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273 lines
12 KiB
Python
273 lines
12 KiB
Python
import time
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import asyncio
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import traceback
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from typing import Union
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import rclpy
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from unilabos.messages import * # type: ignore # protocol names
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from rclpy.action import ActionServer, ActionClient
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from rclpy.action.server import ServerGoalHandle
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from rclpy.callback_groups import ReentrantCallbackGroup
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos_msgs.srv import ResourceGet, ResourceUpdate # type: ignore
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from unilabos.compile import action_protocol_generators
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from unilabos.resources.graphio import list_to_nested_dict, nested_dict_to_list
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from unilabos.ros.initialize_device import initialize_device_from_dict
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from unilabos.ros.msgs.message_converter import (
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get_action_type,
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convert_to_ros_msg,
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convert_from_ros_msg,
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convert_from_ros_msg_with_mapping,
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)
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
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class ROS2ProtocolNode(BaseROS2DeviceNode):
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"""
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ROS2ProtocolNode代表管理ROS2环境中设备通信和动作的协议节点。
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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。
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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。
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"""
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# create_action_server = False # Action Server要自己创建
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def __init__(self, device_id: str, children: dict, protocol_type: Union[str, list[str]], resource_tracker: DeviceNodeResourceTracker, *args, **kwargs):
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self._setup_protocol_names(protocol_type)
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# 初始化其它属性
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self.children = children
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self._busy = False
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self.sub_devices = {}
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self._goals = {}
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self._protocol_servers = {}
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self._action_clients = {}
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# 初始化基类，让基类处理常规动作
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super().__init__(
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driver_instance=self,
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device_id=device_id,
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status_types={},
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action_value_mappings=self.protocol_action_mappings,
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hardware_interface={},
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print_publish=False,
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resource_tracker=resource_tracker,
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)
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# 初始化子设备
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self.communication_node_id_to_instance = {}
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for device_id, device_config in self.children.items():
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if device_config.get("type", "device") != "device":
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self.lab_logger().debug(f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
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continue
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try:
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d = self.initialize_device(device_id, device_config)
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except Exception as ex:
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self.lab_logger().error(f"[Protocol Node] Failed to initialize device {device_id}: {ex}")
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d = None
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if d is None:
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continue
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if "serial_" in device_id or "io_" in device_id:
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self.communication_node_id_to_instance[device_id] = d
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continue
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# 设置硬件接口代理
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if d:
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if (
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hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
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and hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["write"])
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and (d.ros_node_instance._hardware_interface["read"] is None or hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["read"]))
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):
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name = getattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
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read = d.ros_node_instance._hardware_interface.get("read", None)
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write = d.ros_node_instance._hardware_interface.get("write", None)
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# 如果硬件接口是字符串，通过通信设备提供
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if isinstance(name, str) and name in self.sub_devices:
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self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
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def _setup_protocol_names(self, protocol_type):
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# 处理协议类型
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if isinstance(protocol_type, str):
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if "," not in protocol_type:
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self.protocol_names = [protocol_type]
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else:
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self.protocol_names = [protocol.strip() for protocol in protocol_type.split(",")]
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else:
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self.protocol_names = protocol_type
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# 准备协议相关的动作值映射
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self.protocol_action_mappings = {}
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for protocol_name in self.protocol_names:
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protocol_type = globals()[protocol_name]
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self.protocol_action_mappings[protocol_name] = get_action_type(protocol_type)
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def initialize_device(self, device_id, device_config):
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"""初始化设备并创建相应的动作客户端"""
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device_id_abs = f"{self.device_id}/{device_id}"
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self.lab_logger().info(f"初始化子设备: {device_id_abs}")
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d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)
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# 为子设备的每个动作创建动作客户端
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if d is not None and hasattr(d, "ros_node_instance"):
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node = d.ros_node_instance
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for action_name, action_mapping in node._action_value_mappings.items():
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action_id = f"/devices/{device_id_abs}/{action_name}"
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if action_id not in self._action_clients:
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self._action_clients[action_id] = ActionClient(
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self, action_mapping["type"], action_id, callback_group=self.callback_group
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)
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self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}")
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return d
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def create_ros_action_server(self, action_name, action_value_mapping):
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"""创建ROS动作服务器"""
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# 和Base创建的路径是一致的
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protocol_name = action_name
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action_type = action_value_mapping["type"]
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str_action_type = str(action_type)[8:-2]
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protocol_type = globals()[protocol_name]
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protocol_steps_generator = action_protocol_generators[protocol_type]
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self._action_servers[action_name] = ActionServer(
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self,
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action_type,
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action_name,
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execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator),
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callback_group=ReentrantCallbackGroup(),
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)
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self.lab_logger().debug(f"发布动作: {action_name}, 类型: {str_action_type}")
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def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
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async def execute_protocol(goal_handle: ServerGoalHandle):
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"""执行完整的工作流"""
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self.get_logger().info(f'Executing {protocol_name} action...')
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action_value_mapping = self._action_value_mappings[protocol_name]
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print('+'*30)
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print(protocol_steps_generator)
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# 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
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goal = goal_handle.request
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protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
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# 向Host查询物料当前状态
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for k, v in goal.get_fields_and_field_types().items():
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if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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r = ResourceGet.Request()
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r.id = protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
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r.with_children = True
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response = await self._resource_clients["resource_get"].call_async(r)
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protocol_kwargs[k] = list_to_nested_dict([convert_from_ros_msg(rs) for rs in response.resources])
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from unilabos.resources.graphio import physical_setup_graph
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self.get_logger().info(f'Working on physical setup: {physical_setup_graph}')
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protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
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self.get_logger().info(f'Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}')
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time_start = time.time()
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time_overall = 100
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self._busy = True
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# 逐步执行工作流
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for i, action in enumerate(protocol_steps):
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self.get_logger().info(f'Running step {i+1}: {action}')
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if type(action) == dict:
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# 如果是单个动作，直接执行
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if action["action_name"] == "wait":
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time.sleep(action["action_kwargs"]["time"])
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else:
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result = await self.execute_single_action(**action)
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elif type(action) == list:
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# 如果是并行动作，同时执行
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actions = action
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futures = [rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions]
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results = [await f for f in futures]
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# 向Host更新物料当前状态
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for k, v in goal.get_fields_and_field_types().items():
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if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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r = ResourceUpdate.Request()
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r.resources = [
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convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
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]
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response = await self._resource_clients["resource_update"].call_async(r)
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goal_handle.succeed()
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result = action_value_mapping["type"].Result()
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result.success = True
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self._busy = False
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return result
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return execute_protocol
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async def execute_single_action(self, device_id, action_name, action_kwargs):
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"""执行单个动作"""
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# 构建动作ID
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if device_id in ["", None, "self"]:
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action_id = f"/devices/{self.device_id}/{action_name}"
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else:
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action_id = f"/devices/{self.device_id}/{device_id}/{action_name}"
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# 检查动作客户端是否存在
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if action_id not in self._action_clients:
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self.lab_logger().error(f"找不到动作客户端: {action_id}")
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return None
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# 发送动作请求
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action_client = self._action_clients[action_id]
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goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
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self.lab_logger().info(f"发送动作请求到: {action_id}")
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action_client.wait_for_server()
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# 等待动作完成
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request_future = action_client.send_goal_async(goal_msg)
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handle = await request_future
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if not handle.accepted:
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self.lab_logger().error(f"动作请求被拒绝: {action_name}")
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return None
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result_future = await handle.get_result_async()
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self.lab_logger().info(f"动作完成: {action_name}")
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return result_future.result
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"""还没有改过的部分"""
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def _setup_hardware_proxy(self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method):
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"""为设备设置硬件接口代理"""
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extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
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write_func = getattr(communication_device.ros_node_instance, communication_device.ros_node_instance._hardware_interface["write"])
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read_func = getattr(communication_device.ros_node_instance, communication_device.ros_node_instance._hardware_interface["read"])
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def _read():
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return read_func(*extra_info)
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def _write(command):
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return write_func(*extra_info, command)
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if read_method:
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setattr(device.driver_instance, read_method, _read)
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if write_method:
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setattr(device.driver_instance, write_method, _write)
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async def _update_resources(self, goal, protocol_kwargs):
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"""更新资源状态"""
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for k, v in goal.get_fields_and_field_types().items():
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if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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if protocol_kwargs[k] is not None:
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try:
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r = ResourceUpdate.Request()
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r.resources = [
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convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
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]
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await self._resource_clients["resource_update"].call_async(r)
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except Exception as e:
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self.lab_logger().error(f"更新资源失败: {e}")
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