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Support async func.

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Xuwznln
2026-04-11 18:13:08 +08:00
committed by Xie Qiming
parent 0895252bc1
commit 008c355754
6 changed files with 542 additions and 19 deletions
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64
unilabos/devices/virtual/workbench.py
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@@ -22,10 +22,11 @@ from threading import Lock, RLock
from typing_extensions import TypedDict
from unilabos.registry.decorators import (
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
# ============ TypedDict 返回类型定义 ============
@@ -290,6 +291,63 @@ class VirtualWorkbench:
self._update_data_status(f"机械臂已释放 (完成: {task})")
self.logger.info(f"机械臂已释放 (完成: {task})")
@action(
always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
"assignee_user_ids": "unilabos_manual_confirm"
}, goal_default={
"timeout_seconds": 3600,
"assignee_user_ids": []
}, feedback_interval=300,
handles=[
ActionInputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
ActionInputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
ActionOutputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
]
)
def manual_confirm(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot], timeout_seconds: int, assignee_user_ids: list[str], **kwargs) -> dict:
"""
timeout_seconds: 超时时间（秒），默认3600秒
修改的结果无效，是只读的
"""
resource = ResourceTreeSet.from_plr_resources(resource).dump()
mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
kwargs.update(locals())
kwargs.pop("kwargs")
kwargs.pop("self")
return kwargs
@action(
description="转移物料",
handles=[
ActionInputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
ActionInputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
]
)
async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
**{
"plr_resources": resource,
"target_device_id": target_device,
"target_resources": mount_resource,
"sites": [None] * len(mount_resource),
})
result = await future
return result
@action(
auto_prefix=True,
description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",