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Update README and MQTTClient for installation instructions and code improvements

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This commit is contained in:
Harvey Que
2025-04-18 15:32:49 +08:00
parent e638c33d89
commit 275e3a36f7
2 changed files with 16 additions and 8 deletions
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4
README.md
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@@ -53,6 +53,10 @@ mamba activate unilab
# 或更新现有环境 # 或更新现有环境
conda env update --file unilabos-[YOUR_OS].yml -n 环境名 conda env update --file unilabos-[YOUR_OS].yml -n 环境名
# 现阶段，需要安装 `unilabos_msgs` 包
# 可以前往 Release 页面下载系统对应的包进行安装
conda install ros-humble-unilabos-msgs-0.8.0-xxxxx.tar.bz2
``` ```
其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。

18
unilabos/app/mq.py
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@@ -3,17 +3,21 @@ import time
import uuid import uuid
import paho.mqtt.client as mqtt import paho.mqtt.client as mqtt
import ssl, base64, hmac import ssl
import base64
import hmac
from hashlib import sha1 from hashlib import sha1
import tempfile import tempfile
import os import os
from unilabos.config.config import MQConfig from unilabos.config.config import MQConfig
from unilabos.app.controler import devices, job_add from unilabos.app.controler import devices, job_add
from unilabos.app.model import JobAddReq, JobAddResp from unilabos.app.model import JobAddReq
from unilabos.utils import logger from unilabos.utils import logger
from unilabos.utils.type_check import TypeEncoder from unilabos.utils.type_check import TypeEncoder
from paho.mqtt.enums import CallbackAPIVersion
class MQTTClient: class MQTTClient:
mqtt_disable = True mqtt_disable = True
@@ -21,7 +25,7 @@ class MQTTClient:
def __init__(self): def __init__(self):
self.mqtt_disable = not MQConfig.lab_id self.mqtt_disable = not MQConfig.lab_id
self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}" self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5) self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
self._setup_callbacks() self._setup_callbacks()
def _setup_callbacks(self): def _setup_callbacks(self):
@@ -41,7 +45,7 @@ class MQTTClient:
logger.error("[MQTT] on_connect ErrorHostNotInit") logger.error("[MQTT] on_connect ErrorHostNotInit")
return return
def _on_message(self, client, userdata, msg): def _on_message(self, client, userdata, msg) -> None:
logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload)) logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
try: try:
payload_str = msg.payload.decode("utf-8") payload_str = msg.payload.decode("utf-8")
@@ -52,7 +56,7 @@ class MQTTClient:
logger.debug("job_add", type(payload_json), payload_json) logger.debug("job_add", type(payload_json), payload_json)
job_req = JobAddReq.model_validate(payload_json) job_req = JobAddReq.model_validate(payload_json)
data = job_add(job_req) data = job_add(job_req)
return JobAddResp(data=data) return
except json.JSONDecodeError as e: except json.JSONDecodeError as e:
logger.error(f"[MQTT] JSON 解析错误: {e}") logger.error(f"[MQTT] JSON 解析错误: {e}")
@@ -87,7 +91,7 @@ class MQTTClient:
for temp_file in temp_files: for temp_file in temp_files:
try: try:
os.unlink(temp_file) os.unlink(temp_file)
except: except Exception as e:
pass pass
def start(self): def start(self):
@@ -156,7 +160,7 @@ class MQTTClient:
if self.mqtt_disable: if self.mqtt_disable:
return return
address = f"labs/{MQConfig.lab_id}/registry/" address = f"labs/{MQConfig.lab_id}/registry/"
registry_data = json.dumps({device_id: device_info}, ensure_ascii = False, cls = TypeEncoder) registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
self.client.publish(address, registry_data, qos=2) self.client.publish(address, registry_data, qos=2)
logger.debug(f"Registry data published: address: {address}, {registry_data}") logger.debug(f"Registry data published: address: {address}, {registry_data}")