mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 04:51:10 +00:00
133dbf77bb
* 修复嵌套节点，mq发送任务id出错的问题 修正一处注册表命名错误 * 修复本地看板Action显示不全 修复本地子设备没有机器名称的bug * 补全vacuum_pump.mock注册信息
818 lines
35 KiB
Python
818 lines
35 KiB
Python
import json
|
||
import threading
|
||
import time
|
||
import traceback
|
||
import uuid
|
||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional
|
||
|
||
from concurrent.futures import ThreadPoolExecutor
|
||
import asyncio
|
||
|
||
import rclpy
|
||
from rclpy.node import Node
|
||
from rclpy.action import ActionServer, ActionClient
|
||
from rclpy.action.server import ServerGoalHandle
|
||
from rclpy.client import Client
|
||
from rclpy.callback_groups import ReentrantCallbackGroup
|
||
from rclpy.service import Service
|
||
from unilabos_msgs.action import SendCmd
|
||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||
|
||
from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
|
||
initialize_resources
|
||
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, ros_action_to_json_schema,
|
||
)
|
||
from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
|
||
SerialCommand # type: ignore
|
||
from unilabos_msgs.msg import Resource # type: ignore
|
||
|
||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||
from unilabos.ros.x.rclpyx import get_event_loop
|
||
from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||
from unilabos.utils.async_util import run_async_func
|
||
from unilabos.utils.log import info, debug, warning, error, critical, logger
|
||
from unilabos.utils.type_check import get_type_class, TypeEncoder
|
||
|
||
T = TypeVar("T")
|
||
|
||
|
||
# 在线设备注册表
|
||
registered_devices: Dict[str, "DeviceInfoType"] = {}
|
||
|
||
|
||
# 实现同时记录自定义日志和ROS2日志的适配器
|
||
class ROSLoggerAdapter:
|
||
"""同时向自定义日志和ROS2日志发送消息的适配器"""
|
||
|
||
@property
|
||
def identifier(self):
|
||
return f"{self.namespace}"
|
||
|
||
def __init__(self, ros_logger, namespace):
|
||
"""
|
||
初始化日志适配器
|
||
|
||
Args:
|
||
ros_logger: ROS2日志记录器
|
||
namespace: 命名空间
|
||
"""
|
||
self.ros_logger = ros_logger
|
||
self.namespace = namespace
|
||
self.level_2_logger_func = {
|
||
"info": info,
|
||
"debug": debug,
|
||
"warning": warning,
|
||
"error": error,
|
||
"critical": critical,
|
||
}
|
||
|
||
def _log(self, level, msg, *args, **kwargs):
|
||
"""实际执行日志记录的内部方法"""
|
||
# 添加前缀，使日志更易识别
|
||
msg = f"[{self.identifier}] {msg}"
|
||
# 向ROS2日志发送消息（标准库logging不支持stack_level参数）
|
||
ros_log_func = getattr(self.ros_logger, "debug") # 默认发送debug，这样不会显示在控制台
|
||
ros_log_func(msg)
|
||
self.level_2_logger_func[level](msg, *args, stack_level=1, **kwargs)
|
||
|
||
def debug(self, msg, *args, **kwargs):
|
||
"""记录DEBUG级别日志"""
|
||
self._log("debug", msg, *args, **kwargs)
|
||
|
||
def info(self, msg, *args, **kwargs):
|
||
"""记录INFO级别日志"""
|
||
self._log("info", msg, *args, **kwargs)
|
||
|
||
def warning(self, msg, *args, **kwargs):
|
||
"""记录WARNING级别日志"""
|
||
self._log("warning", msg, *args, **kwargs)
|
||
|
||
def error(self, msg, *args, **kwargs):
|
||
"""记录ERROR级别日志"""
|
||
self._log("error", msg, *args, **kwargs)
|
||
|
||
def critical(self, msg, *args, **kwargs):
|
||
"""记录CRITICAL级别日志"""
|
||
self._log("critical", msg, *args, **kwargs)
|
||
|
||
|
||
def init_wrapper(
|
||
self,
|
||
device_id: str,
|
||
driver_class: type[T],
|
||
device_config: Dict[str, Any],
|
||
status_types: Dict[str, Any],
|
||
action_value_mappings: Dict[str, Any],
|
||
hardware_interface: Dict[str, Any],
|
||
print_publish: bool,
|
||
children: Optional[list] = None,
|
||
driver_params: Optional[Dict[str, Any]] = None,
|
||
driver_is_ros: bool = False,
|
||
*args,
|
||
**kwargs,
|
||
):
|
||
"""初始化设备节点的包装函数，和ROS2DeviceNode初始化保持一致"""
|
||
if driver_params is None:
|
||
driver_params = kwargs.copy()
|
||
if children is None:
|
||
children = []
|
||
kwargs["device_id"] = device_id
|
||
kwargs["driver_class"] = driver_class
|
||
kwargs["device_config"] = device_config
|
||
kwargs["driver_params"] = driver_params
|
||
kwargs["status_types"] = status_types
|
||
kwargs["action_value_mappings"] = action_value_mappings
|
||
kwargs["hardware_interface"] = hardware_interface
|
||
kwargs["children"] = children
|
||
kwargs["print_publish"] = print_publish
|
||
kwargs["driver_is_ros"] = driver_is_ros
|
||
super(type(self), self).__init__(*args, **kwargs)
|
||
|
||
|
||
class PropertyPublisher:
|
||
def __init__(
|
||
self,
|
||
node: "BaseROS2DeviceNode",
|
||
name: str,
|
||
get_method,
|
||
msg_type,
|
||
initial_period: float = 5.0,
|
||
print_publish=True,
|
||
):
|
||
self.node = node
|
||
self.name = name
|
||
self.msg_type = msg_type
|
||
self.get_method = get_method
|
||
self.timer_period = initial_period
|
||
self.print_publish = print_publish
|
||
|
||
self._value = None
|
||
self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
|
||
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
||
self.__loop = get_event_loop()
|
||
str_msg_type = str(msg_type)[8:-2]
|
||
self.node.lab_logger().debug(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
|
||
|
||
def get_property(self):
|
||
if asyncio.iscoroutinefunction(self.get_method):
|
||
# 如果是异步函数，运行事件循环并等待结果
|
||
self.node.get_logger().debug(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
|
||
loop = self.__loop
|
||
if loop:
|
||
future = asyncio.run_coroutine_threadsafe(self.get_method(), loop)
|
||
self._value = future.result()
|
||
return self._value
|
||
else:
|
||
self.node.get_logger().error(f"【PropertyPublisher.get_property】事件循环未初始化")
|
||
return None
|
||
else:
|
||
# 如果是同步函数，直接调用并返回结果
|
||
self.node.get_logger().debug(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
|
||
self._value = self.get_method()
|
||
return self._value
|
||
|
||
async def get_property_async(self):
|
||
try:
|
||
# 获取异步属性值
|
||
self.node.get_logger().debug(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
|
||
self._value = await self.get_method()
|
||
except Exception as e:
|
||
self.node.get_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
|
||
|
||
def publish_property(self):
|
||
try:
|
||
self.node.get_logger().debug(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
|
||
value = self.get_property()
|
||
if self.print_publish:
|
||
self.node.get_logger().info(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
|
||
if value is not None:
|
||
msg = convert_to_ros_msg(self.msg_type, value)
|
||
self.publisher_.publish(msg)
|
||
self.node.get_logger().debug(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
|
||
except Exception as e:
|
||
traceback.print_exc()
|
||
self.node.get_logger().error(f"【PropertyPublisher.publish_property】发布属性出错: {str(e)}")
|
||
|
||
def change_frequency(self, period):
|
||
# 动态改变定时器频率
|
||
self.timer_period = period
|
||
self.node.get_logger().info(
|
||
f"【PropertyPublisher.change_frequency】修改 {self.name} 定时器周期为: {self.timer_period} 秒"
|
||
)
|
||
|
||
# 重置定时器
|
||
self.timer.cancel()
|
||
self.timer = self.node.create_timer(self.timer_period, self.publish_property)
|
||
|
||
|
||
class BaseROS2DeviceNode(Node, Generic[T]):
|
||
"""
|
||
ROS2设备节点基类
|
||
|
||
这个类提供了ROS2设备节点的基本功能，包括属性发布、动作服务等。
|
||
通过泛型参数T来指定具体的设备类型。
|
||
"""
|
||
|
||
@property
|
||
def identifier(self):
|
||
return f"{self.namespace}/{self.device_id}"
|
||
|
||
node_name: str
|
||
namespace: str
|
||
# TODO 要删除，添加时间相关的属性，避免动态添加属性的警告
|
||
time_spent = 0.0
|
||
time_remaining = 0.0
|
||
create_action_server = True
|
||
|
||
def __init__(
|
||
self,
|
||
driver_instance: T,
|
||
device_id: str,
|
||
status_types: Dict[str, Any],
|
||
action_value_mappings: Dict[str, Any],
|
||
hardware_interface: Dict[str, Any],
|
||
print_publish=True,
|
||
resource_tracker: Optional["DeviceNodeResourceTracker"] = None,
|
||
):
|
||
"""
|
||
初始化ROS2设备节点
|
||
|
||
Args:
|
||
driver_instance: 设备实例
|
||
device_id: 设备标识符
|
||
status_types: 需要发布的状态和传感器信息
|
||
action_value_mappings: 设备动作
|
||
hardware_interface: 硬件接口配置
|
||
print_publish: 是否打印发布信息
|
||
"""
|
||
self.driver_instance = driver_instance
|
||
self.device_id = device_id
|
||
self.uuid = str(uuid.uuid4())
|
||
self.publish_high_frequency = False
|
||
self.callback_group = ReentrantCallbackGroup()
|
||
self.resource_tracker = resource_tracker
|
||
|
||
# 初始化ROS节点
|
||
self.node_name = f'{device_id.split("/")[-1]}'
|
||
self.namespace = f"/devices/{device_id}"
|
||
Node.__init__(self, self.node_name, namespace=self.namespace) # type: ignore
|
||
if self.resource_tracker is None:
|
||
self.lab_logger().critical("资源跟踪器未初始化，请检查")
|
||
|
||
# 创建自定义日志记录器
|
||
self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.namespace)
|
||
|
||
self._action_servers: Dict[str, ActionServer] = {}
|
||
self._property_publishers = {}
|
||
self._status_types = status_types
|
||
self._action_value_mappings = action_value_mappings
|
||
self._hardware_interface = hardware_interface
|
||
self._print_publish = print_publish
|
||
|
||
# 创建属性发布者
|
||
for attr_name, msg_type in self._status_types.items():
|
||
if isinstance(attr_name, (int, float)):
|
||
if "param" in msg_type.keys():
|
||
pass
|
||
else:
|
||
for k, v in msg_type.items():
|
||
self.create_ros_publisher(k, v, initial_period=5.0)
|
||
else:
|
||
self.create_ros_publisher(attr_name, msg_type)
|
||
|
||
# 创建动作服务
|
||
if self.create_action_server:
|
||
for action_name, action_value_mapping in self._action_value_mappings.items():
|
||
self.create_ros_action_server(action_name, action_value_mapping)
|
||
|
||
# 创建线程池执行器
|
||
self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
|
||
|
||
# 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_delete": self.create_client(ResourceDelete, "/resources/delete"),
|
||
"resource_update": self.create_client(ResourceUpdate, "/resources/update"),
|
||
"resource_list": self.create_client(ResourceList, "/resources/list"),
|
||
}
|
||
|
||
def query_host_name_cb(req, res):
|
||
self.register_device()
|
||
self.lab_logger().info("Host要求重新注册当前节点")
|
||
res.response = ""
|
||
return res
|
||
|
||
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")
|
||
rclient.wait_for_service()
|
||
request = ResourceAdd.Request()
|
||
command_json = json.loads(req.command)
|
||
namespace = command_json["namespace"]
|
||
bind_parent_id = command_json["bind_parent_id"]
|
||
edge_device_id = command_json["edge_device_id"]
|
||
location = command_json["bind_location"]
|
||
other_calling_param = command_json["other_calling_param"]
|
||
resources = command_json["resource"]
|
||
initialize_full = other_calling_param.pop("initialize_full", False)
|
||
# 本地拿到这个物料，可能需要先做初始化?
|
||
if isinstance(resources, list):
|
||
if initialize_full:
|
||
resources = initialize_resources(resources)
|
||
request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
|
||
else:
|
||
if initialize_full:
|
||
resources = initialize_resources([resources])
|
||
request.resources = [convert_to_ros_msg(Resource, resources)]
|
||
response = rclient.call(request)
|
||
# 应该先add_resource了
|
||
res.response = "OK"
|
||
# 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
|
||
resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
|
||
request.resources = [convert_to_ros_msg(Resource, resources)]
|
||
|
||
try:
|
||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||
from pylabrobot.resources.deck import Deck
|
||
from pylabrobot.resources import Coordinate
|
||
from pylabrobot.resources import OTDeck
|
||
contain_model = not isinstance(resource, Deck)
|
||
if isinstance(resource, ResourcePLR):
|
||
# resources.list()
|
||
plr_instance = resource_ulab_to_plr(resources, contain_model)
|
||
if isinstance(resource, OTDeck) and "slot" in other_calling_param:
|
||
resource.assign_child_at_slot(plr_instance, **other_calling_param)
|
||
resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
|
||
# 发送给ResourceMeshManager
|
||
action_client = ActionClient(
|
||
self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
|
||
)
|
||
goal = SendCmd.Goal()
|
||
goal.command = json.dumps({
|
||
"resources": resources,
|
||
"bind_parent_id": bind_parent_id,
|
||
})
|
||
future = action_client.send_goal_async(goal, goal_uuid=uuid.uuid4())
|
||
|
||
def done_cb(*args):
|
||
self.lab_logger().info(f"向meshmanager发送新增resource完成")
|
||
|
||
future.add_done_callback(done_cb)
|
||
except ImportError:
|
||
self.lab_logger().error("Host请求添加物料时，本环境并不存在pylabrobot")
|
||
except Exception as e:
|
||
self.lab_logger().error("Host请求添加物料时出错")
|
||
self.lab_logger().error(traceback.format_exc())
|
||
return res
|
||
|
||
# noinspection PyTypeChecker
|
||
self._service_server: Dict[str, Service] = {
|
||
"query_host_name": self.create_service(
|
||
SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
|
||
),
|
||
"append_resource": self.create_service(
|
||
SerialCommand, f"/srv{self.namespace}/append_resource", append_resource, callback_group=self.callback_group
|
||
),
|
||
}
|
||
|
||
# 向全局在线设备注册表添加设备信息
|
||
self.register_device()
|
||
rclpy.get_global_executor().add_node(self)
|
||
self.lab_logger().debug(f"ROS节点初始化完成")
|
||
|
||
def register_device(self):
|
||
"""向注册表中注册设备信息"""
|
||
topics_info = self._property_publishers.copy()
|
||
actions_info = self._action_servers.copy()
|
||
# 创建设备信息
|
||
device_info = DeviceInfoType(
|
||
id=self.device_id,
|
||
uuid=self.uuid,
|
||
node_name=self.node_name,
|
||
namespace=self.namespace,
|
||
driver_instance=self.driver_instance,
|
||
status_publishers=topics_info,
|
||
actions=actions_info,
|
||
hardware_interface=self._hardware_interface,
|
||
base_node_instance=self,
|
||
)
|
||
# 加入全局注册表
|
||
registered_devices[self.device_id] = device_info
|
||
from unilabos.config.config import BasicConfig
|
||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||
if not BasicConfig.is_host_mode:
|
||
sclient = self.create_client(SerialCommand, "/node_info_update")
|
||
# 启动线程执行发送任务
|
||
threading.Thread(
|
||
target=self.send_slave_node_info,
|
||
args=(sclient,),
|
||
daemon=True,
|
||
name=f"ROSDevice{self.device_id}_send_slave_node_info"
|
||
).start()
|
||
else:
|
||
host_node = HostNode.get_instance(0)
|
||
if host_node is not None:
|
||
host_node.device_machine_names[self.device_id] = "本地"
|
||
|
||
def send_slave_node_info(self, sclient):
|
||
sclient.wait_for_service()
|
||
request = SerialCommand.Request()
|
||
from unilabos.config.config import BasicConfig
|
||
request.command = json.dumps({
|
||
"SYNC_SLAVE_NODE_INFO": {
|
||
"machine_name": BasicConfig.machine_name,
|
||
"type": "slave",
|
||
"edge_device_id": self.device_id
|
||
}}, ensure_ascii=False, cls=TypeEncoder)
|
||
|
||
# 发送异步请求并等待结果
|
||
future = sclient.call_async(request)
|
||
response = future.result()
|
||
|
||
def lab_logger(self):
|
||
"""
|
||
获取实验室自定义日志记录器
|
||
|
||
这个日志记录器会同时向ROS2日志和自定义日志发送消息，
|
||
并使用node_name和namespace作为标识。
|
||
|
||
Returns:
|
||
日志记录器实例
|
||
"""
|
||
return self._lab_logger
|
||
|
||
def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
|
||
"""创建ROS发布者"""
|
||
|
||
# 获取属性值的方法
|
||
def get_device_attr():
|
||
try:
|
||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||
return getattr(self.driver_instance, f"get_{attr_name}")()
|
||
else:
|
||
return getattr(self.driver_instance, attr_name)
|
||
except AttributeError as ex:
|
||
if ex.args[0].startswith(f"AttributeError: '{self.driver_instance.__class__.__name__}' object"):
|
||
self.lab_logger().error(
|
||
f"publish error, {str(type(self.driver_instance))[8:-2]} has no attribute '{attr_name}'"
|
||
)
|
||
else:
|
||
self.lab_logger().error(
|
||
f"publish error, when {str(type(self.driver_instance))[8:-2]} getting attribute '{attr_name}'"
|
||
)
|
||
self.lab_logger().error(traceback.format_exc())
|
||
|
||
self._property_publishers[attr_name] = PropertyPublisher(
|
||
self, attr_name, get_device_attr, msg_type, initial_period, self._print_publish
|
||
)
|
||
|
||
def create_ros_action_server(self, action_name, action_value_mapping):
|
||
"""创建ROS动作服务器"""
|
||
action_type = action_value_mapping["type"]
|
||
str_action_type = str(action_type)[8:-2]
|
||
|
||
self._action_servers[action_name] = ActionServer(
|
||
self,
|
||
action_type,
|
||
action_name,
|
||
execute_callback=self._create_execute_callback(action_name, action_value_mapping),
|
||
callback_group=ReentrantCallbackGroup(),
|
||
)
|
||
|
||
self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||
|
||
def _create_execute_callback(self, action_name, action_value_mapping):
|
||
"""创建动作执行回调函数"""
|
||
|
||
async def execute_callback(goal_handle: ServerGoalHandle):
|
||
self.lab_logger().info(f"执行动作: {action_name}")
|
||
goal = goal_handle.request
|
||
|
||
# 从目标消息中提取参数, 并调用对应的方法
|
||
if "sequence" in self._action_value_mappings:
|
||
# 如果一个指令对应函数的连续调用，如启动和等待结果，默认参数应该属于第一个函数调用
|
||
def ACTION(**kwargs):
|
||
for i, action in enumerate(self._action_value_mappings["sequence"]):
|
||
if i == 0:
|
||
self.lab_logger().info(f"执行序列动作第一步: {action}")
|
||
getattr(self.driver_instance, action)(**kwargs)
|
||
else:
|
||
self.lab_logger().info(f"执行序列动作后续步骤: {action}")
|
||
getattr(self.driver_instance, action)()
|
||
|
||
action_paramtypes = get_type_hints(
|
||
getattr(self.driver_instance, self._action_value_mappings["sequence"][0])
|
||
)
|
||
else:
|
||
ACTION = getattr(self.driver_instance, action_name)
|
||
action_paramtypes = get_type_hints(ACTION)
|
||
|
||
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
|
||
self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
|
||
# 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
|
||
if action_name != "add_resource_from_outer":
|
||
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"查询资源状态: Key: {k} Type: {v}")
|
||
current_resources = []
|
||
try:
|
||
if len(action_kwargs[k]) > 1:
|
||
for i in action_kwargs[k]:
|
||
r = ResourceGet.Request()
|
||
r.id = i["id"]
|
||
r.with_children = True
|
||
response = await self._resource_clients["resource_get"].call_async(r)
|
||
current_resources.extend(response.resources)
|
||
else:
|
||
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
|
||
resources_list = [convert_from_ros_msg(rs) for rs in current_resources] # type: ignore # FIXME
|
||
self.lab_logger().debug(f"资源查询结果: {len(resources_list)} 个资源")
|
||
type_hint = action_paramtypes[k]
|
||
final_type = get_type_class(type_hint)
|
||
# 判断 ACTION 是否需要特殊的物料类型如 pylabrobot.resources.Resource，并做转换
|
||
final_resource = [convert_resources_to_type([i], final_type)[0] for i in resources_list]
|
||
action_kwargs[k] = self.resource_tracker.figure_resource(final_resource)
|
||
|
||
self.lab_logger().info(f"准备执行: {action_kwargs}, 函数: {ACTION.__name__}")
|
||
time_start = time.time()
|
||
time_overall = 100
|
||
|
||
# 将阻塞操作放入线程池执行
|
||
if asyncio.iscoroutinefunction(ACTION):
|
||
try:
|
||
self.lab_logger().info(f"异步执行动作 {ACTION}")
|
||
future = ROS2DeviceNode.run_async_func(ACTION, **action_kwargs)
|
||
except Exception as e:
|
||
self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
|
||
raise e
|
||
else:
|
||
self.lab_logger().info(f"同步执行动作 {ACTION}")
|
||
future = self._executor.submit(ACTION, **action_kwargs)
|
||
|
||
def _handle_future_exception(fut):
|
||
try:
|
||
fut.result()
|
||
except Exception as e:
|
||
error(f"同步任务 {ACTION.__name__} 报错了")
|
||
error(traceback.format_exc())
|
||
|
||
future.add_done_callback(_handle_future_exception)
|
||
|
||
action_type = action_value_mapping["type"]
|
||
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
|
||
result_msg_types = action_type.Result.get_fields_and_field_types()
|
||
|
||
while not future.done():
|
||
if goal_handle.is_cancel_requested:
|
||
self.lab_logger().info(f"取消动作: {action_name}")
|
||
future.cancel() # 尝试取消线程池中的任务
|
||
goal_handle.canceled()
|
||
return action_type.Result()
|
||
|
||
self.time_spent = time.time() - time_start
|
||
self.time_remaining = time_overall - self.time_spent
|
||
|
||
# 发布反馈
|
||
feedback_values = {}
|
||
for msg_name, attr_name in action_value_mapping["feedback"].items():
|
||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||
method = getattr(self.driver_instance, f"get_{attr_name}")
|
||
if not asyncio.iscoroutinefunction(method):
|
||
feedback_values[msg_name] = method()
|
||
elif hasattr(self.driver_instance, attr_name):
|
||
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||
|
||
if self._print_publish:
|
||
self.lab_logger().info(f"反馈: {feedback_values}")
|
||
|
||
feedback_msg = convert_to_ros_msg_with_mapping(
|
||
ros_msg_type=action_type.Feedback(),
|
||
obj=feedback_values,
|
||
value_mapping=action_value_mapping["feedback"],
|
||
)
|
||
|
||
goal_handle.publish_feedback(feedback_msg)
|
||
time.sleep(0.5)
|
||
|
||
if future.cancelled():
|
||
self.lab_logger().info(f"动作 {action_name} 已取消")
|
||
return action_type.Result()
|
||
|
||
self.lab_logger().info(f"动作执行完成: {action_name}")
|
||
del future
|
||
|
||
# 向Host更新物料当前状态
|
||
if action_name != "add_resource_from_outer":
|
||
for k, v in goal.get_fields_and_field_types().items():
|
||
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
|
||
continue
|
||
self.lab_logger().info(f"更新资源状态: {k}")
|
||
r = ResourceUpdate.Request()
|
||
# 仅当action_kwargs[k]不为None时尝试转换
|
||
akv = action_kwargs[k]
|
||
apv = action_paramtypes[k]
|
||
final_type = get_type_class(apv)
|
||
if final_type is None:
|
||
continue
|
||
try:
|
||
r.resources = [
|
||
convert_to_ros_msg(Resource, self.resource_tracker.root_resource(rs))
|
||
for rs in convert_resources_from_type(akv, final_type) # type: ignore # FIXME # 考虑反查到最大的
|
||
]
|
||
response = await self._resource_clients["resource_update"].call_async(r)
|
||
self.lab_logger().debug(f"资源更新结果: {response}")
|
||
except Exception as e:
|
||
self.lab_logger().error(f"资源更新失败: {e}")
|
||
self.lab_logger().error(traceback.format_exc())
|
||
|
||
# 发布结果
|
||
goal_handle.succeed()
|
||
self.lab_logger().info(f"设置动作成功: {action_name}")
|
||
|
||
result_values = {}
|
||
for msg_name, attr_name in action_value_mapping["result"].items():
|
||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||
result_values[msg_name] = getattr(self.driver_instance, f"get_{attr_name}")()
|
||
elif hasattr(self.driver_instance, attr_name):
|
||
result_values[msg_name] = getattr(self.driver_instance, attr_name)
|
||
|
||
result_msg = convert_to_ros_msg_with_mapping(
|
||
ros_msg_type=action_type.Result(), obj=result_values, value_mapping=action_value_mapping["result"]
|
||
)
|
||
|
||
for attr_name in result_msg_types.keys():
|
||
if attr_name in ["success", "reached_goal"]:
|
||
setattr(result_msg, attr_name, True)
|
||
|
||
self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
|
||
return result_msg
|
||
|
||
return execute_callback
|
||
|
||
# 异步上下文管理方法
|
||
async def __aenter__(self):
|
||
"""进入异步上下文"""
|
||
self.lab_logger().info(f"进入异步上下文: {self.device_id}")
|
||
if hasattr(self.driver_instance, "__aenter__"):
|
||
await self.driver_instance.__aenter__() # type: ignore
|
||
self.lab_logger().info(f"异步上下文初始化完成: {self.device_id}")
|
||
return self
|
||
|
||
async def __aexit__(self, exc_type, exc_val, exc_tb):
|
||
"""退出异步上下文"""
|
||
self.lab_logger().info(f"退出异步上下文: {self.device_id}")
|
||
if hasattr(self.driver_instance, "__aexit__"):
|
||
await self.driver_instance.__aexit__(exc_type, exc_val, exc_tb) # type: ignore
|
||
self.lab_logger().info(f"异步上下文清理完成: {self.device_id}")
|
||
|
||
|
||
class DeviceInitError(Exception):
|
||
pass
|
||
|
||
|
||
class ROS2DeviceNode:
|
||
"""
|
||
ROS2设备节点类
|
||
|
||
这个类封装了设备类实例和ROS2节点的功能，提供ROS2接口。
|
||
它不继承设备类，而是通过代理模式访问设备类的属性和方法。
|
||
"""
|
||
|
||
# 类变量，用于循环管理
|
||
_loop = None
|
||
_loop_running = False
|
||
_loop_thread = None
|
||
|
||
@classmethod
|
||
def get_loop(cls):
|
||
return cls._loop
|
||
|
||
@classmethod
|
||
def run_async_func(cls, func, **kwargs):
|
||
return run_async_func(func, loop=cls._loop, **kwargs)
|
||
|
||
@property
|
||
def driver_instance(self):
|
||
return self._driver_instance
|
||
|
||
@property
|
||
def ros_node_instance(self):
|
||
return self._ros_node
|
||
|
||
def __init__(
|
||
self,
|
||
device_id: str,
|
||
driver_class: Type[T],
|
||
device_config: Dict[str, Any],
|
||
driver_params: Dict[str, Any],
|
||
status_types: Dict[str, Any],
|
||
action_value_mappings: Dict[str, Any],
|
||
hardware_interface: Dict[str, Any],
|
||
children: Dict[str, Any],
|
||
print_publish: bool = True,
|
||
driver_is_ros: bool = False,
|
||
):
|
||
"""
|
||
初始化ROS2设备节点
|
||
|
||
Args:
|
||
device_id: 设备标识符
|
||
driver_class: 设备类
|
||
device_config: 原始初始化的json
|
||
driver_params: driver初始化的参数
|
||
status_types: 状态类型映射
|
||
action_value_mappings: 动作值映射
|
||
hardware_interface: 硬件接口配置
|
||
children:
|
||
print_publish: 是否打印发布信息
|
||
driver_is_ros:
|
||
"""
|
||
# 在初始化时检查循环状态
|
||
if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
|
||
pass
|
||
elif ROS2DeviceNode._loop_thread is None:
|
||
self._start_loop()
|
||
|
||
# 保存设备类是否支持异步上下文
|
||
self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
|
||
self._driver_class = driver_class
|
||
self.device_config = device_config
|
||
self.driver_is_ros = driver_is_ros
|
||
self.resource_tracker = DeviceNodeResourceTracker()
|
||
|
||
# use_pylabrobot_creator 使用 cls的包路径检测
|
||
use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "DPLiquidHandler"
|
||
|
||
# TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
|
||
# 创建设备类实例
|
||
if use_pylabrobot_creator:
|
||
self._driver_creator = PyLabRobotCreator(
|
||
driver_class, children=children, resource_tracker=self.resource_tracker
|
||
)
|
||
else:
|
||
from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
|
||
|
||
if self._driver_class is ROS2ProtocolNode:
|
||
self._driver_creator = ProtocolNodeCreator(driver_class, children=children)
|
||
else:
|
||
self._driver_creator = DeviceClassCreator(driver_class)
|
||
|
||
if driver_is_ros:
|
||
driver_params["device_id"] = device_id
|
||
driver_params["resource_tracker"] = self.resource_tracker
|
||
self._driver_instance = self._driver_creator.create_instance(driver_params)
|
||
if self._driver_instance is None:
|
||
logger.critical(f"设备实例创建失败 {driver_class}, params: {driver_params}")
|
||
raise DeviceInitError("错误: 设备实例创建失败")
|
||
|
||
# 创建ROS2节点
|
||
if driver_is_ros:
|
||
self._ros_node = self._driver_instance # type: ignore
|
||
else:
|
||
self._ros_node = BaseROS2DeviceNode(
|
||
driver_instance=self._driver_instance,
|
||
device_id=device_id,
|
||
status_types=status_types,
|
||
action_value_mappings=action_value_mappings,
|
||
hardware_interface=hardware_interface,
|
||
print_publish=print_publish,
|
||
resource_tracker=self.resource_tracker,
|
||
)
|
||
self._ros_node: BaseROS2DeviceNode
|
||
self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
|
||
|
||
def _start_loop(self):
|
||
def run_event_loop():
|
||
loop = asyncio.new_event_loop()
|
||
ROS2DeviceNode._loop = loop
|
||
asyncio.set_event_loop(loop)
|
||
loop.run_forever()
|
||
|
||
ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode")
|
||
ROS2DeviceNode._loop_thread.start()
|
||
logger.info(f"循环线程已启动")
|
||
|
||
|
||
class DeviceInfoType(TypedDict):
|
||
id: str
|
||
uuid: str
|
||
node_name: str
|
||
namespace: str
|
||
driver_instance: Any
|
||
status_publishers: Dict[str, PropertyPublisher]
|
||
actions: Dict[str, ActionServer]
|
||
hardware_interface: Dict[str, Any]
|
||
base_node_instance: BaseROS2DeviceNode
|