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5ce433e235
Resource dict fully change to "pose" key Update oss link Reduce pylabrobot conversion warning & force enable log dump. 更新 logo 图片
60 lines
2.9 KiB
Python
60 lines
2.9 KiB
Python
import copy
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from typing import Optional
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from unilabos.registry.registry import lab_registry
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from unilabos.ros.device_node_wrapper import ros2_device_node
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from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
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from unilabos.ros.nodes.resource_tracker import ResourceDictInstance
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from unilabos.utils import logger
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from unilabos.utils.exception import DeviceClassInvalid
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from unilabos.utils.import_manager import default_manager
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def initialize_device_from_dict(device_id, device_config: ResourceDictInstance) -> Optional[ROS2DeviceNode]:
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"""Initializes a device based on its configuration.
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This function dynamically imports the appropriate device class and creates an instance of it using the provided device configuration.
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It also sets up action clients for the device based on its action value mappings.
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Args:
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device_id (str): The unique identifier for the device.
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device_config (dict): The configuration dictionary for the device, which includes the class type and other parameters.
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Returns:
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None
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"""
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d = None
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device_class_config = device_config.res_content.klass
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uid = device_config.res_content.uuid
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if isinstance(device_class_config, str): # 如果是字符串，则直接去lab_registry中查找，获取class
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if len(device_class_config) == 0:
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raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
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if device_class_config not in lab_registry.device_type_registry:
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raise DeviceClassInvalid(f"Device [{device_id}] class {device_class_config} not found. {device_config}")
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device_class_config = lab_registry.device_type_registry[device_class_config]["class"]
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elif isinstance(device_class_config, dict):
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raise DeviceClassInvalid(f"Device [{device_id}] class config should be type 'str' but 'dict' got. {device_config}")
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if isinstance(device_class_config, dict):
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DEVICE = default_manager.get_class(device_class_config["module"])
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# 不管是ros2的实例，还是python的，都必须包一次，除了HostNode
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DEVICE = ros2_device_node(
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DEVICE,
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status_types=device_class_config.get("status_types", {}),
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device_config=device_config,
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action_value_mappings=device_class_config.get("action_value_mappings", {}),
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hardware_interface=device_class_config.get(
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"hardware_interface",
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{"name": "hardware_interface", "write": "send_command", "read": "read_data", "extra_info": []},
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)
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)
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try:
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d = DEVICE(
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device_id=device_id, device_uuid=uid, driver_is_ros=device_class_config["type"] == "ros2", driver_params=device_config.res_content.config
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)
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except DeviceInitError as ex:
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return d
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else:
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logger.warning(f"initialize device {device_id} failed, provided device_config: {device_config}")
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return d
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