Merge branch 'dev' into device_visualization

unilabos/app/controler.py

@@ -29,6 +29,8 @@ def job_add(req: JobAddReq) -> JobData:
     req.data['action'] = action_name
     if action_name == "execute_command_from_outer":
         action_kwargs = {"command": json.dumps(action_kwargs)}
+    elif "command" in action_kwargs:
+        action_kwargs = action_kwargs["command"]
     print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
     HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id)
     return JobData(jobId=req.job_id)

unilabos/app/mq.py

@@ -55,6 +55,12 @@ class MQTTClient:
             logger.debug("Payload:", json.dumps(payload_json, indent=2, ensure_ascii=False))
             if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
                 logger.debug("job_add", type(payload_json), payload_json)
+                if "data" not in payload_json:
+                    payload_json["data"] = {}
+                if "action" in payload_json:
+                    payload_json["data"]["action"] = payload_json.pop("action")
+                if "action_kwargs" in payload_json:
+                    payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
                 job_req = JobAddReq.model_validate(payload_json)
                 data = job_add(job_req)
                 return

unilabos/registry/registry.py

@@ -1,3 +1,4 @@
+import io
 import json
 import os
 import sys
@@ -143,6 +144,7 @@ class Registry:
             + f"total: {len(files)}"
         )
         current_device_number = len(self.device_type_registry) + 1
+        from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
         for i, file in enumerate(files):
             data = yaml.safe_load(open(file, encoding="utf-8"))
             if data:
@@ -167,6 +169,7 @@ class Registry:
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"
                                     )
+                                    action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
                                     action_config["schema"] = ros_action_to_json_schema(action_config["type"])
 
                 self.device_type_registry.update(data)