Device visualization

test/experiments/test.json

@@ -4,13 +4,14 @@
             "id": "Gripper1",
             "name": "假夹爪",
             "children": [
+                "Plate1"
             ],
             "parent": null,
             "type": "device",
             "class": "gripper.mock",
             "position": {
-                "x": 620.6111111111111,
-                "y": 171,
+                "x": 0,
+                "y": 0,
                 "z": 0
             },
             "config": {
@@ -23,18 +24,120 @@
             "name": "Plate1",
             "children": [
             ],
-            "parent": null,
+            "parent": "Gripper1",
             "type": "plate",
-            "class": "nest_96_wellplate_2ml_deep",
+            "class": "nest_96_wellplate_100ul_pcr_full_skirt",
             "position": {
-                "x": 620.6111111111111,
-                "y": 171,
-                "z": 0
+                "x": 0,
+                "y": 0,
+                "z": 69
             },
             "config": {
             },
             "data": {
             }
+        },
+        {
+            "id": "ot_joint_publisher",
+            "name": "ot_joint_publisher",
+            "sample_id": null,
+            "children": [
+
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "lh_joint_publisher",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "lh_id":"deck",
+                "joint_config":
+                {
+                    "joint_names":[
+                        "first_joint",
+                        "second_joint",
+                        "third_joint",
+                        "fourth_joint"
+                    ],
+                    "y":{
+                        "first_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "x":{
+                        "second_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "z":{
+                        "third_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        },
+                        "fourth_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        }
+                    }
+                }
+            },
+            "data": {}
+        },
+        {
+            "id": "ot_joint_publisher",
+            "name": "ot_joint_publisher",
+            "sample_id": null,
+            "children": [
+
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "lh_joint_publisher",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "lh_id":"deck",
+                "joint_config":
+                {
+                    "joint_names":[
+                        "first_joint",
+                        "second_joint",
+                        "third_joint",
+                        "fourth_joint"
+                    ],
+                    "y":{
+                        "first_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "x":{
+                        "second_joint":{
+                        "factor":-1,
+                        "offset":0.0
+                        }
+                    },
+                    "z":{
+                        "third_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        },
+                        "fourth_joint":{
+                        "factor":1,
+                        "offset":0.0
+                        }
+                    }
+                }
+            },
+            "data": {}
         }
     ],
     "links": [

test/experiments/test_copy.json

@@ -0,0 +1,135 @@
+{
+    "nodes": [
+        {
+            "id": "PLR_STATION",
+            "name": "PLR_LH_TEST",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+                "data": {
+                    "children": [
+                        {
+                            "_resource_child_name": "deck",
+                            "_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck"
+                        }
+                    ],
+                    "backend": {
+                        "type": "LiquidHandlerRvizBackend"
+                    }
+                }
+            },
+            "data": {},
+            "children": [
+                "deck"
+            ]
+        },
+        {
+            "id": "deck",
+            "name": "deck",
+            "sample_id": null,
+            "children": [
+                "teaching_carrier"
+            ],
+            "parent": "PLR_STATION",
+            "type": "deck",
+            "class": "OTDeck",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "type": "OTDeck",
+                "with_trash": false,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                }
+            },
+            "data": {}
+        },
+
+        {
+            "id": "teaching_carrier",
+            "name": "teaching_carrier",
+            "sample_id": null,
+            "children": [
+                "teaching_carrier_A1"
+            ],
+            "parent": "deck",
+            "type": "plate",
+            "class": "opentrons_96_filtertiprack_1000ul",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 69
+            },
+            "config": {
+                "type": "Resource",
+                "size_x": 127,
+                "size_y": 85,
+                "size_z": 0,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": null,
+                "model": null
+            },
+            "data": {}
+        },
+        {
+            "id": "teaching_carrier_A1",
+            "name": "teaching_carrier_A1",
+            "sample_id": null,
+            "children": [],
+            "parent": "teaching_carrier",
+            "type": "device",
+            "class": "",
+            "position": {
+                "x": 10.87,
+                "y": 70.77,
+                "z": 10
+            },
+            "config": {
+                "type": "TipSpot",
+                "size_x": 6.86,
+                "size_y": 6.86,
+                "size_z": 10.67,
+                "rotation": {
+                    "x": 0,
+                    "y": 0,
+                    "z": 0,
+                    "type": "Rotation"
+                },
+                "category": "tip_spot",
+                "model": null,
+                "prototype_tip": {
+                    "type": "Tip",
+                    "total_tip_length": 39.2,
+                    "has_filter": true,
+                    "maximal_volume": 20.0,
+                    "fitting_depth": 3.29
+                }
+            },
+            "data": {
+                "liquids": [],
+                "pending_liquids": [],
+                "liquid_history": []
+            }
+        }
+    ],
+    "links": [
+
+    ]
+}

unilabos/app/backend.py

@@ -12,6 +12,8 @@ def start_backend(
     controllers_config: dict = {},
     bridges=[],
     without_host: bool = False,
+    visual: str = "None",
+    resources_mesh_config: dict = {},
     **kwargs
 ):
     if backend == "ros":
@@ -29,7 +31,9 @@ def start_backend(
 
     backend_thread = threading.Thread(
         target=main if not without_host else slave,
-        args=(devices_config, resources_config, graph, controllers_config, bridges)
+        args=(devices_config, resources_config, graph, controllers_config, bridges, visual, resources_mesh_config),
+        name="backend_thread",
+        daemon=True,
     )
     backend_thread.start()
     logger.info(f"Backend {backend} started.")

unilabos/app/main.py

@@ -1,10 +1,17 @@
 import argparse
+import asyncio
 import os
 import signal
 import sys
 import json
+import time
+
 import yaml
 from copy import deepcopy
+import threading
+
+import rclpy
+from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -14,6 +21,10 @@
 
 from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
+from unilabos.device_mesh.resource_visalization import ResourceVisualization
+from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
+from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
+from rclpy.executors import MultiThreadedExecutor
 
 
 def parse_args():
@@ -70,7 +81,12 @@ def parse_args():
         default=True,
         help="是否在启动时打开信息页",
     )
-
+    parser.add_argument(
+        "--visual",
+        choices=["rviz", "web","None"],
+        default="rviz",
+        help="选择可视化工具: 'rviz' 或 'web' 或 'None'，默认'rviz'",
+    )
     return parser.parse_args()
 
 
@@ -121,6 +137,7 @@ def main():
     # 注册表
     build_registry(args_dict["registry_path"])
 
+
     if args_dict["graph"] is not None:
         import unilabos.resources.graphio as graph_res
         graph_res.physical_setup_graph = (
@@ -132,6 +149,7 @@ def main():
         args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
         args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
         # args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
+
         args_dict["graph"] = graph_res.physical_setup_graph
     else:
         if args_dict["devices"] is None or args_dict["resources"] is None:
@@ -166,9 +184,28 @@ def _exit(signum, frame):
         signal.signal(signal.SIGINT, _exit)
         signal.signal(signal.SIGTERM, _exit)
         mqtt_client.start()
-
-    start_backend(**args_dict)
-    start_server(port=args_dict.get("port", 8002), open_browser=args_dict.get("open_browser", False))
+    args_dict["resources_mesh_config"] = {}
+
+    if args_dict["visual"] != "None":
+        if args_dict["visual"] == "rviz":
+            enable_rviz=True
+        elif args_dict["visual"] == "web":
+            enable_rviz=False
+        resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
+
+        args_dict["resources_mesh_config"] = resource_visualization.resource_model
+        # 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中
+
+        start_backend(**args_dict)
+        server_thread = threading.Thread(target=start_server)
+        server_thread.start()
+        asyncio.set_event_loop(asyncio.new_event_loop())
+        resource_visualization.start()
+        while True:
+            time.sleep(1)
+    else:
+        start_backend(**args_dict)
+        start_server()
 
 
 if __name__ == "__main__":