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修复必须两次启动edge后端才有节点生成的bug

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新增resources报送
This commit is contained in:
Xuwznln
2025-05-28 22:06:49 +08:00
parent 344e91bce3
commit 8a50081c1e
4 changed files with 160 additions and 100 deletions
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92
unilabos/registry/registry.py
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@@ -25,7 +25,20 @@ class Registry:
self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
"ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
)
self.device_type_registry = {
self.device_type_registry = {}
self.resource_type_registry = {}
self._setup_called = False # 跟踪setup是否已调用
# 其他状态变量
# self.is_host_mode = False # 移至BasicConfig中
def setup(self):
# 检查是否已调用过setup
if self._setup_called:
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
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": {
@@ -34,7 +47,7 @@ class Registry:
"status_types": {},
"action_value_mappings": {
"create_resource_detailed": {
"type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
"type": self.ResourceCreateFromOuter,
"goal": {
"resources": "resources",
"device_ids": "device_ids",
@@ -43,13 +56,14 @@ class Registry:
"other_calling_params": "other_calling_params",
},
"feedback": {},
"result": {
"success": "success"
},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter)
"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": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
"type": self.ResourceCreateFromOuterEasy,
"goal": {
"res_id": "res_id",
"class_name": "class_name",
@@ -62,35 +76,20 @@ class Registry:
"slot_on_deck": "slot_on_deck",
},
"feedback": {},
"result": {
"success": "success"
},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy)
}
}
"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))
)
},
},
},
"schema": {
"properties": {},
"additionalProperties": False,
"type": "object"
},
"file_path": "/"
"icon": "icon_device.webp",
"registry_type": "device",
"schema": {"properties": {}, "additionalProperties": False, "type": "object"},
"file_path": "/",
}
}
self.resource_type_registry = {}
self._setup_called = False # 跟踪setup是否已调用
# 其他状态变量
# self.is_host_mode = False # 移至BasicConfig中
def setup(self):
# 检查是否已调用过setup
if self._setup_called:
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
return
# 标记setup已被调用
self._setup_called = True
})
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):
@@ -100,6 +99,8 @@ class Registry:
self.load_device_types(path)
self.load_resource_types(path)
logger.info("[UniLab Registry] 注册表设置完成")
# 标记setup已被调用
self._setup_called = True
def load_resource_types(self, path: os.PathLike):
abs_path = Path(path).absolute()
@@ -115,6 +116,9 @@ class Registry:
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
if "description" not in resource_info:
resource_info["description"] = ""
if "icon" not in resource_info:
resource_info["icon"] = ""
resource_info["registry_type"] = "resource"
self.resource_type_registry.update(data)
logger.debug(
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
@@ -164,6 +168,7 @@ class Registry:
)
current_device_number = len(self.device_type_registry) + 1
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
for i, file in enumerate(files):
data = yaml.safe_load(open(file, encoding="utf-8"))
if data:
@@ -173,6 +178,9 @@ class Registry:
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
if "description" not in device_config:
device_config["description"] = ""
if "icon" not in device_config:
device_config["icon"] = ""
device_config["registry_type"] = "device"
if "class" in device_config:
# 处理状态类型
if "status_types" in device_config["class"]:
@@ -189,7 +197,9 @@ class Registry:
action_config["type"], device_id, f"动作 {action_name}"
)
if action_config["type"] is not None:
action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
action_config["goal_default"] = yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal))
)
action_config["schema"] = ros_action_to_json_schema(action_config["type"])
else:
logger.warning(
@@ -212,13 +222,17 @@ class Registry:
def obtain_registry_device_info(self):
devices = []
for device_id, device_info in self.device_type_registry.items():
msg = {
"id": device_id,
**device_info
}
msg = {"id": device_id, **device_info}
devices.append(msg)
return devices
def obtain_registry_resource_info(self):
resources = []
for resource_id, resource_info in self.resource_type_registry.items():
msg = {"id": resource_id, **resource_info}
resources.append(msg)
return resources
# 全局单例实例
lab_registry = Registry()