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

unilabos/app/main.py

@@ -96,6 +96,9 @@ def main():
     # 设置BasicConfig参数
     BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
+    machine_name = os.popen("hostname").read().strip()
+    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
+    BasicConfig.machine_name = machine_name
 
     from unilabos.resources.graphio import (
         read_node_link_json,

unilabos/app/mq.py

@@ -168,11 +168,8 @@ class MQTTClient:
         if self.mqtt_disable:
             return
         address = f"labs/{MQConfig.lab_id}/actions/"
-        action_type_name = action_info["title"]
+        self.client.publish(address, json.dumps(action_info), qos=2)
-        action_info["title"] = action_id
+        logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
-        action_data = json.dumps({action_type_name: action_info}, ensure_ascii=False)
-        self.client.publish(address, action_data, qos=2)
-        logger.debug(f"Action data published: address: {address}, {action_data}")
 
 
 mqtt_client = MQTTClient()

unilabos/app/web/utils/host_utils.py

@@ -30,13 +30,13 @@ def get_host_node_info() -> Dict[str, Any]:
         return host_info
     host_info["available"] = True
     host_info["devices"] = {
-        device_id: {
+        edge_device_id: {
             "namespace": namespace,
-            "is_online": f"{namespace}/{device_id}" in host_node._online_devices,
+            "is_online": f"{namespace}/{edge_device_id}" in host_node._online_devices,
-            "key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
+            "key": f"{namespace}/{edge_device_id}" if namespace.startswith("/") else f"/{namespace}/{edge_device_id}",
-            "machine_name": host_node.device_machine_names.get(device_id, "未知"),
+            "machine_name": host_node.device_machine_names.get(edge_device_id, "未知"),
         }
-        for device_id, namespace in host_node.devices_names.items()
+        for edge_device_id, namespace in host_node.devices_names.items()
     }
     # 获取已订阅的主题
     host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))

unilabos/config/config.py

@@ -12,6 +12,7 @@ class BasicConfig:
     config_path = ""
     is_host_mode = True  # 从registry.py移动过来
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
+    machine_name = "undefined"
 
 
 # MQTT配置

unilabos/ros/main_slave_run.py

@@ -91,9 +91,7 @@ def slave(
         # else:
         #     print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
 
-    machine_name = os.popen("hostname").read().strip()
+    n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
-    machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
-    n = Node(f"slaveMachine_{machine_name}", parameter_overrides=[])
     executor.add_node(n)
 
     thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
@@ -105,7 +103,7 @@ def slave(
 
         request = SerialCommand.Request()
         request.command = json.dumps({
-            "machine_name": machine_name,
+            "machine_name": BasicConfig.machine_name,
             "type": "slave",
             "devices_config": devices_config_copy,
             "registry_config": lab_registry.obtain_registry_device_info()

unilabos/ros/nodes/base_device_node.py

@@ -1,3 +1,4 @@
+import json
 import threading
 import time
 import traceback
@@ -13,15 +14,17 @@ from rclpy.action import ActionServer
 from rclpy.action.server import ServerGoalHandle
 from rclpy.client import Client
 from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.service import Service
 
 from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
-    convert_to_ros_msg_with_mapping,
+    convert_to_ros_msg_with_mapping, ros_action_to_json_schema,
 )
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList  # type: ignore
+from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
+    SerialCommand  # type: ignore
 from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
@@ -29,7 +32,7 @@ from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger
-from unilabos.utils.type_check import get_type_class
+from unilabos.utils.type_check import get_type_class, TypeEncoder
 
 T = TypeVar("T")
 
@@ -44,19 +47,17 @@ class ROSLoggerAdapter:
 
     @property
     def identifier(self):
-        return f"{self.namespace}/{self.node_name}"
+        return f"{self.namespace}"
 
-    def __init__(self, ros_logger, node_name, namespace):
+    def __init__(self, ros_logger, namespace):
         """
         初始化日志适配器
 
         Args:
             ros_logger: ROS2日志记录器
-            node_name: 节点名称
             namespace: 命名空间
         """
         self.ros_logger = ros_logger
-        self.node_name = node_name
         self.namespace = namespace
         self.level_2_logger_func = {
             "info": info,
@@ -258,9 +259,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             self.lab_logger().critical("资源跟踪器未初始化，请检查")
 
         # 创建自定义日志记录器
-        self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.node_name, self.namespace)
+        self._lab_logger = ROSLoggerAdapter(self.get_logger(), self.namespace)
 
-        self._action_servers = {}
+        self._action_servers: Dict[str, ActionServer] = {}
         self._property_publishers = {}
         self._status_types = status_types
         self._action_value_mappings = action_value_mappings
@@ -284,7 +285,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.create_ros_action_server(action_name, action_value_mapping)
 
         # 创建线程池执行器
-        self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1))
+        self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
 
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
@@ -295,6 +296,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             "resource_list": self.create_client(ResourceList, "/resources/list"),
         }
 
+        def query_host_name_cb(req, res):
+            self.register_device()
+            self.lab_logger().info("Host要求重新注册当前节点")
+            res.response = ""
+            return res
+
+        self._service_server: Dict[str, Service] = {
+            "query_host_name": self.create_service(
+                SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
+            ),
+        }
+
         # 向全局在线设备注册表添加设备信息
         self.register_device()
         rclpy.get_global_executor().add_node(self)
@@ -318,6 +331,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         )
         # 加入全局注册表
         registered_devices[self.device_id] = device_info
+        from unilabos.config.config import BasicConfig
+        if not BasicConfig.is_host_mode:
+            sclient = self.create_client(SerialCommand, "/node_info_update")
+            # 启动线程执行发送任务
+            threading.Thread(
+                target=self.send_slave_node_info,
+                args=(sclient,),
+                daemon=True,
+                name=f"ROSDevice{self.device_id}_send_slave_node_info"
+            ).start()
+
+    def send_slave_node_info(self, sclient):
+        sclient.wait_for_service()
+        request = SerialCommand.Request()
+        from unilabos.config.config import BasicConfig
+        request.command = json.dumps({
+            "SYNC_SLAVE_NODE_INFO": {
+                "machine_name": BasicConfig.machine_name,
+                "type": "slave",
+                "edge_device_id": self.device_id
+            }}, ensure_ascii=False, cls=TypeEncoder)
+
+        # 发送异步请求并等待结果
+        future = sclient.call_async(request)
+        response = future.result()
 
     def lab_logger(self):
         """

unilabos/ros/nodes/presets/host_node.py

@@ -27,6 +27,7 @@ from unilabos.ros.msgs.message_converter import (
 )
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode, DeviceNodeResourceTracker
 from unilabos.ros.nodes.presets.controller_node import ControllerNode
+from unilabos.utils.type_check import TypeEncoder
 
 
 class HostNode(BaseROS2DeviceNode):
@@ -98,7 +99,7 @@ class HostNode(BaseROS2DeviceNode):
         # 创建设备、动作客户端和目标存储
         self.devices_names: Dict[str, str] = {}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
-        self.device_machine_names: Dict[str, str] = {}  # 存储设备ID到机器名称的映射
+        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] = (
             {}
@@ -160,6 +161,13 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info("[Host Node] Host node initialized.")
         HostNode._ready_event.set()
 
+    def _send_re_register(self, sclient):
+        sclient.wait_for_service()
+        request = SerialCommand.Request()
+        request.command = ""
+        future = sclient.call_async(request)
+        response = future.result()
+
     def _discover_devices(self) -> None:
         """
         发现网络中的设备
@@ -176,23 +184,37 @@ class HostNode(BaseROS2DeviceNode):
         current_devices = set()
 
         for device_id, namespace in nodes_and_names:
-            if not namespace.startswith("/devices"):
+            if not namespace.startswith("/devices/"):
                 continue
-
+            edge_device_id = namespace[9:]
             # 将设备添加到当前设备集合
-            device_key = f"{namespace}/{device_id}"
+            device_key = f"{namespace}/{edge_device_id}"  # namespace已经包含device_id了，这里复写一遍
             current_devices.add(device_key)
 
             # 如果是新设备，记录并创建ActionClient
-            if device_id not in self.devices_names:
+            if edge_device_id not in self.devices_names:
                 self.lab_logger().info(f"[Host Node] Discovered new device: {device_key}")
-                self.devices_names[device_id] = namespace
+                self.devices_names[edge_device_id] = namespace
                 self._create_action_clients_for_device(device_id, namespace)
                 self._online_devices.add(device_key)
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                threading.Thread(
+                    target=self._send_re_register,
+                    args=(sclient,),
+                    daemon=True,
+                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
+                ).start()
             elif device_key not in self._online_devices:
                 # 设备重新上线
                 self.lab_logger().info(f"[Host Node] Device reconnected: {device_key}")
                 self._online_devices.add(device_key)
+                sclient = self.create_client(SerialCommand, f"/srv{namespace}/query_host_name")
+                threading.Thread(
+                    target=self._send_re_register,
+                    args=(sclient,),
+                    daemon=True,
+                    name=f"ROSDevice{self.device_id}_query_host_name_{namespace}"
+                ).start()
 
         # 检测离线设备
         offline_devices = self._online_devices - current_devices
@@ -234,17 +256,22 @@ class HostNode(BaseROS2DeviceNode):
                     self._action_clients[action_id] = ActionClient(
                         self, action_type, action_id, callback_group=self.callback_group
                     )
-                    self.lab_logger().debug(f"[Host Node] Created ActionClient: {action_id}")
+                    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_id, info_with_schema)
+                    mqtt_client.publish_actions(action_name, {
+                        "device_id": edge_device_id,
+                        "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 initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """
-        根据配置初始化设备
+        根据配置初始化设备，
 
         此函数根据提供的设备配置动态导入适当的设备类并创建其实例。
         同时为设备的动作值映射设置动作客户端。
@@ -260,7 +287,7 @@ class HostNode(BaseROS2DeviceNode):
         if d is None:
             return
         # noinspection PyProtectedMember
-        self.devices_names[device_id] = d._ros_node.namespace
+        self.devices_names[device_id] = d._ros_node.namespace  # 这里不涉及二级device_id
         self.device_machine_names[device_id] = "本地"
         self.devices_instances[device_id] = d
         # noinspection PyProtectedMember
@@ -269,14 +296,17 @@ class HostNode(BaseROS2DeviceNode):
             if action_id not in self._action_clients:
                 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: {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_id, info_with_schema)
+                mqtt_client.publish_actions(action_name, {
+                    "device_id": device_id,
+                    "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}"
+        device_key = f"{self.devices_names[device_id]}/{device_id}"  # 这里不涉及二级device_id
         # 添加到在线设备列表
         self._online_devices.add(device_key)
 
@@ -298,8 +328,8 @@ class HostNode(BaseROS2DeviceNode):
 
                 # 解析设备名和属性名
                 parts = topic.split("/")
-                if len(parts) >= 4:
+                if len(parts) >= 4:  # 可能有ProtocolNode，创建更长的设备
-                    device_id = parts[-2]
+                    device_id = "/".join(parts[2:-1])
                     property_name = parts[-1]
 
                     # 初始化设备状态字典
@@ -526,21 +556,19 @@ class HostNode(BaseROS2DeviceNode):
             from unilabos.app.mq import mqtt_client
 
             info = json.loads(request.command)
+            if "SYNC_SLAVE_NODE_INFO" in info:
+                info = info["SYNC_SLAVE_NODE_INFO"]
                 machine_name = info["machine_name"]
-            devices_config = info["devices_config"]
+                edge_device_id = info["edge_device_id"]
+                self.device_machine_names[edge_device_id] = machine_name
+            else:
                 registry_config = info["registry_config"]
-
-            # 更新设备机器名称映射
-            for device_id in devices_config.keys():
-                self.device_machine_names[device_id] = machine_name
-                self.lab_logger().debug(f"[Host Node] Updated machine name for device {device_id}: {machine_name}")
-
                 for device_config in registry_config:
                     mqtt_client.publish_registry(device_config["id"], device_config)
-            self.lab_logger().info(f"[Host Node] Node info update: {info}")
+            self.lab_logger().debug(f"[Host Node] Node info update: {info}")
             response.response = "OK"
         except Exception as e:
-            self.lab_logger().error(f"[Host Node] Error updating node info: {str(e)}")
+            self.lab_logger().error(f"[Host Node] Error updating node info: {e.args}")
             response.response = "ERROR"
         return response