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add registry name & add always free

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This commit is contained in:
Xuwznln
2026-02-07 02:11:43 +08:00
parent 4f7d431c0b
commit 9a7d5c7c82
16 changed files with 228 additions and 31 deletions
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3
unilabos/ros/device_node_wrapper.py
View File

@@ -44,8 +44,7 @@ def ros2_device_node(
# 从属性中自动发现可发布状态
if status_types is None:
status_types = {}
if device_config is None:
raise ValueError("device_config cannot be None")
assert device_config is not None, "device_config cannot be None"
if action_value_mappings is None:
action_value_mappings = {}
if hardware_interface is None:

17
unilabos/ros/nodes/base_device_node.py
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@@ -146,7 +146,7 @@ def init_wrapper(
device_id: str,
device_uuid: str,
driver_class: type[T],
device_config: ResourceTreeInstance,
device_config: ResourceDictInstance,
status_types: Dict[str, Any],
action_value_mappings: Dict[str, Any],
hardware_interface: Dict[str, Any],
@@ -279,6 +279,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self,
driver_instance: T,
device_id: str,
registry_name: str,
device_uuid: str,
status_types: Dict[str, Any],
action_value_mappings: Dict[str, Any],
@@ -300,6 +301,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
"""
self.driver_instance = driver_instance
self.device_id = device_id
self.registry_name = registry_name
self.uuid = device_uuid
self.publish_high_frequency = False
self.callback_group = ReentrantCallbackGroup()
@@ -416,7 +418,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if len(rts.root_nodes) == 1 and isinstance(rts_plr_instances[0], RegularContainer):
# noinspection PyTypeChecker
container_instance: RegularContainer = rts_plr_instances[0]
found_resources = self.resource_tracker.figure_resource({"name": container_instance.name}, try_mode=True)
found_resources = self.resource_tracker.figure_resource(
{"name": container_instance.name}, try_mode=True
)
if not len(found_resources):
self.resource_tracker.add_resource(container_instance)
logger.info(f"添加物料{container_instance.name}到资源跟踪器")
@@ -1152,6 +1156,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
"machine_name": BasicConfig.machine_name,
"type": "slave",
"edge_device_id": self.device_id,
"registry_name": self.registry_name,
}
},
ensure_ascii=False,
@@ -1626,9 +1631,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
else:
resolved_sample_uuids[sample_uuid] = material_uuid
function_args[PARAM_SAMPLE_UUIDS] = resolved_sample_uuids
self.lab_logger().debug(
f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}"
)
self.lab_logger().debug(f"[JsonCommand] 注入 {PARAM_SAMPLE_UUIDS}: {resolved_sample_uuids}")
continue
# 处理单个 ResourceSlot
@@ -2005,6 +2008,7 @@ class ROS2DeviceNode:
if driver_is_ros:
driver_params["device_id"] = device_id
driver_params["registry_name"] = device_config.res_content.klass
driver_params["resource_tracker"] = self.resource_tracker
self._driver_instance = self._driver_creator.create_instance(driver_params)
if self._driver_instance is None:
@@ -2022,6 +2026,7 @@ class ROS2DeviceNode:
children=children,
driver_instance=self._driver_instance, # type: ignore
device_id=device_id,
registry_name=device_config.res_content.klass,
device_uuid=device_uuid,
status_types=status_types,
action_value_mappings=action_value_mappings,
@@ -2033,6 +2038,7 @@ class ROS2DeviceNode:
self._ros_node = BaseROS2DeviceNode(
driver_instance=self._driver_instance,
device_id=device_id,
registry_name=device_config.res_content.klass,
device_uuid=device_uuid,
status_types=status_types,
action_value_mappings=action_value_mappings,
@@ -2041,6 +2047,7 @@ class ROS2DeviceNode:
resource_tracker=self.resource_tracker,
)
self._ros_node: BaseROS2DeviceNode
# 将注册表类型名传递给BaseROS2DeviceNode,用于slave上报
self._ros_node.lab_logger().info(f"初始化完成 {self._ros_node.uuid} {self.driver_is_ros}")
self.driver_instance._ros_node = self._ros_node # type: ignore
self.driver_instance._execute_driver_command = self._ros_node._execute_driver_command # type: ignore

3
unilabos/ros/nodes/presets/camera.py
View File

@@ -6,12 +6,13 @@ from cv_bridge import CvBridge
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
class VideoPublisher(BaseROS2DeviceNode):
def __init__(self, device_id='video_publisher', device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
def __init__(self, device_id='video_publisher', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
# 初始化BaseROS2DeviceNode，使用自身作为driver_instance
BaseROS2DeviceNode.__init__(
self,
driver_instance=self,
device_id=device_id,
registry_name=registry_name,
device_uuid=device_uuid,
status_types={},
action_value_mappings={},

2
unilabos/ros/nodes/presets/controller_node.py
View File

@@ -10,6 +10,7 @@ class ControllerNode(BaseROS2DeviceNode):
def __init__(
self,
device_id: str,
registry_name: str,
controller_func: Callable,
update_rate: float,
inputs: Dict[str, Dict[str, type | str]],
@@ -51,6 +52,7 @@ class ControllerNode(BaseROS2DeviceNode):
self,
driver_instance=self,
device_id=device_id,
registry_name=registry_name,
status_types=status_types,
action_value_mappings=action_value_mappings,
hardware_interface=hardware_interface,

46
unilabos/ros/nodes/presets/host_node.py
View File

@@ -248,6 +248,7 @@ class HostNode(BaseROS2DeviceNode):
self,
driver_instance=self,
device_id=device_id,
registry_name="host_node",
device_uuid=host_node_dict["uuid"],
status_types={},
action_value_mappings=lab_registry.device_type_registry["host_node"]["class"]["action_value_mappings"],
@@ -302,7 +303,8 @@ class HostNode(BaseROS2DeviceNode):
} # 用来存储多个ActionClient实例
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
) # device_id -> action_value_mappings(本地+远程设备统一存储)
self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings)
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
self._last_discovery_time = 0.0 # 上次设备发现的时间
@@ -636,6 +638,8 @@ class HostNode(BaseROS2DeviceNode):
self.device_machine_names[device_id] = "本地"
self.devices_instances[device_id] = d
# noinspection PyProtectedMember
self._action_value_mappings[device_id] = d._ros_node._action_value_mappings
# noinspection PyProtectedMember
for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
if action_name.startswith("auto-") or str(action_value_mapping.get("type", "")).startswith(
"UniLabJsonCommand"
@@ -1168,6 +1172,10 @@ class HostNode(BaseROS2DeviceNode):
def _node_info_update_callback(self, request, response):
"""
更新节点信息回调
处理两种消息:
1. 首次上报(main_slave_run): 带 devices_config + registry_config,存储 action_value_mappings
2. 设备重注册(SYNC_SLAVE_NODE_INFO): 带 edge_device_id + registry_name,用 registry_name 索引已存储的 mappings
"""
self.lab_logger().trace(f"[Host Node] Node info update request received: {request}")
try:
@@ -1179,12 +1187,48 @@ class HostNode(BaseROS2DeviceNode):
info = info["SYNC_SLAVE_NODE_INFO"]
machine_name = info["machine_name"]
edge_device_id = info["edge_device_id"]
registry_name = info.get("registry_name", "")
self.device_machine_names[edge_device_id] = machine_name
# 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings
if registry_name and registry_name in self._slave_registry_configs:
action_mappings = self._slave_registry_configs[registry_name].get(
"class", {}
).get("action_value_mappings", {})
if action_mappings:
self._action_value_mappings[edge_device_id] = action_mappings
self.lab_logger().info(
f"[Host Node] Loaded {len(action_mappings)} action mappings "
f"for remote device {edge_device_id} (registry: {registry_name})"
)
else:
devices_config = info.pop("devices_config")
registry_config = info.pop("registry_config")
if registry_config:
http_client.resource_registry({"resources": registry_config})
# 存储 slave 的 registry_config,用于后续 SYNC_SLAVE_NODE_INFO 索引
for reg_name, reg_data in registry_config.items():
if isinstance(reg_data, dict) and "class" in reg_data:
self._slave_registry_configs[reg_name] = reg_data
# 解析 devices_config,建立 device_id -> action_value_mappings 映射
if devices_config:
for device_tree in devices_config:
for device_dict in device_tree:
device_id = device_dict.get("id", "")
class_name = device_dict.get("class", "")
if device_id and class_name and class_name in self._slave_registry_configs:
action_mappings = self._slave_registry_configs[class_name].get(
"class", {}
).get("action_value_mappings", {})
if action_mappings:
self._action_value_mappings[device_id] = action_mappings
self.lab_logger().info(
f"[Host Node] Stored {len(action_mappings)} action mappings "
f"for remote device {device_id} (class: {class_name})"
)
self.lab_logger().debug(f"[Host Node] Node info update: {info}")
response.response = "OK"
except Exception as e:

3
unilabos/ros/nodes/presets/joint_republisher.py
View File

@@ -7,10 +7,11 @@ from rclpy.callback_groups import ReentrantCallbackGroup
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class JointRepublisher(BaseROS2DeviceNode):
def __init__(self,device_id,resource_tracker, **kwargs):
def __init__(self,device_id, registry_name, resource_tracker, **kwargs):
super().__init__(
driver_instance=self,
device_id=device_id,
registry_name=registry_name,
status_types={},
action_value_mappings={},
hardware_interface={},

3
unilabos/ros/nodes/presets/resource_mesh_manager.py
View File

@@ -26,7 +26,7 @@ from unilabos.resources.graphio import initialize_resources
from unilabos.registry.registry import lab_registry
class ResourceMeshManager(BaseROS2DeviceNode):
def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", rate=50, **kwargs):
def __init__(self, resource_model: dict, resource_config: list,resource_tracker, device_id: str = "resource_mesh_manager", registry_name: str = "", rate=50, **kwargs):
"""初始化资源网格管理器节点
Args:
@@ -37,6 +37,7 @@ class ResourceMeshManager(BaseROS2DeviceNode):
super().__init__(
driver_instance=self,
device_id=device_id,
registry_name=registry_name,
status_types={},
action_value_mappings={},
hardware_interface={},

3
unilabos/ros/nodes/presets/serial_node.py
View File

@@ -7,7 +7,7 @@ from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeRe
class ROS2SerialNode(BaseROS2DeviceNode):
def __init__(self, device_id, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
def __init__(self, device_id, registry_name, port: str, baudrate: int = 9600, resource_tracker: DeviceNodeResourceTracker=None):
# 保存属性，以便在调用父类初始化前使用
self.port = port
self.baudrate = baudrate
@@ -28,6 +28,7 @@ class ROS2SerialNode(BaseROS2DeviceNode):
BaseROS2DeviceNode.__init__(
self,
driver_instance=self,
registry_name=registry_name,
device_id=device_id,
status_types={},
action_value_mappings={},

2
unilabos/ros/nodes/presets/workstation.py
View File

@@ -47,6 +47,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
*,
driver_instance: "WorkstationBase",
device_id: str,
registry_name: str,
device_uuid: str,
status_types: Dict[str, Any],
action_value_mappings: Dict[str, Any],
@@ -62,6 +63,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode):
super().__init__(
driver_instance=driver_instance,
device_id=device_id,
registry_name=registry_name,
device_uuid=device_uuid,
status_types=status_types,
action_value_mappings={**action_value_mappings, **self.protocol_action_mappings},