mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
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
GitHub
@@ -1,3 +1,4 @@
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import json
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import threading
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import time
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import traceback
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@@ -13,15 +14,17 @@ from rclpy.action import ActionServer
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from rclpy.action.server import ServerGoalHandle
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from rclpy.client import Client
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.service import Service
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from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
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from unilabos.ros.msgs.message_converter import (
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convert_to_ros_msg,
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convert_from_ros_msg,
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convert_from_ros_msg_with_mapping,
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convert_to_ros_msg_with_mapping,
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convert_to_ros_msg_with_mapping, ros_action_to_json_schema,
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)
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from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList # type: ignore
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from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
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SerialCommand # type: ignore
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
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@@ -29,7 +32,7 @@ from unilabos.ros.x.rclpyx import get_event_loop
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from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
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from unilabos.utils.async_util import run_async_func
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from unilabos.utils.log import info, debug, warning, error, critical, logger
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from unilabos.utils.type_check import get_type_class
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from unilabos.utils.type_check import get_type_class, TypeEncoder
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T = TypeVar("T")
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@@ -44,19 +47,17 @@ class ROSLoggerAdapter:
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@property
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def identifier(self):
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return f"{self.namespace}/{self.node_name}"
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return f"{self.namespace}"
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def __init__(self, ros_logger, node_name, namespace):
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def __init__(self, ros_logger, namespace):
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"""
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初始化日志适配器
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Args:
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ros_logger: ROS2日志记录器
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node_name: 节点名称
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namespace: 命名空间
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"""
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self.ros_logger = ros_logger
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self.node_name = node_name
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self.namespace = namespace
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self.level_2_logger_func = {
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"info": info,
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@@ -258,9 +259,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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self.lab_logger().critical("资源跟踪器未初始化，请检查")
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# 创建自定义日志记录器
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self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.node_name, self.namespace)
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self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.namespace)
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self._action_servers = {}
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self._action_servers: Dict[str, ActionServer] = {}
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self._property_publishers = {}
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self._status_types = status_types
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self._action_value_mappings = action_value_mappings
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@@ -284,7 +285,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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self.create_ros_action_server(action_name, action_value_mapping)
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# 创建线程池执行器
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self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1))
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self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
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# 创建资源管理客户端
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self._resource_clients: Dict[str, Client] = {
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@@ -295,6 +296,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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"resource_list": self.create_client(ResourceList, "/resources/list"),
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}
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def query_host_name_cb(req, res):
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self.register_device()
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self.lab_logger().info("Host要求重新注册当前节点")
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res.response = ""
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return res
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self._service_server: Dict[str, Service] = {
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"query_host_name": self.create_service(
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SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
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),
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}
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# 向全局在线设备注册表添加设备信息
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self.register_device()
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rclpy.get_global_executor().add_node(self)
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@@ -318,6 +331,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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)
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# 加入全局注册表
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registered_devices[self.device_id] = device_info
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from unilabos.config.config import BasicConfig
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if not BasicConfig.is_host_mode:
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sclient = self.create_client(SerialCommand, "/node_info_update")
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# 启动线程执行发送任务
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threading.Thread(
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target=self.send_slave_node_info,
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args=(sclient,),
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daemon=True,
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name=f"ROSDevice{self.device_id}_send_slave_node_info"
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).start()
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def send_slave_node_info(self, sclient):
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sclient.wait_for_service()
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request = SerialCommand.Request()
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from unilabos.config.config import BasicConfig
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request.command = json.dumps({
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"SYNC_SLAVE_NODE_INFO": {
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"machine_name": BasicConfig.machine_name,
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"type": "slave",
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"edge_device_id": self.device_id
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}}, ensure_ascii=False, cls=TypeEncoder)
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# 发送异步请求并等待结果
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future = sclient.call_async(request)
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response = future.result()
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def lab_logger(self):
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"""
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@@ -1,4 +1,5 @@
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import copy
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import json
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import threading
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import time
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import traceback
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@@ -7,12 +8,13 @@ from typing import Optional, Dict, Any, List, ClassVar, Set
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from action_msgs.msg import GoalStatus
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from unilabos_msgs.msg import Resource # type: ignore
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from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList # type: ignore
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from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, SerialCommand # type: ignore
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from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
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from rclpy.callback_groups import ReentrantCallbackGroup
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from rclpy.service import Service
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from unique_identifier_msgs.msg import UUID
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from unilabos.registry.registry import lab_registry
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from unilabos.resources.registry import add_schema
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from unilabos.ros.initialize_device import initialize_device_from_dict
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from unilabos.ros.msgs.message_converter import (
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@@ -20,10 +22,12 @@ from unilabos.ros.msgs.message_converter import (
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get_ros_type_by_msgname,
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convert_from_ros_msg,
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convert_to_ros_msg,
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msg_converter_manager, ros_action_to_json_schema,
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msg_converter_manager,
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ros_action_to_json_schema,
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)
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
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from unilabos.ros.nodes.presets.controller_node import ControllerNode
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from unilabos.utils.type_check import TypeEncoder
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class HostNode(BaseROS2DeviceNode):
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@@ -95,6 +99,7 @@ class HostNode(BaseROS2DeviceNode):
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# 创建设备、动作客户端和目标存储
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self.devices_names: Dict[str, str] = {} # 存储设备名称和命名空间的映射
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self.devices_instances: Dict[str, ROS2DeviceNode] = {} # 存储设备实例
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self.device_machine_names: Dict[str, str] = {device_id: "本地", } # 存储设备ID到机器名称的映射
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self._action_clients: Dict[str, ActionClient] = {} # 用来存储多个ActionClient实例
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self._action_value_mappings: Dict[str, Dict] = (
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{}
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@@ -106,18 +111,24 @@ class HostNode(BaseROS2DeviceNode):
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self._subscribed_topics = set() # 用于跟踪已订阅的话题
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# 创建物料增删改查服务（非客户端）
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self._init_resource_service()
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self._init_host_service()
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self.device_status = {} # 用来存储设备状态
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self.device_status_timestamps = {} # 用来存储设备状态最后更新时间
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from unilabos.app.mq import mqtt_client
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for device_config in lab_registry.obtain_registry_device_info():
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mqtt_client.publish_registry(device_config["id"], device_config)
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# 首次发现网络中的设备
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self._discover_devices()
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# 初始化所有本机设备节点，多一次过滤，防止重复初始化
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for device_id, device_config in devices_config.items():
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if device_config.get("type", "device") != "device":
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self.lab_logger().debug(f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
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self.lab_logger().debug(
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f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
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)
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continue
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if device_id not in self.devices_names:
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self.initialize_device(device_id, device_config)
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@@ -150,6 +161,13 @@ class HostNode(BaseROS2DeviceNode):
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self.lab_logger().info("[Host Node] Host node initialized.")
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HostNode._ready_event.set()
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def _send_re_register(self, sclient):
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sclient.wait_for_service()
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request = SerialCommand.Request()
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request.command = ""
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future = sclient.call_async(request)
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response = future.result()
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def _discover_devices(self) -> None:
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"""
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发现网络中的设备
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@@ -166,23 +184,37 @@ class HostNode(BaseROS2DeviceNode):
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current_devices = set()
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for device_id, namespace in nodes_and_names:
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if not namespace.startswith("/devices"):
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if not namespace.startswith("/devices/"):
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continue
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edge_device_id = namespace[9:]
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# 将设备添加到当前设备集合
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device_key = f"{namespace}/{device_id}"
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device_key = f"{namespace}/{edge_device_id}" # namespace已经包含device_id了，这里复写一遍
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current_devices.add(device_key)
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# 如果是新设备，记录并创建ActionClient
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if device_id not in self.devices_names:
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if edge_device_id not in self.devices_names:
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self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
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self.devices_names[device_id] = namespace
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self.devices_names[edge_device_id] = namespace
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self._create_action_clients_for_device(device_id, namespace)
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self._online_devices.add(device_key)
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sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
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threading.Thread(
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target=self._send_re_register,
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args=(sclient,),
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daemon=True,
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name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
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).start()
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elif device_key not in self._online_devices:
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# 设备重新上线
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self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
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self._online_devices.add(device_key)
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sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
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threading.Thread(
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target=self._send_re_register,
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args=(sclient,),
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daemon=True,
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name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
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).start()
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# 检测离线设备
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offline_devices = self._online_devices - current_devices
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@@ -224,16 +256,22 @@ class HostNode(BaseROS2DeviceNode):
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self._action_clients[action_id] = ActionClient(
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self, action_type, action_id, callback_group=self.callback_group
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)
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self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
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self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
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action_name = action_id[len(namespace) + 1:]
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edge_device_id = namespace[9:]
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from unilabos.app.mq import mqtt_client
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info_with_schema = ros_action_to_json_schema(action_type)
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mqtt_client.publish_actions(action_id, info_with_schema)
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mqtt_client.publish_actions(action_name, {
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"device_id": edge_device_id,
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"action_name": action_name,
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"schema": info_with_schema,
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})
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except Exception as e:
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self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
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def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
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"""
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根据配置初始化设备
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根据配置初始化设备，
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此函数根据提供的设备配置动态导入适当的设备类并创建其实例。
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同时为设备的动作值映射设置动作客户端。
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@@ -249,7 +287,8 @@ class HostNode(BaseROS2DeviceNode):
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if d is None:
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return
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# noinspection PyProtectedMember
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self.devices_names[device_id] = d._ros_node.namespace
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self.devices_names[device_id] = d._ros_node.namespace # 这里不涉及二级device_id
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self.device_machine_names[device_id] = "本地"
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self.devices_instances[device_id] = d
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# noinspection PyProtectedMember
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for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
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@@ -257,13 +296,17 @@ class HostNode(BaseROS2DeviceNode):
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if action_id not in self._action_clients:
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action_type = action_value_mapping["type"]
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self._action_clients[action_id] = ActionClient(self, action_type, action_id)
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self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
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self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}") # 子设备再创建用的是Discover发现的
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from unilabos.app.mq import mqtt_client
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info_with_schema = ros_action_to_json_schema(action_type)
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mqtt_client.publish_actions(action_id, info_with_schema)
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mqtt_client.publish_actions(action_name, {
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"device_id": device_id,
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"action_name": action_name,
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"schema": info_with_schema,
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})
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else:
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self.lab_logger().warning(f"[Host Node] ActionClient {action_id} already exists.")
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device_key = f"{self.devices_names[device_id]}/{device_id}"
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device_key = f"{self.devices_names[device_id]}/{device_id}" # 这里不涉及二级device_id
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# 添加到在线设备列表
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self._online_devices.add(device_key)
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@@ -285,8 +328,8 @@ class HostNode(BaseROS2DeviceNode):
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# 解析设备名和属性名
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parts = topic.split("/")
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if len(parts) >= 4:
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device_id = parts[-2]
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if len(parts) >= 4: # 可能有ProtocolNode，创建更长的设备
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device_id = "/".join(parts[2:-1])
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property_name = parts[-1]
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# 初始化设备状态字典
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@@ -473,7 +516,7 @@ class HostNode(BaseROS2DeviceNode):
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"""Resource"""
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def _init_resource_service(self):
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def _init_host_service(self):
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self._resource_services: Dict[str, Service] = {
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"resource_add": self.create_service(
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ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
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@@ -496,8 +539,39 @@ class HostNode(BaseROS2DeviceNode):
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"resource_list": self.create_service(
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ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
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),
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"node_info_update": self.create_service(
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SerialCommand,
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"/node_info_update",
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self._node_info_update_callback,
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callback_group=ReentrantCallbackGroup(),
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),
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}
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def _node_info_update_callback(self, request, response):
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"""
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更新节点信息回调
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"""
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self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
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try:
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from unilabos.app.mq import mqtt_client
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info = json.loads(request.command)
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if "SYNC_SLAVE_NODE_INFO" in info:
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info = info["SYNC_SLAVE_NODE_INFO"]
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machine_name = info["machine_name"]
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edge_device_id = info["edge_device_id"]
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self.device_machine_names[edge_device_id] = machine_name
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else:
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registry_config = info["registry_config"]
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for device_config in registry_config:
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mqtt_client.publish_registry(device_config["id"], device_config)
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self.lab_logger().debug(f"[Host Node] Node info update: {info}")
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response.response = "OK"
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except Exception as e:
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self.lab_logger().error(f"[Host Node] Error updating node info: {e.args}")
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response.response = "ERROR"
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return response
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def _resource_add_callback(self, request, response):
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"""
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添加资源回调
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