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更新物料接口

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Xuwznln
2025-10-10 07:13:59 +08:00
parent cfc1ee6e79
commit 5610c28b67
14 changed files with 1801 additions and 325 deletions
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66
unilabos/app/main.py
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@@ -7,9 +7,12 @@ import sys
import threading
import time
from copy import deepcopy
from typing import Dict, Any, List
import networkx as nx
import yaml
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
# 首先添加项目根目录到路径
current_dir = os.path.dirname(os.path.abspath(__file__))
@@ -225,6 +228,15 @@ def main():
else:
HTTPConfig.remote_addr = args_dict.get("addr", "")
# 设置BasicConfig参数
if args_dict.get("ak", ""):
BasicConfig.ak = args_dict.get("ak", "")
print_status("传入了ak参数，优先采用传入参数！", "info")
if args_dict.get("sk", ""):
BasicConfig.sk = args_dict.get("sk", "")
print_status("传入了sk参数，优先采用传入参数！", "info")
# 使用远程资源启动
if args_dict["use_remote_resource"]:
print_status("使用远程资源启动", "info")
from unilabos.app.web import http_client
@@ -236,13 +248,6 @@ def main():
else:
print_status("远程资源不存在，本地将进行首次上报！", "info")
# 设置BasicConfig参数
if args_dict.get("ak", ""):
BasicConfig.ak = args_dict.get("ak", "")
print_status("传入了ak参数，优先采用传入参数！", "info")
if args_dict.get("sk", ""):
BasicConfig.sk = args_dict.get("sk", "")
print_status("传入了sk参数，优先采用传入参数！", "info")
BasicConfig.working_dir = working_dir
BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
@@ -278,6 +283,10 @@ def main():
if not BasicConfig.ak or not BasicConfig.sk:
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
os._exit(1)
graph: nx.Graph
resource_tree_set: ResourceTreeSet
resource_links: List[Dict[str, Any]]
if args_dict["graph"] is None:
request_startup_json = http_client.request_startup_json()
if not request_startup_json:
@@ -287,58 +296,54 @@ def main():
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)
graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
else:
file_path = args_dict["graph"]
if file_path.endswith(".json"):
graph, data = read_node_link_json(file_path)
graph, resource_tree_set, resource_links = read_node_link_json(file_path)
else:
graph, data = read_graphml(file_path)
graph, resource_tree_set, resource_links = read_graphml(file_path)
import unilabos.resources.graphio as graph_res
graph_res.physical_setup_graph = graph
resource_edge_info = modify_to_backend_format(data["links"])
resource_edge_info = modify_to_backend_format(resource_links)
materials = lab_registry.obtain_registry_resource_info()
materials.extend(lab_registry.obtain_registry_device_info())
materials = {k["id"]: k for k in materials}
nodes = {k["id"]: k for k in data["nodes"]}
# 从 ResourceTreeSet 中获取节点信息
nodes = {node.res_content.id: node.res_content for node in resource_tree_set.all_nodes}
edge_info = len(resource_edge_info)
for ind, i in enumerate(resource_edge_info[::-1]):
source_node = nodes[i["source"]]
target_node = nodes[i["target"]]
source_node: ResourceDict = nodes[i["source"]]
target_node: ResourceDict = nodes[i["target"]]
source_handle = i["sourceHandle"]
target_handle = i["targetHandle"]
source_handler_keys = [
h["handler_key"] for h in materials[source_node["class"]]["handles"] if h["io_type"] == "source"
h["handler_key"] for h in materials[source_node.klass]["handles"] if h["io_type"] == "source"
]
target_handler_keys = [
h["handler_key"] for h in materials[target_node["class"]]["handles"] if h["io_type"] == "target"
h["handler_key"] for h in materials[target_node.klass]["handles"] if h["io_type"] == "target"
]
if source_handle not in source_handler_keys:
print_status(
f"节点 {source_node['id']} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
f"节点 {source_node.id} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
"error",
)
resource_edge_info.pop(edge_info - ind - 1)
continue
if target_handle not in target_handler_keys:
print_status(
f"节点 {target_node['id']} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
f"节点 {target_node.id} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
"error",
)
resource_edge_info.pop(edge_info - ind - 1)
continue
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)
# 使用 ResourceTreeSet 代替 list
args_dict["resources_config"] = resource_tree_set
args_dict["devices_config"] = resource_tree_set
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"]:
print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
if BasicConfig.upload_registry:
# 设备注册到服务端 - 需要 ak 和 sk
if args_dict.get("ak") and args_dict.get("sk"):
@@ -351,9 +356,7 @@ def main():
else:
print_status("未提供 ak 和 sk，跳过设备注册", "info")
else:
print_status(
"本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning"
)
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
if args_dict["controllers"] is not None:
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
@@ -383,13 +386,16 @@ def main():
# web visiualize 2D
if args_dict["visual"] != "disable":
enable_rviz = args_dict["visual"] == "rviz"
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
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
devices_and_resources,
[n.res_content for n in args_dict["resources_config"].all_nodes], # type: ignore # FIXME
enable_rviz=enable_rviz,
)
args_dict["resources_mesh_config"] = resource_visualization.resource_model
start_backend(**args_dict)