feat: 支持local_config启动

add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

unilabos/app/web/utils/action_utils.py

@@ -0,0 +1,360 @@
+"""
+Action 工具函数模块
+
+提供处理 ROS Action 相关的辅助函数
+"""
+
+import traceback
+from typing import Dict, Any, Type, TypedDict, Optional
+
+from rclpy.action import ActionClient, ActionServer
+from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
+
+from unilabos.ros.msgs.message_converter import msg_converter_manager
+from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
+from unilabos.utils import logger
+
+
+class ActionInfoType(TypedDict):
+    type_name: str
+    type_name_convert: str
+    action_path: str
+    goal_info: str
+
+
+def get_action_info(
+    v: ActionClient | ActionServer, name: Optional[str] = None, full_name: Optional[str] = None
+) -> ActionInfoType:
+    # noinspection PyProtectedMember
+    n: BaseROS2DeviceNode = v._node
+    if full_name is None:
+        assert name is not None
+        full_name = n.namespace + "/" + name
+    # noinspection PyProtectedMember
+    return {
+        "type_name": v._action_type.__module__ + "." + v._action_type.__name__,
+        "type_name_convert": (v._action_type.__module__ + "." + v._action_type.__name__).replace(".", "/"),
+        "action_path": full_name,
+        "goal_info": get_yaml_from_goal_type(v._action_type.Goal),
+    }
+
+
+def get_ros_msg_instance_as_dict(ros_msg_instance):
+    full_dict = {}
+    lower_dir = {i.lower(): i for i in dir(ros_msg_instance)}
+    for k in dir(ros_msg_instance):
+        if k == "SLOT_TYPES" or k.startswith("_") or k.endswith("__DEFAULT") or k in ["get_fields_and_field_types"]:
+            continue
+        v = getattr(ros_msg_instance, k)
+        if f"{k.lower()}__default" in lower_dir:
+            v_default = getattr(ros_msg_instance, lower_dir[f"{k.lower()}__default"])
+            v = v_default
+        if isinstance(v, (str, int, float, list, dict)):
+            full_dict[k] = v
+        else:
+            full_dict[k] = get_ros_msg_instance_as_dict(v)
+    return full_dict
+
+
+def get_yaml_from_goal_type(goal_type) -> str:
+    """从Goal类型对象中生成默认YAML格式字符串
+
+    Args:
+        goal_type: Goal类型对象
+
+    Returns:
+        str: 默认Goal参数的YAML格式字符串
+    """
+    if not goal_type:
+        return "{}"
+
+    goal_dict = {}
+    slot_type = None
+    try:
+        for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
+            slot_name, slot_type = slot_info
+            type_info = goal_type.SLOT_TYPES[ind]
+            default_value = "unknown"
+            if isinstance(type_info, UnboundedSequence):
+                inner_type = type_info.value_type
+                if isinstance(inner_type, NamespacedType):
+                    cls_name = ".".join(inner_type.namespaces) + ":" + inner_type.name
+                    type_class = msg_converter_manager.get_class(cls_name)
+                    default_value = [get_ros_msg_instance_as_dict(type_class())]
+                elif isinstance(inner_type, BasicType):
+                    default_value = [get_default_value_for_ros_type(inner_type.typename)]
+                else:
+                    default_value = "unknown"
+            elif isinstance(type_info, NamespacedType):
+                cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
+                type_class = msg_converter_manager.get_class(cls_name)
+                if type_class is None:
+                    print("type_class", type_class, cls_name)
+                default_value = get_ros_msg_instance_as_dict(type_class())
+            elif isinstance(type_info, BasicType):
+                default_value = get_default_value_for_ros_type(type_info.typename)
+            else:
+                type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
+                if type_class is not None:
+                    default_value = type_class().data
+                else:
+                    default_value = "unknown"
+            goal_dict[slot_name] = default_value
+    except Exception as e:
+        logger.error(f"获取Goal字段 {slot_type} 信息时出错: {e}")
+        logger.error(traceback.format_exc())
+
+    # 将字典转换为YAML格式字符串
+    yaml_str = "{"
+
+    # 每个字段转换为YAML格式
+    yaml_parts = []
+    for key, value in goal_dict.items():
+        if isinstance(value, str):
+            yaml_parts.append(f"{key}: '{value}'")
+        elif isinstance(value, bool):
+            yaml_parts.append(f"{key}: {str(value).lower()}")
+        elif isinstance(value, (int, float)):
+            yaml_parts.append(f"{key}: {value}")
+        elif isinstance(value, dict) and not value:
+            yaml_parts.append(f"{key}: {{}}")
+        else:
+            yaml_parts.append(f"{key}: {value}")
+
+    yaml_str += ", ".join(yaml_parts) + "}"
+
+    return yaml_str
+
+
+"""旧版本函数"""
+
+
+def get_default_value_for_ros_type(type_hint_or_str: Any) -> Any:
+    """生成基于ROS类型提示或字符串的默认值
+
+    根据ROS2类型定义，生成适当的默认值。支持基本类型、数组类型和嵌套消息类型。
+
+    Args:
+        type_hint_or_str: ROS2类型提示或类型名称字符串
+
+    Returns:
+        Any: 对应类型的默认值
+    """
+    # 处理None或无效输入
+    if type_hint_or_str is None:
+        return None
+
+    # 基本类型映射
+    type_str = str(type_hint_or_str).lower()  # 使用字符串表示
+
+    # 处理常见基本类型
+    if "int" in type_str:
+        return 0
+    if "float" in type_str or "double" in type_str:
+        return 0.0
+    if "bool" in type_str:
+        return False
+    if "string" in type_str:
+        return ""
+    if "byte" in type_str or "char" in type_str:
+        return 0  # 用整数表示
+    if "time" == type_str or "duration" == type_str:
+        return {"sec": 0, "nanosec": 0}
+
+    # 处理数组 - 返回空列表
+    if "sequence" in type_str or "vector" in type_str or "[]" in type_str:
+        return []
+
+    # 处理嵌套消息类型 - 返回空字典占位符
+    if "." in str(type_hint_or_str):
+        # 尝试用消息转换管理器查找类型并生成默认值
+        try:
+            type_name = str(type_hint_or_str).strip().split("[")[0]  # 移除数组部分
+            # 尝试查找类型
+            if msg_converter_manager:
+                type_class = msg_converter_manager.search_class(type_name)
+                if type_class:
+                    # 递归生成默认值字典
+                    return generate_example_dict_from_ros_class(type_class)
+        except Exception as e:
+            print(f"查找类型默认值时出错: {type_hint_or_str}, {e}")
+
+        # 如果找不到或出错，返回空字典
+        return {}
+
+    # 特殊类型的默认值
+    if "pose" in type_str or "position" in type_str:
+        return {"x": 0.0, "y": 0.0, "z": 0.0}
+    if "orientation" in type_str or "quaternion" in type_str:
+        return {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0}
+    if "header" in type_str:
+        return {"frame_id": "", "stamp": {"sec": 0, "nanosec": 0}}
+
+    return None  # 未知类型
+
+
+def generate_example_dict_from_ros_class(ros_class: Any) -> Dict[str, Any]:
+    """检查ROS消息/服务/动作类并生成带有默认值的字典
+
+    分析ROS2消息类定义，提取其字段结构，并为每个字段生成合适的默认值。
+
+    Args:
+        ros_class: ROS2消息/服务/动作类或其实例
+
+    Returns:
+        Dict[str, Any]: 包含消息字段及默认值的字典
+    """
+    example_dict = {}
+
+    # 检查是否已经是字典
+    if isinstance(ros_class, dict):
+        return ros_class
+
+    # 处理无效输入
+    if ros_class is None:
+        return {}
+
+    # 获取字段信息
+    fields = {}
+    try:
+        if hasattr(ros_class, "_fields_and_field_types"):
+            fields = ros_class._fields_and_field_types
+        elif hasattr(ros_class, "__slots__") and hasattr(ros_class, "__annotations__"):
+            for slot in getattr(ros_class, "__slots__", []):
+                field_name = slot  # 假设slot名称与字段名称匹配
+                if field_name in getattr(ros_class, "__annotations__", {}):
+                    fields[field_name] = ros_class.__annotations__[field_name]
+                else:
+                    fields[field_name] = "unknown"  # 如果缺少类型提示则使用默认值
+    except Exception as e:
+        print(f"获取ROS类字段信息时出错: {e}")
+        return {}
+
+    # 为每个字段生成默认值
+    for field_name, field_type in fields.items():
+        example_dict[field_name] = get_default_value_for_ros_type(field_type)
+
+    return example_dict
+
+
+def extract_action_structures(action_type: Type) -> Dict[str, Any]:
+    """从Action类型对象中提取Goal/Result/Feedback结构"""
+    result = {"goal": {}, "result": {}, "feedback": {}}
+
+    try:
+        # 检查action_type是否为合法对象
+        if hasattr(action_type, "Goal"):
+            # 获取Goal类及其字段
+            goal_class = getattr(action_type, "Goal", None)
+            if goal_class:
+                result["goal"] = generate_example_dict_from_ros_class(goal_class)
+
+            # 获取Result类及其字段
+            result_class = getattr(action_type, "Result", None)
+            if result_class:
+                result["result"] = generate_example_dict_from_ros_class(result_class)
+
+            # 获取Feedback类及其字段
+            feedback_class = getattr(action_type, "Feedback", None)
+            if feedback_class:
+                result["feedback"] = generate_example_dict_from_ros_class(feedback_class)
+    except Exception as e:
+        print(f"提取Action结构时出错: {type(action_type)}")
+        print(traceback.format_exc())
+
+    return result
+
+
+def process_device_actions(action_config: Dict[str, Any], action_type: Type, action_name: str) -> Dict[str, Any]:
+    """处理设备动作，生成命令示例和结构信息
+
+    Args:
+        action_config: 动作配置信息，包含topic等内容
+        action_type: 动作类型，可以是类型对象或字符串
+        action_name: 动作名称
+
+    Returns:
+        Dict[str, Any]: 包含命令示例和结构信息的字典
+    """
+    # 检查action_type是否为None或非法值
+    if action_type is None:
+        # 返回基本结构，确保前端不会报错
+        return {
+            "topic": action_config.get("topic", "UNKNOWN_TOPIC"),
+            "type_str": "UNKNOWN_TYPE",
+            "goal": "{}",
+            "full_command": f"ros2 action send_goal {action_config.get('topic', 'UNKNOWN_TOPIC')} UNKNOWN_TYPE '{{}}'",
+            "goal_dict": {},
+            "result_dict": {},
+            "feedback_dict": {},
+        }
+
+    # 提取类型路径字符串，从<class 'package.action._action_name.ActionName'>格式转换为package/action/ActionName
+    type_str = str(action_type)[8:-2]  # 去除<class ' ... '>
+    parts = type_str.split(".")
+
+    # 构造ROS2类型字符串
+    if len(parts) >= 3 and "action" in parts:
+        action_idx = parts.index("action")
+        if action_idx >= 0 and action_idx < len(parts) - 1:
+            package_name = parts[0]
+            action_class_name = parts[-1]
+            ros2_type_str = f"{package_name}/action/{action_class_name}"
+        else:
+            ros2_type_str = type_str.replace(".", "/")
+    else:
+        ros2_type_str = type_str.replace(".", "/")
+
+    # 提取动作结构
+    action_structures = extract_action_structures(action_type)
+
+    # 获取goal部分并转换为YAML格式
+    goal_dict = action_structures["goal"]
+    goal_yaml = dict_to_yaml_str(goal_dict)
+
+    # 获取topic
+    topic = action_config.get("topic", "UNKNOWN_TOPIC")
+
+    return {
+        "topic": topic,
+        "type_str": ros2_type_str,
+        "goal": goal_yaml,
+        "full_command": f"ros2 action send_goal {topic} {ros2_type_str} '{goal_yaml}'",
+        "goal_dict": goal_dict,
+        "result_dict": action_structures["result"],
+        "feedback_dict": action_structures["feedback"],
+    }
+
+
+def dict_to_yaml_str(d: Dict) -> str:
+    """将字典转换为YAML字符串（单行格式）
+
+    Args:
+        d: 要转换的字典
+
+    Returns:
+        str: YAML格式的字符串
+    """
+    if not d:
+        return "{}"
+
+    parts = []
+
+    def format_value(v):
+        if isinstance(v, str):
+            return f"'{v}'"
+        elif isinstance(v, bool):
+            return str(v).lower()
+        elif isinstance(v, (int, float)) or v is None:
+            return str(v)
+        elif isinstance(v, list):
+            items = [format_value(item) for item in v]
+            return f"[{', '.join(items)}]"
+        elif isinstance(v, dict):
+            return dict_to_yaml_str(v)
+        return "null"
+
+    for key, value in d.items():
+        parts.append(f"{key}: {format_value(value)}")
+
+    return "{" + ", ".join(parts) + "}"

unilabos/app/web/utils/device_utils.py

@@ -0,0 +1,58 @@
+"""
+设备工具函数模块
+
+提供处理设备配置的辅助函数
+"""
+
+import json
+from typing import Dict, Any
+
+# 这里不能循环导入
+# 在函数内部导入process_device_actions
+# from unilabos.web.utils.action_utils import process_device_actions
+
+
+
+def get_registry_info() -> Dict[str, Any]:
+    """获取Registry相关路径信息
+
+    Returns:
+        包含Registry路径信息的字典
+    """
+    from unilabos.registry.registry import lab_registry
+    from pathlib import Path
+
+    registry_info = {}
+
+    if lab_registry:
+        # 获取所有registry路径
+        if hasattr(lab_registry, "registry_paths") and lab_registry.registry_paths:
+            # 保存所有注册表路径
+            registry_info["paths"] = [str(path).replace("\\", "/") for path in lab_registry.registry_paths]
+
+            # 获取设备和资源的相关路径
+            for reg_path in lab_registry.registry_paths:
+                base_path = Path(reg_path)
+
+                # 检查设备目录
+                devices_path = base_path / "devices"
+                if devices_path.exists():
+                    if "devices_paths" not in registry_info:
+                        registry_info["devices_paths"] = []
+                    registry_info["devices_paths"].append(str(devices_path).replace("\\", "/"))
+
+                # 检查设备通信目录
+                device_comms_path = base_path / "device_comms"
+                if device_comms_path.exists():
+                    if "device_comms_paths" not in registry_info:
+                        registry_info["device_comms_paths"] = []
+                    registry_info["device_comms_paths"].append(str(device_comms_path).replace("\\", "/"))
+
+                # 检查资源目录
+                resources_path = base_path / "resources"
+                if resources_path.exists():
+                    if "resources_paths" not in registry_info:
+                        registry_info["resources_paths"] = []
+                    registry_info["resources_paths"].append(str(resources_path).replace("\\", "/"))
+
+    return registry_info

unilabos/app/web/utils/host_utils.py

@@ -0,0 +1,68 @@
+"""
+主机节点工具模块
+
+提供与主机节点相关的工具函数
+"""
+
+import time
+from typing import Dict, Any
+
+from unilabos.config.config import BasicConfig
+from unilabos.ros.nodes.presets.host_node import HostNode
+from unilabos.app.web.utils.action_utils import get_action_info
+
+
+def get_host_node_info() -> Dict[str, Any]:
+    """
+    获取主机节点信息
+
+    尝试获取HostNode实例并提取其设备、主题和动作客户端信息
+
+    Returns:
+        Dict: 包含主机节点信息的字典
+    """
+    host_info = {"available": False, "devices": {}, "subscribed_topics": [], "action_clients": {}}
+    if not BasicConfig.is_host_mode:
+        return host_info
+    # 尝试获取HostNode实例，设置超时为0秒
+    host_node = HostNode.get_instance(0)
+    if not host_node:
+        return host_info
+    host_info["available"] = True
+    host_info["devices"] = {
+        device_id: {
+            "namespace": namespace,
+            "is_online": f"{namespace}/{device_id}" in host_node._online_devices,
+            "key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
+        }
+        for device_id, namespace in host_node.devices_names.items()
+    }
+    # 获取已订阅的主题
+    host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
+    # 获取动作客户端信息
+    for action_id, client in host_node._action_clients.items():
+        host_info["action_clients"] = {
+            action_id: get_action_info(client, full_name=action_id)
+        }
+
+    # 获取设备状态
+    host_info["device_status"] = host_node.device_status
+
+    # 添加设备状态更新时间戳
+    current_time = time.time()
+    host_info["device_status_timestamps"] = {}
+    for device_id, properties in host_node.device_status_timestamps.items():
+        host_info["device_status_timestamps"][device_id] = {}
+        for prop_name, timestamp in properties.items():
+            if timestamp > 0:  # 只处理有效的时间戳
+                host_info["device_status_timestamps"][device_id][prop_name] = {
+                    "timestamp": timestamp,
+                    "elapsed": round(current_time - timestamp, 2),  # 计算经过的时间（秒）
+                }
+            else:
+                host_info["device_status_timestamps"][device_id][prop_name] = {
+                    "timestamp": 0,
+                    "elapsed": -1,  # 表示未曾更新过
+                }
+
+    return host_info

unilabos/app/web/utils/ros_utils.py

@@ -0,0 +1,68 @@
+"""
+ROS 工具函数模块
+
+提供处理 ROS 节点信息的辅助函数
+"""
+
+import traceback
+from typing import Dict, Any
+
+from unilabos.app.web.utils.action_utils import get_action_info
+
+# 存储 ROS 节点信息的全局变量
+ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}
+
+def get_ros_node_info() -> Dict[str, Any]:
+    """获取 ROS 节点信息，包括设备节点、发布的状态和动作
+
+    Returns:
+        包含 ROS 节点信息的字典
+    """
+    global ros_node_info
+    # 触发更新以获取最新信息
+    update_ros_node_info()
+    return ros_node_info
+
+
+def update_ros_node_info() -> Dict[str, Any]:
+    """更新 ROS 节点信息，使用全局设备注册表
+
+    Returns:
+        更新后的 ROS 节点信息字典
+    """
+    global ros_node_info
+    result = {"registered_devices": {}, "device_topics": {}, "device_actions": {}}
+
+    try:
+        from unilabos.ros.nodes.base_device_node import registered_devices
+
+        for device_id, device_info in registered_devices.items():
+            # 设备基本信息
+            result["registered_devices"][device_id] = {
+                "node_name": device_info["node_name"],
+                "namespace": device_info["namespace"],
+                "uuid": device_info["uuid"],
+            }
+
+            # 设备话题（状态）信息
+            result["device_topics"][device_id] = {
+                k: {
+                    "type_name": v.msg_type.__module__ + "." + v.msg_type.__name__,
+                    "timer_period": v.timer_period,
+                    "topic_path": device_info["base_node_instance"].namespace + "/" + v.name,
+                }
+                for k, v in device_info["status_publishers"].items()
+            }
+
+            # 设备动作信息
+            result["device_actions"][device_id] = {
+                k: get_action_info(v, k)
+                for k, v in device_info["actions"].items()
+            }
+        # 更新全局变量
+        ros_node_info = result
+    except Exception as e:
+        print(f"更新ROS节点信息出错: {e}")
+        traceback.print_exc()
+
+    return result