merge: dev → lab_2_isacc_sim(设备锁/action-lock 上报 + 调度)#297
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Normalize missing init_param_enforce to an empty object so registry schema contracts do not prevent devices from loading. Co-authored-by: Cursor <cursoragent@cursor.com>
…evice discovery Co-authored-by: Cursor <cursoragent@cursor.com>
…d in action locks Action locks now report the full invokable action set from _action_value_mappings, including @action(auto_prefix=True) 'auto-*' actions (e.g. workbench prepare_materials/heating/move) that were previously dropped by the 'auto-' filter. Only the generic _execute_driver_command[_async] command channels are excluded. Applied across all three lock-report paths: report_all_action_locks (host_ready full snapshot), _create_action_clients_for_device (device discovery), and initialize_device (local device startup, which previously reported zero locks for JsonCommand/auto- only devices like workbench). Co-authored-by: Cursor <cursoragent@cursor.com>
Use action lock reports as the source of callable actions so host readiness does not publish mismatched action sets. Co-authored-by: Cursor <cursoragent@cursor.com>
Default resources land at 000 and falsely match by position; rely on occupied_by instead. Co-authored-by: Cursor <cursoragent@cursor.com>
将 dev 的调度/设备锁子系统合入 lab_2:后端已强制 device_lock,edge 需向后端 上报 report_action_lock 快照(含 UniLabJsonCommand 动作),否则 acquire device lock 失败(30052)。 冲突解决: - ws_client.py: 取 dev 版设备锁协议(report_all_action_locks/report_action_lock/ is_action_busy),删除 lab_2 已被 dev 机制取代的 JobInfo.set_ready_timeout/ is_ready_timeout(dev 用 refresh_ready_timeouts,且无 ready_timeout 字段)。 - host_node.py: 保留双方——lab_2(PR#292) 本地图设备补建 _execute_driver_command (_async) 基础 ActionClient + dev 的 new_action_pairs 全量锁上报。 - registry.py: 同时保留 apply_simulation_meta(lab_2 sim)与 validate_init_param_enforce(dev)。 - initialize_device.py: 取 lab_2 版(sim real/twin/pair 关键路径);dev 的 init_enforce merge 对未声明 init_param_enforce 的设备无影响,registry 侧 validate 仍独立生效。 - main.py: 去重 lab_2 Plan09 外源 registry 发现块 + 恢复丢失的 if workflow_upload: + 合入 dev 的 use_remote_resource 检查。 Co-authored-by: Cursor <cursoragent@cursor.com>
非 moveit 设备(STX110/PF400)的 --visual rviz 走 view_robot_lite.rviz, 但该文件从未创建 -> rviz2 -d 缺失文件回退默认配置(Fixed Frame=map/无 RobotModel)。 补一个含 Grid+TF+RobotModel(topic /robot_description)、Fixed Frame=world 的精简配置, 使单条 --visual rviz 命令即可显示模型。 Co-authored-by: Cursor <cursoragent@cursor.com>
initialize_device._lookup_registry_class 在 class 不在注册表时 import unilabos.registry.community_alias.normalize_community_class,但该模块从未创建 (lab_2/dev 均无)-> 社区/别名设备(如 community.pylabrobot_unilab.liconic_stx110 经短别名 liconic_stx110 引用)初始化时 ModuleNotFoundError 崩溃。 补上双向归一化(短别名<->community.<ns>.<id>)。 Co-authored-by: Cursor <cursoragent@cursor.com>
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目的
test 后端已升级为强制 device_lock(执行前获取设备锁)。edge 需向后端上报
report_action_lock快照(含 UniLabJsonCommand 动作),否则acquire device lock failed (30052)。该子系统在
dev上,lab_2_isacc_sim缺失(lab_2 只有always_free队列、无 action-lock 上报)。本 PR 将
dev合入lab_2_isacc_sim,补齐设备锁/调度。冲突解决(5 文件)
app/ws_client.py:取 dev 设备锁协议(report_all_action_locks/report_action_lock/is_action_busy,host_ready 前先发锁快照);删除 lab_2 已被 dev 取代的JobInfo.set_ready_timeout/is_ready_timeout(无ready_timeout字段、无调用;dev 用refresh_ready_timeouts)。ros/nodes/presets/host_node.py:两侧都留——lab_2(PR#292)本地图设备补建_execute_driver_command(_async)基础 ActionClient + dev 的new_action_pairs全量锁上报。registry/registry.py:同时保留apply_simulation_meta(lab_2 sim)与validate_init_param_enforce(dev,registry.py:1907有调用)。ros/initialize_device.py:取 lab_2 版(real/sim/twin/pair 关键路径);dev 的init_enforcemerge 对未声明init_param_enforce的设备无影响,registry 侧 validate 仍独立生效。app/main.py:去重 lab_2 Plan09 外源 registry 发现块 + 恢复被合并吞掉的if workflow_upload:+ 合入 dev 的use_remote_resource检查(用.get()防 KeyError)。验证
app/registry/ros/sim全区域py_compile/compileall通过。成功注册 109 设备/135 资源、连上wss://.../ws/schedule,dev 新增client/*依赖无 import 报错。report_action_lock、不再 30052、RViz 联动。备注
feat/pf400-fullstack,领先 lab_2 1 提交)未含;lab_2 合入本 PR 后需将 PF400 rebase 到新 lab_2。Made with Cursor