mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
Add backend api and update doc
This commit is contained in:
Xuwznln
334
docs/developer_guide/http_api.md
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334
docs/developer_guide/http_api.md
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# HTTP API 指南
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本文档介绍如何通过 HTTP API 与 Uni-Lab-OS 进行交互，包括查询设备、提交任务和获取结果。
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## 概述
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Uni-Lab-OS 提供 RESTful HTTP API，允许外部系统通过标准 HTTP 请求控制实验室设备。API 基于 FastAPI 构建，默认运行在 `http://localhost:8002`。
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### 基础信息
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- **Base URL**: `http://localhost:8002/api/v1`
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- **Content-Type**: `application/json`
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- **响应格式**: JSON
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### 通用响应结构
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```json
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{
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"code": 0,
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"data": { ... },
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"message": "success"
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}
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```
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| 字段 | 类型 | 说明 |
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| --------- | ------ | ------------------ |
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| `code` | int | 状态码，0 表示成功 |
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| `data` | object | 响应数据 |
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| `message` | string | 响应消息 |
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## 快速开始
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以下是一个完整的工作流示例：查询设备 → 获取动作 → 提交任务 → 获取结果。
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### 步骤 1: 获取在线设备
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```bash
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curl -X GET "http://localhost:8002/api/v1/online-devices"
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```
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**响应示例**:
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```json
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{
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"code": 0,
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"data": {
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"online_devices": {
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"host_node": {
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"device_key": "/host_node",
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"namespace": "",
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"machine_name": "本地",
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"uuid": "xxx-xxx-xxx",
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"node_name": "host_node"
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}
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},
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"total_count": 1,
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"timestamp": 1732612345.123
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},
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"message": "success"
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}
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```
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### 步骤 2: 获取设备可用动作
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```bash
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curl -X GET "http://localhost:8002/api/v1/devices/host_node/actions"
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```
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**响应示例**:
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```json
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{
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"code": 0,
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"data": {
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"device_id": "host_node",
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"actions": {
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"test_latency": {
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"type_name": "unilabos_msgs.action._empty_in.EmptyIn",
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"type_name_convert": "unilabos_msgs/action/_empty_in/EmptyIn",
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"action_path": "/devices/host_node/test_latency",
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"goal_info": "{}",
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"is_busy": false,
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"current_job_id": null
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},
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"create_resource": {
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"type_name": "unilabos_msgs.action._resource_create_from_outer_easy.ResourceCreateFromOuterEasy",
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"action_path": "/devices/host_node/create_resource",
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"goal_info": "{res_id: '', device_id: '', class_name: '', ...}",
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"is_busy": false,
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"current_job_id": null
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}
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},
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"action_count": 5
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},
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"message": "success"
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}
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```
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**动作状态字段说明**:
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| 字段 | 说明 |
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| ---------------- | ----------------------------- |
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| `type_name` | 动作类型的完整名称 |
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| `action_path` | ROS2 动作路径 |
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| `goal_info` | 动作参数模板 |
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| `is_busy` | 动作是否正在执行 |
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| `current_job_id` | 当前执行的任务 ID（如果繁忙） |
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### 步骤 3: 提交任务
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```bash
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curl -X POST "http://localhost:8002/api/v1/job/add" \
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-H "Content-Type: application/json" \
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-d '{"device_id":"host_node","action":"test_latency","action_args":{}}'
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```
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**请求体**:
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```json
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{
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"device_id": "host_node",
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"action": "test_latency",
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"action_args": {}
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}
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```
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**请求参数说明**:
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| 字段 | 类型 | 必填 | 说明 |
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| ------------- | ------ | ---- | ---------------------------------- |
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| `device_id` | string | ✓ | 目标设备 ID |
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| `action` | string | ✓ | 动作名称 |
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| `action_args` | object | ✓ | 动作参数（根据动作类型不同而变化） |
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**响应示例**:
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```json
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{
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"code": 0,
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"data": {
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"jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
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"status": 1,
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"result": {}
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},
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"message": "success"
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}
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```
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**任务状态码**:
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| 状态码 | 含义 | 说明 |
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| ------ | --------- | ------------------------------ |
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| 0 | UNKNOWN | 未知状态 |
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| 1 | ACCEPTED | 任务已接受，等待执行 |
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| 2 | EXECUTING | 任务执行中 |
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| 3 | CANCELING | 任务取消中 |
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| 4 | SUCCEEDED | 任务成功完成 |
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| 5 | CANCELED | 任务已取消 |
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| 6 | ABORTED | 任务中止（设备繁忙或执行失败） |
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### 步骤 4: 查询任务状态和结果
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```bash
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curl -X GET "http://localhost:8002/api/v1/job/b6acb586-733a-42ab-9f73-55c9a52aa8bd/status"
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```
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**响应示例（执行中）**:
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```json
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{
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"code": 0,
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"data": {
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"jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
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"status": 2,
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"result": {}
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},
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"message": "success"
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}
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```
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**响应示例（执行完成）**:
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```json
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{
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"code": 0,
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"data": {
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"jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
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"status": 4,
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"result": {
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"error": "",
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"suc": true,
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"return_value": {
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"avg_rtt_ms": 103.99,
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"avg_time_diff_ms": 7181.55,
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"max_time_error_ms": 7210.57,
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"task_delay_ms": -1,
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"raw_delay_ms": 33.19,
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"test_count": 5,
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"status": "success"
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}
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}
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},
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"message": "success"
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}
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```
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> **注意**: 任务结果在首次查询后会被自动删除，请确保保存返回的结果数据。
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## API 端点列表
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### 设备相关
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| 端点 | 方法 | 说明 |
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| ---------------------------------------------------------- | ---- | ---------------------- |
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| `/api/v1/online-devices` | GET | 获取在线设备列表 |
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| `/api/v1/devices` | GET | 获取设备配置 |
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| `/api/v1/devices/{device_id}/actions` | GET | 获取指定设备的可用动作 |
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| `/api/v1/devices/{device_id}/actions/{action_name}/schema` | GET | 获取动作参数 Schema |
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| `/api/v1/actions` | GET | 获取所有设备的可用动作 |
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### 任务相关
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| 端点 | 方法 | 说明 |
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| ----------------------------- | ---- | ------------------ |
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| `/api/v1/job/add` | POST | 提交新任务 |
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| `/api/v1/job/{job_id}/status` | GET | 查询任务状态和结果 |
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### 资源相关
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| 端点 | 方法 | 说明 |
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| ------------------- | ---- | ------------ |
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| `/api/v1/resources` | GET | 获取资源列表 |
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## 常见动作示例
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### test_latency - 延迟测试
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测试系统延迟，无需参数。
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```bash
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curl -X POST "http://localhost:8002/api/v1/job/add" \
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-H "Content-Type: application/json" \
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-d '{"device_id":"host_node","action":"test_latency","action_args":{}}'
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```
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### create_resource - 创建资源
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在设备上创建新资源。
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```bash
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curl -X POST "http://localhost:8002/api/v1/job/add" \
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-H "Content-Type: application/json" \
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-d '{
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"device_id": "host_node",
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"action": "create_resource",
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"action_args": {
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"res_id": "my_plate",
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"device_id": "host_node",
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"class_name": "Plate",
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"parent": "deck",
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"bind_locations": {"x": 0, "y": 0, "z": 0}
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}
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}'
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```
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## 错误处理
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### 设备繁忙
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当设备正在执行其他任务时，提交新任务会返回 `status: 6`（ABORTED）：
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```json
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{
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"code": 0,
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"data": {
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"jobId": "xxx",
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"status": 6,
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"result": {}
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},
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"message": "success"
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}
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```
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此时应等待当前任务完成后重试，或使用 `/devices/{device_id}/actions` 检查动作的 `is_busy` 状态。
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### 参数错误
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```json
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{
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"code": 2002,
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"data": { ... },
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"message": "device_id is required"
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}
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```
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## 轮询策略
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推荐的任务状态轮询策略：
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```python
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import requests
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import time
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def wait_for_job(job_id, timeout=60, interval=0.5):
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"""等待任务完成并返回结果"""
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start_time = time.time()
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while time.time() - start_time < timeout:
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response = requests.get(f"http://localhost:8002/api/v1/job/{job_id}/status")
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data = response.json()["data"]
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status = data["status"]
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if status in (4, 5, 6): # SUCCEEDED, CANCELED, ABORTED
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return data
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time.sleep(interval)
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raise TimeoutError(f"Job {job_id} did not complete within {timeout} seconds")
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# 使用示例
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response = requests.post(
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"http://localhost:8002/api/v1/job/add",
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json={"device_id": "host_node", "action": "test_latency", "action_args": {}}
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)
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job_id = response.json()["data"]["jobId"]
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result = wait_for_job(job_id)
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print(result)
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```
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## 相关文档
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||||||
|
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||||||
|
- [设备注册指南](add_device.md)
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- [动作定义指南](add_action.md)
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||||||
|
- [网络架构概述](networking_overview.md)
|
||||||
@@ -7,3 +7,17 @@ Uni-Lab-OS 是一个开源的实验室自动化操作系统，提供统一的设
|
|||||||
|
|
||||||
intro.md
|
intro.md
|
||||||
```
|
```
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|
||||||
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## 开发者指南
|
||||||
|
|
||||||
|
```{toctree}
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|
:maxdepth: 2
|
||||||
|
|
||||||
|
developer_guide/http_api.md
|
||||||
|
developer_guide/networking_overview.md
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||||||
|
developer_guide/add_device.md
|
||||||
|
developer_guide/add_action.md
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||||||
|
developer_guide/add_registry.md
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||||||
|
developer_guide/add_yaml.md
|
||||||
|
developer_guide/action_includes.md
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||||||
|
```
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|||||||
@@ -51,21 +51,25 @@ class Resp(BaseModel):
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class JobAddReq(BaseModel):
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class JobAddReq(BaseModel):
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device_id: str = Field(examples=["Gripper"], description="device id")
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device_id: str = Field(examples=["Gripper"], description="device id")
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action: str = Field(examples=["_execute_driver_command_async"], description="action name", default="")
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action: str = Field(examples=["_execute_driver_command_async"], description="action name", default="")
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action_type: str = Field(examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action name", default="")
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action_type: str = Field(
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action_args: dict = Field(examples=[{'string': 'string'}], description="action name", default="")
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examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action type", default=""
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task_id: str = Field(examples=["task_id"], description="task uuid")
|
)
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job_id: str = Field(examples=["job_id"], description="goal uuid")
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action_args: dict = Field(examples=[{"string": "string"}], description="action arguments", default_factory=dict)
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node_id: str = Field(examples=["node_id"], description="node uuid")
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task_id: str = Field(examples=["task_id"], description="task uuid (auto-generated if empty)", default="")
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server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
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job_id: str = Field(examples=["job_id"], description="goal uuid (auto-generated if empty)", default="")
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node_id: str = Field(examples=["node_id"], description="node uuid", default="")
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|
server_info: dict = Field(
|
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|
examples=[{"send_timestamp": 1717000000.0}],
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|
description="server info (auto-generated if empty)",
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default_factory=dict,
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)
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|
||||||
data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default={})
|
data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default_factory=dict)
|
||||||
|
|
||||||
|
|
||||||
class JobStepFinishReq(BaseModel):
|
class JobStepFinishReq(BaseModel):
|
||||||
token: str = Field(examples=["030944"], description="token")
|
token: str = Field(examples=["030944"], description="token")
|
||||||
request_time: str = Field(
|
request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
|
||||||
examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
|
|
||||||
)
|
|
||||||
data: dict = Field(
|
data: dict = Field(
|
||||||
examples=[
|
examples=[
|
||||||
{
|
{
|
||||||
@@ -83,9 +87,7 @@ class JobStepFinishReq(BaseModel):
|
|||||||
|
|
||||||
class JobPreintakeFinishReq(BaseModel):
|
class JobPreintakeFinishReq(BaseModel):
|
||||||
token: str = Field(examples=["030944"], description="token")
|
token: str = Field(examples=["030944"], description="token")
|
||||||
request_time: str = Field(
|
request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
|
||||||
examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
|
|
||||||
)
|
|
||||||
data: dict = Field(
|
data: dict = Field(
|
||||||
examples=[
|
examples=[
|
||||||
{
|
{
|
||||||
@@ -102,9 +104,7 @@ class JobPreintakeFinishReq(BaseModel):
|
|||||||
|
|
||||||
class JobFinishReq(BaseModel):
|
class JobFinishReq(BaseModel):
|
||||||
token: str = Field(examples=["030944"], description="token")
|
token: str = Field(examples=["030944"], description="token")
|
||||||
request_time: str = Field(
|
request_time: str = Field(examples=["2024-12-12 12:12:12.xxx"], description="requestTime")
|
||||||
examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
|
|
||||||
)
|
|
||||||
data: dict = Field(
|
data: dict = Field(
|
||||||
examples=[
|
examples=[
|
||||||
{
|
{
|
||||||
@@ -133,6 +133,10 @@ class JobData(BaseModel):
|
|||||||
default=0,
|
default=0,
|
||||||
description="0:UNKNOWN, 1:ACCEPTED, 2:EXECUTING, 3:CANCELING, 4:SUCCEEDED, 5:CANCELED, 6:ABORTED",
|
description="0:UNKNOWN, 1:ACCEPTED, 2:EXECUTING, 3:CANCELING, 4:SUCCEEDED, 5:CANCELED, 6:ABORTED",
|
||||||
)
|
)
|
||||||
|
result: dict = Field(
|
||||||
|
default_factory=dict,
|
||||||
|
description="Job result data (available when status is SUCCEEDED/CANCELED/ABORTED)",
|
||||||
|
)
|
||||||
|
|
||||||
|
|
||||||
class JobStatusResp(Resp):
|
class JobStatusResp(Resp):
|
||||||
|
|||||||
@@ -9,13 +9,22 @@ import asyncio
|
|||||||
|
|
||||||
import yaml
|
import yaml
|
||||||
|
|
||||||
from unilabos.app.web.controler import devices, job_add, job_info
|
from unilabos.app.web.controller import (
|
||||||
|
devices,
|
||||||
|
job_add,
|
||||||
|
job_info,
|
||||||
|
get_online_devices,
|
||||||
|
get_device_actions,
|
||||||
|
get_action_schema,
|
||||||
|
get_all_available_actions,
|
||||||
|
)
|
||||||
from unilabos.app.model import (
|
from unilabos.app.model import (
|
||||||
Resp,
|
Resp,
|
||||||
RespCode,
|
RespCode,
|
||||||
JobStatusResp,
|
JobStatusResp,
|
||||||
JobAddResp,
|
JobAddResp,
|
||||||
JobAddReq,
|
JobAddReq,
|
||||||
|
JobData,
|
||||||
)
|
)
|
||||||
from unilabos.app.web.utils.host_utils import get_host_node_info
|
from unilabos.app.web.utils.host_utils import get_host_node_info
|
||||||
from unilabos.registry.registry import lab_registry
|
from unilabos.registry.registry import lab_registry
|
||||||
@@ -1234,6 +1243,65 @@ def get_devices():
|
|||||||
return Resp(data=dict(data))
|
return Resp(data=dict(data))
|
||||||
|
|
||||||
|
|
||||||
|
@api.get("/online-devices", summary="Online devices list", response_model=Resp)
|
||||||
|
def api_get_online_devices():
|
||||||
|
"""获取在线设备列表
|
||||||
|
|
||||||
|
返回当前在线的设备列表，包含设备ID、命名空间、机器名等信息
|
||||||
|
"""
|
||||||
|
isok, data = get_online_devices()
|
||||||
|
if not isok:
|
||||||
|
return Resp(code=RespCode.ErrorHostNotInit, message=data.get("error", "Unknown error"))
|
||||||
|
|
||||||
|
return Resp(data=data)
|
||||||
|
|
||||||
|
|
||||||
|
@api.get("/devices/{device_id}/actions", summary="Device actions list", response_model=Resp)
|
||||||
|
def api_get_device_actions(device_id: str):
|
||||||
|
"""获取设备可用的动作列表
|
||||||
|
|
||||||
|
Args:
|
||||||
|
device_id: 设备ID
|
||||||
|
|
||||||
|
返回指定设备的所有可用动作，包含动作名称、类型、是否繁忙等信息
|
||||||
|
"""
|
||||||
|
isok, data = get_device_actions(device_id)
|
||||||
|
if not isok:
|
||||||
|
return Resp(code=RespCode.ErrorInvalidReq, message=data.get("error", "Unknown error"))
|
||||||
|
|
||||||
|
return Resp(data=data)
|
||||||
|
|
||||||
|
|
||||||
|
@api.get("/devices/{device_id}/actions/{action_name}/schema", summary="Action schema", response_model=Resp)
|
||||||
|
def api_get_action_schema(device_id: str, action_name: str):
|
||||||
|
"""获取动作的Schema详情
|
||||||
|
|
||||||
|
Args:
|
||||||
|
device_id: 设备ID
|
||||||
|
action_name: 动作名称
|
||||||
|
|
||||||
|
返回动作的参数Schema、默认值、类型等详细信息
|
||||||
|
"""
|
||||||
|
isok, data = get_action_schema(device_id, action_name)
|
||||||
|
if not isok:
|
||||||
|
return Resp(code=RespCode.ErrorInvalidReq, message=data.get("error", "Unknown error"))
|
||||||
|
|
||||||
|
return Resp(data=data)
|
||||||
|
|
||||||
|
|
||||||
|
@api.get("/actions", summary="All available actions", response_model=Resp)
|
||||||
|
def api_get_all_actions():
|
||||||
|
"""获取所有设备的可用动作
|
||||||
|
|
||||||
|
返回所有已注册设备的动作列表，包含设备信息和各动作的状态
|
||||||
|
"""
|
||||||
|
isok, data = get_all_available_actions()
|
||||||
|
if not isok:
|
||||||
|
return Resp(code=RespCode.ErrorHostNotInit, message=data.get("error", "Unknown error"))
|
||||||
|
|
||||||
|
return Resp(data=data)
|
||||||
|
|
||||||
|
|
||||||
@api.get("/job/{id}/status", summary="Job status", response_model=JobStatusResp)
|
@api.get("/job/{id}/status", summary="Job status", response_model=JobStatusResp)
|
||||||
def job_status(id: str):
|
def job_status(id: str):
|
||||||
"""获取任务状态"""
|
"""获取任务状态"""
|
||||||
@@ -1244,11 +1312,22 @@ def job_status(id: str):
|
|||||||
@api.post("/job/add", summary="Create job", response_model=JobAddResp)
|
@api.post("/job/add", summary="Create job", response_model=JobAddResp)
|
||||||
def post_job_add(req: JobAddReq):
|
def post_job_add(req: JobAddReq):
|
||||||
"""创建任务"""
|
"""创建任务"""
|
||||||
device_id = req.device_id
|
# 检查必要参数：device_id 和 action
|
||||||
if not req.data:
|
if not req.device_id:
|
||||||
return Resp(code=RespCode.ErrorInvalidReq, message="Invalid request data")
|
return JobAddResp(
|
||||||
|
data=JobData(jobId="", status=6),
|
||||||
|
code=RespCode.ErrorInvalidReq,
|
||||||
|
message="device_id is required",
|
||||||
|
)
|
||||||
|
|
||||||
|
action_name = req.data.get("action", req.action) if req.data else req.action
|
||||||
|
if not action_name:
|
||||||
|
return JobAddResp(
|
||||||
|
data=JobData(jobId="", status=6),
|
||||||
|
code=RespCode.ErrorInvalidReq,
|
||||||
|
message="action is required",
|
||||||
|
)
|
||||||
|
|
||||||
req.device_id = device_id
|
|
||||||
data = job_add(req)
|
data = job_add(req)
|
||||||
return JobAddResp(data=data)
|
return JobAddResp(data=data)
|
||||||
|
|
||||||
|
|||||||
@@ -1,45 +0,0 @@
|
|||||||
|
|
||||||
import json
|
|
||||||
import traceback
|
|
||||||
import uuid
|
|
||||||
from unilabos.app.model import JobAddReq, JobData
|
|
||||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
|
||||||
from unilabos.utils.type_check import serialize_result_info
|
|
||||||
|
|
||||||
|
|
||||||
def get_resources() -> tuple:
|
|
||||||
if HostNode.get_instance() is None:
|
|
||||||
return False, "Host node not initialized"
|
|
||||||
|
|
||||||
return True, HostNode.get_instance().resources_config
|
|
||||||
|
|
||||||
def devices() -> tuple:
|
|
||||||
if HostNode.get_instance() is None:
|
|
||||||
return False, "Host node not initialized"
|
|
||||||
|
|
||||||
return True, HostNode.get_instance().devices_config
|
|
||||||
|
|
||||||
def job_info(id: str):
|
|
||||||
get_goal_status = HostNode.get_instance().get_goal_status(id)
|
|
||||||
return JobData(jobId=id, status=get_goal_status)
|
|
||||||
|
|
||||||
def job_add(req: JobAddReq) -> JobData:
|
|
||||||
if req.job_id is None:
|
|
||||||
req.job_id = str(uuid.uuid4())
|
|
||||||
action_name = req.data["action"]
|
|
||||||
action_type = req.data.get("action_type", "LocalUnknown")
|
|
||||||
action_args = req.data.get("action_kwargs", None) # 兼容老版本，后续删除
|
|
||||||
if action_args is None:
|
|
||||||
action_args = req.data.get("action_args")
|
|
||||||
else:
|
|
||||||
if "command" in action_args:
|
|
||||||
action_args = action_args["command"]
|
|
||||||
# print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
|
|
||||||
try:
|
|
||||||
HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
|
|
||||||
except Exception as e:
|
|
||||||
for bridge in HostNode.get_instance().bridges:
|
|
||||||
traceback.print_exc()
|
|
||||||
if hasattr(bridge, "publish_job_status"):
|
|
||||||
bridge.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {}))
|
|
||||||
return JobData(jobId=req.job_id)
|
|
||||||
587
unilabos/app/web/controller.py
Normal file
587
unilabos/app/web/controller.py
Normal file
@@ -0,0 +1,587 @@
|
|||||||
|
"""
|
||||||
|
Web API Controller
|
||||||
|
|
||||||
|
提供Web API的控制器函数，处理设备、任务和动作相关的业务逻辑
|
||||||
|
"""
|
||||||
|
|
||||||
|
import threading
|
||||||
|
import time
|
||||||
|
import traceback
|
||||||
|
import uuid
|
||||||
|
from dataclasses import dataclass, field
|
||||||
|
from typing import Optional, Dict, Any, Tuple
|
||||||
|
|
||||||
|
from unilabos.app.model import JobAddReq, JobData
|
||||||
|
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||||
|
from unilabos.utils import logger
|
||||||
|
|
||||||
|
|
||||||
|
@dataclass
|
||||||
|
class JobResult:
|
||||||
|
"""任务结果数据"""
|
||||||
|
|
||||||
|
job_id: str
|
||||||
|
status: int # 4:SUCCEEDED, 5:CANCELED, 6:ABORTED
|
||||||
|
result: Dict[str, Any] = field(default_factory=dict)
|
||||||
|
feedback: Dict[str, Any] = field(default_factory=dict)
|
||||||
|
timestamp: float = field(default_factory=time.time)
|
||||||
|
|
||||||
|
|
||||||
|
class JobResultStore:
|
||||||
|
"""任务结果存储（单例）"""
|
||||||
|
|
||||||
|
_instance: Optional["JobResultStore"] = None
|
||||||
|
_lock = threading.Lock()
|
||||||
|
|
||||||
|
def __init__(self):
|
||||||
|
if not hasattr(self, "_initialized"):
|
||||||
|
self._results: Dict[str, JobResult] = {}
|
||||||
|
self._results_lock = threading.RLock()
|
||||||
|
self._initialized = True
|
||||||
|
|
||||||
|
def __new__(cls):
|
||||||
|
if cls._instance is None:
|
||||||
|
with cls._lock:
|
||||||
|
if cls._instance is None:
|
||||||
|
cls._instance = super().__new__(cls)
|
||||||
|
return cls._instance
|
||||||
|
|
||||||
|
def store_result(
|
||||||
|
self, job_id: str, status: int, result: Optional[Dict[str, Any]], feedback: Optional[Dict[str, Any]] = None
|
||||||
|
):
|
||||||
|
"""存储任务结果"""
|
||||||
|
with self._results_lock:
|
||||||
|
self._results[job_id] = JobResult(
|
||||||
|
job_id=job_id,
|
||||||
|
status=status,
|
||||||
|
result=result or {},
|
||||||
|
feedback=feedback or {},
|
||||||
|
timestamp=time.time(),
|
||||||
|
)
|
||||||
|
logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}")
|
||||||
|
|
||||||
|
def get_and_remove(self, job_id: str) -> Optional[JobResult]:
|
||||||
|
"""获取并删除任务结果"""
|
||||||
|
with self._results_lock:
|
||||||
|
result = self._results.pop(job_id, None)
|
||||||
|
if result:
|
||||||
|
logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}")
|
||||||
|
return result
|
||||||
|
|
||||||
|
def get_result(self, job_id: str) -> Optional[JobResult]:
|
||||||
|
"""仅获取任务结果（不删除）"""
|
||||||
|
with self._results_lock:
|
||||||
|
return self._results.get(job_id)
|
||||||
|
|
||||||
|
def cleanup_old_results(self, max_age_seconds: float = 3600):
|
||||||
|
"""清理过期的结果"""
|
||||||
|
current_time = time.time()
|
||||||
|
with self._results_lock:
|
||||||
|
expired_jobs = [
|
||||||
|
job_id for job_id, result in self._results.items() if current_time - result.timestamp > max_age_seconds
|
||||||
|
]
|
||||||
|
for job_id in expired_jobs:
|
||||||
|
del self._results[job_id]
|
||||||
|
logger.debug(f"[JobResultStore] Cleaned up expired result for job {job_id[:8]}")
|
||||||
|
|
||||||
|
|
||||||
|
# 全局结果存储实例
|
||||||
|
job_result_store = JobResultStore()
|
||||||
|
|
||||||
|
|
||||||
|
def store_job_result(
|
||||||
|
job_id: str, status: str, result: Optional[Dict[str, Any]], feedback: Optional[Dict[str, Any]] = None
|
||||||
|
):
|
||||||
|
"""存储任务结果（供外部调用）
|
||||||
|
|
||||||
|
Args:
|
||||||
|
job_id: 任务ID
|
||||||
|
status: 状态字符串 ("success", "failed", "cancelled")
|
||||||
|
result: 结果数据
|
||||||
|
feedback: 反馈数据
|
||||||
|
"""
|
||||||
|
# 转换状态字符串为整数
|
||||||
|
status_map = {
|
||||||
|
"success": 4, # SUCCEEDED
|
||||||
|
"failed": 6, # ABORTED
|
||||||
|
"cancelled": 5, # CANCELED
|
||||||
|
"running": 2, # EXECUTING
|
||||||
|
}
|
||||||
|
status_int = status_map.get(status, 0)
|
||||||
|
|
||||||
|
# 只存储最终状态
|
||||||
|
if status_int in (4, 5, 6):
|
||||||
|
job_result_store.store_result(job_id, status_int, result, feedback)
|
||||||
|
|
||||||
|
|
||||||
|
def get_resources() -> Tuple[bool, Any]:
|
||||||
|
"""获取资源配置
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
Tuple[bool, Any]: (是否成功, 资源配置或错误信息)
|
||||||
|
"""
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
return False, "Host node not initialized"
|
||||||
|
|
||||||
|
return True, host_node.resources_config
|
||||||
|
|
||||||
|
|
||||||
|
def devices() -> Tuple[bool, Any]:
|
||||||
|
"""获取设备配置
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
Tuple[bool, Any]: (是否成功, 设备配置或错误信息)
|
||||||
|
"""
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
return False, "Host node not initialized"
|
||||||
|
|
||||||
|
return True, host_node.devices_config
|
||||||
|
|
||||||
|
|
||||||
|
def job_info(job_id: str, remove_after_read: bool = True) -> JobData:
|
||||||
|
"""获取任务信息
|
||||||
|
|
||||||
|
Args:
|
||||||
|
job_id: 任务ID
|
||||||
|
remove_after_read: 是否在读取后删除结果（默认True）
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
JobData: 任务数据
|
||||||
|
"""
|
||||||
|
# 首先检查结果存储中是否有已完成的结果
|
||||||
|
if remove_after_read:
|
||||||
|
stored_result = job_result_store.get_and_remove(job_id)
|
||||||
|
else:
|
||||||
|
stored_result = job_result_store.get_result(job_id)
|
||||||
|
|
||||||
|
if stored_result:
|
||||||
|
# 有存储的结果，直接返回
|
||||||
|
return JobData(
|
||||||
|
jobId=job_id,
|
||||||
|
status=stored_result.status,
|
||||||
|
result=stored_result.result,
|
||||||
|
)
|
||||||
|
|
||||||
|
# 没有存储的结果，从 HostNode 获取当前状态
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
return JobData(jobId=job_id, status=0)
|
||||||
|
|
||||||
|
get_goal_status = host_node.get_goal_status(job_id)
|
||||||
|
return JobData(jobId=job_id, status=get_goal_status)
|
||||||
|
|
||||||
|
|
||||||
|
def check_device_action_busy(device_id: str, action_name: str) -> Tuple[bool, Optional[str]]:
|
||||||
|
"""检查设备动作是否正在执行（被占用）
|
||||||
|
|
||||||
|
Args:
|
||||||
|
device_id: 设备ID
|
||||||
|
action_name: 动作名称
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
Tuple[bool, Optional[str]]: (是否繁忙, 当前执行的job_id或None)
|
||||||
|
"""
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
return False, None
|
||||||
|
|
||||||
|
device_action_key = f"/devices/{device_id}/{action_name}"
|
||||||
|
|
||||||
|
# 检查 _device_action_status 中是否有正在执行的任务
|
||||||
|
if device_action_key in host_node._device_action_status:
|
||||||
|
status = host_node._device_action_status[device_action_key]
|
||||||
|
if status.job_ids:
|
||||||
|
# 返回第一个正在执行的job_id
|
||||||
|
current_job_id = next(iter(status.job_ids.keys()), None)
|
||||||
|
return True, current_job_id
|
||||||
|
|
||||||
|
return False, None
|
||||||
|
|
||||||
|
|
||||||
|
def _get_action_type(device_id: str, action_name: str) -> Optional[str]:
|
||||||
|
"""从注册表自动获取动作类型
|
||||||
|
|
||||||
|
Args:
|
||||||
|
device_id: 设备ID
|
||||||
|
action_name: 动作名称
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
动作类型字符串，未找到返回None
|
||||||
|
"""
|
||||||
|
try:
|
||||||
|
from unilabos.ros.nodes.base_device_node import registered_devices
|
||||||
|
|
||||||
|
# 方法1: 从运行时注册设备获取
|
||||||
|
if device_id in registered_devices:
|
||||||
|
device_info = registered_devices[device_id]
|
||||||
|
base_node = device_info.get("base_node_instance")
|
||||||
|
if base_node and hasattr(base_node, "_action_value_mappings"):
|
||||||
|
action_mappings = base_node._action_value_mappings
|
||||||
|
# 尝试直接匹配或 auto- 前缀匹配
|
||||||
|
for key in [action_name, f"auto-{action_name}"]:
|
||||||
|
if key in action_mappings:
|
||||||
|
action_type = action_mappings[key].get("type")
|
||||||
|
if action_type:
|
||||||
|
# 转换为字符串格式
|
||||||
|
if hasattr(action_type, "__module__") and hasattr(action_type, "__name__"):
|
||||||
|
return f"{action_type.__module__}.{action_type.__name__}"
|
||||||
|
return str(action_type)
|
||||||
|
|
||||||
|
# 方法2: 从lab_registry获取
|
||||||
|
from unilabos.registry.registry import lab_registry
|
||||||
|
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node and lab_registry:
|
||||||
|
devices_config = host_node.devices_config
|
||||||
|
device_class = None
|
||||||
|
|
||||||
|
for tree in devices_config.trees:
|
||||||
|
node = tree.root_node
|
||||||
|
if node.res_content.id == device_id:
|
||||||
|
device_class = node.res_content.klass
|
||||||
|
break
|
||||||
|
|
||||||
|
if device_class and device_class in lab_registry.device_type_registry:
|
||||||
|
device_type_info = lab_registry.device_type_registry[device_class]
|
||||||
|
class_info = device_type_info.get("class", {})
|
||||||
|
action_mappings = class_info.get("action_value_mappings", {})
|
||||||
|
|
||||||
|
for key in [action_name, f"auto-{action_name}"]:
|
||||||
|
if key in action_mappings:
|
||||||
|
action_type = action_mappings[key].get("type")
|
||||||
|
if action_type:
|
||||||
|
if hasattr(action_type, "__module__") and hasattr(action_type, "__name__"):
|
||||||
|
return f"{action_type.__module__}.{action_type.__name__}"
|
||||||
|
return str(action_type)
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
logger.warning(f"[Controller] Failed to get action type for {device_id}/{action_name}: {str(e)}")
|
||||||
|
|
||||||
|
return None
|
||||||
|
|
||||||
|
|
||||||
|
def job_add(req: JobAddReq) -> JobData:
|
||||||
|
"""添加任务（检查设备是否繁忙，繁忙则返回失败）
|
||||||
|
|
||||||
|
Args:
|
||||||
|
req: 任务添加请求
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
JobData: 任务数据（包含状态）
|
||||||
|
"""
|
||||||
|
# 服务端自动生成 job_id 和 task_id
|
||||||
|
job_id = str(uuid.uuid4())
|
||||||
|
task_id = str(uuid.uuid4())
|
||||||
|
|
||||||
|
# 服务端自动生成 server_info
|
||||||
|
server_info = {"send_timestamp": time.time()}
|
||||||
|
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
logger.error(f"[Controller] Host node not initialized for job: {job_id[:8]}")
|
||||||
|
return JobData(jobId=job_id, status=6) # 6 = ABORTED
|
||||||
|
|
||||||
|
# 解析动作信息
|
||||||
|
action_name = req.data.get("action", req.action) if req.data else req.action
|
||||||
|
action_args = req.data.get("action_kwargs") or req.data.get("action_args") if req.data else req.action_args
|
||||||
|
|
||||||
|
if action_args is None:
|
||||||
|
action_args = req.action_args or {}
|
||||||
|
elif isinstance(action_args, dict) and "command" in action_args:
|
||||||
|
action_args = action_args["command"]
|
||||||
|
|
||||||
|
# 自动获取 action_type
|
||||||
|
action_type = _get_action_type(req.device_id, action_name)
|
||||||
|
if action_type is None:
|
||||||
|
logger.error(f"[Controller] Action type not found for {req.device_id}/{action_name}")
|
||||||
|
return JobData(jobId=job_id, status=6) # ABORTED
|
||||||
|
|
||||||
|
# 检查设备动作是否繁忙
|
||||||
|
is_busy, current_job_id = check_device_action_busy(req.device_id, action_name)
|
||||||
|
|
||||||
|
if is_busy:
|
||||||
|
logger.warning(
|
||||||
|
f"[Controller] Device action busy: {req.device_id}/{action_name}, "
|
||||||
|
f"current job: {current_job_id[:8] if current_job_id else 'unknown'}"
|
||||||
|
)
|
||||||
|
# 返回失败状态，status=6 表示 ABORTED
|
||||||
|
return JobData(jobId=job_id, status=6)
|
||||||
|
|
||||||
|
# 设备空闲，提交任务执行
|
||||||
|
try:
|
||||||
|
from unilabos.app.ws_client import QueueItem
|
||||||
|
|
||||||
|
device_action_key = f"/devices/{req.device_id}/{action_name}"
|
||||||
|
queue_item = QueueItem(
|
||||||
|
task_type="job_call_back_status",
|
||||||
|
device_id=req.device_id,
|
||||||
|
action_name=action_name,
|
||||||
|
task_id=task_id,
|
||||||
|
job_id=job_id,
|
||||||
|
device_action_key=device_action_key,
|
||||||
|
)
|
||||||
|
|
||||||
|
host_node.send_goal(
|
||||||
|
queue_item,
|
||||||
|
action_type=action_type,
|
||||||
|
action_kwargs=action_args,
|
||||||
|
server_info=server_info,
|
||||||
|
)
|
||||||
|
|
||||||
|
logger.info(f"[Controller] Job submitted: {job_id[:8]} -> {req.device_id}/{action_name}")
|
||||||
|
# 返回已接受状态，status=1 表示 ACCEPTED
|
||||||
|
return JobData(jobId=job_id, status=1)
|
||||||
|
|
||||||
|
except ValueError as e:
|
||||||
|
# ActionClient not found 等错误
|
||||||
|
logger.error(f"[Controller] Action not available: {str(e)}")
|
||||||
|
return JobData(jobId=job_id, status=6) # ABORTED
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
logger.error(f"[Controller] Error submitting job: {str(e)}")
|
||||||
|
traceback.print_exc()
|
||||||
|
return JobData(jobId=job_id, status=6) # ABORTED
|
||||||
|
|
||||||
|
|
||||||
|
def get_online_devices() -> Tuple[bool, Dict[str, Any]]:
|
||||||
|
"""获取在线设备列表
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
Tuple[bool, Dict]: (是否成功, 在线设备信息)
|
||||||
|
"""
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
return False, {"error": "Host node not initialized"}
|
||||||
|
|
||||||
|
try:
|
||||||
|
from unilabos.ros.nodes.base_device_node import registered_devices
|
||||||
|
|
||||||
|
online_devices = {}
|
||||||
|
for device_key in host_node._online_devices:
|
||||||
|
# device_key 格式: "namespace/device_id"
|
||||||
|
parts = device_key.split("/")
|
||||||
|
if len(parts) >= 2:
|
||||||
|
device_id = parts[-1]
|
||||||
|
else:
|
||||||
|
device_id = device_key
|
||||||
|
|
||||||
|
# 获取设备详细信息
|
||||||
|
device_info = registered_devices.get(device_id, {})
|
||||||
|
machine_name = host_node.device_machine_names.get(device_id, "未知")
|
||||||
|
|
||||||
|
online_devices[device_id] = {
|
||||||
|
"device_key": device_key,
|
||||||
|
"namespace": host_node.devices_names.get(device_id, ""),
|
||||||
|
"machine_name": machine_name,
|
||||||
|
"uuid": device_info.get("uuid", "") if device_info else "",
|
||||||
|
"node_name": device_info.get("node_name", "") if device_info else "",
|
||||||
|
}
|
||||||
|
|
||||||
|
return True, {
|
||||||
|
"online_devices": online_devices,
|
||||||
|
"total_count": len(online_devices),
|
||||||
|
"timestamp": time.time(),
|
||||||
|
}
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
logger.error(f"[Controller] Error getting online devices: {str(e)}")
|
||||||
|
traceback.print_exc()
|
||||||
|
return False, {"error": str(e)}
|
||||||
|
|
||||||
|
|
||||||
|
def get_device_actions(device_id: str) -> Tuple[bool, Dict[str, Any]]:
|
||||||
|
"""获取设备可用的动作列表
|
||||||
|
|
||||||
|
Args:
|
||||||
|
device_id: 设备ID
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
Tuple[bool, Dict]: (是否成功, 动作列表信息)
|
||||||
|
"""
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
return False, {"error": "Host node not initialized"}
|
||||||
|
|
||||||
|
try:
|
||||||
|
from unilabos.ros.nodes.base_device_node import registered_devices
|
||||||
|
from unilabos.app.web.utils.action_utils import get_action_info
|
||||||
|
|
||||||
|
# 检查设备是否已注册
|
||||||
|
if device_id not in registered_devices:
|
||||||
|
return False, {"error": f"Device not found: {device_id}"}
|
||||||
|
|
||||||
|
device_info = registered_devices[device_id]
|
||||||
|
actions = device_info.get("actions", {})
|
||||||
|
|
||||||
|
actions_list = {}
|
||||||
|
for action_name, action_server in actions.items():
|
||||||
|
try:
|
||||||
|
action_info = get_action_info(action_server, action_name)
|
||||||
|
# 检查动作是否繁忙
|
||||||
|
is_busy, current_job = check_device_action_busy(device_id, action_name)
|
||||||
|
actions_list[action_name] = {
|
||||||
|
**action_info,
|
||||||
|
"is_busy": is_busy,
|
||||||
|
"current_job_id": current_job[:8] if current_job else None,
|
||||||
|
}
|
||||||
|
except Exception as e:
|
||||||
|
logger.warning(f"[Controller] Error getting action info for {action_name}: {str(e)}")
|
||||||
|
actions_list[action_name] = {
|
||||||
|
"type_name": "unknown",
|
||||||
|
"action_path": f"/devices/{device_id}/{action_name}",
|
||||||
|
"is_busy": False,
|
||||||
|
"error": str(e),
|
||||||
|
}
|
||||||
|
|
||||||
|
return True, {
|
||||||
|
"device_id": device_id,
|
||||||
|
"actions": actions_list,
|
||||||
|
"action_count": len(actions_list),
|
||||||
|
}
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
logger.error(f"[Controller] Error getting device actions: {str(e)}")
|
||||||
|
traceback.print_exc()
|
||||||
|
return False, {"error": str(e)}
|
||||||
|
|
||||||
|
|
||||||
|
def get_action_schema(device_id: str, action_name: str) -> Tuple[bool, Dict[str, Any]]:
|
||||||
|
"""获取动作的Schema详情
|
||||||
|
|
||||||
|
Args:
|
||||||
|
device_id: 设备ID
|
||||||
|
action_name: 动作名称
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
Tuple[bool, Dict]: (是否成功, Schema信息)
|
||||||
|
"""
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
return False, {"error": "Host node not initialized"}
|
||||||
|
|
||||||
|
try:
|
||||||
|
from unilabos.registry.registry import lab_registry
|
||||||
|
from unilabos.ros.nodes.base_device_node import registered_devices
|
||||||
|
|
||||||
|
result = {
|
||||||
|
"device_id": device_id,
|
||||||
|
"action_name": action_name,
|
||||||
|
"schema": None,
|
||||||
|
"goal_default": None,
|
||||||
|
"action_type": None,
|
||||||
|
"is_busy": False,
|
||||||
|
}
|
||||||
|
|
||||||
|
# 检查动作是否繁忙
|
||||||
|
is_busy, current_job = check_device_action_busy(device_id, action_name)
|
||||||
|
result["is_busy"] = is_busy
|
||||||
|
result["current_job_id"] = current_job[:8] if current_job else None
|
||||||
|
|
||||||
|
# 方法1: 从 registered_devices 获取运行时信息
|
||||||
|
if device_id in registered_devices:
|
||||||
|
device_info = registered_devices[device_id]
|
||||||
|
base_node = device_info.get("base_node_instance")
|
||||||
|
|
||||||
|
if base_node and hasattr(base_node, "_action_value_mappings"):
|
||||||
|
action_mappings = base_node._action_value_mappings
|
||||||
|
if action_name in action_mappings:
|
||||||
|
mapping = action_mappings[action_name]
|
||||||
|
result["schema"] = mapping.get("schema")
|
||||||
|
result["goal_default"] = mapping.get("goal_default")
|
||||||
|
result["action_type"] = str(mapping.get("type", ""))
|
||||||
|
|
||||||
|
# 方法2: 从 lab_registry 获取注册表信息（如果运行时没有）
|
||||||
|
if result["schema"] is None and lab_registry:
|
||||||
|
# 尝试查找设备类型
|
||||||
|
devices_config = host_node.devices_config
|
||||||
|
device_class = None
|
||||||
|
|
||||||
|
# 从配置中获取设备类型
|
||||||
|
for tree in devices_config.trees:
|
||||||
|
node = tree.root_node
|
||||||
|
if node.res_content.id == device_id:
|
||||||
|
device_class = node.res_content.klass
|
||||||
|
break
|
||||||
|
|
||||||
|
if device_class and device_class in lab_registry.device_type_registry:
|
||||||
|
device_type_info = lab_registry.device_type_registry[device_class]
|
||||||
|
class_info = device_type_info.get("class", {})
|
||||||
|
action_mappings = class_info.get("action_value_mappings", {})
|
||||||
|
|
||||||
|
# 尝试直接匹配或 auto- 前缀匹配
|
||||||
|
for key in [action_name, f"auto-{action_name}"]:
|
||||||
|
if key in action_mappings:
|
||||||
|
mapping = action_mappings[key]
|
||||||
|
result["schema"] = mapping.get("schema")
|
||||||
|
result["goal_default"] = mapping.get("goal_default")
|
||||||
|
result["action_type"] = str(mapping.get("type", ""))
|
||||||
|
result["handles"] = mapping.get("handles", {})
|
||||||
|
result["placeholder_keys"] = mapping.get("placeholder_keys", {})
|
||||||
|
break
|
||||||
|
|
||||||
|
if result["schema"] is None:
|
||||||
|
return False, {"error": f"Action schema not found: {device_id}/{action_name}"}
|
||||||
|
|
||||||
|
return True, result
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
logger.error(f"[Controller] Error getting action schema: {str(e)}")
|
||||||
|
traceback.print_exc()
|
||||||
|
return False, {"error": str(e)}
|
||||||
|
|
||||||
|
|
||||||
|
def get_all_available_actions() -> Tuple[bool, Dict[str, Any]]:
|
||||||
|
"""获取所有设备的可用动作
|
||||||
|
|
||||||
|
Returns:
|
||||||
|
Tuple[bool, Dict]: (是否成功, 所有设备的动作信息)
|
||||||
|
"""
|
||||||
|
host_node = HostNode.get_instance(0)
|
||||||
|
if host_node is None:
|
||||||
|
return False, {"error": "Host node not initialized"}
|
||||||
|
|
||||||
|
try:
|
||||||
|
from unilabos.ros.nodes.base_device_node import registered_devices
|
||||||
|
from unilabos.app.web.utils.action_utils import get_action_info
|
||||||
|
|
||||||
|
all_actions = {}
|
||||||
|
total_action_count = 0
|
||||||
|
|
||||||
|
for device_id, device_info in registered_devices.items():
|
||||||
|
actions = device_info.get("actions", {})
|
||||||
|
device_actions = {}
|
||||||
|
|
||||||
|
for action_name, action_server in actions.items():
|
||||||
|
try:
|
||||||
|
action_info = get_action_info(action_server, action_name)
|
||||||
|
is_busy, current_job = check_device_action_busy(device_id, action_name)
|
||||||
|
device_actions[action_name] = {
|
||||||
|
"type_name": action_info.get("type_name", ""),
|
||||||
|
"action_path": action_info.get("action_path", ""),
|
||||||
|
"is_busy": is_busy,
|
||||||
|
"current_job_id": current_job[:8] if current_job else None,
|
||||||
|
}
|
||||||
|
total_action_count += 1
|
||||||
|
except Exception as e:
|
||||||
|
logger.warning(f"[Controller] Error processing action {device_id}/{action_name}: {str(e)}")
|
||||||
|
|
||||||
|
if device_actions:
|
||||||
|
all_actions[device_id] = {
|
||||||
|
"actions": device_actions,
|
||||||
|
"action_count": len(device_actions),
|
||||||
|
"machine_name": host_node.device_machine_names.get(device_id, "未知"),
|
||||||
|
}
|
||||||
|
|
||||||
|
return True, {
|
||||||
|
"devices": all_actions,
|
||||||
|
"device_count": len(all_actions),
|
||||||
|
"total_action_count": total_action_count,
|
||||||
|
"timestamp": time.time(),
|
||||||
|
}
|
||||||
|
|
||||||
|
except Exception as e:
|
||||||
|
logger.error(f"[Controller] Error getting all available actions: {str(e)}")
|
||||||
|
traceback.print_exc()
|
||||||
|
return False, {"error": str(e)}
|
||||||
@@ -791,6 +791,16 @@ class HostNode(BaseROS2DeviceNode):
|
|||||||
del self._goals[job_id]
|
del self._goals[job_id]
|
||||||
self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
|
self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
|
||||||
|
|
||||||
|
# 存储结果供 HTTP API 查询
|
||||||
|
try:
|
||||||
|
from unilabos.app.web.controller import store_job_result
|
||||||
|
if goal_status == GoalStatus.STATUS_CANCELED:
|
||||||
|
store_job_result(job_id, status, return_info, {})
|
||||||
|
else:
|
||||||
|
store_job_result(job_id, status, return_info, result_data)
|
||||||
|
except ImportError:
|
||||||
|
pass # controller 模块可能未加载
|
||||||
|
|
||||||
# 发布状态到桥接器
|
# 发布状态到桥接器
|
||||||
if job_id:
|
if job_id:
|
||||||
for bridge in self.bridges:
|
for bridge in self.bridges:
|
||||||
|
|||||||
Reference in New Issue
Block a user