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新增延迟统计

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Xuwznln
2025-05-29 00:46:15 +08:00
parent 8a50081c1e
commit 87099523c2
5 changed files with 266 additions and 57 deletions
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108
unilabos/registry/registry.py
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@@ -25,6 +25,9 @@ class Registry:
self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
"ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
)
self.EmptyIn = self._replace_type_with_class(
"EmptyIn", "host_node", f""
)
self.device_type_registry = {}
self.resource_type_registry = {}
self._setup_called = False # 跟踪setup是否已调用
@@ -38,58 +41,69 @@ class Registry:
return
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
self.device_type_registry.update({
"host_node": {
"description": "UniLabOS主机节点",
"class": {
"module": "unilabos.ros.nodes.presets.host_node",
"type": "python",
"status_types": {},
"action_value_mappings": {
"create_resource_detailed": {
"type": self.ResourceCreateFromOuter,
"goal": {
"resources": "resources",
"device_ids": "device_ids",
"bind_parent_ids": "bind_parent_ids",
"bind_locations": "bind_locations",
"other_calling_params": "other_calling_params",
self.device_type_registry.update(
{
"host_node": {
"description": "UniLabOS主机节点",
"class": {
"module": "unilabos.ros.nodes.presets.host_node",
"type": "python",
"status_types": {},
"action_value_mappings": {
"create_resource_detailed": {
"type": self.ResourceCreateFromOuter,
"goal": {
"resources": "resources",
"device_ids": "device_ids",
"bind_parent_ids": "bind_parent_ids",
"bind_locations": "bind_locations",
"other_calling_params": "other_calling_params",
},
"feedback": {},
"result": {"success": "success"},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter),
"goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
),
},
"feedback": {},
"result": {"success": "success"},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter),
"goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
)
},
"create_resource": {
"type": self.ResourceCreateFromOuterEasy,
"goal": {
"res_id": "res_id",
"class_name": "class_name",
"parent": "parent",
"device_id": "device_id",
"bind_locations": "bind_locations",
"liquid_input_slot": "liquid_input_slot[]",
"liquid_type": "liquid_type[]",
"liquid_volume": "liquid_volume[]",
"slot_on_deck": "slot_on_deck",
"create_resource": {
"type": self.ResourceCreateFromOuterEasy,
"goal": {
"res_id": "res_id",
"class_name": "class_name",
"parent": "parent",
"device_id": "device_id",
"bind_locations": "bind_locations",
"liquid_input_slot": "liquid_input_slot[]",
"liquid_type": "liquid_type[]",
"liquid_volume": "liquid_volume[]",
"slot_on_deck": "slot_on_deck",
},
"feedback": {},
"result": {"success": "success"},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy),
"goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
),
},
"test_latency": {
"type": self.EmptyIn,
"goal": {},
"feedback": {},
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
"schema": ros_action_to_json_schema(self.EmptyIn),
"goal_default": {},
},
"feedback": {},
"result": {"success": "success"},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy),
"goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
)
},
},
},
"icon": "icon_device.webp",
"registry_type": "device",
"schema": {"properties": {}, "additionalProperties": False, "type": "object"},
"file_path": "/",
"icon": "icon_device.webp",
"registry_type": "device",
"schema": {"properties": {}, "additionalProperties": False, "type": "object"},
"file_path": "/",
}
}
})
)
logger.debug(f"[UniLab Registry] ----------Setup----------")
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
for i, path in enumerate(self.registry_paths):