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Closes #3. Closes #12.

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Closes #3. Closes #12.
* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
This commit is contained in:
Xuwznln
2025-05-01 14:58:36 +08:00
committed by GitHub
parent 74ae2a88ac
commit 01ac3415ae
15 changed files with 300 additions and 106 deletions
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13
unilabos/app/web/utils/host_utils.py
View File

@@ -30,20 +30,19 @@ def get_host_node_info() -> Dict[str, Any]:
return host_info
host_info["available"] = True
host_info["devices"] = {
device_id: {
edge_device_id: {
"namespace": namespace,
"is_online": f"{namespace}/{device_id}" in host_node._online_devices,
"key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
"is_online": f"{namespace}/{edge_device_id}" in host_node._online_devices,
"key": f"{namespace}/{edge_device_id}" if namespace.startswith("/") else f"/{namespace}/{edge_device_id}",
"machine_name": host_node.device_machine_names.get(edge_device_id, "未知"),
}
for device_id, namespace in host_node.devices_names.items()
for edge_device_id, namespace in host_node.devices_names.items()
}
# 获取已订阅的主题
host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
# 获取动作客户端信息
for action_id, client in host_node._action_clients.items():
host_info["action_clients"] = {
action_id: get_action_info(client, full_name=action_id)
}
host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
# 获取设备状态
host_info["device_status"] = host_node.device_status

14
unilabos/app/web/utils/ros_utils.py
View File

@@ -12,6 +12,7 @@ from unilabos.app.web.utils.action_utils import get_action_info
# 存储 ROS 节点信息的全局变量
ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}
def get_ros_node_info() -> Dict[str, Any]:
"""获取 ROS 节点信息，包括设备节点、发布的状态和动作
@@ -35,6 +36,13 @@ def update_ros_node_info() -> Dict[str, Any]:
try:
from unilabos.ros.nodes.base_device_node import registered_devices
from unilabos.ros.nodes.presets.host_node import HostNode
# 尝试获取主机节点实例
host_node = HostNode.get_instance(0)
device_machine_names = {}
if host_node:
device_machine_names = host_node.device_machine_names
for device_id, device_info in registered_devices.items():
# 设备基本信息
@@ -42,6 +50,7 @@ def update_ros_node_info() -> Dict[str, Any]:
"node_name": device_info["node_name"],
"namespace": device_info["namespace"],
"uuid": device_info["uuid"],
"machine_name": device_machine_names.get(device_id, "本地"),
}
# 设备话题（状态）信息
@@ -55,10 +64,7 @@ def update_ros_node_info() -> Dict[str, Any]:
}
# 设备动作信息
result["device_actions"][device_id] = {
k: get_action_info(v, k)
for k, v in device_info["actions"].items()
}
result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
# 更新全局变量
ros_node_info = result
except Exception as e: