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Virtual printer #1
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,21 @@ | ||
| { | ||
| "nodes": [ | ||
| { | ||
| "id": "xyz_and_pipette", | ||
| "name": "laiyu_liquid xyz and pipette", | ||
| "children": [], | ||
| "parent": "", | ||
| "type": "device", | ||
| "class": "xyz_pipette_device", | ||
| "position": { | ||
| "x": 450, | ||
| "y": 450, | ||
| "z": 0 | ||
| }, | ||
| "config": { | ||
| "port": "/dev/ttyUSB0" | ||
| } | ||
| } | ||
| ], | ||
| "links": [] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| { | ||
| "nodes": [ | ||
| { | ||
| "id": "virtual_printer_device", | ||
| "name": "虚拟打印设备", | ||
| "children": [], | ||
| "parent": "", | ||
| "type": "device", | ||
| "class": "virtual_printer", | ||
| "position": { | ||
| "x": 600, | ||
| "y": 450, | ||
| "z": 0 | ||
| }, | ||
| "config": { | ||
| "host_id": "demo-host", | ||
| "port": "VIRTUAL", | ||
| "prefix": "[VIRTUAL-PRINTER]", | ||
| "pretty": true | ||
| } | ||
| } | ||
| ], | ||
| "links": [] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,100 @@ | ||
| import json | ||
| import logging | ||
| from datetime import datetime | ||
| from typing import Any, Dict, Optional | ||
|
|
||
| from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode | ||
|
|
||
|
|
||
| class VirtualPrinter: | ||
| _ros_node: BaseROS2DeviceNode | ||
|
|
||
| def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): | ||
| if device_id is None and "id" in kwargs: | ||
| device_id = kwargs.pop("id") | ||
| if config is None and "config" in kwargs: | ||
| config = kwargs.pop("config") | ||
|
|
||
| self.device_id = device_id or "virtual_printer" | ||
| self.config = config or {} | ||
|
|
||
| self.logger = logging.getLogger(f"VirtualPrinter.{self.device_id}") | ||
| self.data: Dict[str, Any] = {} | ||
|
|
||
| self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL") | ||
| self.prefix = self.config.get("prefix") or kwargs.get("prefix", "[VIRTUAL-PRINTER]") | ||
| self.pretty = bool(self.config.get("pretty", True)) | ||
|
|
||
| print(f"{self.prefix} created: id={self.device_id}, port={self.port}") | ||
|
|
||
| def post_init(self, ros_node: BaseROS2DeviceNode): | ||
| self._ros_node = ros_node | ||
|
|
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| async def initialize(self) -> bool: | ||
| self.data.update( | ||
| { | ||
| "status": "Idle", | ||
| "message": "Ready", | ||
| "last_received": None, | ||
| "received_count": 0, | ||
| } | ||
| ) | ||
| self.logger.info("Initialized") | ||
| return True | ||
|
|
||
| async def cleanup(self) -> bool: | ||
| self.data.update({"status": "Offline", "message": "System offline"}) | ||
| self.logger.info("Cleaned up") | ||
| return False | ||
|
|
||
| async def print_message(self, content: Any = None, **kwargs) -> Dict[str, Any]: | ||
| """打印虚拟设备接收到的内容（推荐 action）""" | ||
| await self._record_and_print(action="print_message", content=content, kwargs=kwargs) | ||
| return {"success": True, "message": "printed", "return_info": "printed"} | ||
|
|
||
| async def receive(self, *args, **kwargs) -> Dict[str, Any]: | ||
| payload = {"args": list(args), "kwargs": kwargs} | ||
| await self._record_and_print(action="receive", content=payload, kwargs={}) | ||
| return {"success": True, "message": "received", "return_info": "received"} | ||
|
|
||
| async def _record_and_print(self, action: str, content: Any, kwargs: Dict[str, Any]) -> None: | ||
| ts = datetime.now().isoformat(timespec="seconds") | ||
| record = { | ||
| "timestamp": ts, | ||
| "device_id": self.device_id, | ||
| "action": action, | ||
| "content": content, | ||
| "kwargs": kwargs, | ||
| } | ||
|
|
||
| self.data["last_received"] = record | ||
| self.data["received_count"] = int(self.data.get("received_count", 0)) + 1 | ||
| self.data["status"] = "Idle" | ||
| self.data["message"] = f"Last action: {action} @ {ts}" | ||
|
|
||
| if self.pretty: | ||
| try: | ||
| txt = json.dumps(record, ensure_ascii=False, indent=2, default=str) | ||
| except Exception: | ||
| txt = str(record) | ||
| else: | ||
| txt = str(record) | ||
|
|
||
| print(f"{self.prefix} received:\n{txt}") | ||
| self.logger.info("Received: %s", record) | ||
|
|
||
| @property | ||
| def status(self) -> str: | ||
| return self.data.get("status", "Unknown") | ||
|
|
||
| @property | ||
| def message(self) -> str: | ||
| return self.data.get("message", "") | ||
|
|
||
| @property | ||
| def last_received(self) -> Any: | ||
| return self.data.get("last_received") | ||
|
|
||
| @property | ||
| def received_count(self) -> int: | ||
| return int(self.data.get("received_count", 0)) |
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issue (bug_risk): 将
mix_times从整数改为整型数组，可能会破坏那些期望标量值的现有使用方。由于 schema/默认值现在变成了整型数组（
[0]），请确认所有调用点、序列化逻辑以及任何外部集成（工作流、UI、设备驱动）都能正确处理数组形式以及任何遗留的标量值，或者为使用方文档化一个清晰的迁移路径。Original comment in English
issue (bug_risk): Changing
mix_timesfrom an integer to an integer array may break existing consumers expecting a scalar.Since the schema/default is now an integer array (
[0]), please verify that all call sites, serializers, and any external integrations (workflows, UIs, device drivers) correctly handle the array form and any legacy scalar values, or document a clear migration path for consumers.