLabRobot/pylabrobot plr_repo
|
||||
cd plr_repo
|
||||
pip install .[opentrons]
|
||||
```
|
||||
|
||||
2. 安装 Uni-Lab-OS:
|
||||
|
||||
```bash
|
||||
# 克隆仓库
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install .
|
||||
```
|
||||
|
||||
3. 启动 Uni-Lab 系统:
|
||||
|
||||
请见[文档-启动样例](https://readthedocs.dp.tech/Uni-Lab/v0.8.0/boot_examples/index.html)
|
||||
|
||||
## 消息格式
|
||||
|
||||
Uni-Lab-OS 使用预构建的 `unilabos_msgs` 进行系统通信。您可以在 [GitHub Releases](https://github.com/dptech-corp/Uni-Lab-OS/releases) 页面找到已构建的版本。
|
||||
|
||||
## 许可证
|
||||
|
||||
此项目采用 GPL-3.0 许可 - 详情请参阅 [LICENSE](LICENSE) 文件。
|
||||
|
||||
## 项目统计
|
||||
|
||||
### Stars 趋势
|
||||
|
||||
<a href="https://star-history.com/#dptech-corp/Uni-Lab-OS&Date">
|
||||
<img src="https://api.star-history.com/svg?repos=dptech-corp/Uni-Lab-OS&type=Date" alt="Star History Chart" width="600">
|
||||
</a>
|
||||
|
||||
## 联系我们
|
||||
|
||||
- GitHub Issues: [https://github.com/dptech-corp/Uni-Lab-OS/issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.9.1
|
||||
version: 0.9.0
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
folder: ros-humble-unilabos-msgs/src/work
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.9.1"
|
||||
version: "0.9.0"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.9.1',
|
||||
version='0.9.0',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -31,6 +31,6 @@ def job_add(req: JobAddReq) -> JobData:
|
||||
action_kwargs = {"command": json.dumps(action_kwargs)}
|
||||
elif "command" in action_kwargs:
|
||||
action_kwargs = action_kwargs["command"]
|
||||
# print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
|
||||
HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id, server_info=req.server_info)
|
||||
print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
|
||||
HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id)
|
||||
return JobData(jobId=req.job_id)
|
||||
|
||||
@@ -51,9 +51,8 @@ class Resp(BaseModel):
|
||||
class JobAddReq(BaseModel):
|
||||
device_id: str = Field(examples=["Gripper"], description="device id")
|
||||
data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
|
||||
job_id: str = Field(examples=["job_id"], description="goal uuid")
|
||||
node_id: str = Field(examples=["node_id"], description="node uuid")
|
||||
server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
|
||||
job_id: str = Field(examples=["sfsfsfeq"], description="goal uuid")
|
||||
node_id: str = Field(examples=["sfsfsfeq"], description="node uuid")
|
||||
|
||||
|
||||
class JobStepFinishReq(BaseModel):
|
||||
|
||||
@@ -12,7 +12,7 @@ import tempfile
|
||||
import os
|
||||
|
||||
from unilabos.config.config import MQConfig
|
||||
from unilabos.app.controler import job_add
|
||||
from unilabos.app.controler import devices, job_add
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
@@ -43,10 +43,13 @@ class MQTTClient:
|
||||
def _on_connect(self, client, userdata, flags, rc, properties=None):
|
||||
logger.info("[MQTT] Connected with result code " + str(rc))
|
||||
client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
|
||||
client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
|
||||
isok, data = devices()
|
||||
if not isok:
|
||||
logger.error("[MQTT] on_connect ErrorHostNotInit")
|
||||
return
|
||||
|
||||
def _on_message(self, client, userdata, msg) -> None:
|
||||
# logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
|
||||
logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
|
||||
try:
|
||||
payload_str = msg.payload.decode("utf-8")
|
||||
payload_json = json.loads(payload_str)
|
||||
@@ -60,14 +63,6 @@ class MQTTClient:
|
||||
job_req = JobAddReq.model_validate(payload_json)
|
||||
data = job_add(job_req)
|
||||
return
|
||||
elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
|
||||
# 处理pong响应，通知HostNode
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
|
||||
host_instance = HostNode.get_instance(0)
|
||||
if host_instance:
|
||||
host_instance.handle_pong_response(payload_json)
|
||||
return
|
||||
|
||||
except json.JSONDecodeError as e:
|
||||
logger.error(f"[MQTT] JSON 解析错误: {e}")
|
||||
@@ -184,28 +179,6 @@ class MQTTClient:
|
||||
self.client.publish(address, json.dumps(action_info), qos=2)
|
||||
logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
|
||||
|
||||
def send_ping(self, ping_id: str, timestamp: float):
|
||||
"""发送ping消息到服务端"""
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
address = f"labs/{MQConfig.lab_id}/ping/"
|
||||
ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
|
||||
self.client.publish(address, json.dumps(ping_data), qos=2)
|
||||
|
||||
def setup_pong_subscription(self):
|
||||
"""设置pong消息订阅"""
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
pong_topic = f"labs/{MQConfig.lab_id}/pong/"
|
||||
self.client.subscribe(pong_topic, 0)
|
||||
logger.debug(f"Subscribed to pong topic: {pong_topic}")
|
||||
|
||||
def handle_pong(self, pong_data: dict):
|
||||
"""处理pong响应（这个方法会在收到pong消息时被调用）"""
|
||||
logger.debug(f"Pong received: {pong_data}")
|
||||
# 这里会被HostNode的ping-pong处理逻辑调用
|
||||
pass
|
||||
|
||||
|
||||
mqtt_client = MQTTClient()
|
||||
|
||||
|
||||
@@ -25,10 +25,58 @@ class Registry:
|
||||
self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
|
||||
"ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
|
||||
)
|
||||
self.EmptyIn = self._replace_type_with_class(
|
||||
"EmptyIn", "host_node", f""
|
||||
)
|
||||
self.device_type_registry = {}
|
||||
self.device_type_registry = {
|
||||
"host_node": {
|
||||
"description": "UniLabOS主机节点",
|
||||
"class": {
|
||||
"module": "unilabos.ros.nodes.presets.host_node",
|
||||
"type": "python",
|
||||
"status_types": {},
|
||||
"action_value_mappings": {
|
||||
"create_resource_detailed": {
|
||||
"type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
|
||||
"goal": {
|
||||
"resources": "resources",
|
||||
"device_ids": "device_ids",
|
||||
"bind_parent_ids": "bind_parent_ids",
|
||||
"bind_locations": "bind_locations",
|
||||
"other_calling_params": "other_calling_params",
|
||||
},
|
||||
"feedback": {},
|
||||
"result": {
|
||||
"success": "success"
|
||||
},
|
||||
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter)
|
||||
},
|
||||
"create_resource": {
|
||||
"type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
|
||||
"goal": {
|
||||
"res_id": "res_id",
|
||||
"class_name": "class_name",
|
||||
"parent": "parent",
|
||||
"device_id": "device_id",
|
||||
"bind_locations": "bind_locations",
|
||||
"liquid_input_slot": "liquid_input_slot[]",
|
||||
"liquid_type": "liquid_type[]",
|
||||
"liquid_volume": "liquid_volume[]",
|
||||
"slot_on_deck": "slot_on_deck",
|
||||
},
|
||||
"feedback": {},
|
||||
"result": {
|
||||
"success": "success"
|
||||
},
|
||||
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy)
|
||||
}
|
||||
}
|
||||
},
|
||||
"schema": {
|
||||
"properties": {},
|
||||
"additionalProperties": False,
|
||||
"type": "object"
|
||||
},
|
||||
"file_path": "/"
|
||||
}
|
||||
}
|
||||
self.resource_type_registry = {}
|
||||
self._setup_called = False # 跟踪setup是否已调用
|
||||
# 其他状态变量
|
||||
@@ -40,70 +88,9 @@ class Registry:
|
||||
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
|
||||
return
|
||||
|
||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||
# 标记setup已被调用
|
||||
self._setup_called = True
|
||||
|
||||
self.device_type_registry.update(
|
||||
{
|
||||
"host_node": {
|
||||
"description": "UniLabOS主机节点",
|
||||
"class": {
|
||||
"module": "unilabos.ros.nodes.presets.host_node",
|
||||
"type": "python",
|
||||
"status_types": {},
|
||||
"action_value_mappings": {
|
||||
"create_resource_detailed": {
|
||||
"type": self.ResourceCreateFromOuter,
|
||||
"goal": {
|
||||
"resources": "resources",
|
||||
"device_ids": "device_ids",
|
||||
"bind_parent_ids": "bind_parent_ids",
|
||||
"bind_locations": "bind_locations",
|
||||
"other_calling_params": "other_calling_params",
|
||||
},
|
||||
"feedback": {},
|
||||
"result": {"success": "success"},
|
||||
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter),
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
|
||||
),
|
||||
},
|
||||
"create_resource": {
|
||||
"type": self.ResourceCreateFromOuterEasy,
|
||||
"goal": {
|
||||
"res_id": "res_id",
|
||||
"class_name": "class_name",
|
||||
"parent": "parent",
|
||||
"device_id": "device_id",
|
||||
"bind_locations": "bind_locations",
|
||||
"liquid_input_slot": "liquid_input_slot[]",
|
||||
"liquid_type": "liquid_type[]",
|
||||
"liquid_volume": "liquid_volume[]",
|
||||
"slot_on_deck": "slot_on_deck",
|
||||
},
|
||||
"feedback": {},
|
||||
"result": {"success": "success"},
|
||||
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy),
|
||||
"goal_default": yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
|
||||
),
|
||||
},
|
||||
"test_latency": {
|
||||
"type": self.EmptyIn,
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
|
||||
"schema": ros_action_to_json_schema(self.EmptyIn),
|
||||
"goal_default": {},
|
||||
},
|
||||
},
|
||||
},
|
||||
"icon": "icon_device.webp",
|
||||
"registry_type": "device",
|
||||
"schema": {"properties": {}, "additionalProperties": False, "type": "object"},
|
||||
"file_path": "/",
|
||||
}
|
||||
}
|
||||
)
|
||||
logger.debug(f"[UniLab Registry] ----------Setup----------")
|
||||
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
|
||||
for i, path in enumerate(self.registry_paths):
|
||||
@@ -113,8 +100,6 @@ class Registry:
|
||||
self.load_device_types(path)
|
||||
self.load_resource_types(path)
|
||||
logger.info("[UniLab Registry] 注册表设置完成")
|
||||
# 标记setup已被调用
|
||||
self._setup_called = True
|
||||
|
||||
def load_resource_types(self, path: os.PathLike):
|
||||
abs_path = Path(path).absolute()
|
||||
@@ -130,9 +115,6 @@ class Registry:
|
||||
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
if "description" not in resource_info:
|
||||
resource_info["description"] = ""
|
||||
if "icon" not in resource_info:
|
||||
resource_info["icon"] = ""
|
||||
resource_info["registry_type"] = "resource"
|
||||
self.resource_type_registry.update(data)
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||
@@ -182,7 +164,6 @@ class Registry:
|
||||
)
|
||||
current_device_number = len(self.device_type_registry) + 1
|
||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||
|
||||
for i, file in enumerate(files):
|
||||
data = yaml.safe_load(open(file, encoding="utf-8"))
|
||||
if data:
|
||||
@@ -192,9 +173,6 @@ class Registry:
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
if "description" not in device_config:
|
||||
device_config["description"] = ""
|
||||
if "icon" not in device_config:
|
||||
device_config["icon"] = ""
|
||||
device_config["registry_type"] = "device"
|
||||
if "class" in device_config:
|
||||
# 处理状态类型
|
||||
if "status_types" in device_config["class"]:
|
||||
@@ -211,9 +189,7 @@ class Registry:
|
||||
action_config["type"], device_id, f"动作 {action_name}"
|
||||
)
|
||||
if action_config["type"] is not None:
|
||||
action_config["goal_default"] = yaml.safe_load(
|
||||
io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal))
|
||||
)
|
||||
action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
|
||||
action_config["schema"] = ros_action_to_json_schema(action_config["type"])
|
||||
else:
|
||||
logger.warning(
|
||||
@@ -236,17 +212,13 @@ class Registry:
|
||||
def obtain_registry_device_info(self):
|
||||
devices = []
|
||||
for device_id, device_info in self.device_type_registry.items():
|
||||
msg = {"id": device_id, **device_info}
|
||||
msg = {
|
||||
"id": device_id,
|
||||
**device_info
|
||||
}
|
||||
devices.append(msg)
|
||||
return devices
|
||||
|
||||
def obtain_registry_resource_info(self):
|
||||
resources = []
|
||||
for resource_id, resource_info in self.resource_type_registry.items():
|
||||
msg = {"id": resource_id, **resource_info}
|
||||
resources.append(msg)
|
||||
return resources
|
||||
|
||||
|
||||
# 全局单例实例
|
||||
lab_registry = Registry()
|
||||
|
||||
@@ -12,14 +12,8 @@ from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
||||
from rclpy.callback_groups import ReentrantCallbackGroup
|
||||
from rclpy.service import Service
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
ResourceGet,
|
||||
ResourceDelete,
|
||||
ResourceUpdate,
|
||||
ResourceList,
|
||||
SerialCommand,
|
||||
) # type: ignore
|
||||
from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
|
||||
SerialCommand # type: ignore
|
||||
from unique_identifier_msgs.msg import UUID
|
||||
|
||||
from unilabos.registry.registry import lab_registry
|
||||
@@ -93,7 +87,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self.__class__._instance = self
|
||||
|
||||
# 初始化配置
|
||||
self.server_latest_timestamp = 0.0 #
|
||||
self.devices_config = devices_config
|
||||
self.resources_config = resources_config
|
||||
self.physical_setup_graph = physical_setup_graph
|
||||
@@ -107,32 +100,16 @@ class HostNode(BaseROS2DeviceNode):
|
||||
# 创建设备、动作客户端和目标存储
|
||||
self.devices_names: Dict[str, str] = {device_id: self.namespace} # 存储设备名称和命名空间的映射
|
||||
self.devices_instances: Dict[str, ROS2DeviceNode] = {} # 存储设备实例
|
||||
self.device_machine_names: Dict[str, str] = {
|
||||
device_id: "本地",
|
||||
} # 存储设备ID到机器名称的映射
|
||||
self.device_machine_names: Dict[str, str] = {device_id: "本地", } # 存储设备ID到机器名称的映射
|
||||
self._action_clients: Dict[str, ActionClient] = { # 为了方便了解实际的数据类型，host的默认写好
|
||||
"/devices/host_node/create_resource": ActionClient(
|
||||
self,
|
||||
lab_registry.ResourceCreateFromOuterEasy,
|
||||
"/devices/host_node/create_resource",
|
||||
callback_group=self.callback_group,
|
||||
self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/create_resource", callback_group=self.callback_group
|
||||
),
|
||||
"/devices/host_node/create_resource_detailed": ActionClient(
|
||||
self,
|
||||
lab_registry.ResourceCreateFromOuter,
|
||||
"/devices/host_node/create_resource_detailed",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/test_latency": ActionClient(
|
||||
self,
|
||||
lab_registry.EmptyIn,
|
||||
"/devices/host_node/test_latency",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
self, lab_registry.ResourceCreateFromOuter, "/devices/host_node/create_resource_detailed", callback_group=self.callback_group
|
||||
)
|
||||
} # 用来存储多个ActionClient实例
|
||||
self._action_value_mappings: Dict[str, Dict] = (
|
||||
{}
|
||||
) # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
|
||||
self._action_value_mappings: Dict[str, Dict] = {} # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
|
||||
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
|
||||
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
|
||||
self._last_discovery_time = 0.0 # 上次设备发现的时间
|
||||
@@ -146,11 +123,8 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self.device_status_timestamps = {} # 用来存储设备状态最后更新时间
|
||||
|
||||
from unilabos.app.mq import mqtt_client
|
||||
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
mqtt_client.publish_registry(device_info["id"], device_info)
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
mqtt_client.publish_registry(resource_info["id"], resource_info)
|
||||
for device_config in lab_registry.obtain_registry_device_info():
|
||||
mqtt_client.publish_registry(device_config["id"], device_config)
|
||||
|
||||
# 首次发现网络中的设备
|
||||
self._discover_devices()
|
||||
@@ -175,20 +149,21 @@ class HostNode(BaseROS2DeviceNode):
|
||||
].items():
|
||||
controller_config["update_rate"] = update_rate
|
||||
self.initialize_controller(controller_id, controller_config)
|
||||
resources_config.insert(
|
||||
0,
|
||||
{
|
||||
"id": "host_node",
|
||||
"name": "host_node",
|
||||
"parent": None,
|
||||
"type": "device",
|
||||
"class": "host_node",
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [],
|
||||
resources_config.insert(0, {
|
||||
"id": "host_node",
|
||||
"name": "host_node",
|
||||
"parent": None,
|
||||
"type": "device",
|
||||
"class": "host_node",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
)
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": []
|
||||
})
|
||||
resource_with_parent_name = []
|
||||
resource_ids_to_instance = {i["id"]: i for i in resources_config}
|
||||
for res in resources_config:
|
||||
@@ -214,10 +189,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup()
|
||||
)
|
||||
|
||||
# 添加ping-pong相关属性
|
||||
self._ping_responses = {} # 存储ping响应
|
||||
self._ping_lock = threading.Lock()
|
||||
|
||||
self.lab_logger().info("[Host Node] Host node initialized.")
|
||||
HostNode._ready_event.set()
|
||||
|
||||
@@ -262,7 +233,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
target=self._send_re_register,
|
||||
args=(sclient,),
|
||||
daemon=True,
|
||||
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
|
||||
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
|
||||
).start()
|
||||
elif device_key not in self._online_devices:
|
||||
# 设备重新上线
|
||||
@@ -273,7 +244,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
target=self._send_re_register,
|
||||
args=(sclient,),
|
||||
daemon=True,
|
||||
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}",
|
||||
name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
|
||||
).start()
|
||||
|
||||
# 检测离线设备
|
||||
@@ -317,7 +288,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self, action_type, action_id, callback_group=self.callback_group
|
||||
)
|
||||
self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
|
||||
action_name = action_id[len(namespace) + 1 :]
|
||||
action_name = action_id[len(namespace) + 1:]
|
||||
edge_device_id = namespace[9:]
|
||||
# from unilabos.app.mq import mqtt_client
|
||||
# info_with_schema = ros_action_to_json_schema(action_type)
|
||||
@@ -330,83 +301,54 @@ class HostNode(BaseROS2DeviceNode):
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
|
||||
|
||||
def create_resource_detailed(
|
||||
self,
|
||||
resources: list["Resource"],
|
||||
device_ids: list[str],
|
||||
bind_parent_ids: list[str],
|
||||
bind_locations: list[Point],
|
||||
other_calling_params: list[str],
|
||||
):
|
||||
for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(
|
||||
resources, device_ids, bind_parent_ids, bind_locations, other_calling_params
|
||||
):
|
||||
def create_resource_detailed(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
|
||||
for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(resources, device_ids, bind_parent_ids, bind_locations, other_calling_params):
|
||||
# 这里要求device_id传入必须是edge_device_id
|
||||
namespace = "/devices/" + device_id
|
||||
srv_address = f"/srv{namespace}/append_resource"
|
||||
sclient = self.create_client(SerialCommand, srv_address)
|
||||
sclient.wait_for_service()
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps(
|
||||
{
|
||||
"resource": resource, # 单个/单组 可为 list[list[Resource]]
|
||||
"namespace": namespace,
|
||||
"edge_device_id": device_id,
|
||||
"bind_parent_id": bind_parent_id,
|
||||
"bind_location": {
|
||||
"x": bind_location.x,
|
||||
"y": bind_location.y,
|
||||
"z": bind_location.z,
|
||||
},
|
||||
"other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
|
||||
request.command = json.dumps({
|
||||
"resource": resource, # 单个/单组 可为 list[list[Resource]]
|
||||
"namespace": namespace,
|
||||
"edge_device_id": device_id,
|
||||
"bind_parent_id": bind_parent_id,
|
||||
"bind_location": {
|
||||
"x": bind_location.x,
|
||||
"y": bind_location.y,
|
||||
"z": bind_location.z,
|
||||
},
|
||||
ensure_ascii=False,
|
||||
)
|
||||
"other_calling_param": json.loads(other_calling_param) if other_calling_param else {},
|
||||
}, ensure_ascii=False)
|
||||
response = sclient.call(request)
|
||||
pass
|
||||
pass
|
||||
|
||||
def create_resource(
|
||||
self,
|
||||
device_id: str,
|
||||
res_id: str,
|
||||
class_name: str,
|
||||
parent: str,
|
||||
bind_locations: Point,
|
||||
liquid_input_slot: list[int],
|
||||
liquid_type: list[str],
|
||||
liquid_volume: list[int],
|
||||
slot_on_deck: int,
|
||||
):
|
||||
init_new_res = initialize_resource(
|
||||
{
|
||||
"name": res_id,
|
||||
"class": class_name,
|
||||
"parent": parent,
|
||||
"position": {
|
||||
"x": bind_locations.x,
|
||||
"y": bind_locations.y,
|
||||
"z": bind_locations.z,
|
||||
},
|
||||
def create_resource(self, device_id: str, res_id: str, class_name: str, parent: str, bind_locations: Point, liquid_input_slot: list[int], liquid_type: list[str], liquid_volume: list[int], slot_on_deck: int):
|
||||
init_new_res = initialize_resource({
|
||||
"name": res_id,
|
||||
"class": class_name,
|
||||
"parent": parent,
|
||||
"position": {
|
||||
"x": bind_locations.x,
|
||||
"y": bind_locations.y,
|
||||
"z": bind_locations.z,
|
||||
}
|
||||
) # flatten的格式
|
||||
resources = init_new_res # initialize_resource已经返回list[dict]
|
||||
device_ids = [device_id]
|
||||
}) # flatten的格式
|
||||
resources = [init_new_res]
|
||||
device_id = [device_id]
|
||||
bind_parent_id = [parent]
|
||||
bind_location = [bind_locations]
|
||||
other_calling_param = [
|
||||
json.dumps(
|
||||
{
|
||||
"ADD_LIQUID_TYPE": liquid_type,
|
||||
"LIQUID_VOLUME": liquid_volume,
|
||||
"LIQUID_INPUT_SLOT": liquid_input_slot,
|
||||
"initialize_full": False,
|
||||
"slot": slot_on_deck,
|
||||
}
|
||||
)
|
||||
]
|
||||
other_calling_param = [json.dumps({
|
||||
"ADD_LIQUID_TYPE": liquid_type,
|
||||
"LIQUID_VOLUME": liquid_volume,
|
||||
"LIQUID_INPUT_SLOT": liquid_input_slot,
|
||||
"initialize_full": False,
|
||||
"slot": slot_on_deck
|
||||
})]
|
||||
|
||||
return self.create_resource_detailed(resources, device_ids, bind_parent_id, bind_location, other_calling_param)
|
||||
return self.create_resource_detailed(resources, device_id, bind_parent_id, bind_location, other_calling_param)
|
||||
|
||||
def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
|
||||
"""
|
||||
@@ -435,9 +377,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
if action_id not in self._action_clients:
|
||||
action_type = action_value_mapping["type"]
|
||||
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
|
||||
self.lab_logger().debug(
|
||||
f"[Host Node] Created ActionClient (Local): {action_id}"
|
||||
) # 子设备再创建用的是Discover发现的
|
||||
self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}") # 子设备再创建用的是Discover发现的
|
||||
# from unilabos.app.mq import mqtt_client
|
||||
# info_with_schema = ros_action_to_json_schema(action_type)
|
||||
# mqtt_client.publish_actions(action_name, {
|
||||
@@ -537,12 +477,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
)
|
||||
|
||||
def send_goal(
|
||||
self,
|
||||
device_id: str,
|
||||
action_name: str,
|
||||
action_kwargs: Dict[str, Any],
|
||||
goal_uuid: Optional[str] = None,
|
||||
server_info: Optional[Dict[str, Any]] = None,
|
||||
self, device_id: str, action_name: str, action_kwargs: Dict[str, Any], goal_uuid: Optional[str] = None
|
||||
) -> None:
|
||||
"""
|
||||
向设备发送目标请求
|
||||
@@ -554,8 +489,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
goal_uuid: 目标UUID，如果为None则自动生成
|
||||
"""
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
if action_name == "test_latency" and server_info is not None:
|
||||
self.server_latest_timestamp = server_info.get("send_timestamp", 0.0)
|
||||
if action_id not in self._action_clients:
|
||||
self.lab_logger().error(f"[Host Node] ActionClient {action_id} not found.")
|
||||
return
|
||||
@@ -850,148 +783,3 @@ class HostNode(BaseROS2DeviceNode):
|
||||
# 这里可以实现返回资源列表的逻辑
|
||||
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
|
||||
return response
|
||||
|
||||
def test_latency(self):
|
||||
"""
|
||||
测试网络延迟的action实现
|
||||
通过5次ping-pong机制校对时间误差并计算实际延迟
|
||||
"""
|
||||
import time
|
||||
import uuid as uuid_module
|
||||
|
||||
self.lab_logger().info("=" * 60)
|
||||
self.lab_logger().info("开始网络延迟测试...")
|
||||
|
||||
# 记录任务开始执行的时间
|
||||
task_start_time = time.time()
|
||||
|
||||
# 进行5次ping-pong测试
|
||||
ping_results = []
|
||||
|
||||
for i in range(5):
|
||||
self.lab_logger().info(f"第{i+1}/5次ping-pong测试...")
|
||||
|
||||
# 生成唯一的ping ID
|
||||
ping_id = str(uuid_module.uuid4())
|
||||
|
||||
# 记录发送时间
|
||||
send_timestamp = time.time()
|
||||
|
||||
# 发送ping
|
||||
from unilabos.app.mq import mqtt_client
|
||||
|
||||
mqtt_client.send_ping(ping_id, send_timestamp)
|
||||
|
||||
# 等待pong响应
|
||||
timeout = 10.0
|
||||
start_wait_time = time.time()
|
||||
|
||||
while time.time() - start_wait_time < timeout:
|
||||
with self._ping_lock:
|
||||
if ping_id in self._ping_responses:
|
||||
pong_data = self._ping_responses.pop(ping_id)
|
||||
break
|
||||
time.sleep(0.001)
|
||||
else:
|
||||
self.lab_logger().error(f"❌ 第{i+1}次测试超时")
|
||||
continue
|
||||
|
||||
# 计算本次测试结果
|
||||
receive_timestamp = time.time()
|
||||
client_timestamp = pong_data["client_timestamp"]
|
||||
server_timestamp = pong_data["server_timestamp"]
|
||||
|
||||
# 往返时间
|
||||
rtt_ms = (receive_timestamp - send_timestamp) * 1000
|
||||
|
||||
# 客户端与服务端时间差（客户端时间 - 服务端时间）
|
||||
# 假设网络延迟对称，取中间点的服务端时间
|
||||
mid_point_time = send_timestamp + (receive_timestamp - send_timestamp) / 2
|
||||
time_diff_ms = (mid_point_time - server_timestamp) * 1000
|
||||
|
||||
ping_results.append({"rtt_ms": rtt_ms, "time_diff_ms": time_diff_ms})
|
||||
|
||||
self.lab_logger().info(f"✅ 第{i+1}次: 往返时间={rtt_ms:.2f}ms, 时间差={time_diff_ms:.2f}ms")
|
||||
|
||||
time.sleep(0.1)
|
||||
|
||||
if not ping_results:
|
||||
self.lab_logger().error("❌ 所有ping-pong测试都失败了")
|
||||
return {"status": "all_timeout"}
|
||||
|
||||
# 统计分析
|
||||
rtts = [r["rtt_ms"] for r in ping_results]
|
||||
time_diffs = [r["time_diff_ms"] for r in ping_results]
|
||||
|
||||
avg_rtt_ms = sum(rtts) / len(rtts)
|
||||
avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
|
||||
max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
|
||||
|
||||
self.lab_logger().info("-" * 50)
|
||||
self.lab_logger().info("[测试统计]")
|
||||
self.lab_logger().info(f"有效测试次数: {len(ping_results)}/5")
|
||||
self.lab_logger().info(f"平均往返时间: {avg_rtt_ms:.2f}ms")
|
||||
self.lab_logger().info(f"平均时间差: {avg_time_diff_ms:.2f}ms")
|
||||
self.lab_logger().info(f"时间差范围: {min(time_diffs):.2f}ms ~ {max(time_diffs):.2f}ms")
|
||||
self.lab_logger().info(f"最大时间误差: ±{max_time_diff_error_ms:.2f}ms")
|
||||
|
||||
# 计算任务执行延迟
|
||||
if hasattr(self, "server_latest_timestamp") and self.server_latest_timestamp > 0:
|
||||
self.lab_logger().info("-" * 50)
|
||||
self.lab_logger().info("[任务执行延迟分析]")
|
||||
self.lab_logger().info(f"服务端任务下发时间: {self.server_latest_timestamp:.6f}")
|
||||
self.lab_logger().info(f"客户端任务开始时间: {task_start_time:.6f}")
|
||||
|
||||
# 原始时间差（不考虑时间同步误差）
|
||||
raw_delay_ms = (task_start_time - self.server_latest_timestamp) * 1000
|
||||
|
||||
# 考虑时间同步误差后的延迟（用平均时间差校正）
|
||||
corrected_delay_ms = raw_delay_ms - avg_time_diff_ms
|
||||
|
||||
self.lab_logger().info(f"📊 原始时间差: {raw_delay_ms:.2f}ms")
|
||||
self.lab_logger().info(f"🔧 时间同步校正: {avg_time_diff_ms:.2f}ms")
|
||||
self.lab_logger().info(f"⏰ 实际任务延迟: {corrected_delay_ms:.2f}ms")
|
||||
self.lab_logger().info(f"📏 误差范围: ±{max_time_diff_error_ms:.2f}ms")
|
||||
|
||||
# 给出延迟范围
|
||||
min_delay = corrected_delay_ms - max_time_diff_error_ms
|
||||
max_delay = corrected_delay_ms + max_time_diff_error_ms
|
||||
self.lab_logger().info(f"📋 延迟范围: {min_delay:.2f}ms ~ {max_delay:.2f}ms")
|
||||
|
||||
else:
|
||||
self.lab_logger().warning("⚠️ 无法获取服务端任务下发时间，跳过任务延迟分析")
|
||||
corrected_delay_ms = -1
|
||||
|
||||
self.lab_logger().info("=" * 60)
|
||||
|
||||
return {
|
||||
"avg_rtt_ms": avg_rtt_ms,
|
||||
"avg_time_diff_ms": avg_time_diff_ms,
|
||||
"max_time_error_ms": max_time_diff_error_ms,
|
||||
"task_delay_ms": corrected_delay_ms if corrected_delay_ms > 0 else -1,
|
||||
"raw_delay_ms": (
|
||||
raw_delay_ms if hasattr(self, "server_latest_timestamp") and self.server_latest_timestamp > 0 else -1
|
||||
),
|
||||
"test_count": len(ping_results),
|
||||
"status": "success",
|
||||
}
|
||||
|
||||
def handle_pong_response(self, pong_data: dict):
|
||||
"""
|
||||
处理pong响应
|
||||
"""
|
||||
ping_id = pong_data.get("ping_id")
|
||||
if ping_id:
|
||||
with self._ping_lock:
|
||||
self._ping_responses[ping_id] = pong_data
|
||||
|
||||
# 详细信息合并为一条日志
|
||||
client_timestamp = pong_data.get("client_timestamp", 0)
|
||||
server_timestamp = pong_data.get("server_timestamp", 0)
|
||||
current_time = time.time()
|
||||
|
||||
self.lab_logger().debug(
|
||||
f"📨 Pong | ID:{ping_id[:8]}.. | C→S→C: {client_timestamp:.3f}→{server_timestamp:.3f}→{current_time:.3f}"
|
||||
)
|
||||
else:
|
||||
self.lab_logger().warning("⚠️ 收到无效的Pong响应（缺少ping_id）")
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
# Bio
|
||||
float64[] asp_vols
|
||||
float64[] dis_vols
|
||||
Resource[] sources
|
||||
|
||||
Reference in New Issue
Block a user