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feat: node_info_update srv

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fix: OTDeck cant create
This commit is contained in:
wznln
2025-04-29 11:29:25 +08:00
parent dbd1557095
commit 09fc17429e
6 changed files with 93 additions and 31 deletions
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14
unilabos/app/main.py
View File

@@ -58,6 +58,18 @@ def parse_args():
default=None,
help="配置文件路径，支持.py格式的Python配置文件",
)
parser.add_argument(
"--port",
type=int,
default=None,
help="信息页web服务的启动端口",
)
parser.add_argument(
"--open_browser",
type=bool,
default=True,
help="是否在启动时打开信息页",
)
return parser.parse_args()
@@ -151,7 +163,7 @@ def main():
mqtt_client.start()
start_backend(**args_dict)
start_server()
start_server(port=args_dict.get("port", 8002), open_browser=args_dict.get("open_browser", False))
if __name__ == "__main__":

14
unilabos/app/web/pages.py
View File

@@ -92,19 +92,7 @@ def setup_web_pages(router: APIRouter) -> None:
# 获取已加载的设备
if lab_registry:
# 设备类型
for device_id, device_info in lab_registry.device_type_registry.items():
msg = {
"id": device_id,
"name": device_info.get("name", "未命名"),
"file_path": device_info.get("file_path", ""),
"class_json": json.dumps(
device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
),
}
mqtt_client.publish_registry(device_id, device_info)
devices.append(msg)
devices = lab_registry.obtain_registry_device_info()
# 资源类型
for resource_id, resource_info in lab_registry.resource_type_registry.items():
resources.append(

16
unilabos/registry/registry.py
View File

@@ -1,3 +1,4 @@
import json
import os
import sys
from pathlib import Path
@@ -8,6 +9,7 @@ import yaml
from unilabos.utils import logger
from unilabos.ros.msgs.message_converter import msg_converter_manager
from unilabos.utils.decorator import singleton
from unilabos.utils.type_check import TypeEncoder
DEFAULT_PATHS = [Path(__file__).absolute().parent]
@@ -143,6 +145,20 @@ class Registry:
f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
)
def obtain_registry_device_info(self):
devices = []
for device_id, device_info in self.device_type_registry.items():
msg = {
"id": device_id,
"name": device_info.get("name", "未命名"),
"file_path": device_info.get("file_path", ""),
"class_json": json.dumps(
device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
),
}
devices.append(msg)
return devices
# 全局单例实例
lab_registry = Registry()

7
unilabos/resources/graphio.py
View File

@@ -1,4 +1,5 @@
import importlib
import inspect
import json
from typing import Union
import numpy as np
@@ -384,7 +385,11 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
d = resource_ulab_to_plr_inner(resource)
"""无法通过Resource进行反序列化，例如TipSpot必须内部序列化好，直接用TipSpot序列化会多参数，导致出错"""
from pylabrobot.utils.object_parsing import find_subclass
resource_plr = find_subclass(d["type"], ResourcePLR).deserialize(d, allow_marshal=True)
sub_cls = find_subclass(d["type"], ResourcePLR)
spect = inspect.signature(sub_cls)
if "category" not in spect.parameters:
d.pop("category")
resource_plr = sub_cls.deserialize(d, allow_marshal=True)
resource_plr.load_all_state(all_states)
return resource_plr

37
unilabos/ros/main_slave_run.py
View File

@@ -1,14 +1,16 @@
import json
import os
import traceback
from typing import Optional, Dict, Any, List
import rclpy
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd # type: ignore
from unilabos_msgs.srv import ResourceAdd, SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor
from rclpy.node import Node
from rclpy.timer import Timer
from unilabos.registry.registry import lab_registry
from unilabos.ros.initialize_device import initialize_device_from_dict
from unilabos.ros.msgs.message_converter import (
convert_to_ros_msg,
@@ -17,6 +19,7 @@ from unilabos.ros.nodes.presets.host_node import HostNode
from unilabos.ros.x.rclpyx import run_event_loop_in_thread
from unilabos.utils import logger
from unilabos.config.config import BasicConfig
from unilabos.utils.type_check import TypeEncoder
def exit() -> None:
@@ -98,17 +101,29 @@ def slave(
n = Node(f"slaveMachine_{machine_name}", parameter_overrides=[])
executor.add_node(n)
if BasicConfig.slave_no_host:
# 确保ResourceAdd存在
if "ResourceAdd" in globals():
rclient = n.create_client(ResourceAdd, "/resources/add")
rclient.wait_for_service() # FIXME 可能一直等待，加一个参数
if not BasicConfig.slave_no_host:
sclient = n.create_client(SerialCommand, "/node_info_update")
sclient.wait_for_service()
request = SerialCommand.Request()
request.command = json.dumps({
"machine_name": machine_name,
"type": "slave",
"devices_config": devices_config,
"registry_config": lab_registry.obtain_registry_device_info()
}, ensure_ascii=False, cls=TypeEncoder)
response = sclient.call_async(request)
logger.info(f"Slave node info update response: {response}")
rclient = n.create_client(ResourceAdd, "/resources/add")
rclient.wait_for_service() # FIXME 可能一直等待，加一个参数
request = ResourceAdd.Request()
request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
response = rclient.call_async(request)
logger.info(f"Slave resource add response: {response}")
request = ResourceAdd.Request()
request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
response = rclient.call_async(request)
else:
print("Warning: ResourceAdd service not available")
run_event_loop_in_thread()

36
unilabos/ros/nodes/presets/host_node.py
View File

@@ -1,4 +1,5 @@
import copy
import json
import threading
import time
import traceback
@@ -7,7 +8,7 @@ from typing import Optional, Dict, Any, List, ClassVar, Set
from action_msgs.msg import GoalStatus
from unilabos_msgs.msg import Resource # type: ignore
from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList # type: ignore
from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, SerialCommand # type: ignore
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.service import Service
@@ -20,7 +21,8 @@ from unilabos.ros.msgs.message_converter import (
get_ros_type_by_msgname,
convert_from_ros_msg,
convert_to_ros_msg,
msg_converter_manager, ros_action_to_json_schema,
msg_converter_manager,
ros_action_to_json_schema,
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
from unilabos.ros.nodes.presets.controller_node import ControllerNode
@@ -106,7 +108,7 @@ class HostNode(BaseROS2DeviceNode):
self._subscribed_topics = set() # 用于跟踪已订阅的话题
# 创建物料增删改查服务（非客户端）
self._init_resource_service()
self._init_host_service()
self.device_status = {} # 用来存储设备状态
self.device_status_timestamps = {} # 用来存储设备状态最后更新时间
@@ -117,7 +119,9 @@ class HostNode(BaseROS2DeviceNode):
# 初始化所有本机设备节点，多一次过滤，防止重复初始化
for device_id, device_config in devices_config.items():
if device_config.get("type", "device") != "device":
self.lab_logger().debug(f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping.")
self.lab_logger().debug(
f"[Host Node] Skipping type {device_config['type']} {device_id} already existed, skipping."
)
continue
if device_id not in self.devices_names:
self.initialize_device(device_id, device_config)
@@ -226,6 +230,7 @@ class HostNode(BaseROS2DeviceNode):
)
self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
from unilabos.app.mq import mqtt_client
info_with_schema = ros_action_to_json_schema(action_type)
mqtt_client.publish_actions(action_id, info_with_schema)
except Exception as e:
@@ -259,6 +264,7 @@ class HostNode(BaseROS2DeviceNode):
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
from unilabos.app.mq import mqtt_client
info_with_schema = ros_action_to_json_schema(action_type)
mqtt_client.publish_actions(action_id, info_with_schema)
else:
@@ -473,7 +479,7 @@ class HostNode(BaseROS2DeviceNode):
"""Resource"""
def _init_resource_service(self):
def _init_host_service(self):
self._resource_services: Dict[str, Service] = {
"resource_add": self.create_service(
ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup()
@@ -496,8 +502,28 @@ class HostNode(BaseROS2DeviceNode):
"resource_list": self.create_service(
ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup()
),
"node_info_update": self.create_service(
SerialCommand,
"/node_info_update",
self._node_info_update_callback,
callback_group=ReentrantCallbackGroup(),
),
}
def _node_info_update_callback(self, request, response):
"""
更新节点信息回调
"""
self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
try:
info = json.loads(request.command)
self.lab_logger().info(f"[Host Node] Node info update: {info}")
response.response = "OK"
except Exception as e:
self.lab_logger().error(f"[Host Node] Error updating node info: {str(e)}")
response.response = "ERROR"
return response
def _resource_add_callback(self, request, response):
"""
添加资源回调