修复可能的web template找不到的问题

新增联网获取json启动
删除非-g传入启动json的方式
兼容传参参数名短横线与下划线

MANIFEST.in

@@ -1,5 +1,5 @@
 recursive-include unilabos/registry *.yaml
-recursive-include unilabos/app/web *.html
-recursive-include unilabos/app/web *.css
+recursive-include unilabos/app/static *
+recursive-include unilabos/app/templates *
 recursive-include unilabos/device_mesh/devices *
 recursive-include unilabos/device_mesh/resources *

unilabos/app/main.py

@@ -1,6 +1,5 @@
 import argparse
 import asyncio
-import json
 import os
 import signal
 import sys
@@ -10,7 +9,7 @@ from copy import deepcopy
 
 import yaml
 
-from unilabos.resources.graphio import tree_to_list, modify_to_backend_format
+from unilabos.resources.graphio import modify_to_backend_format
 
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -18,7 +17,7 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
 if unilabos_dir not in sys.path:
     sys.path.append(unilabos_dir)
 
-from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
+from unilabos.config.config import load_config, BasicConfig
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 
 
@@ -37,12 +36,22 @@ def load_config_from_file(config_path, override_labid=None):
         load_config(config_path, override_labid)
 
 
+def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
+    # easier for user input, easier for dev search code
+    option_strings = list(args._option_string_actions.keys())
+    for i, arg in enumerate(sys.argv):
+        for option_string in option_strings:
+            if arg.startswith(option_string):
+                new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
+                sys.argv[i] = new_arg
+                break
+
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
     parser.add_argument("-g", "--graph", help="Physical setup graph.")
-    parser.add_argument("-d", "--devices", help="Devices config file.")
-    parser.add_argument("-r", "--resources", help="Resources config file.")
+    # parser.add_argument("-d", "--devices", help="Devices config file.")
+    # parser.add_argument("-r", "--resources", help="Resources config file.")
     parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
     parser.add_argument(
         "--registry_path",
@@ -51,6 +60,12 @@ def parse_args():
         action="append",
         help="Path to the registry",
     )
+    parser.add_argument(
+        "--working_dir",
+        type=str,
+        default=None,
+        help="Path to the working directory",
+    )
     parser.add_argument(
         "--backend",
         choices=["ros", "simple", "automancer"],
@@ -92,12 +107,12 @@ def parse_args():
     )
     parser.add_argument(
         "--disable_browser",
-        action='store_true',
+        action="store_true",
         help="是否在启动时关闭信息页",
     )
     parser.add_argument(
         "--2d_vis",
-        action='store_true',
+        action="store_true",
         help="是否在pylabrobot实例启动时，同时启动可视化",
     )
     parser.add_argument(
@@ -112,14 +127,15 @@ def parse_args():
         default="",
         help="实验室唯一ID，也可通过环境变量 UNILABOS.MQCONFIG.LABID 设置或传入--config设置",
     )
-    return parser.parse_args()
+    return parser
 
 
 def main():
     """主函数"""
     # 解析命令行参数
     args = parse_args()
-    args_dict = vars(args)
+    convert_argv_dashes_to_underscores(args)
+    args_dict = vars(args.parse_args())
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
@@ -152,30 +168,30 @@ def main():
 
     # 注册表
     build_registry(args_dict["registry_path"])
-    resource_edge_info = []
-    devices_and_resources = None
-    if args_dict["graph"] is not None:
-        import unilabos.resources.graphio as graph_res
+    if args_dict["graph"] is None:
+        request_startup_json = http_client.request_startup_json()
+        if not request_startup_json:
+            print_status(
+                "未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
+            )
+            os._exit(1)
+        else:
+            print_status("联网获取设备加载文件成功", "info")
+        graph, data = read_node_link_json(request_startup_json)
+    else:
         if args_dict["graph"].endswith(".json"):
             graph, data = read_node_link_json(args_dict["graph"])
         else:
             graph, data = read_graphml(args_dict["graph"])
-        graph_res.physical_setup_graph = graph
-        resource_edge_info = modify_to_backend_format(data["links"])
-        devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
-        # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
-        args_dict["resources_config"] = list(devices_and_resources.values())
-        args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
-        args_dict["graph"] = graph_res.physical_setup_graph
-    else:
-        if args_dict["devices"] is None or args_dict["resources"] is None:
-            print_status("Either graph or devices and resources must be provided.", "error")
-            sys.exit(1)
-        args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
-        # args_dict["resources_config"] = initialize_resources(
-        #     list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
-        # )
-        args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
+    import unilabos.resources.graphio as graph_res
+
+    graph_res.physical_setup_graph = graph
+    resource_edge_info = modify_to_backend_format(data["links"])
+    devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
+    # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
+    args_dict["resources_config"] = list(devices_and_resources.values())
+    args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
+    args_dict["graph"] = graph_res.physical_setup_graph
 
     print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
     for i in args_dict["resources_config"]:
@@ -207,13 +223,22 @@ def main():
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
         if devices_and_resources is not None:
-            from unilabos.device_mesh.resource_visalization import ResourceVisualization  # 此处开启后，logger会变更为INFO，有需要请调整
-            resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
+            from unilabos.device_mesh.resource_visalization import (
+                ResourceVisualization,
+            )  # 此处开启后，logger会变更为INFO，有需要请调整
+
+            resource_visualization = ResourceVisualization(
+                devices_and_resources, args_dict["resources_config"], enable_rviz=enable_rviz
+            )
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)
-            server_thread = threading.Thread(target=start_server, kwargs=dict(
-                open_browser=not args_dict["disable_browser"], port=args_dict["port"],
-            ))
+            server_thread = threading.Thread(
+                target=start_server,
+                kwargs=dict(
+                    open_browser=not args_dict["disable_browser"],
+                    port=args_dict["port"],
+                ),
+            )
             server_thread.start()
             asyncio.set_event_loop(asyncio.new_event_loop())
             resource_visualization.start()
@@ -221,10 +246,16 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
+            start_server(
+                open_browser=not args_dict["disable_browser"],
+                port=args_dict["port"],
+            )
     else:
         start_backend(**args_dict)
-        start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
+        start_server(
+            open_browser=not args_dict["disable_browser"],
+            port=args_dict["port"],
+        )
 
 
 if __name__ == "__main__":

unilabos/app/web/client.py

@@ -3,7 +3,7 @@ HTTP客户端模块
 
 提供与远程服务器通信的客户端功能，只有host需要用
 """
-
+import json
 from typing import List, Dict, Any, Optional
 
 import requests
@@ -170,6 +170,36 @@ class HTTPClient:
             logger.error(f"注册资源失败: {response.status_code}, {response.text}")
         return response
 
+    def request_startup_json(self) -> Optional[Dict[str, Any]]:
+        """
+        请求启动配置
+
+        Args:
+            startup_json: 启动配置JSON数据
+
+        Returns:
+            Response: API响应对象
+        """
+        response = requests.get(
+            f"{self.remote_addr}/lab/resource/graph_info/",
+            headers={"Authorization": f"lab {self.auth}"},
+            timeout=(3, 30),
+        )
+        if response.status_code != 200:
+            logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
+        else:
+            try:
+                with open("startup_config.json", "w", encoding="utf-8") as f:
+                    f.write(response.text)
+                target_dict = json.loads(response.text)
+                if "data" in target_dict:
+                    target_dict = target_dict["data"]
+                return target_dict
+            except json.JSONDecodeError as e:
+                logger.error(f"解析启动配置JSON失败: {str(e.args)}\n响应内容: {response.text}")
+                logger.error(f"响应内容: {response.text}")
+        return None
+
 
 # 创建默认客户端实例
 http_client = HTTPClient()

unilabos/config/config.py

@@ -15,6 +15,7 @@ class BasicConfig:
     upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
+    enable_resource_load = True
 
 
 # MQTT配置

unilabos/registry/registry.py

@@ -9,6 +9,7 @@ from typing import Any, Dict, List
 
 import yaml
 
+from unilabos.config.config import BasicConfig
 from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list
 from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
 from unilabos.utils import logger
@@ -46,6 +47,7 @@ class Registry:
         )
         self.EmptyIn = self._replace_type_with_class("EmptyIn", "host_node", f"")
         self.device_type_registry = {}
+        self.device_module_to_registry = {}
         self.resource_type_registry = {}
         self._setup_called = False  # 跟踪setup是否已调用
         # 其他状态变量
@@ -157,7 +159,10 @@ class Registry:
             logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
             sys.path.append(str(sys_path))
             self.load_device_types(path, complete_registry)
-            self.load_resource_types(path, complete_registry)
+            if BasicConfig.enable_resource_load:
+                self.load_resource_types(path, complete_registry)
+            else:
+                logger.warning("跳过了资源注册表加载！")
         logger.info("[UniLab Registry] 注册表设置完成")
         # 标记setup已被调用
         self._setup_called = True

unilabos/resources/graphio.py

@@ -1,7 +1,7 @@
 import importlib
 import inspect
 import json
-from typing import Union, Any
+from typing import Union, Any, Dict
 import numpy as np
 import networkx as nx
 from unilabos_msgs.msg import Resource
@@ -150,10 +150,12 @@ def handle_communications(G: nx.Graph):
             G.nodes[device]["config"]["io_device_port"] = int(edata["port"][device_comm])
 
 
-def read_node_link_json(json_file):
+def read_node_link_json(json_info: Union[str, Dict[str, Any]]) -> tuple[nx.Graph, dict]:
     global physical_setup_graph
-
-    data = json.load(open(json_file, encoding="utf-8"))
+    if isinstance(json_info, str):
+        data = json.load(open(json_info, encoding="utf-8"))
+    else:
+        data = json_info
     data = canonicalize_nodes_data(data)
     data = canonicalize_links_ports(data)
 

unilabos/ros/initialize_device.py

@@ -5,9 +5,11 @@ from unilabos.registry.registry import lab_registry
 from unilabos.ros.device_node_wrapper import ros2_device_node
 from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, DeviceInitError
 from unilabos.utils import logger
+from unilabos.utils.exception import DeviceClassInvalid
 from unilabos.utils.import_manager import default_manager
 
 
+
 def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2DeviceNode]:
     """Initializes a device based on its configuration.
 
@@ -25,11 +27,13 @@ def initialize_device_from_dict(device_id, device_config) -> Optional[ROS2Device
     original_device_config = copy.deepcopy(device_config)
     device_class_config = device_config["class"]
     if isinstance(device_class_config, str):  # 如果是字符串，则直接去lab_registry中查找，获取class
+        if len(device_class_config) == 0:
+            raise DeviceClassInvalid(f"Device [{device_id}] class cannot be an empty string. {device_config}")
         if device_class_config not in lab_registry.device_type_registry:
-            raise ValueError(f"Device class {device_class_config} not found.")
+            raise DeviceClassInvalid(f"Device [{device_id}] class {device_class_config} not found. {device_config}")
         device_class_config = device_config["class"] = lab_registry.device_type_registry[device_class_config]["class"]
-    else:
-        raise ValueError("不再支持class为字典传入，class必须为注册表中已经提供的设备，您可以新增注册表并通过--registry传入")
+    elif isinstance(device_class_config, dict):
+        raise DeviceClassInvalid(f"Device [{device_id}] class config should be type 'str' but 'dict' got. {device_config}")
     if isinstance(device_class_config, dict):
         DEVICE = default_manager.get_class(device_class_config["module"])
         # 不管是ros2的实例，还是python的，都必须包一次，除了HostNode

unilabos/ros/nodes/presets/host_node.py

@@ -36,6 +36,7 @@ from unilabos.ros.msgs.message_converter import (
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
+from unilabos.utils.exception import DeviceClassInvalid
 
 
 class HostNode(BaseROS2DeviceNode):
@@ -459,7 +460,11 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node] Initializing device: {device_id}")
 
         device_config_copy = copy.deepcopy(device_config)
-        d = initialize_device_from_dict(device_id, device_config_copy)
+        try:
+            d = initialize_device_from_dict(device_id, device_config_copy)
+        except DeviceClassInvalid as e:
+            self.lab_logger().error(f"[Host Node] Device class invalid: {e}")
+            d = None
         if d is None:
             return
         # noinspection PyProtectedMember

unilabos/utils/exception.py

@@ -0,0 +1,3 @@
+
+class DeviceClassInvalid(Exception):
+    pass