34 icon support online (#35)

* unify liquid_handler definition

* remove default values

* Dev Sync (#25)

* Update README and MQTTClient for installation instructions and code improvements

* 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

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

* remove default behavior for visualization

* change liquidhandler name

* resource create from outer easy

* add easy resource creation

* easy resource creation logic

* remove wrongly debug msg from others

* remove wrongly debug msg from others

* add missing action clients

* fix device_id

* fix slot_on_deck

* fix registry typo

* complete require packages
msg converter support array string
implements create resource logic

* 修复port输入

* 修复必须两次启动edge后端才有节点生成的bug
新增resources报送

* 新增延迟统计

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

unilabos/app/controler.py

@@ -31,6 +31,6 @@ def job_add(req: JobAddReq) -> JobData:
         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)
+    # 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, server_info=req.server_info)
     return JobData(jobId=req.job_id)

unilabos/app/model.py

@@ -51,8 +51,9 @@ class Resp(BaseModel):
 class JobAddReq(BaseModel):
     device_id: str = Field(examples=["Gripper"], description="device id")
     data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
-    job_id: str = Field(examples=["sfsfsfeq"], description="goal uuid")
-    node_id: str = Field(examples=["sfsfsfeq"], description="node uuid")
+    job_id: str = Field(examples=["job_id"], description="goal uuid")
+    node_id: str = Field(examples=["node_id"], description="node uuid")
+    server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
 
 
 class JobStepFinishReq(BaseModel):

unilabos/app/mq.py

@@ -12,7 +12,7 @@ import tempfile
 import os
 
 from unilabos.config.config import MQConfig
-from unilabos.app.controler import devices, job_add
+from unilabos.app.controler import job_add
 from unilabos.app.model import JobAddReq
 from unilabos.utils import logger
 from unilabos.utils.type_check import TypeEncoder
@@ -43,13 +43,10 @@ class MQTTClient:
     def _on_connect(self, client, userdata, flags, rc, properties=None):
         logger.info("[MQTT] Connected with result code " + str(rc))
         client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
-        isok, data = devices()
-        if not isok:
-            logger.error("[MQTT] on_connect ErrorHostNotInit")
-            return
+        client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
 
     def _on_message(self, client, userdata, msg) -> None:
-        logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
+        # logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
         try:
             payload_str = msg.payload.decode("utf-8")
             payload_json = json.loads(payload_str)
@@ -63,6 +60,14 @@ class MQTTClient:
                 job_req = JobAddReq.model_validate(payload_json)
                 data = job_add(job_req)
                 return
+            elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
+                # 处理pong响应，通知HostNode
+                from unilabos.ros.nodes.presets.host_node import HostNode
+
+                host_instance = HostNode.get_instance(0)
+                if host_instance:
+                    host_instance.handle_pong_response(payload_json)
+                return
 
         except json.JSONDecodeError as e:
             logger.error(f"[MQTT] JSON 解析错误: {e}")
@@ -179,6 +184,28 @@ class MQTTClient:
         self.client.publish(address, json.dumps(action_info), qos=2)
         logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
 
+    def send_ping(self, ping_id: str, timestamp: float):
+        """发送ping消息到服务端"""
+        if self.mqtt_disable:
+            return
+        address = f"labs/{MQConfig.lab_id}/ping/"
+        ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
+        self.client.publish(address, json.dumps(ping_data), qos=2)
+
+    def setup_pong_subscription(self):
+        """设置pong消息订阅"""
+        if self.mqtt_disable:
+            return
+        pong_topic = f"labs/{MQConfig.lab_id}/pong/"
+        self.client.subscribe(pong_topic, 0)
+        logger.debug(f"Subscribed to pong topic: {pong_topic}")
+
+    def handle_pong(self, pong_data: dict):
+        """处理pong响应（这个方法会在收到pong消息时被调用）"""
+        logger.debug(f"Pong received: {pong_data}")
+        # 这里会被HostNode的ping-pong处理逻辑调用
+        pass
+
 
 mqtt_client = MQTTClient()