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

import time
import asyncio
import traceback
from types import MethodType
from typing import Union

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

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


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

    # create_action_server = False  # Action Server要自己创建

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

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

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

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

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

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

            # 设置硬件接口代理
            if d:
                if (
                    hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["name"])
                    and hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["write"])
                    and (d.ros_node_instance._hardware_interface["read"] is None or hasattr(d.driver_instance, d.ros_node_instance._hardware_interface["read"]))
                ):

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

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

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

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

        # 为子设备的每个动作创建动作客户端
        if d is not None and hasattr(d, "ros_node_instance"):
            node = d.ros_node_instance
            for action_name, action_mapping in node._action_value_mappings.items():
                action_id = f"/devices/{device_id_abs}/{action_name}"
                if action_id not in self._action_clients:
                    self._action_clients[action_id] = ActionClient(
                        self, action_mapping["type"], action_id, callback_group=self.callback_group
                    )
                    self.lab_logger().debug(f"为子设备 {device_id} 创建动作客户端: {action_name}")
        return d

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

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

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

    def _create_protocol_execute_callback(self, protocol_name, protocol_steps_generator):
        async def execute_protocol(goal_handle: ServerGoalHandle):
            """执行完整的工作流"""
            self.get_logger().info(f'Executing {protocol_name} action...')
            action_value_mapping = self._action_value_mappings[protocol_name]
            print('+'*30)
            print(protocol_steps_generator)
            # 从目标消息中提取参数, 并调用Protocol生成器(根据设备连接图)生成action步骤
            goal = goal_handle.request
            protocol_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])

            # 向Host查询物料当前状态
            for k, v in goal.get_fields_and_field_types().items():
                if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                    r = ResourceGet.Request()
                    r.id = protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
                    r.with_children = True
                    response = await self._resource_clients["resource_get"].call_async(r)
                    protocol_kwargs[k] = list_to_nested_dict([convert_from_ros_msg(rs) for rs in response.resources])

            from unilabos.resources.graphio import physical_setup_graph
            self.get_logger().info(f'Working on physical setup: {physical_setup_graph}')
            protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)

            self.get_logger().info(f'Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}')

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

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

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

            goal_handle.succeed()
            result = action_value_mapping["type"].Result()
            result.success = True

            self._busy = False
            return result
        return execute_protocol

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

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

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

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

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

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

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

        return result_future.result


    """还没有改过的部分"""

    def _setup_hardware_proxy(self, device: ROS2DeviceNode, communication_device: ROS2DeviceNode, read_method, write_method):
        """为设备设置硬件接口代理"""
        # extra_info = [getattr(device.driver_instance, info) for info in communication_device.ros_node_instance._hardware_interface.get("extra_info", [])]
        write_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["write"])
        read_func = getattr(communication_device.driver_instance, communication_device.ros_node_instance._hardware_interface["read"])

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

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

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

        if write_method:
            # bound_write = MethodType(_write, device.driver_instance)
            setattr(device.driver_instance, write_method, _write)


    async def _update_resources(self, goal, protocol_kwargs):
        """更新资源状态"""
        for k, v in goal.get_fields_and_field_types().items():
            if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                if protocol_kwargs[k] is not None:
                    try:
                        r = ResourceUpdate.Request()
                        r.resources = [
                            convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
                        ]
                        await self._resource_clients["resource_update"].call_async(r)
                    except Exception as e:
                        self.lab_logger().error(f"更新资源失败: {e}")