mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 05:15:10 +00:00
speed up registry load
This commit is contained in:
Xuwznln
@@ -4,6 +4,8 @@ import os
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import sys
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import sys
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import inspect
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import inspect
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import importlib
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import importlib
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import threading
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from concurrent.futures import ThreadPoolExecutor, as_completed
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from pathlib import Path
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from pathlib import Path
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from typing import Any, Dict, List, Union, Tuple
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from typing import Any, Dict, List, Union, Tuple
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@@ -60,6 +62,7 @@ class Registry:
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self.device_module_to_registry = {}
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self.device_module_to_registry = {}
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self.resource_type_registry = {}
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self.resource_type_registry = {}
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self._setup_called = False # 跟踪setup是否已调用
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self._setup_called = False # 跟踪setup是否已调用
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self._registry_lock = threading.Lock() # 多线程加载时的锁
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# 其他状态变量
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# 其他状态变量
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# self.is_host_mode = False # 移至BasicConfig中
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# self.is_host_mode = False # 移至BasicConfig中
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@@ -177,8 +180,7 @@ class Registry:
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"result": {},
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"result": {},
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"schema": test_latency_schema,
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"schema": test_latency_schema,
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"goal_default": {
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"goal_default": {
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arg["name"]: arg["default"]
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arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", [])
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for arg in test_latency_method_info.get("args", [])
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},
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},
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"handles": {},
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"handles": {},
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},
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},
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@@ -262,67 +264,115 @@ class Registry:
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# 标记setup已被调用
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# 标记setup已被调用
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self._setup_called = True
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self._setup_called = True
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def _load_single_resource_file(
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self, file: Path, complete_registry: bool, upload_registry: bool
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) -> Tuple[Dict[str, Any], Dict[str, Any], bool]:
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"""
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加载单个资源文件 (线程安全)
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Returns:
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(data, complete_data, is_valid): 资源数据, 完整数据, 是否有效
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"""
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try:
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with open(file, encoding="utf-8", mode="r") as f:
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data = yaml.safe_load(io.StringIO(f.read()))
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except Exception as e:
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logger.warning(f"[UniLab Registry] 读取资源文件失败: {file}, 错误: {e}")
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return {}, {}, False
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if not data:
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return {}, {}, False
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complete_data = {}
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for resource_id, resource_info in data.items():
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if "version" not in resource_info:
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resource_info["version"] = "1.0.0"
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if "category" not in resource_info:
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resource_info["category"] = [file.stem]
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elif file.stem not in resource_info["category"]:
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resource_info["category"].append(file.stem)
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elif not isinstance(resource_info.get("category"), list):
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resource_info["category"] = [resource_info["category"]]
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if "config_info" not in resource_info:
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resource_info["config_info"] = []
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if "icon" not in resource_info:
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resource_info["icon"] = ""
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if "handles" not in resource_info:
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resource_info["handles"] = []
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if "init_param_schema" not in resource_info:
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resource_info["init_param_schema"] = {}
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if "config_info" in resource_info:
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del resource_info["config_info"]
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if "file_path" in resource_info:
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del resource_info["file_path"]
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complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
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if upload_registry:
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class_info = resource_info.get("class", {})
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if len(class_info) and "module" in class_info:
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if class_info.get("type") == "pylabrobot":
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res_class = get_class(class_info["module"])
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if callable(res_class) and not isinstance(res_class, type):
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res_instance = res_class(res_class.__name__)
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res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
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resource_info["config_info"] = res_ulr
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resource_info["registry_type"] = "resource"
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resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
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complete_data = dict(sorted(complete_data.items()))
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complete_data = copy.deepcopy(complete_data)
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if complete_registry:
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try:
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with open(file, "w", encoding="utf-8") as f:
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yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
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except Exception as e:
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logger.warning(f"[UniLab Registry] 写入资源文件失败: {file}, 错误: {e}")
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return data, complete_data, True
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def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
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def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
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abs_path = Path(path).absolute()
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abs_path = Path(path).absolute()
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resource_path = abs_path / "resources"
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resource_path = abs_path / "resources"
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files = list(resource_path.glob("*/*.yaml"))
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files = list(resource_path.glob("*/*.yaml"))
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logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
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logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
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current_resource_number = len(self.resource_type_registry) + 1
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for i, file in enumerate(files):
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with open(file, encoding="utf-8", mode="r") as f:
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data = yaml.safe_load(io.StringIO(f.read()))
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complete_data = {}
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if data:
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# 为每个资源添加文件路径信息
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for resource_id, resource_info in data.items():
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if "version" not in resource_info:
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resource_info["version"] = "1.0.0"
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if "category" not in resource_info:
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resource_info["category"] = [file.stem]
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elif file.stem not in resource_info["category"]:
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resource_info["category"].append(file.stem)
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elif not isinstance(resource_info.get("category"), list):
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resource_info["category"] = [resource_info["category"]]
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if "config_info" not in resource_info:
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resource_info["config_info"] = []
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if "icon" not in resource_info:
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resource_info["icon"] = ""
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if "handles" not in resource_info:
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resource_info["handles"] = []
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if "init_param_schema" not in resource_info:
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resource_info["init_param_schema"] = {}
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if "config_info" in resource_info:
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del resource_info["config_info"]
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if "file_path" in resource_info:
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del resource_info["file_path"]
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complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
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if upload_registry:
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class_info = resource_info.get("class", {})
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if len(class_info) and "module" in class_info:
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if class_info.get("type") == "pylabrobot":
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res_class = get_class(class_info["module"])
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if callable(res_class) and not isinstance(
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res_class, type
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): # 有的是类，有的是函数，这里暂时只登记函数类的
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res_instance = res_class(res_class.__name__)
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res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
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resource_info["config_info"] = res_ulr
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resource_info["registry_type"] = "resource"
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resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
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complete_data = dict(sorted(complete_data.items()))
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complete_data = copy.deepcopy(complete_data)
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if complete_registry:
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with open(file, "w", encoding="utf-8") as f:
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yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
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if not files:
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return
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# 使用线程池并行加载
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max_workers = min(8, len(files))
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results = []
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with ThreadPoolExecutor(max_workers=max_workers) as executor:
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future_to_file = {
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executor.submit(self._load_single_resource_file, file, complete_registry, upload_registry): file
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for file in files
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}
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for future in as_completed(future_to_file):
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file = future_to_file[future]
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try:
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data, complete_data, is_valid = future.result()
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if is_valid:
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results.append((file, data))
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except Exception as e:
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logger.warning(f"[UniLab Registry] 处理资源文件异常: {file}, 错误: {e}")
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# 线程安全地更新注册表
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current_resource_number = len(self.resource_type_registry) + 1
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with self._registry_lock:
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for i, (file, data) in enumerate(results):
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self.resource_type_registry.update(data)
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self.resource_type_registry.update(data)
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logger.trace( # type: ignore
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logger.trace(
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f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
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f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} "
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+ f"Add {list(data.keys())}"
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+ f"Add {list(data.keys())}"
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)
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)
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current_resource_number += 1
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current_resource_number += 1
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else:
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logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
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# 记录无效文件
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valid_files = {r[0] for r in results}
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for file in files:
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if file not in valid_files:
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logger.debug(f"[UniLab Registry] Res File Not Valid YAML File: {file.absolute()}")
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def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
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def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
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"""
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"""
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@@ -674,213 +724,244 @@ class Registry:
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"handles": {},
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"handles": {},
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}
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}
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def _load_single_device_file(
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self, file: Path, complete_registry: bool, get_yaml_from_goal_type
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) -> Tuple[Dict[str, Any], Dict[str, Any], bool, List[str]]:
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"""
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加载单个设备文件 (线程安全)
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Returns:
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(data, complete_data, is_valid, device_ids): 设备数据, 完整数据, 是否有效, 设备ID列表
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"""
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try:
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with open(file, encoding="utf-8", mode="r") as f:
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data = yaml.safe_load(io.StringIO(f.read()))
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except Exception as e:
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logger.warning(f"[UniLab Registry] 读取设备文件失败: {file}, 错误: {e}")
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return {}, {}, False, []
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if not data:
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return {}, {}, False, []
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complete_data = {}
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action_str_type_mapping = {
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"UniLabJsonCommand": "UniLabJsonCommand",
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"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
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}
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status_str_type_mapping = {}
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device_ids = []
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for device_id, device_config in data.items():
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if "version" not in device_config:
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device_config["version"] = "1.0.0"
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if "category" not in device_config:
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device_config["category"] = [file.stem]
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elif file.stem not in device_config["category"]:
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device_config["category"].append(file.stem)
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if "config_info" not in device_config:
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device_config["config_info"] = []
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if "description" not in device_config:
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device_config["description"] = ""
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if "icon" not in device_config:
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device_config["icon"] = ""
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if "handles" not in device_config:
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device_config["handles"] = []
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if "init_param_schema" not in device_config:
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device_config["init_param_schema"] = {}
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if "class" in device_config:
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if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None:
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device_config["class"]["status_types"] = {}
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if (
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"action_value_mappings" not in device_config["class"]
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or device_config["class"]["action_value_mappings"] is None
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):
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device_config["class"]["action_value_mappings"] = {}
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enhanced_info = {}
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if complete_registry:
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device_config["class"]["status_types"].clear()
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enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
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if not enhanced_info.get("dynamic_import_success", False):
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continue
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device_config["class"]["status_types"].update(
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{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
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)
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for status_name, status_type in device_config["class"]["status_types"].items():
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if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
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status_type = "String"
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device_config["class"]["status_types"][status_name] = status_type
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try:
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target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
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|
except ROSMsgNotFound:
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continue
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if target_type in [dict, list]:
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target_type = String
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status_str_type_mapping[status_type] = target_type
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device_config["class"]["status_types"] = dict(sorted(device_config["class"]["status_types"].items()))
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if complete_registry:
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old_action_configs = {}
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for action_name, action_config in device_config["class"]["action_value_mappings"].items():
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old_action_configs[action_name] = action_config
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|
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device_config["class"]["action_value_mappings"] = {
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|
k: v
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for k, v in device_config["class"]["action_value_mappings"].items()
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if not k.startswith("auto-")
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}
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device_config["class"]["action_value_mappings"].update(
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{
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|
f"auto-{k}": {
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"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
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"goal": {},
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"feedback": {},
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"result": {},
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"schema": self._generate_unilab_json_command_schema(
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|
v["args"],
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|
k,
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|
v.get("return_annotation"),
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old_action_configs.get(f"auto-{k}", {}).get("schema"),
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|
),
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|
"goal_default": {i["name"]: i["default"] for i in v["args"]},
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|
"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
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|
"placeholder_keys": {
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|
i["name"]: (
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|
"unilabos_resources"
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|
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
|
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|
or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
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|
else "unilabos_devices"
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|
)
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|
for i in v["args"]
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|
if i.get("type", "")
|
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|
in [
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|
"unilabos.registry.placeholder_type:ResourceSlot",
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|
"unilabos.registry.placeholder_type:DeviceSlot",
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|
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
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|
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
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|
]
|
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|
},
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|
}
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|
for k, v in enhanced_info["action_methods"].items()
|
||||||
|
if k not in device_config["class"]["action_value_mappings"]
|
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|
}
|
||||||
|
)
|
||||||
|
for action_name, old_config in old_action_configs.items():
|
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|
if action_name in device_config["class"]["action_value_mappings"]:
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|
old_schema = old_config.get("schema", {})
|
||||||
|
if "description" in old_schema and old_schema["description"]:
|
||||||
|
device_config["class"]["action_value_mappings"][action_name]["schema"][
|
||||||
|
"description"
|
||||||
|
] = old_schema["description"]
|
||||||
|
device_config["init_param_schema"] = {}
|
||||||
|
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
|
||||||
|
enhanced_info["init_params"], "__init__"
|
||||||
|
)["properties"]["goal"]
|
||||||
|
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
|
||||||
|
enhanced_info["status_methods"]
|
||||||
|
)
|
||||||
|
|
||||||
|
device_config.pop("schema", None)
|
||||||
|
device_config["class"]["action_value_mappings"] = dict(
|
||||||
|
sorted(device_config["class"]["action_value_mappings"].items())
|
||||||
|
)
|
||||||
|
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||||
|
if "handles" not in action_config:
|
||||||
|
action_config["handles"] = {}
|
||||||
|
elif isinstance(action_config["handles"], list):
|
||||||
|
if len(action_config["handles"]):
|
||||||
|
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
|
||||||
|
continue
|
||||||
|
else:
|
||||||
|
action_config["handles"] = {}
|
||||||
|
if "type" in action_config:
|
||||||
|
action_type_str: str = action_config["type"]
|
||||||
|
if not action_type_str.startswith("UniLabJsonCommand"):
|
||||||
|
try:
|
||||||
|
target_type = self._replace_type_with_class(
|
||||||
|
action_type_str, device_id, f"动作 {action_name}"
|
||||||
|
)
|
||||||
|
except ROSMsgNotFound:
|
||||||
|
continue
|
||||||
|
action_str_type_mapping[action_type_str] = target_type
|
||||||
|
if target_type is not None:
|
||||||
|
action_config["goal_default"] = yaml.safe_load(
|
||||||
|
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
|
||||||
|
)
|
||||||
|
action_config["schema"] = ros_action_to_json_schema(target_type)
|
||||||
|
else:
|
||||||
|
logger.warning(
|
||||||
|
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
|
||||||
|
)
|
||||||
|
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))
|
||||||
|
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||||
|
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
||||||
|
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||||
|
if action_config["type"] not in action_str_type_mapping:
|
||||||
|
continue
|
||||||
|
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
||||||
|
self._add_builtin_actions(device_config, device_id)
|
||||||
|
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||||
|
device_config["registry_type"] = "device"
|
||||||
|
device_ids.append(device_id)
|
||||||
|
|
||||||
|
complete_data = dict(sorted(complete_data.items()))
|
||||||
|
complete_data = copy.deepcopy(complete_data)
|
||||||
|
try:
|
||||||
|
with open(file, "w", encoding="utf-8") as f:
|
||||||
|
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||||
|
except Exception as e:
|
||||||
|
logger.warning(f"[UniLab Registry] 写入设备文件失败: {file}, 错误: {e}")
|
||||||
|
|
||||||
|
return data, complete_data, True, device_ids
|
||||||
|
|
||||||
def load_device_types(self, path: os.PathLike, complete_registry: bool):
|
def load_device_types(self, path: os.PathLike, complete_registry: bool):
|
||||||
# return
|
|
||||||
abs_path = Path(path).absolute()
|
abs_path = Path(path).absolute()
|
||||||
devices_path = abs_path / "devices"
|
devices_path = abs_path / "devices"
|
||||||
device_comms_path = abs_path / "device_comms"
|
device_comms_path = abs_path / "device_comms"
|
||||||
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
||||||
logger.trace( # type: ignore
|
logger.trace(
|
||||||
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
||||||
+ f"total: {len(files)}"
|
+ f"total: {len(files)}"
|
||||||
)
|
)
|
||||||
current_device_number = len(self.device_type_registry) + 1
|
|
||||||
|
if not files:
|
||||||
|
return
|
||||||
|
|
||||||
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
|
||||||
|
|
||||||
for i, file in enumerate(files):
|
# 使用线程池并行加载
|
||||||
with open(file, encoding="utf-8", mode="r") as f:
|
max_workers = min(8, len(files))
|
||||||
data = yaml.safe_load(io.StringIO(f.read()))
|
results = []
|
||||||
complete_data = {}
|
|
||||||
action_str_type_mapping = {
|
with ThreadPoolExecutor(max_workers=max_workers) as executor:
|
||||||
"UniLabJsonCommand": "UniLabJsonCommand",
|
future_to_file = {
|
||||||
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
|
executor.submit(self._load_single_device_file, file, complete_registry, get_yaml_from_goal_type): file
|
||||||
|
for file in files
|
||||||
}
|
}
|
||||||
status_str_type_mapping = {}
|
for future in as_completed(future_to_file):
|
||||||
if data:
|
file = future_to_file[future]
|
||||||
# 在添加到注册表前处理类型替换
|
try:
|
||||||
for device_id, device_config in data.items():
|
data, complete_data, is_valid, device_ids = future.result()
|
||||||
# 添加文件路径信息 - 使用规范化的完整文件路径
|
if is_valid:
|
||||||
if "version" not in device_config:
|
results.append((file, data, device_ids))
|
||||||
device_config["version"] = "1.0.0"
|
except Exception as e:
|
||||||
if "category" not in device_config:
|
logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
|
||||||
device_config["category"] = [file.stem]
|
|
||||||
elif file.stem not in device_config["category"]:
|
|
||||||
device_config["category"].append(file.stem)
|
|
||||||
if "config_info" not in device_config:
|
|
||||||
device_config["config_info"] = []
|
|
||||||
if "description" not in device_config:
|
|
||||||
device_config["description"] = ""
|
|
||||||
if "icon" not in device_config:
|
|
||||||
device_config["icon"] = ""
|
|
||||||
if "handles" not in device_config:
|
|
||||||
device_config["handles"] = []
|
|
||||||
if "init_param_schema" not in device_config:
|
|
||||||
device_config["init_param_schema"] = {}
|
|
||||||
if "class" in device_config:
|
|
||||||
if (
|
|
||||||
"status_types" not in device_config["class"]
|
|
||||||
or device_config["class"]["status_types"] is None
|
|
||||||
):
|
|
||||||
device_config["class"]["status_types"] = {}
|
|
||||||
if (
|
|
||||||
"action_value_mappings" not in device_config["class"]
|
|
||||||
or device_config["class"]["action_value_mappings"] is None
|
|
||||||
):
|
|
||||||
device_config["class"]["action_value_mappings"] = {}
|
|
||||||
enhanced_info = {}
|
|
||||||
if complete_registry:
|
|
||||||
device_config["class"]["status_types"].clear()
|
|
||||||
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
|
|
||||||
if not enhanced_info.get("dynamic_import_success", False):
|
|
||||||
continue
|
|
||||||
device_config["class"]["status_types"].update(
|
|
||||||
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
|
|
||||||
)
|
|
||||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
|
||||||
if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
|
|
||||||
status_type = "String" # 替换成ROS的String，便于显示
|
|
||||||
device_config["class"]["status_types"][status_name] = status_type
|
|
||||||
try:
|
|
||||||
target_type = self._replace_type_with_class(
|
|
||||||
status_type, device_id, f"状态 {status_name}"
|
|
||||||
)
|
|
||||||
except ROSMsgNotFound:
|
|
||||||
continue
|
|
||||||
if target_type in [
|
|
||||||
dict,
|
|
||||||
list,
|
|
||||||
]: # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换
|
|
||||||
target_type = String
|
|
||||||
status_str_type_mapping[status_type] = target_type
|
|
||||||
device_config["class"]["status_types"] = dict(
|
|
||||||
sorted(device_config["class"]["status_types"].items())
|
|
||||||
)
|
|
||||||
if complete_registry:
|
|
||||||
# 保存原有的 action 配置（用于保留 schema 的 description 和 handles 等）
|
|
||||||
old_action_configs = {}
|
|
||||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
|
||||||
old_action_configs[action_name] = action_config
|
|
||||||
|
|
||||||
device_config["class"]["action_value_mappings"] = {
|
# 线程安全地更新注册表
|
||||||
k: v
|
current_device_number = len(self.device_type_registry) + 1
|
||||||
for k, v in device_config["class"]["action_value_mappings"].items()
|
with self._registry_lock:
|
||||||
if not k.startswith("auto-")
|
for file, data, device_ids in results:
|
||||||
}
|
self.device_type_registry.update(data)
|
||||||
# 处理动作值映射
|
for device_id in device_ids:
|
||||||
device_config["class"]["action_value_mappings"].update(
|
logger.trace(
|
||||||
{
|
f"[UniLab Registry] Device-{current_device_number} Add {device_id} "
|
||||||
f"auto-{k}": {
|
|
||||||
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
|
|
||||||
"goal": {},
|
|
||||||
"feedback": {},
|
|
||||||
"result": {},
|
|
||||||
"schema": self._generate_unilab_json_command_schema(
|
|
||||||
v["args"],
|
|
||||||
k,
|
|
||||||
v.get("return_annotation"),
|
|
||||||
# 传入旧的 schema 以保留字段 description
|
|
||||||
old_action_configs.get(f"auto-{k}", {}).get("schema"),
|
|
||||||
),
|
|
||||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
|
||||||
# 保留原有的 handles 配置
|
|
||||||
"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
|
|
||||||
"placeholder_keys": {
|
|
||||||
i["name"]: (
|
|
||||||
"unilabos_resources"
|
|
||||||
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
|
|
||||||
or i["type"]
|
|
||||||
== ("list", "unilabos.registry.placeholder_type:ResourceSlot")
|
|
||||||
else "unilabos_devices"
|
|
||||||
)
|
|
||||||
for i in v["args"]
|
|
||||||
if i.get("type", "")
|
|
||||||
in [
|
|
||||||
"unilabos.registry.placeholder_type:ResourceSlot",
|
|
||||||
"unilabos.registry.placeholder_type:DeviceSlot",
|
|
||||||
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
|
|
||||||
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
|
|
||||||
]
|
|
||||||
},
|
|
||||||
}
|
|
||||||
# 不生成已配置action的动作
|
|
||||||
for k, v in enhanced_info["action_methods"].items()
|
|
||||||
if k not in device_config["class"]["action_value_mappings"]
|
|
||||||
}
|
|
||||||
)
|
|
||||||
# 恢复原有的 description 信息（非 auto- 开头的动作）
|
|
||||||
for action_name, old_config in old_action_configs.items():
|
|
||||||
if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除
|
|
||||||
old_schema = old_config.get("schema", {})
|
|
||||||
if "description" in old_schema and old_schema["description"]:
|
|
||||||
device_config["class"]["action_value_mappings"][action_name]["schema"][
|
|
||||||
"description"
|
|
||||||
] = old_schema["description"]
|
|
||||||
device_config["init_param_schema"] = {}
|
|
||||||
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
|
|
||||||
enhanced_info["init_params"], "__init__"
|
|
||||||
)["properties"]["goal"]
|
|
||||||
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
|
|
||||||
enhanced_info["status_methods"]
|
|
||||||
)
|
|
||||||
|
|
||||||
device_config.pop("schema", None)
|
|
||||||
device_config["class"]["action_value_mappings"] = dict(
|
|
||||||
sorted(device_config["class"]["action_value_mappings"].items())
|
|
||||||
)
|
|
||||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
|
||||||
if "handles" not in action_config:
|
|
||||||
action_config["handles"] = {}
|
|
||||||
elif isinstance(action_config["handles"], list):
|
|
||||||
if len(action_config["handles"]):
|
|
||||||
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
|
|
||||||
continue
|
|
||||||
else:
|
|
||||||
action_config["handles"] = {}
|
|
||||||
if "type" in action_config:
|
|
||||||
action_type_str: str = action_config["type"]
|
|
||||||
# 通过Json发放指令，而不是通过特殊的ros action进行处理
|
|
||||||
if not action_type_str.startswith("UniLabJsonCommand"):
|
|
||||||
try:
|
|
||||||
target_type = self._replace_type_with_class(
|
|
||||||
action_type_str, device_id, f"动作 {action_name}"
|
|
||||||
)
|
|
||||||
except ROSMsgNotFound:
|
|
||||||
continue
|
|
||||||
action_str_type_mapping[action_type_str] = target_type
|
|
||||||
if target_type is not None:
|
|
||||||
action_config["goal_default"] = yaml.safe_load(
|
|
||||||
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
|
|
||||||
)
|
|
||||||
action_config["schema"] = ros_action_to_json_schema(target_type)
|
|
||||||
else:
|
|
||||||
logger.warning(
|
|
||||||
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
|
|
||||||
)
|
|
||||||
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items()))) # 稍后dump到文件
|
|
||||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
|
||||||
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
|
|
||||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
|
||||||
if action_config["type"] not in action_str_type_mapping:
|
|
||||||
continue
|
|
||||||
action_config["type"] = action_str_type_mapping[action_config["type"]]
|
|
||||||
# 添加内置的驱动命令动作
|
|
||||||
self._add_builtin_actions(device_config, device_id)
|
|
||||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
|
||||||
device_config["registry_type"] = "device"
|
|
||||||
logger.trace( # type: ignore
|
|
||||||
f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
|
|
||||||
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
||||||
)
|
)
|
||||||
current_device_number += 1
|
current_device_number += 1
|
||||||
complete_data = dict(sorted(complete_data.items()))
|
|
||||||
complete_data = copy.deepcopy(complete_data)
|
# 记录无效文件
|
||||||
with open(file, "w", encoding="utf-8") as f:
|
valid_files = {r[0] for r in results}
|
||||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
for file in files:
|
||||||
self.device_type_registry.update(data)
|
if file not in valid_files:
|
||||||
else:
|
logger.debug(f"[UniLab Registry] Device File Not Valid YAML File: {file.absolute()}")
|
||||||
logger.debug(
|
|
||||||
f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
|
|
||||||
)
|
|
||||||
|
|
||||||
def obtain_registry_device_info(self):
|
def obtain_registry_device_info(self):
|
||||||
devices = []
|
devices = []
|
||||||
|
|||||||
Reference in New Issue
Block a user