移除MQTT，更新launch文档，提供注册表示例文件，更新到0.10.5

unilabos/app/web/api.py

@@ -9,16 +9,13 @@ import asyncio
 
 import yaml
 
-from unilabos.app.controler import devices, job_add, job_info
+from unilabos.app.web.controler import devices, job_add, job_info
 from unilabos.app.model import (
     Resp,
     RespCode,
     JobStatusResp,
     JobAddResp,
     JobAddReq,
-    JobStepFinishReq,
-    JobPreintakeFinishReq,
-    JobFinishReq,
 )
 from unilabos.app.web.utils.host_utils import get_host_node_info
 from unilabos.registry.registry import lab_registry

unilabos/app/web/client.py

@@ -3,6 +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
 import os
 from typing import List, Dict, Any, Optional
@@ -15,7 +16,6 @@ from unilabos.utils import logger
 
 class HTTPClient:
     """HTTP客户端，用于与远程服务器通信"""
-    backend_go = False  # 是否使用Go后端
 
     def __init__(self, remote_addr: Optional[str] = None, auth: Optional[str] = None) -> None:
         """
@@ -32,7 +32,6 @@ class HTTPClient:
             auth_secret = BasicConfig.auth_secret()
             if auth_secret:
                 self.auth = auth_secret
-                self.backend_go = True
                 info(f"正在使用ak sk作为授权信息 {auth_secret}")
             else:
                 self.auth = MQConfig.lab_id
@@ -48,17 +47,15 @@ class HTTPClient:
         Returns:
             Response: API响应对象
         """
-        database_param = 1 if database_process_later else 0
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}"
-            if not self.backend_go else f"{self.remote_addr}/lab/material/edge",
+            f"{self.remote_addr}/lab/material/edge",
             json={
                 "edges": resources,
-            } if self.backend_go else resources,
-            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            },
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=100,
         )
-        if self.backend_go and response.status_code == 200:
+        if response.status_code == 200:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"添加物料关系失败: {response.text}")
@@ -77,12 +74,12 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}" if not self.backend_go else f"{self.remote_addr}/lab/material",
-            json=resources if not self.backend_go else {"nodes": resources},
-            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            f"{self.remote_addr}/lab/material",
+            json={"nodes": resources},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=100,
         )
-        if self.backend_go and response.status_code == 200:
+        if response.status_code == 200:
             res = response.json()
             if "code" in res and res["code"] != 0:
                 logger.error(f"添加物料失败: {response.text}")
@@ -102,9 +99,9 @@ class HTTPClient:
             Dict: 返回的资源数据
         """
         response = requests.get(
-            f"{self.remote_addr}/lab/resource/?edge_format=1" if not self.backend_go else f"{self.remote_addr}/lab/material",
+            f"{self.remote_addr}/lab/material",
             params={"id": id, "with_children": with_children},
-            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=20,
         )
         return response.json()
@@ -122,7 +119,7 @@ class HTTPClient:
         response = requests.delete(
             f"{self.remote_addr}/lab/resource/batch_delete/",
             params={"id": id},
-            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=20,
         )
         return response
@@ -140,7 +137,7 @@ class HTTPClient:
         response = requests.patch(
             f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
             json=resources,
-            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=100,
         )
         return response
@@ -164,7 +161,7 @@ class HTTPClient:
             response = requests.post(
                 f"{self.remote_addr}/api/account/file_upload/{scene}",
                 files=files,
-                headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+                headers={"Authorization": f"Lab {self.auth}"},
                 timeout=30,  # 上传文件可能需要更长的超时时间
             )
         return response
@@ -180,9 +177,9 @@ class HTTPClient:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/registry/" if not self.backend_go else f"{self.remote_addr}/lab/resource",
+            f"{self.remote_addr}/lab/resource",
             json=registry_data,
-            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=30,
         )
         if response.status_code not in [200, 201]:
@@ -201,7 +198,7 @@ class HTTPClient:
         """
         response = requests.get(
             f"{self.remote_addr}/lab/resource/graph_info/",
-            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
+            headers={"Authorization": f"Lab {self.auth}"},
             timeout=(3, 30),
         )
         if response.status_code != 200:

unilabos/app/web/controler.py

@@ -0,0 +1,45 @@
+
+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)