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387 lines
18 KiB
Python
387 lines
18 KiB
Python
import time
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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, String,
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)
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker, ROS2DeviceNode
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from unilabos.utils.log import error
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from unilabos.utils.type_check import serialize_result_info
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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__(
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self,
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device_id: str,
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children: dict,
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protocol_type: Union[str, list[str]],
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resource_tracker: DeviceNodeResourceTracker,
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*args,
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**kwargs,
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):
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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(
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f"[Protocol Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
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)
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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}\n{traceback.format_exc()}")
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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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for device_id, device_config in self.children.items():
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if device_config.get("type", "device") != "device":
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continue
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# 设置硬件接口代理
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if device_id not in self.sub_devices:
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self.lab_logger().error(f"[Protocol Node] {device_id} 还没有正确初始化，跳过...")
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continue
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d = self.sub_devices[device_id]
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if d:
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hardware_interface = d.ros_node_instance._hardware_interface
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if (
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hasattr(d.driver_instance, hardware_interface["name"])
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and hasattr(d.driver_instance, hardware_interface["write"])
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and (hardware_interface["read"] is None or hasattr(d.driver_instance, hardware_interface["read"]))
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):
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name = getattr(d.driver_instance, hardware_interface["name"])
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read = hardware_interface.get("read", None)
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write = 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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communicate_device = self.sub_devices[name]
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communicate_hardware_info = communicate_device.ros_node_instance._hardware_interface
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self._setup_hardware_proxy(d, self.sub_devices[name], read, write)
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self.lab_logger().info(
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f"\n通信代理：为子设备{device_id}\n "
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f"添加了{read}方法(来源：{name} {communicate_hardware_info['write']}) \n "
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f"添加了{write}方法(来源：{name} {communicate_hardware_info['read']})"
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)
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self.lab_logger().info(f"ROS2ProtocolNode {device_id} initialized with protocols: {self.protocol_names}")
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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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device_id_abs = f"{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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if action_name.startswith("auto-") or str(action_mapping.get("type", "")).startswith("UniLabJsonCommand"):
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continue
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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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try:
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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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except Exception as ex:
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self.lab_logger().error(f"创建动作客户端失败: {action_id}, 错误: {ex}")
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continue
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self.lab_logger().trace(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().trace(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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# 初始化结果信息变量
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execution_error = ""
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execution_success = False
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protocol_return_value = None
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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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try:
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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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# # 🔧 添加调试信息
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# print(f"🔍 转换后的 protocol_kwargs: {protocol_kwargs}")
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# print(f"🔍 vessel 在转换后: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
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# # 🔧 完全禁用Host查询，直接使用转换后的数据
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# print(f"🔧 跳过Host查询，直接使用转换后的数据")
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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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resource_id = (
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protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
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)
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r.id = resource_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(
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[convert_from_ros_msg(rs) for rs in response.resources]
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)
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self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
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self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
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from unilabos.resources.graphio import physical_setup_graph
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self.lab_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.lab_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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step_results = []
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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 isinstance(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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step_results.append({"step": i + 1, "action": "wait", "result": "completed"})
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else:
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result = await self.execute_single_action(**action)
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step_results.append({"step": i + 1, "action": action["action_name"], "result": result})
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elif isinstance(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 = [
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rclpy.get_global_executor().create_task(self.execute_single_action(**a)) for a in actions
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]
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results = [await f for f in futures]
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step_results.append(
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{
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"step": i + 1,
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"parallel_actions": [a["action_name"] for a in actions],
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"results": results,
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}
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)
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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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# 设置成功状态和返回值
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execution_success = True
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protocol_return_value = {
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"protocol_name": protocol_name,
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"steps_executed": len(protocol_steps),
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"step_results": step_results,
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"total_time": time.time() - time_start,
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}
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goal_handle.succeed()
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except Exception as e:
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# 捕获并记录错误信息
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execution_error = traceback.format_exc()
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execution_success = False
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error(f"协议 {protocol_name} 执行失败")
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error(traceback.format_exc())
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self.lab_logger().error(f"协议执行出错: {str(e)}")
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# 设置动作失败
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goal_handle.abort()
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finally:
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self._busy = False
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# 创建结果消息
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result = action_value_mapping["type"].Result()
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result.success = execution_success
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# 获取结果消息类型信息，检查是否有return_info字段
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result_msg_types = action_value_mapping["type"].Result.get_fields_and_field_types()
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# 设置return_info字段（如果存在）
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for attr_name in result_msg_types.keys():
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if attr_name in ["success", "reached_goal"]:
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setattr(result, attr_name, execution_success)
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elif attr_name == "return_info":
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setattr(
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result,
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attr_name,
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serialize_result_info(execution_error, execution_success, protocol_return_value),
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)
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self.lab_logger().info(f"🤩🤩🤩🤩🤩🤩协议 {protocol_name} 完成并返回结果😎😎😎😎😎😎")
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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/{device_id}/{action_name}" # 执行时取消了主节点信息 /{self.device_id}
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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(
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self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method
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):
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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(
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communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"]
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)
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read_func = getattr(
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communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"]
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)
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def _read(*args, **kwargs):
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return read_func(*args, **kwargs)
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def _write(*args, **kwargs):
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return write_func(*args, **kwargs)
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if read_method:
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# bound_read = MethodType(_read, device.driver_instance)
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setattr(device.driver_instance, read_method, _read)
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if write_method:
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# bound_write = MethodType(_write, device.driver_instance)
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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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