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pass device config to device class

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This commit is contained in:
wznln
2025-05-06 14:44:42 +08:00
parent b47f67d129
commit 852d10d751
5 changed files with 40 additions and 26 deletions
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43
unilabos/ros/nodes/presets/host_node.py
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@@ -101,14 +101,7 @@ class HostNode(BaseROS2DeviceNode):
self.devices_instances: Dict[str, ROS2DeviceNode] = {} # 存储设备实例
self.device_machine_names: Dict[str, str] = {device_id: "本地", } # 存储设备ID到机器名称的映射
self._action_clients: Dict[str, ActionClient] = {} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = {
"add_resrouce": {
"type": ResourceCreateFromOuter,
"goal": {
}
}
} # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
self._action_value_mappings: Dict[str, Dict] = {} # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
self._online_devices: Set[str] = set() # 用于跟踪在线设备
self._last_discovery_time = 0.0 # 上次设备发现的时间
@@ -264,16 +257,21 @@ class HostNode(BaseROS2DeviceNode):
self.lab_logger().debug(f"[Host Node] Created ActionClient (Discovery): {action_id}")
action_name = action_id[len(namespace) + 1:]
edge_device_id = namespace[9:]
from unilabos.app.mq import mqtt_client
info_with_schema = ros_action_to_json_schema(action_type)
mqtt_client.publish_actions(action_name, {
"device_id": edge_device_id,
"action_name": action_name,
"schema": info_with_schema,
})
# from unilabos.app.mq import mqtt_client
# info_with_schema = ros_action_to_json_schema(action_type)
# mqtt_client.publish_actions(action_name, {
# "device_id": edge_device_id,
# "device_type": "",
# "action_name": action_name,
# "schema": info_with_schema,
# })
except Exception as e:
self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
def add_resource_from_outer(self, resources: list["Resource"], device_ids):
print("111")
pass
def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
"""
根据配置初始化设备，
@@ -302,13 +300,14 @@ class HostNode(BaseROS2DeviceNode):
action_type = action_value_mapping["type"]
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
self.lab_logger().debug(f"[Host Node] Created ActionClient (Local): {action_id}") # 子设备再创建用的是Discover发现的
from unilabos.app.mq import mqtt_client
info_with_schema = ros_action_to_json_schema(action_type)
mqtt_client.publish_actions(action_name, {
"device_id": device_id,
"action_name": action_name,
"schema": info_with_schema,
})
# from unilabos.app.mq import mqtt_client
# info_with_schema = ros_action_to_json_schema(action_type)
# mqtt_client.publish_actions(action_name, {
# "device_id": device_id,
# "device_type": device_config["class"],
# "action_name": action_name,
# "schema": info_with_schema,
# })
else:
self.lab_logger().warning(f"[Host Node] ActionClient {action_id} already exists.")
device_key = f"{self.devices_names[device_id]}/{device_id}" # 这里不涉及二级device_id