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Workbench example, adjust log level, and ci check (#220)

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* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check
This commit is contained in:
Xuwznln
2026-01-26 02:15:13 +08:00
committed by GitHub
parent ec7ca6a1fe
commit 216f19fb62
18 changed files with 1329 additions and 5821 deletions
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40
unilabos/ros/msgs/message_converter.py
View File

@@ -770,13 +770,16 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
return schema
def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]:
def ros_action_to_json_schema(
action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None
) -> Dict[str, Any]:
"""
将 ROS Action 类转换为 JSON Schema
Args:
action_class: ROS Action 类
description: 描述
previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
Returns:
完整的 JSON Schema 定义
@@ -810,9 +813,44 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An
"required": ["goal"],
}
# 保留之前 schema 中 goal/feedback/result 下一级字段的 description
if previous_schema:
_preserve_field_descriptions(schema, previous_schema)
return schema
def _preserve_field_descriptions(
new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
) -> None:
"""
保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
Args:
new_schema: 新生成的 schema（会被修改）
previous_schema: 之前的 schema
"""
for section in ["goal", "feedback", "result"]:
new_section = new_schema.get("properties", {}).get(section, {})
prev_section = previous_schema.get("properties", {}).get(section, {})
if not new_section or not prev_section:
continue
new_props = new_section.get("properties", {})
prev_props = prev_section.get("properties", {})
for field_name, field_schema in new_props.items():
if field_name in prev_props:
prev_field = prev_props[field_name]
# 保留字段的 description
if "description" in prev_field and prev_field["description"]:
field_schema["description"] = prev_field["description"]
# 保留字段的 title（用户自定义的中文名）
if "title" in prev_field and prev_field["title"]:
field_schema["title"] = prev_field["title"]
def convert_ros_action_to_jsonschema(
action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json"
) -> Dict[str, Any]:

67
unilabos/ros/nodes/presets/host_node.py
View File

@@ -5,7 +5,8 @@ import threading
import time
import traceback
import uuid
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
from typing_extensions import TypedDict
from action_msgs.msg import GoalStatus
from geometry_msgs.msg import Point
@@ -62,6 +63,18 @@ class TestResourceReturn(TypedDict):
devices: List[DeviceSlot]
class TestLatencyReturn(TypedDict):
"""test_latency方法的返回值类型"""
avg_rtt_ms: float
avg_time_diff_ms: float
max_time_error_ms: float
task_delay_ms: float
raw_delay_ms: float
test_count: int
status: str
class HostNode(BaseROS2DeviceNode):
"""
主机节点类，负责管理设备、资源和控制器
@@ -853,8 +866,13 @@ class HostNode(BaseROS2DeviceNode):
# 适配后端的一些额外处理
return_value = return_info.get("return_value")
if isinstance(return_value, dict):
unilabos_samples = return_info.get("unilabos_samples")
if isinstance(unilabos_samples, list):
unilabos_samples = return_value.pop("unilabos_samples", None)
if isinstance(unilabos_samples, list) and unilabos_samples:
self.lab_logger().info(
f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): "
f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}"
f"{'...' if len(unilabos_samples) > 5 else ''}"
)
return_info["unilabos_samples"] = unilabos_samples
suc = return_info.get("suc", False)
if not suc:
@@ -881,7 +899,7 @@ class HostNode(BaseROS2DeviceNode):
# 清理 _goals 中的记录
if job_id in self._goals:
del self._goals[job_id]
self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals")
self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals")
# 存储结果供 HTTP API 查询
try:
@@ -1326,10 +1344,20 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}")
return response
def test_latency(self):
def test_latency(self) -> TestLatencyReturn:
"""
测试网络延迟的action实现
通过5次ping-pong机制校对时间误差并计算实际延迟
Returns:
TestLatencyReturn: 包含延迟测试结果的字典，包括：
- avg_rtt_ms: 平均往返时间（毫秒）
- avg_time_diff_ms: 平均时间差（毫秒）
- max_time_error_ms: 最大时间误差（毫秒）
- task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算
- raw_delay_ms: 原始时间差（毫秒），-1表示无法计算
- test_count: 有效测试次数
- status: 测试状态，"success"表示成功，"all_timeout"表示全部超时
"""
import uuid as uuid_module
@@ -1392,7 +1420,15 @@ class HostNode(BaseROS2DeviceNode):
if not ping_results:
self.lab_logger().error("❌ 所有ping-pong测试都失败了")
return {"status": "all_timeout"}
return {
"avg_rtt_ms": -1.0,
"avg_time_diff_ms": -1.0,
"max_time_error_ms": -1.0,
"task_delay_ms": -1.0,
"raw_delay_ms": -1.0,
"test_count": 0,
"status": "all_timeout",
}
# 统计分析
rtts = [r["rtt_ms"] for r in ping_results]
@@ -1400,7 +1436,7 @@ class HostNode(BaseROS2DeviceNode):
avg_rtt_ms = sum(rtts) / len(rtts)
avg_time_diff_ms = sum(time_diffs) / len(time_diffs)
max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs)))
max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs)))
self.lab_logger().info("-" * 50)
self.lab_logger().info("[测试统计]")
@@ -1440,7 +1476,7 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().info("=" * 60)
return {
res: TestLatencyReturn = {
"avg_rtt_ms": avg_rtt_ms,
"avg_time_diff_ms": avg_time_diff_ms,
"max_time_error_ms": max_time_diff_error_ms,
@@ -1451,9 +1487,14 @@ class HostNode(BaseROS2DeviceNode):
"test_count": len(ping_results),
"status": "success",
}
return res
def test_resource(
self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None
self,
resource: ResourceSlot = None,
resources: List[ResourceSlot] = None,
device: DeviceSlot = None,
devices: List[DeviceSlot] = None,
) -> TestResourceReturn:
if resources is None:
resources = []
@@ -1514,7 +1555,9 @@ class HostNode(BaseROS2DeviceNode):
# 构建服务地址
srv_address = f"/srv{namespace}/s2c_resource_tree"
self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------")
self.lab_logger().trace(
f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------"
)
# 创建服务客户端
sclient = self.create_client(SerialCommand, srv_address)
@@ -1549,7 +1592,9 @@ class HostNode(BaseROS2DeviceNode):
time.sleep(0.05)
response = future.result()
self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------")
self.lab_logger().trace(
f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------"
)
return True
except Exception as e: