Uni-Lab-OS/unilabos/ros/nodes/presets/protocol_node.py

import time
import traceback
from typing import Union

import rclpy
from unilabos.messages import *  # type: ignore  # protocol names
from rclpy.action import ActionServer, ActionClient
from rclpy.action.server import ServerGoalHandle
from rclpy.callback_groups import ReentrantCallbackGroup
from unilabos_msgs.msg import Resource  # type: ignore
from unilabos_msgs.srv import ResourceGet, ResourceUpdate  # type: ignore

from unilabos.compile import action_protocol_generators
from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
from unilabos.ros.initialize_device import initialize_device_from_dict
from unilabos.ros.msgs.message_converter import (
    get_action_type,
    convert_to_ros_msg,
    convert_from_ros_msg,
    convert_from_ros_msg_with_mapping, String,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
from unilabos.utils.log import error
from unilabos.utils.type_check import serialize_result_info


class ROS2ProtocolNode(BaseROS2DeviceNode):
    """
    ROS2ProtocolNode代表管理ROS2环境中设备通信和动作的协议节点。
    它初始化设备节点，处理动作客户端，并基于指定的协议执行工作流。
    它还物理上代表一组协同工作的设备，如带夹持器的机械臂，带传送带的CNC机器等。
    """

    # create_action_server = False  # Action Server要自己创建

    def __init__(
        self,
        device_id: str,
        children: dict,
        protocol_type: Union[str, list[str]],
        resource_tracker: DeviceNodeResourceTracker,
        *args,
        **kwargs,
    ):
        self._setup_protocol_names(protocol_type)

        # 初始化其它属性
        self.children = children
        self._busy = False
        self.sub_devices = {}
        self._goals = {}
        self._protocol_servers = {}
        self._action_clients = {}

        # 初始化基类，让基类处理常规动作
        super().__init__(
            driver_instance=self,
            device_id=device_id,
            status_types={},
            action_value_mappings=self.protocol_action_mappings,
            hardware_interface={},
            print_publish=False,
            resource_tracker=resource_tracker,
        )

        # 初始化子设备
        self.communication_node_id_to_instance = {}

        for device_id, device_config in self.children.items():
            if device_config.get("type", "device") != "device":
                self.lab_logger().debug(
                    f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
                )
                continue
            try:
                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()}")
                d = None
            if d is None:
                continue

            if "serial_" in device_id or "io_" in device_id:
                self.communication_node_id_to_instance[device_id] = d
                continue

        for device_id, device_config in self.children.items():
            if device_config.get("type", "device") != "device":
                continue
            # 设置硬件接口代理
            d = self.sub_devices[device_id]
            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"]))
                ):

                    name = getattr(d.driver_instance, hardware_interface["name"])
                    read = hardware_interface.get("read", None)
                    write = hardware_interface.get("write", None)

                    # 如果硬件接口是字符串，通过通信设备提供
                    if isinstance(name, str) and name in self.sub_devices:
                        communicate_device = self.sub_devices[name]
                        communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
                        self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
                        self.lab_logger().info(
                            f"\n通信代理：为子设备{device_id}\n    "
                            f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n    "
                            f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
                        )

        self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")

    def _setup_protocol_names(self, protocol_type):
        # 处理协议类型
        if isinstance(protocol_type, str):
            if "," not in protocol_type:
                self.protocol_names = [protocol_type]
            else:
                self.protocol_names = [protocol.strip() for protocol in protocol_type.split(",")]
        else:
            self.protocol_names = protocol_type
        # 准备协议相关的动作值映射
        self.protocol_action_mappings = {}
        for protocol_name in self.protocol_names:
            protocol_type = globals()[protocol_name]
            self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)

    def initialize_device(self, device_id, device_config):
        """初始化设备并创建相应的动作客户端"""
        # device_id_abs = f"{self.device_id}/{device_id}"
        device_id_abs = f"{device_id}"
        self.lab_logger().info(f"初始化子设备: {device_id_abs}")
        d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)

        # 为子设备的每个动作创建动作客户端
        if d is not None and hasattr(d, "ros_node_instance"):
            node = d.ros_node_instance
            for action_name, action_mapping in node._action_value_mappings.items():
                if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith("UniLabJsonCommand"):
                    continue
                action_id = f"/devices/{device_id_abs}/{action_name}"
                if action_id not in self._action_clients:
                    try:
                        self._action_clients[action_id] = ActionClient(
                            self, action_mapping["type"], action_id, callback_group=self.callback_group
                        )
                    except Exception as ex:
                        self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
                        continue
                    self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}")
        return d

    def create_ros_action_server(self, action_name, action_value_mapping):
        """创建ROS动作服务器"""
        # 和Base创建的路径是一致的
        protocol_name = action_name
        action_type = action_value_mapping["type"]
        str_action_type = str(action_type)[8:-2]
        protocol_type = globals()[protocol_name]
        protocol_steps_generator = action_protocol_generators[protocol_type]

        self._action_servers[action_name] = ActionServer(
            self,
            action_type,
            action_name,
            execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
            callback_group=ReentrantCallbackGroup(),
        )

        self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")

    def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
        async def execute_protocol(goal_handle: ServerGoalHandle):
            """执行完整的工作流"""
            # 初始化结果信息变量
            execution_error = ""
            execution_success = False
            protocol_return_value = None
            self.get_logger().info(f"Executing {protocol_name} action...")
            action_value_mapping = self._action_value_mappings[protocol_name]
            try:
                print("+" * 30)
                print(protocol_steps_generator)
                # 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
                goal = goal_handle.request
                protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
                
                # # 🔧 添加调试信息
                # print(f"🔍 转换后的 protocol_kwargs: {protocol_kwargs}")
                # print(f"🔍 vessel 在转换后: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")

                # # 🔧 完全禁用Host查询，直接使用转换后的数据
                # print(f"🔧 跳过Host查询，直接使用转换后的数据")
                # 向Host查询物料当前状态
                for k, v in goal.get_fields_and_field_types().items():
                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                        r = ResourceGet.Request()
                        resource_id = (
                            protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
                        )
                        r.id = resource_id
                        r.with_children = True
                        response = await self._resource_clients["resource_get"].call_async(r)
                        protocol_kwargs[k] = list_to_nested_dict(
                            [convert_from_ros_msg(rs) for rs in response.resources]
                        )

                self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
                self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")

                from unilabos.resources.graphio import physical_setup_graph

                self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
                protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
                
                self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")

                time_start = time.time()
                time_overall = 100
                self._busy = True

                # 逐步执行工作流
                step_results = []
                for i, action in enumerate(protocol_steps):
                    # self.get_logger().info(f"Running step {i + 1}: {action}")
                    if isinstance(action, dict):
                        # 如果是单个动作，直接执行
                        if action["action_name"] == "wait":
                            time.sleep(action["action_kwargs"]["time"])
                            step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
                        else:
                            result = await self.execute_single_action(**action)
                            step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
                    elif isinstance(action, list):
                        # 如果是并行动作，同时执行
                        actions = action
                        futures = [
                            rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
                        ]
                        results = [await f for f in futures]
                        step_results.append(
                            {
                                "step": i + 1,
                                "parallel_actions": [a["action_name"] for a in actions],
                                "results": results,
                            }
                        )

                # 向Host更新物料当前状态
                for k, v in goal.get_fields_and_field_types().items():
                    if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                        r = ResourceUpdate.Request()
                        r.resources = [
                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
                        ]
                        response = await self._resource_clients["resource_update"].call_async(r)

                # 设置成功状态和返回值
                execution_success = True
                protocol_return_value = {
                    "protocol_name": protocol_name,
                    "steps_executed": len(protocol_steps),
                    "step_results": step_results,
                    "total_time": time.time() - time_start,
                }

                goal_handle.succeed()

            except Exception as e:
                # 捕获并记录错误信息
                execution_error = traceback.format_exc()
                execution_success = False
                error(f"协议 {protocol_name} 执行失败")
                error(traceback.format_exc())
                self.lab_logger().error(f"协议执行出错: {str(e)}")

                # 设置动作失败
                goal_handle.abort()

            finally:
                self._busy = False

            # 创建结果消息
            result = action_value_mapping["type"].Result()
            result.success = execution_success

            # 获取结果消息类型信息，检查是否有return_info字段
            result_msg_types = action_value_mapping["type"].Result.get_fields_and_field_types()

            # 设置return_info字段（如果存在）
            for attr_name in result_msg_types.keys():
                if attr_name in ["success", "reached_goal"]:
                    setattr(result, attr_name, execution_success)
                elif attr_name == "return_info":
                    setattr(
                        result,
                        attr_name,
                        serialize_result_info(execution_error, execution_success, protocol_return_value),
                    )

            self.lab_logger().info(f"🤩🤩🤩🤩🤩🤩协议 {protocol_name} 完成并返回结果😎😎😎😎😎😎")
            return result

        return execute_protocol

    async def execute_single_action(self, device_id, action_name, action_kwargs):
        """执行单个动作"""
        # 构建动作ID
        if device_id in ["", None, "self"]:
            action_id = f"/devices/{self.device_id}/{action_name}"
        else:
            action_id = f"/devices/{device_id}/{action_name}"  # 执行时取消了主节点信息 /{self.device_id}

        # 检查动作客户端是否存在
        if action_id not in self._action_clients:
            self.lab_logger().error(f"找不到动作客户端: {action_id}")
            return None

        # 发送动作请求
        action_client = self._action_clients[action_id]
        goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)

        ##### self.lab_logger().info(f"发送动作请求到: {action_id}")
        action_client.wait_for_server()

        # 等待动作完成
        request_future = action_client.send_goal_async(goal_msg)
        handle = await request_future

        if not handle.accepted:
            self.lab_logger().error(f"动作请求被拒绝: {action_name}")
            return None

        result_future = await handle.get_result_async()
        ##### self.lab_logger().info(f"动作完成: {action_name}")

        return result_future.result

    """还没有改过的部分"""

    def _setup_hardware_proxy(
        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", [])]
        write_func = getattr(
            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]
        )
        read_func = getattr(
            communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]
        )

        def _read(*args, **kwargs):
            return read_func(*args, **kwargs)

        def _write(*args, **kwargs):
            return write_func(*args, **kwargs)

        if read_method:
            # bound_read = MethodType(_read, device.driver_instance)
            setattr(device.driver_instance, read_method, _read)

        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}")