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https://github.com/dptech-corp/Uni-Lab-OS.git
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776 lines
32 KiB
Python
776 lines
32 KiB
Python
import json
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import threading
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import time
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import traceback
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import uuid
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from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional
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from concurrent.futures import ThreadPoolExecutor
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import asyncio
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import rclpy
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from rclpy.node import Node
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from rclpy.action import ActionServer
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from rclpy.action.server import ServerGoalHandle
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from rclpy.client import Client
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.service import Service
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from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
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from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr
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from unilabos.ros.msgs.message_converter import (
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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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convert_to_ros_msg_with_mapping, ros_action_to_json_schema,
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)
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from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
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SerialCommand # type: ignore
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
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from unilabos.ros.x.rclpyx import get_event_loop
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from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
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from unilabos.utils.async_util import run_async_func
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from unilabos.utils.log import info, debug, warning, error, critical, logger
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from unilabos.utils.type_check import get_type_class, TypeEncoder
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T = TypeVar("T")
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# 在线设备注册表
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registered_devices: Dict[str, "DeviceInfoType"] = {}
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# 实现同时记录自定义日志和ROS2日志的适配器
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class ROSLoggerAdapter:
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"""同时向自定义日志和ROS2日志发送消息的适配器"""
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@property
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def identifier(self):
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return f"{self.namespace}"
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def __init__(self, ros_logger, namespace):
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"""
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初始化日志适配器
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Args:
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ros_logger: ROS2日志记录器
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namespace: 命名空间
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"""
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self.ros_logger = ros_logger
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self.namespace = namespace
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self.level_2_logger_func = {
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"info": info,
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"debug": debug,
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"warning": warning,
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"error": error,
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"critical": critical,
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}
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def _log(self, level, msg, *args, **kwargs):
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"""实际执行日志记录的内部方法"""
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# 添加前缀，使日志更易识别
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msg = f"[{self.identifier}] {msg}"
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# 向ROS2日志发送消息（标准库logging不支持stack_level参数）
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ros_log_func = getattr(self.ros_logger, "debug") # 默认发送debug，这样不会显示在控制台
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ros_log_func(msg)
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self.level_2_logger_func[level](msg, *args, stack_level=1, **kwargs)
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def debug(self, msg, *args, **kwargs):
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"""记录DEBUG级别日志"""
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self._log("debug", msg, *args, **kwargs)
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def info(self, msg, *args, **kwargs):
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"""记录INFO级别日志"""
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self._log("info", msg, *args, **kwargs)
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def warning(self, msg, *args, **kwargs):
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"""记录WARNING级别日志"""
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self._log("warning", msg, *args, **kwargs)
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def error(self, msg, *args, **kwargs):
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"""记录ERROR级别日志"""
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self._log("error", msg, *args, **kwargs)
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def critical(self, msg, *args, **kwargs):
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"""记录CRITICAL级别日志"""
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self._log("critical", msg, *args, **kwargs)
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def init_wrapper(
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self,
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device_id: str,
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driver_class: type[T],
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device_config: Dict[str, Any],
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status_types: Dict[str, Any],
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action_value_mappings: Dict[str, Any],
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hardware_interface: Dict[str, Any],
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print_publish: bool,
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children: Optional[list] = None,
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driver_params: Optional[Dict[str, Any]] = None,
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driver_is_ros: bool = False,
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*args,
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**kwargs,
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):
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"""初始化设备节点的包装函数，和ROS2DeviceNode初始化保持一致"""
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if driver_params is None:
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driver_params = kwargs.copy()
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if children is None:
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children = []
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kwargs["device_id"] = device_id
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kwargs["driver_class"] = driver_class
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kwargs["device_config"] = device_config
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kwargs["driver_params"] = driver_params
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kwargs["status_types"] = status_types
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kwargs["action_value_mappings"] = action_value_mappings
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kwargs["hardware_interface"] = hardware_interface
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kwargs["children"] = children
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kwargs["print_publish"] = print_publish
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kwargs["driver_is_ros"] = driver_is_ros
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super(type(self), self).__init__(*args, **kwargs)
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class PropertyPublisher:
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def __init__(
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self,
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node: "BaseROS2DeviceNode",
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name: str,
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get_method,
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msg_type,
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initial_period: float = 5.0,
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print_publish=True,
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):
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self.node = node
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self.name = name
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self.msg_type = msg_type
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self.get_method = get_method
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self.timer_period = initial_period
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self.print_publish = print_publish
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self._value = None
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self.publisher_ = node.create_publisher(msg_type, f"{name}", 10)
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self.timer = node.create_timer(self.timer_period, self.publish_property)
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self.__loop = get_event_loop()
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str_msg_type = str(msg_type)[8:-2]
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self.node.lab_logger().debug(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒")
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def get_property(self):
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if asyncio.iscoroutinefunction(self.get_method):
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# 如果是异步函数，运行事件循环并等待结果
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self.node.get_logger().debug(f"【PropertyPublisher.get_property】获取异步属性: {self.name}")
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loop = self.__loop
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if loop:
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future = asyncio.run_coroutine_threadsafe(self.get_method(), loop)
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self._value = future.result()
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return self._value
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else:
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self.node.get_logger().error(f"【PropertyPublisher.get_property】事件循环未初始化")
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return None
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else:
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# 如果是同步函数，直接调用并返回结果
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self.node.get_logger().debug(f"【PropertyPublisher.get_property】获取同步属性: {self.name}")
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self._value = self.get_method()
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return self._value
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async def get_property_async(self):
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try:
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# 获取异步属性值
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self.node.get_logger().debug(f"【PropertyPublisher.get_property_async】异步获取属性: {self.name}")
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self._value = await self.get_method()
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except Exception as e:
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self.node.get_logger().error(f"【PropertyPublisher.get_property_async】获取异步属性出错: {str(e)}")
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def publish_property(self):
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try:
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self.node.get_logger().debug(f"【PropertyPublisher.publish_property】开始发布属性: {self.name}")
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value = self.get_property()
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if self.print_publish:
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self.node.get_logger().info(f"【PropertyPublisher.publish_property】发布 {self.msg_type}: {value}")
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if value is not None:
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msg = convert_to_ros_msg(self.msg_type, value)
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self.publisher_.publish(msg)
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self.node.get_logger().debug(f"【PropertyPublisher.publish_property】属性 {self.name} 发布成功")
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except Exception as e:
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traceback.print_exc()
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self.node.get_logger().error(f"【PropertyPublisher.publish_property】发布属性出错: {str(e)}")
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def change_frequency(self, period):
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# 动态改变定时器频率
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self.timer_period = period
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self.node.get_logger().info(
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f"【PropertyPublisher.change_frequency】修改 {self.name} 定时器周期为: {self.timer_period} 秒"
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)
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# 重置定时器
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self.timer.cancel()
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self.timer = self.node.create_timer(self.timer_period, self.publish_property)
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class BaseROS2DeviceNode(Node, Generic[T]):
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"""
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ROS2设备节点基类
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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。
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通过泛型参数T来指定具体的设备类型。
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"""
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@property
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def identifier(self):
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return f"{self.namespace}/{self.device_id}"
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node_name: str
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namespace: str
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# TODO 要删除，添加时间相关的属性，避免动态添加属性的警告
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time_spent = 0.0
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time_remaining = 0.0
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create_action_server = True
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def __init__(
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self,
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driver_instance: T,
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device_id: str,
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status_types: Dict[str, Any],
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action_value_mappings: Dict[str, Any],
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hardware_interface: Dict[str, Any],
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print_publish=True,
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resource_tracker: Optional["DeviceNodeResourceTracker"] = None,
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):
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"""
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初始化ROS2设备节点
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Args:
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driver_instance: 设备实例
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device_id: 设备标识符
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status_types: 需要发布的状态和传感器信息
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action_value_mappings: 设备动作
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hardware_interface: 硬件接口配置
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print_publish: 是否打印发布信息
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"""
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self.driver_instance = driver_instance
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self.device_id = device_id
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self.uuid = str(uuid.uuid4())
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self.publish_high_frequency = False
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self.callback_group = ReentrantCallbackGroup()
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self.resource_tracker = resource_tracker
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# 初始化ROS节点
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self.node_name = f'{device_id.split("/")[-1]}'
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self.namespace = f"/devices/{device_id}"
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Node.__init__(self, self.node_name, namespace=self.namespace) # type: ignore
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if self.resource_tracker is None:
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self.lab_logger().critical("资源跟踪器未初始化，请检查")
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# 创建自定义日志记录器
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self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.namespace)
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self._action_servers: Dict[str, ActionServer] = {}
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self._property_publishers = {}
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self._status_types = status_types
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self._action_value_mappings = action_value_mappings
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self._hardware_interface = hardware_interface
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self._print_publish = print_publish
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# 创建属性发布者
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for attr_name, msg_type in self._status_types.items():
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if isinstance(attr_name, (int, float)):
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if "param" in msg_type.keys():
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pass
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else:
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for k, v in msg_type.items():
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self.create_ros_publisher(k, v, initial_period=5.0)
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else:
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self.create_ros_publisher(attr_name, msg_type)
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# 创建动作服务
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if self.create_action_server:
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for action_name, action_value_mapping in self._action_value_mappings.items():
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self.create_ros_action_server(action_name, action_value_mapping)
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# 创建线程池执行器
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self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
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# 创建资源管理客户端
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self._resource_clients: Dict[str, Client] = {
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"resource_add": self.create_client(ResourceAdd, "/resources/add"),
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"resource_get": self.create_client(ResourceGet, "/resources/get"),
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"resource_delete": self.create_client(ResourceDelete, "/resources/delete"),
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"resource_update": self.create_client(ResourceUpdate, "/resources/update"),
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"resource_list": self.create_client(ResourceList, "/resources/list"),
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}
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def query_host_name_cb(req, res):
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self.register_device()
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self.lab_logger().info("Host要求重新注册当前节点")
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res.response = ""
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return res
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def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
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# 物料传输到对应的node节点
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rclient = self.create_client(ResourceAdd, "/resources/add")
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rclient.wait_for_service()
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request = ResourceAdd.Request()
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command_json = json.loads(req.command)
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namespace = command_json["namespace"]
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bind_parent_id = command_json["bind_parent_id"]
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edge_device_id = command_json["edge_device_id"]
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location = command_json["bind_location"]
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other_calling_param = command_json["other_calling_param"]
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resources = command_json["resource"]
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# 本地拿到这个物料，可能需要先做初始化?
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if isinstance(resources, list):
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request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
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else:
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request.resources = [convert_to_ros_msg(Resource, resources)]
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response = rclient.call(request)
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# 应该本地先add_resource？
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res.response = "OK"
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# 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
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resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
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try:
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from pylabrobot.resources.resource import Resource as ResourcePLR
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from pylabrobot.resources.deck import Deck
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from pylabrobot.resources import Coordinate
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contain_model = not isinstance(resource, Deck)
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if isinstance(resource, ResourcePLR):
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# resources.list()
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plr_instance = resource_ulab_to_plr(resources, contain_model)
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resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
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except ImportError:
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self.lab_logger().error("Host请求添加物料时，本环境并不存在pylabrobot")
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except Exception as e:
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self.lab_logger().error("Host请求添加物料时出错")
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self.lab_logger().error(traceback.format_exc())
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return res
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# noinspection PyTypeChecker
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self._service_server: Dict[str, Service] = {
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"query_host_name": self.create_service(
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SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
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),
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"append_resource": self.create_service(
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SerialCommand, f"/srv{self.namespace}/append_resource", append_resource, callback_group=self.callback_group
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),
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}
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# 向全局在线设备注册表添加设备信息
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self.register_device()
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rclpy.get_global_executor().add_node(self)
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self.lab_logger().debug(f"ROS节点初始化完成")
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def register_device(self):
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"""向注册表中注册设备信息"""
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topics_info = self._property_publishers.copy()
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actions_info = self._action_servers.copy()
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# 创建设备信息
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device_info = DeviceInfoType(
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id=self.device_id,
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uuid=self.uuid,
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node_name=self.node_name,
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namespace=self.namespace,
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driver_instance=self.driver_instance,
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status_publishers=topics_info,
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actions=actions_info,
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hardware_interface=self._hardware_interface,
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base_node_instance=self,
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)
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# 加入全局注册表
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registered_devices[self.device_id] = device_info
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from unilabos.config.config import BasicConfig
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if not BasicConfig.is_host_mode:
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sclient = self.create_client(SerialCommand, "/node_info_update")
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# 启动线程执行发送任务
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threading.Thread(
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target=self.send_slave_node_info,
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args=(sclient,),
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daemon=True,
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name=f"ROSDevice{self.device_id}_send_slave_node_info"
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).start()
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def send_slave_node_info(self, sclient):
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sclient.wait_for_service()
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request = SerialCommand.Request()
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from unilabos.config.config import BasicConfig
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request.command = json.dumps({
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"SYNC_SLAVE_NODE_INFO": {
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"machine_name": BasicConfig.machine_name,
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"type": "slave",
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"edge_device_id": self.device_id
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}}, ensure_ascii=False, cls=TypeEncoder)
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# 发送异步请求并等待结果
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future = sclient.call_async(request)
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response = future.result()
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def lab_logger(self):
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"""
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获取实验室自定义日志记录器
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这个日志记录器会同时向ROS2日志和自定义日志发送消息，
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并使用node_name和namespace作为标识。
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Returns:
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日志记录器实例
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"""
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return self._lab_logger
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def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
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"""创建ROS发布者"""
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# 获取属性值的方法
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def get_device_attr():
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try:
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if hasattr(self.driver_instance, f"get_{attr_name}"):
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return getattr(self.driver_instance, f"get_{attr_name}")()
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else:
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return getattr(self.driver_instance, attr_name)
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except AttributeError as ex:
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if ex.args[0].startswith(f"AttributeError: '{self.driver_instance.__class__.__name__}' object"):
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self.lab_logger().error(
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f"publish error, {str(type(self.driver_instance))[8:-2]} has no attribute '{attr_name}'"
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)
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else:
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self.lab_logger().error(
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f"publish error, when {str(type(self.driver_instance))[8:-2]} getting attribute '{attr_name}'"
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)
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self.lab_logger().error(traceback.format_exc())
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|
||
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}")
|
||
try:
|
||
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)
|
||
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 response.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(resources_list, final_type)
|
||
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
|