mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-04-26 18:45:25 +00:00
Merge branch 'dev' into prcix9320
This commit is contained in:
q434343
@@ -1,4 +1,5 @@
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import json
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import os
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# from nt import device_encoding
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import threading
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@@ -62,7 +63,7 @@ def main(
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rclpy.init(args=rclpy_init_args)
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else:
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logger.info("[ROS] rclpy already initialized, reusing context")
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executor = rclpy.__executor = MultiThreadedExecutor()
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executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
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# 创建主机节点
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host_node = HostNode(
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"host_node",
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@@ -124,7 +125,7 @@ def slave(
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rclpy.init(args=rclpy_init_args)
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executor = rclpy.__executor
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if not executor:
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executor = rclpy.__executor = MultiThreadedExecutor()
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executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
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# 1.5 启动 executor 线程
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thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
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@@ -486,18 +486,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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if len(rts.root_nodes) == 1 and parent_resource is not None:
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plr_instance = plr_instances[0]
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if isinstance(plr_instance, Plate):
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empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
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if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
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ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
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LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
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self.lab_logger().warning(
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f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
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)
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for liquid_type, liquid_volume, liquid_input_slot in zip(
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ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
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):
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empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
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plr_instance.set_well_liquids(empty_liquid_info_in)
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try:
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# noinspection PyProtectedMember
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keys = list(plr_instance._ordering.keys())
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@@ -511,6 +505,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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input_wells = []
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for r in LIQUID_INPUT_SLOT:
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input_wells.append(plr_instance.children[r])
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for input_well, liquid_type, liquid_volume, liquid_input_slot in zip(
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input_wells, ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
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):
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input_well.set_liquids([(liquid_type, liquid_volume, "uL")])
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final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
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input_wells
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).dump()
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@@ -1256,9 +1254,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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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，仅当方法/属性有 @topic_config 装饰器时才创建。"""
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# 检测 @topic_config 装饰器配置
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topic_config = {}
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"""创建ROS发布者。已在 status_types 中声明的属性直接创建；@topic_config 用于覆盖默认参数。"""
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topic_cfg = {}
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driver_class = type(self.driver_instance)
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# 区分 @property 和普通方法两种情况
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@@ -1267,23 +1264,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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)
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if is_prop:
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# @property: 检测 fget 上的 @topic_config
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class_attr = getattr(driver_class, attr_name)
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if class_attr.fget is not None:
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topic_config = get_topic_config(class_attr.fget)
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topic_cfg = get_topic_config(class_attr.fget)
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else:
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# 普通方法: 直接检测 attr_name 方法上的 @topic_config
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if hasattr(self.driver_instance, attr_name):
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method = getattr(self.driver_instance, attr_name)
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if callable(method):
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topic_config = get_topic_config(method)
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# 没有 @topic_config 装饰器则跳过发布
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if not topic_config:
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return
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topic_cfg = get_topic_config(method)
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# 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name
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cfg_name = topic_config.get("name")
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cfg_name = topic_cfg.get("name")
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if cfg_name:
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publish_name = cfg_name
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elif attr_name.startswith("get_"):
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@@ -1291,10 +1282,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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else:
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publish_name = attr_name
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# 使用装饰器配置或默认值
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cfg_period = topic_config.get("period")
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cfg_print = topic_config.get("print_publish")
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cfg_qos = topic_config.get("qos")
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# @topic_config 参数覆盖默认值
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cfg_period = topic_cfg.get("period")
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cfg_print = topic_cfg.get("print_publish")
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cfg_qos = topic_cfg.get("qos")
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period: float = cfg_period if cfg_period is not None else initial_period
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print_publish: bool = cfg_print if cfg_print is not None else self._print_publish
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qos: int = cfg_qos if cfg_qos is not None else 10
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@@ -1486,13 +1477,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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if uuid_indices:
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uuids = [item[1] for item in uuid_indices]
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resource_tree = await self.get_resource(uuids)
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plr_resources = resource_tree.to_plr_resources(requested_uuids=uuids)
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plr_resources = resource_tree.to_plr_resources()
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for i, (idx, _, resource_data) in enumerate(uuid_indices):
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try:
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plr_resource = plr_resources[i]
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except Exception as e:
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self.lab_logger().error(f"资源查询结果: 共 {len(queried_resources)} 个资源，但查询结果只有 {len(plr_resources)} 个资源，索引为 {i} 的资源不存在")
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raise e
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plr_resource = plr_resources[i]
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if "sample_id" in resource_data:
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plr_resource.unilabos_extra[EXTRA_SAMPLE_UUID] = resource_data["sample_id"]
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queried_resources[idx] = plr_resource
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@@ -1739,19 +1726,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
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resource_data = function_args[arg_name]
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if isinstance(resource_data, dict) and "id" in resource_data:
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uid = resource_data.get("uuid", "")
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# 优先从本地追踪器直接取（避免服务端未同步导致的空返回）
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local_fast = self.resource_tracker.uuid_to_resources.get(uid) if uid else None
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if local_fast is not None:
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function_args[arg_name] = local_fast
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else:
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try:
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function_args[arg_name] = self._convert_resources_sync(uid)[0]
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except Exception as e:
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self.lab_logger().error(
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f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
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)
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raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
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try:
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function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
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except Exception as e:
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self.lab_logger().error(
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f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
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)
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raise JsonCommandInitError(f"ResourceSlot参数转换失败: {arg_name}")
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# 处理 ResourceSlot 列表
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elif isinstance(arg_type, tuple) and len(arg_type) == 2:
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@@ -1759,23 +1740,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
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resource_list = function_args[arg_name]
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if isinstance(resource_list, list):
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uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
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# 先尝试本地追踪器批量取
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local_hits = [
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self.resource_tracker.uuid_to_resources[u]
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for u in uuids
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if u in self.resource_tracker.uuid_to_resources
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]
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if len(local_hits) == len(uuids):
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function_args[arg_name] = local_hits
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else:
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try:
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function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
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except Exception as e:
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self.lab_logger().error(
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f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
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)
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raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
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try:
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uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
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function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
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except Exception as e:
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self.lab_logger().error(
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f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
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)
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raise JsonCommandInitError(f"ResourceSlot列表参数转换失败: {arg_name}")
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# todo: 默认反报送
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return function(**function_args)
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@@ -1827,18 +1799,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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# 转换为 PLR 资源
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tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
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if not len(tree_set.trees):
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# 服务端未找到时，尝试从本地追踪器兜底（create_resource 刚完成但服务端未及时同步）
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local_hits = [
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self.resource_tracker.uuid_to_resources[uid]
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for uid in uuids_list
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if uid in self.resource_tracker.uuid_to_resources
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]
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if local_hits:
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self.lab_logger().warning(
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f"资源查询服务端返回空树，已从本地追踪器找到 "
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f"{len(local_hits)}/{len(uuids_list)} 个资源: {uuids_list}"
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)
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return local_hits
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raise Exception(f"资源查询返回空树: {raw_data}")
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plr_resources = tree_set.to_plr_resources()
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