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Ready for open source (#47)
* Create app/main API * create example device * create ROS backend and example device SDK Wrapper * Add ROS host and host starting from app.py * Add gripper device and mock implementation * add "status_types" & "action_types" to ROS device decorator * add ActionServer debug example * [bugfix] complete mock gripper example * ROS Backend Host for Device action calling and Resource management * add conda/mamba ENV file * add host_node communication with app/main.py * add action message value mappings and converters * Update ilabos.yaml * Update issue templates * example devices.json and resources.json * Fix Device wrapper to use async property and actions (#7) * Fix Device wrapper to use async property and actions * Resolve #1 : support async get methods and actions. Give new examples. * add both sync/async GRBL controller SDK * 2 call device actions from appmainpy api to ros hostpy (#8) * feature: add job * fix:node start * feature:add get job status * fix:get device * clean * Resolve #5 device connection diagram and workflow compilation support (#9) * add syringe pump device and its compilation using device connection diagram * add RunzeSyringePump real device with ROS2 example * Prototype machine with 1 pump and 1 CNC * add ROS2ProtocolNode and related functions * add ilabos_msgs (to use PumpTransfer action) * add example device connection graph * refactor protocol_node code into separate file * add ROS2SerialNode * add SerialCommand srv in ilabos_msgs * add pump_protocol example, and fix bugs * [fix] serial service: avoid async service deadlock by directly call serial `send_command` * use SendCmd instead of SingleJointPosition for valve control * initialize device connection graph when server starts * Fix #5: async workflow execution (#16) * add rclpyx and protocol example for async-native workflow * use async in ROS2ProtocolNode, and host initialization * add examples of "ros-async" protocol implementation, and `run_in_event_loop` for using native async functions * use "ros-async" in protocols and device nodes * fix pump_protocol: push to 0.0 μL * Envs, docs, and conda recipes (#19) * update ENV: use python 3.11 and deprecate ros-humble-gazebo-ros * add ilabos-msgs conda recipe * Update ilabos.yaml * fix recipe and env yaml * Add sphinx docs * add aichemeco * add bioyong * add bioyong * Support XDL devices & protocols (#20) * [Feature] support multiple protocols in a single ProtocolNode * add Junjie's code * Support "Clean" protocol * Update Grignard_flow_batchreact_single_pumpvalve.json * test_grignard_add * add stir device node and example * Update device_node.py add print_publish flag to control the node's log output * NH4Cl_add * add "HeaterStirrer" device and "HeatChill" action * add wait time after each pump action for equilibration * fix stir * add Separate protocol * Refactor Separator device and Stir action * add rotavap_node * fix stir * add chiller node * Move rinsings into PumpTransfer * Fix SeparateProtocol under refactored Separator device and Stir action * Supports automatically add new protocol action_types * fix PumpTransfer protocol because of rinsing * Add Rotavap and Chiller devices * fix SeparateProtocol * add EvaporateProtocol * add rotavap devices config * fix HeaterStirrer and SeparatorController IO * Fix automatically add new protocol action_types * Add HeaterStirrer and SeparatorController device config * fix pump protocols * Fix Evaporate action * Update evaporate_protocol.py * add temp_sensor node and add function remap * update docs --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: q434343 <554662886@qq.com> * fix aichemeco * [Bugfix] fix Windows conda packaging * add file upload api * update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64 * update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64 * Create aichemeco_simple.py * fix * update * add aichemeco file * MQTT [1/2]: action start (#25) * add mq * fix * clean * add class * fix excel * update bioyong * add api * fix --------- Co-authored-by: caok@dp.tech <xiaoyeqiannian@163.com> * motor & grasp * Add Grasp motor support and enhance EleGripper class - Introduced a new motor configuration for Grasp in sjtu.json. - Updated EleGripper class to inherit from UniversalDriver and added status property. - Implemented move_and_rotate method for coordinated movement. - Adjusted threading logic in EleGripper initialization. - Registered Grasp motor in ROS2 device node configuration. This commit enhances the motor control capabilities by integrating the Grasp motor and improving the existing EleGripper functionality. * fix read data lenth * Update Grasp.py * MQTT (2/2): publish Device Status, Action Feedback & Results (#27) * Add bridges in HostNode for device_status publishing * Add "bridges" selection (fastapi & mqtt) when app start * add MQ feedback & result publisher, and fix message converter * fix UUID converting between ROS and MQ * lint api model.py * Continuous controllers: PID, MPC, custom controllers etc. (#23) * add controller config & wrapper * add controller setup at app.main * control loop example * fix com port * add agv , ur_arm and raman * MQTT (3/4): Unified Resources and Sync when starting the server (#28) * update http upload api * generate uuid when init device * example resource json * fix * add new example full-content json (device, resource, graph) * fix full-content json and related reading code * fix * add json_schema when initialize resources * fix * update schema * refactor heaterstirrer.dalong * fix * fix refactor heaterstirrer.dalong * refactor syringepump.runze: use ml instead of μL * Update ilabos/ros/host.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Distributed initialization with self-organizing network (#29) * add distributed launching option "--without_host" * fix --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> * Refactor Workstation: Add resource service and tracking (#30) * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * Create HT_hiwo.json * add children in resources * bugfixes * fix rpc * add Revvity winprep --------- Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com> * Distributed launch (2/2): distributed resource create (#32) * add resource_add request to host for slave mode * add AGV * fix protocol resources * optimize host callbacks * bugfixes * add revvity registry --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> * Refactor Driver Files Structure (#33) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> * add: NMR LH and RU device control (#34) * Add Registry for device drivers and Support GraphML (#35) * read chemputer graphml * read graphml in app/main * add devices in ros/devices * add schema for devices * read registry directory and initialize when entry from main * Delete devices.py * Update add_protocol.md * delete unecessary files * feat: 2278 devices registry yaml (#36) * read chemputer graphml * read graphml in app/main * add devices in ros/devices * add schema for devices * read registry directory and initialize when entry from main * Delete devices.py * add: NMR LH and RU device control * fix: modify jiageng devices registry --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Device/Resource Registry and GraphML support (#37) * add resource type conversion to PLR * add resource registry and test * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml --------- Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> * Uni-Lab Doc v0.2 (#39) * add Uni-Lab docs * change doc name * Dev (#41) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev * add HPLC registry and json * 升级 ros2-distro-mutex 依赖版本至 0.6 * 修改 ros2-distro-mutex 依赖版本为通配符匹配 * 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间 * add resource type conversion to PLR * add resource registry and test * feat: 更新oss上传 * fix device id * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * use robostack-staging * rclpy version test * lower rclpy * ensure 0.6* env * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml * Feature/device node later init (#40) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> * Dev (#45) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev * add HPLC registry and json * 升级 ros2-distro-mutex 依赖版本至 0.6 * 修改 ros2-distro-mutex 依赖版本为通配符匹配 * 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间 * add resource type conversion to PLR * add resource registry and test * feat: 更新oss上传 * fix device id * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * use robostack-staging * rclpy version test * lower rclpy * ensure 0.6* env * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml * Feature/device node later init (#40) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * Feature/device node later init (#42) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * Feature/device node later init (#43) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * plr * action * plr reg fix * Feature/device node later init (#44) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * plr * fix convert error fix async logic error added async error print * new device test * test resource add * test resource add * test resource add * test resource add * local env setup * node type fix temp fix root_node error fix convert res from type error * resource tracker * fix bug from qhh * fix bug from qhh * fix bug from qhh * fix bug from qhh * refactor MQTT client logging and connection handling; update group ID in config * driver_params allow empty * allow other init param * fix driver param and enhance type hint * refactor MQConfig to use double quotes for string literals * fix wrong function calling * fix wrong function calling * fix log for mac * fix networkx compatibility * add mqtt loggers * add action to jsonschema converter * random client id * type converter & registry * correct conversion * fix action publish only from discovered devices * add "Bio" tag for action doc generation * 改进module提示 * Fix doc * mqtt不连接也可用 性价样例提示 * add docs * 更新plr test案例 * Update intro.md * 更新有机案例 * skip --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Junhan Chang <1700011741@pku.edu.cn> --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Junhan Chang <1700011741@pku.edu.cn> * Canonicalize before Open Source (#46) * big big refactor try01 * refactor 02 --------- Co-authored-by: ck <xiaoyeqiannian@163.com> Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: q434343 <554662886@qq.com> Co-authored-by: Xuwznln <xuwznln@gmail.com> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com> Co-authored-by: Xuwznln <1023025701@qq.com> Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: Jiawei <91898272+jiawei723@users.noreply.github.com> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com>
This commit is contained in:
Junhan Chang
GitHub
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unilabos/web/__init__.py
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unilabos/web/__init__.py
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"""
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Web UI 模块
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提供了UniLab系统的Web界面功能
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"""
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from unilabos.web.pages import setup_web_pages
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from unilabos.web.server import setup_server, start_server
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from unilabos.web.client import http_client
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from unilabos.web.api import setup_api_routes
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__all__ = [
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"setup_web_pages", # 设置Web页面
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"setup_server", # 设置服务器
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"start_server", # 启动服务器
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"http_client", # HTTP客户端
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"setup_api_routes", # 设置API路由
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]
|
||||
197
unilabos/web/api.py
Normal file
197
unilabos/web/api.py
Normal file
@@ -0,0 +1,197 @@
|
||||
"""
|
||||
API模块
|
||||
|
||||
提供API路由和处理函数
|
||||
"""
|
||||
|
||||
from fastapi import APIRouter, WebSocket, WebSocketDisconnect
|
||||
import asyncio
|
||||
|
||||
from unilabos.app.controler import devices, job_add, job_info
|
||||
from unilabos.app.model import (
|
||||
Resp,
|
||||
RespCode,
|
||||
JobStatusResp,
|
||||
JobAddResp,
|
||||
JobAddReq,
|
||||
JobStepFinishReq,
|
||||
JobPreintakeFinishReq,
|
||||
JobFinishReq,
|
||||
)
|
||||
from unilabos.web.utils.host_utils import get_host_node_info
|
||||
|
||||
# 创建API路由器
|
||||
api = APIRouter()
|
||||
admin = APIRouter()
|
||||
|
||||
# 存储所有活动的WebSocket连接
|
||||
active_connections: set[WebSocket] = set()
|
||||
|
||||
|
||||
async def broadcast_device_status():
|
||||
"""广播设备状态到所有连接的客户端"""
|
||||
while True:
|
||||
try:
|
||||
# 获取最新的设备状态
|
||||
host_info = get_host_node_info()
|
||||
if host_info["available"]:
|
||||
# 准备要发送的数据
|
||||
status_data = {
|
||||
"type": "device_status",
|
||||
"data": {
|
||||
"device_status": host_info["device_status"],
|
||||
"device_status_timestamps": host_info["device_status_timestamps"],
|
||||
},
|
||||
}
|
||||
# 发送到所有连接的客户端
|
||||
for connection in active_connections:
|
||||
try:
|
||||
await connection.send_json(status_data)
|
||||
except Exception as e:
|
||||
print(f"Error sending to client: {e}")
|
||||
active_connections.remove(connection)
|
||||
await asyncio.sleep(1) # 每秒更新一次
|
||||
except Exception as e:
|
||||
print(f"Error in broadcast: {e}")
|
||||
await asyncio.sleep(1)
|
||||
|
||||
|
||||
@api.websocket("/ws/device_status")
|
||||
async def websocket_device_status(websocket: WebSocket):
|
||||
"""WebSocket端点，用于实时获取设备状态"""
|
||||
await websocket.accept()
|
||||
active_connections.add(websocket)
|
||||
try:
|
||||
while True:
|
||||
# 保持连接活跃
|
||||
await websocket.receive_text()
|
||||
except WebSocketDisconnect:
|
||||
active_connections.remove(websocket)
|
||||
except Exception as e:
|
||||
print(f"WebSocket error: {e}")
|
||||
active_connections.remove(websocket)
|
||||
|
||||
|
||||
@api.get("/resources", summary="Resource list", response_model=Resp)
|
||||
def get_resources():
|
||||
"""获取资源列表"""
|
||||
isok, data = devices()
|
||||
if not isok:
|
||||
return Resp(code=RespCode.ErrorHostNotInit, message=str(data))
|
||||
|
||||
return Resp(data=dict(data))
|
||||
|
||||
|
||||
@api.get("/repository", summary="Raw Material list", response_model=Resp)
|
||||
def get_raw_material():
|
||||
"""获取原材料列表"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@api.post("/repository", summary="Raw Material set", response_model=Resp)
|
||||
def post_raw_material():
|
||||
"""设置原材料"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@api.get("/devices", summary="Device list", response_model=Resp)
|
||||
def get_devices():
|
||||
"""获取设备列表"""
|
||||
isok, data = devices()
|
||||
if not isok:
|
||||
return Resp(code=RespCode.ErrorHostNotInit, message=str(data))
|
||||
|
||||
return Resp(data=dict(data))
|
||||
|
||||
|
||||
@api.get("/devices/{id}/info", summary="Device info", response_model=Resp)
|
||||
def device_info(id: str):
|
||||
"""获取设备信息"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@api.get("/job/{id}/status", summary="Job status", response_model=JobStatusResp)
|
||||
def job_status(id: str):
|
||||
"""获取任务状态"""
|
||||
data = job_info(id)
|
||||
return JobStatusResp(data=data)
|
||||
|
||||
|
||||
@api.post("/job/add", summary="Create job", response_model=JobAddResp)
|
||||
def post_job_add(req: JobAddReq):
|
||||
"""创建任务"""
|
||||
device_id = req.device_id
|
||||
if not req.data:
|
||||
return Resp(code=RespCode.ErrorInvalidReq, message="Invalid request data")
|
||||
|
||||
req.device_id = device_id
|
||||
data = job_add(req)
|
||||
return JobAddResp(data=data)
|
||||
|
||||
|
||||
@api.post("/job/step_finish", summary="步骤完成推送", response_model=Resp)
|
||||
def callback_step_finish(req: JobStepFinishReq):
|
||||
"""任务步骤完成回调"""
|
||||
print(req)
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@api.post("/job/preintake_finish", summary="通量完成推送", response_model=Resp)
|
||||
def callback_preintake_finish(req: JobPreintakeFinishReq):
|
||||
"""通量完成回调"""
|
||||
print(req)
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@api.post("/job/finish", summary="完成推送", response_model=Resp)
|
||||
def callback_order_finish(req: JobFinishReq):
|
||||
"""任务完成回调"""
|
||||
print(req)
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@admin.get("/device_models", summary="Device model list", response_model=Resp)
|
||||
def admin_device_models():
|
||||
"""获取设备模型列表"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@admin.post("/device_model/add", summary="Add Device model", response_model=Resp)
|
||||
def admin_device_model_add():
|
||||
"""添加设备模型"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@admin.delete("/device_model/{id}", summary="Delete device model", response_model=Resp)
|
||||
def admin_device_model_del(id: str):
|
||||
"""删除设备模型"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@admin.get("/devices", summary="Device list", response_model=Resp)
|
||||
def admin_devices():
|
||||
"""获取设备列表(管理员)"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@admin.post("/devices/add", summary="Add Device", response_model=Resp)
|
||||
def admin_device_add():
|
||||
"""添加设备"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
@admin.delete("/devices/{id}", summary="Delete device", response_model=Resp)
|
||||
def admin_device_del(id: str):
|
||||
"""删除设备"""
|
||||
return Resp(data={})
|
||||
|
||||
|
||||
def setup_api_routes(app):
|
||||
"""设置API路由"""
|
||||
app.include_router(admin, prefix="/admin/v1", tags=["admin"])
|
||||
app.include_router(api, prefix="/api/v1", tags=["api"])
|
||||
|
||||
# 启动广播任务
|
||||
@app.on_event("startup")
|
||||
async def startup_event():
|
||||
asyncio.create_task(broadcast_device_status())
|
||||
107
unilabos/web/client.py
Normal file
107
unilabos/web/client.py
Normal file
@@ -0,0 +1,107 @@
|
||||
"""
|
||||
HTTP客户端模块
|
||||
|
||||
提供与远程服务器通信的客户端功能，只有host需要用
|
||||
"""
|
||||
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
import requests
|
||||
from unilabos.utils.log import info
|
||||
from unilabos.config.config import MQConfig, HTTPConfig
|
||||
|
||||
|
||||
class HTTPClient:
|
||||
"""HTTP客户端，用于与远程服务器通信"""
|
||||
|
||||
def __init__(self, remote_addr: Optional[str] = None, auth: Optional[str] = None) -> None:
|
||||
"""
|
||||
初始化HTTP客户端
|
||||
|
||||
Args:
|
||||
remote_addr: 远程服务器地址，如果不提供则从配置中获取
|
||||
auth: 授权信息
|
||||
"""
|
||||
self.remote_addr = remote_addr or HTTPConfig.remote_addr
|
||||
if auth is not None:
|
||||
self.auth = auth
|
||||
else:
|
||||
self.auth = MQConfig.lab_id
|
||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||
|
||||
def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
Args:
|
||||
resources: 要添加的资源列表
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource/",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_get(self, id: str, with_children: bool = False) -> Dict[str, Any]:
|
||||
"""
|
||||
获取资源
|
||||
|
||||
Args:
|
||||
id: 资源ID
|
||||
with_children: 是否包含子资源
|
||||
|
||||
Returns:
|
||||
Dict: 返回的资源数据
|
||||
"""
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/resource/",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
)
|
||||
return response.json()
|
||||
|
||||
def resource_del(self, id: str) -> requests.Response:
|
||||
"""
|
||||
删除资源
|
||||
|
||||
Args:
|
||||
id: 要删除的资源ID
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.delete(
|
||||
f"{self.remote_addr}/lab/resource/batch_delete/",
|
||||
params={"id": id},
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_update(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
更新资源
|
||||
|
||||
Args:
|
||||
resources: 要更新的资源列表
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/resource/batch_update/",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=5,
|
||||
)
|
||||
return response
|
||||
|
||||
|
||||
# 创建默认客户端实例
|
||||
http_client = HTTPClient()
|
||||
184
unilabos/web/pages.py
Normal file
184
unilabos/web/pages.py
Normal file
@@ -0,0 +1,184 @@
|
||||
"""
|
||||
Web页面模块
|
||||
|
||||
提供系统Web界面的页面定义
|
||||
"""
|
||||
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import Dict
|
||||
|
||||
from fastapi import APIRouter, HTTPException
|
||||
from fastapi.responses import HTMLResponse, JSONResponse
|
||||
from jinja2 import Environment, FileSystemLoader
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.registry.registry import lab_registry
|
||||
from unilabos.app.mq import mqtt_client
|
||||
from unilabos.ros.msgs.message_converter import msg_converter_manager
|
||||
from unilabos.utils.log import error
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
from unilabos.web.utils.device_utils import get_registry_info
|
||||
from unilabos.web.utils.host_utils import get_host_node_info
|
||||
from unilabos.web.utils.ros_utils import get_ros_node_info, update_ros_node_info
|
||||
|
||||
# 设置Jinja2模板环境
|
||||
template_dir = Path(__file__).parent / "templates"
|
||||
env = Environment(loader=FileSystemLoader(template_dir))
|
||||
|
||||
|
||||
def setup_web_pages(router: APIRouter) -> None:
|
||||
"""
|
||||
设置Web页面路由
|
||||
|
||||
Args:
|
||||
router: FastAPI路由器实例
|
||||
"""
|
||||
# 在web服务启动时，尝试初始化ROS节点信息
|
||||
update_ros_node_info()
|
||||
|
||||
@router.get("/", response_class=HTMLResponse, summary="Home Page")
|
||||
async def home_page() -> str:
|
||||
"""
|
||||
首页，显示所有可用的API路由
|
||||
|
||||
Returns:
|
||||
HTMLResponse: 渲染后的HTML页面
|
||||
"""
|
||||
try:
|
||||
# 收集所有路由
|
||||
routes = []
|
||||
for route in router.routes:
|
||||
if hasattr(route, "methods") and hasattr(route, "path"):
|
||||
for method in list(getattr(route, "methods", [])):
|
||||
path = getattr(route, "path", "")
|
||||
# 只显示GET方法的路由作为链接
|
||||
if method == "GET":
|
||||
name = getattr(route, "name", "") or path
|
||||
summary = getattr(route, "summary", "") or name
|
||||
routes.append({"method": method, "path": path, "name": name, "summary": summary})
|
||||
|
||||
# 使用模板渲染页面
|
||||
template = env.get_template("home.html")
|
||||
html = template.render(routes=routes)
|
||||
|
||||
return html
|
||||
except Exception as e:
|
||||
error(f"生成主页时出错: {str(e)}")
|
||||
raise HTTPException(status_code=500, detail=f"Error generating home page: {str(e)}")
|
||||
|
||||
@router.get("/status", response_class=HTMLResponse, summary="System Status")
|
||||
async def status_page() -> str:
|
||||
"""
|
||||
状态页面，显示系统状态信息
|
||||
|
||||
Returns:
|
||||
HTMLResponse: 渲染后的HTML页面
|
||||
"""
|
||||
try:
|
||||
# 准备设备数据
|
||||
devices = []
|
||||
resources = []
|
||||
modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
|
||||
|
||||
# 获取在线设备信息
|
||||
ros_node_info = get_ros_node_info()
|
||||
# 获取主机节点信息
|
||||
host_node_info = get_host_node_info()
|
||||
# 获取Registry路径信息
|
||||
registry_info = get_registry_info()
|
||||
|
||||
# 获取已加载的设备
|
||||
if lab_registry:
|
||||
# 设备类型
|
||||
for device_id, device_info in lab_registry.device_type_registry.items():
|
||||
msg = {
|
||||
"id": device_id,
|
||||
"name": device_info.get("name", "未命名"),
|
||||
"file_path": device_info.get("file_path", ""),
|
||||
"class_json": json.dumps(
|
||||
device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
|
||||
),
|
||||
}
|
||||
mqtt_client.publish_registry(device_id, device_info)
|
||||
devices.append(msg)
|
||||
|
||||
# 资源类型
|
||||
for resource_id, resource_info in lab_registry.resource_type_registry.items():
|
||||
resources.append(
|
||||
{
|
||||
"id": resource_id,
|
||||
"name": resource_info.get("name", "未命名"),
|
||||
"file_path": resource_info.get("file_path", ""),
|
||||
}
|
||||
)
|
||||
|
||||
# 获取导入的模块
|
||||
if msg_converter_manager:
|
||||
modules["names"] = msg_converter_manager.list_modules()
|
||||
all_classes = [i for i in msg_converter_manager.list_classes() if "." in i]
|
||||
modules["total_count"] = len(all_classes)
|
||||
modules["classes"] = all_classes
|
||||
|
||||
# 使用模板渲染页面
|
||||
template = env.get_template("status.html")
|
||||
html = template.render(
|
||||
devices=devices,
|
||||
resources=resources,
|
||||
modules=modules,
|
||||
is_host_mode=BasicConfig.is_host_mode,
|
||||
registry_info=registry_info,
|
||||
ros_node_info=ros_node_info,
|
||||
host_node_info=host_node_info,
|
||||
)
|
||||
|
||||
return html
|
||||
except Exception as e:
|
||||
error(f"生成状态页面时出错: {str(e)}")
|
||||
raise HTTPException(status_code=500, detail=f"Error generating status page: {str(e)}")
|
||||
|
||||
@router.get("/open-folder", response_class=JSONResponse, summary="Open Local Folder")
|
||||
async def open_folder(path: str = "") -> Dict[str, str]:
|
||||
"""
|
||||
打开本地文件夹
|
||||
|
||||
Args:
|
||||
path: 要打开的文件夹路径
|
||||
|
||||
Returns:
|
||||
JSONResponse: 操作结果
|
||||
|
||||
Raises:
|
||||
HTTPException: 如果路径为空或不存在
|
||||
"""
|
||||
if not path:
|
||||
return {"status": "error", "message": "Path is empty"}
|
||||
|
||||
try:
|
||||
# 规范化路径
|
||||
norm_path = os.path.normpath(path)
|
||||
|
||||
# 如果是文件路径，获取其目录
|
||||
if os.path.isfile(norm_path):
|
||||
norm_path = os.path.dirname(norm_path)
|
||||
|
||||
# 检查路径是否存在
|
||||
if not os.path.exists(norm_path):
|
||||
return {"status": "error", "message": f"Path does not exist: {norm_path}"}
|
||||
|
||||
# Windows
|
||||
if os.name == "nt":
|
||||
os.startfile(norm_path)
|
||||
# macOS
|
||||
elif sys.platform == "darwin":
|
||||
os.system(f'open "{norm_path}"')
|
||||
# Linux
|
||||
else:
|
||||
os.system(f'xdg-open "{norm_path}"')
|
||||
|
||||
return {"status": "success", "message": f"Opened folder: {norm_path}"}
|
||||
except Exception as e:
|
||||
error(f"打开文件夹时出错: {str(e)}")
|
||||
return {"status": "error", "message": f"Failed to open folder: {str(e)}"}
|
||||
131
unilabos/web/server.py
Normal file
131
unilabos/web/server.py
Normal file
@@ -0,0 +1,131 @@
|
||||
"""
|
||||
Web服务器模块
|
||||
|
||||
提供Web服务器功能，网页信息服务 + mqtt代替
|
||||
"""
|
||||
|
||||
import webbrowser
|
||||
|
||||
import uvicorn
|
||||
from fastapi import FastAPI, Request
|
||||
from fastapi.middleware.cors import CORSMiddleware
|
||||
from starlette.responses import Response
|
||||
|
||||
from unilabos.utils.fastapi.log_adapter import setup_fastapi_logging
|
||||
from unilabos.utils.log import info, error
|
||||
from unilabos.web.api import setup_api_routes
|
||||
from unilabos.web.pages import setup_web_pages
|
||||
|
||||
# 创建FastAPI应用
|
||||
app = FastAPI(
|
||||
title="UniLab API",
|
||||
description="UniLab API Service",
|
||||
docs_url="/api/docs",
|
||||
redoc_url="/api/redoc",
|
||||
openapi_url="/api/openapi.json",
|
||||
)
|
||||
|
||||
# 创建页面路由
|
||||
pages = None
|
||||
|
||||
# noinspection PyTypeChecker
|
||||
app.add_middleware(
|
||||
CORSMiddleware,
|
||||
allow_origins=["*"],
|
||||
allow_credentials=True,
|
||||
allow_methods=["GET", "POST", "PUT", "DELETE", "PATCH", "OPTIONS"],
|
||||
allow_headers=["Authorization", "Content-Type", "Accept"],
|
||||
)
|
||||
|
||||
|
||||
@app.middleware("http")
|
||||
async def log_requests(request: Request, call_next) -> Response:
|
||||
"""
|
||||
记录HTTP请求日志的中间件
|
||||
|
||||
Args:
|
||||
request: 当前HTTP请求对象
|
||||
call_next: 下一个处理函数
|
||||
|
||||
Returns:
|
||||
Response: HTTP响应对象
|
||||
"""
|
||||
# # 打印请求信息
|
||||
# info(f"[Web] Request: {request.method} {request.url}", stack_level=1)
|
||||
# debug(f"[Web] Headers: {request.headers}", stack_level=1)
|
||||
#
|
||||
# # 使用日志模块记录请求体（如果需要）
|
||||
# body = await request.body()
|
||||
# if body:
|
||||
# debug(f"[Web] Body: {body}", stack_level=1)
|
||||
|
||||
# 调用下一个中间件或路由处理函数
|
||||
response = await call_next(request)
|
||||
|
||||
# # 打印响应信息
|
||||
# info(f"[Web] Response status: {response.status_code}", stack_level=1)
|
||||
|
||||
return response
|
||||
|
||||
|
||||
def setup_server() -> FastAPI:
|
||||
"""
|
||||
设置服务器
|
||||
|
||||
Returns:
|
||||
FastAPI: 配置好的FastAPI应用实例
|
||||
"""
|
||||
global pages
|
||||
|
||||
# 创建页面路由
|
||||
if pages is None:
|
||||
pages = app.router
|
||||
|
||||
# 设置API路由
|
||||
setup_api_routes(app)
|
||||
|
||||
# 设置页面路由
|
||||
try:
|
||||
setup_web_pages(pages)
|
||||
info("[Web] 已加载Web UI模块")
|
||||
except ImportError as e:
|
||||
info(f"[Web] 未找到Web页面模块: {str(e)}")
|
||||
except Exception as e:
|
||||
error(f"[Web] 加载Web页面模块时出错: {str(e)}")
|
||||
|
||||
return app
|
||||
|
||||
|
||||
def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = True) -> None:
|
||||
"""
|
||||
启动服务器
|
||||
|
||||
Args:
|
||||
host: 服务器主机
|
||||
port: 服务器端口
|
||||
open_browser: 是否自动打开浏览器
|
||||
"""
|
||||
# 设置服务器
|
||||
setup_server()
|
||||
|
||||
# 配置日志
|
||||
log_config = setup_fastapi_logging()
|
||||
|
||||
# 启动前打开浏览器
|
||||
if open_browser:
|
||||
# noinspection HttpUrlsUsage
|
||||
url = f"http://{host if host != '0.0.0.0' else 'localhost'}:{port}/status"
|
||||
info(f"[Web] 正在打开浏览器访问: {url}")
|
||||
try:
|
||||
webbrowser.open(url)
|
||||
except Exception as e:
|
||||
error(f"[Web] 无法打开浏览器: {str(e)}")
|
||||
|
||||
# 启动服务器
|
||||
info(f"[Web] 启动FastAPI服务器: {host}:{port}")
|
||||
uvicorn.run(app, host=host, port=port, log_config=log_config)
|
||||
|
||||
|
||||
# 当脚本直接运行时启动服务器
|
||||
if __name__ == "__main__":
|
||||
start_server()
|
||||
509
unilabos/web/static/styles.css
Normal file
509
unilabos/web/static/styles.css
Normal file
@@ -0,0 +1,509 @@
|
||||
/* 基础样式 */
|
||||
body {
|
||||
font-family: 'Segoe UI', Tahoma, Geneva, Verdana, sans-serif;
|
||||
line-height: 1.6;
|
||||
color: #333;
|
||||
background: #f5f5f5;
|
||||
margin: 0;
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
/* 系统模式样式 */
|
||||
.system-mode-banner {
|
||||
background: #f0f8ff;
|
||||
padding: 8px 15px;
|
||||
margin-bottom: 10px;
|
||||
border-radius: 4px;
|
||||
box-shadow: 0 1px 3px rgba(0, 0, 0, 0.1);
|
||||
}
|
||||
|
||||
.mode-indicator {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: space-between;
|
||||
padding: 5px 10px;
|
||||
border-radius: 3px;
|
||||
font-size: 14px;
|
||||
}
|
||||
|
||||
.mode-indicator.host-mode {
|
||||
background-color: #e6f7ff;
|
||||
border-left: 4px solid #1890ff;
|
||||
color: #0050b3;
|
||||
}
|
||||
|
||||
.mode-indicator.slave-mode {
|
||||
background-color: #fff7e6;
|
||||
border-left: 4px solid #fa8c16;
|
||||
color: #873800;
|
||||
}
|
||||
|
||||
.mode-detail {
|
||||
font-size: 12px;
|
||||
opacity: 0.8;
|
||||
}
|
||||
|
||||
.container {
|
||||
max-width: 1200px;
|
||||
margin: 0 auto;
|
||||
padding: 20px;
|
||||
}
|
||||
|
||||
header {
|
||||
background: #2c3e50;
|
||||
color: white;
|
||||
padding: 20px;
|
||||
text-align: center;
|
||||
margin-bottom: 20px;
|
||||
border-radius: 5px;
|
||||
}
|
||||
|
||||
header h1 {
|
||||
margin: 0;
|
||||
font-size: 24px;
|
||||
}
|
||||
|
||||
.card {
|
||||
background: white;
|
||||
border-radius: 5px;
|
||||
box-shadow: 0 2px 5px rgba(0, 0, 0, 0.1);
|
||||
margin-bottom: 20px;
|
||||
overflow: hidden;
|
||||
padding: 20px;
|
||||
}
|
||||
|
||||
.card h2 {
|
||||
color: #2c3e50;
|
||||
margin-top: 0;
|
||||
padding-bottom: 10px;
|
||||
border-bottom: 1px solid #eee;
|
||||
}
|
||||
|
||||
/* 表格样式 */
|
||||
.responsive-table {
|
||||
width: 100%;
|
||||
border-collapse: collapse;
|
||||
margin-bottom: 1rem;
|
||||
}
|
||||
|
||||
.responsive-table th,
|
||||
.responsive-table td {
|
||||
padding: 10px;
|
||||
text-align: left;
|
||||
border-bottom: 1px solid #ddd;
|
||||
}
|
||||
|
||||
.responsive-table th {
|
||||
background-color: #f8f9fa;
|
||||
font-weight: 600;
|
||||
}
|
||||
|
||||
.collapsible-row {
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
.collapsible-row:hover {
|
||||
background-color: #f1f8ff;
|
||||
}
|
||||
|
||||
.collapsible-row.active {
|
||||
background-color: #e6f7ff;
|
||||
border-bottom: none;
|
||||
}
|
||||
|
||||
.detail-row td {
|
||||
background-color: #f9f9f9;
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
.detail-row .content-full {
|
||||
padding: 15px;
|
||||
}
|
||||
|
||||
.toggle-indicator,
|
||||
.toggle-sub-indicator {
|
||||
float: right;
|
||||
color: #999;
|
||||
transition: transform 0.2s;
|
||||
}
|
||||
|
||||
.collapsible-row.active .toggle-indicator {
|
||||
transform: rotate(180deg);
|
||||
}
|
||||
|
||||
/* 主题样式 */
|
||||
.topics-container {
|
||||
max-height: 300px;
|
||||
overflow-y: auto;
|
||||
border: 1px solid #eee;
|
||||
border-radius: 4px;
|
||||
background: #fcfcfc;
|
||||
}
|
||||
|
||||
.topics-list {
|
||||
display: flex;
|
||||
flex-wrap: wrap;
|
||||
padding: 10px;
|
||||
}
|
||||
|
||||
.topic-item {
|
||||
background: #f0f7ff;
|
||||
border-radius: 4px;
|
||||
margin: 5px;
|
||||
padding: 5px 10px;
|
||||
font-size: 13px;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
border: 1px solid #d6e8ff;
|
||||
}
|
||||
|
||||
.topic-name {
|
||||
margin-right: 8px;
|
||||
white-space: nowrap;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
max-width: 280px;
|
||||
}
|
||||
|
||||
/* 计数徽章 */
|
||||
.count-badge {
|
||||
background: #e6f7ff;
|
||||
color: #1890ff;
|
||||
border-radius: 10px;
|
||||
padding: 2px 8px;
|
||||
font-size: 12px;
|
||||
font-weight: normal;
|
||||
margin-left: 5px;
|
||||
}
|
||||
|
||||
/* 主机节点区域 */
|
||||
.host-section {
|
||||
margin-bottom: 20px;
|
||||
padding-bottom: 15px;
|
||||
border-bottom: 1px dashed #eee;
|
||||
}
|
||||
|
||||
.host-section:last-child {
|
||||
border-bottom: none;
|
||||
margin-bottom: 0;
|
||||
}
|
||||
|
||||
.host-section h3 {
|
||||
color: #1890ff;
|
||||
font-size: 1.1em;
|
||||
margin-bottom: 10px;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
/* 状态徽章 */
|
||||
.status-badge {
|
||||
display: inline-block;
|
||||
padding: 3px 8px;
|
||||
border-radius: 3px;
|
||||
font-size: 12px;
|
||||
font-weight: 500;
|
||||
}
|
||||
|
||||
.status-badge.online {
|
||||
background-color: #e6ffec;
|
||||
color: #52c41a;
|
||||
border: 1px solid #b7eb8f;
|
||||
}
|
||||
|
||||
.status-badge.offline {
|
||||
background-color: #fff1f0;
|
||||
color: #f5222d;
|
||||
border: 1px solid #ffa39e;
|
||||
}
|
||||
|
||||
.status-badge.ready {
|
||||
background-color: #e6ffec;
|
||||
color: #52c41a;
|
||||
border: 1px solid #b7eb8f;
|
||||
}
|
||||
|
||||
.status-badge.not-ready {
|
||||
background-color: #fff7e6;
|
||||
color: #fa8c16;
|
||||
border: 1px solid #ffd591;
|
||||
}
|
||||
|
||||
/* 空状态提示 */
|
||||
.empty-state {
|
||||
text-align: center;
|
||||
padding: 20px;
|
||||
color: #999;
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
/* 内部表格 */
|
||||
.inner-table {
|
||||
width: 100%;
|
||||
border-collapse: collapse;
|
||||
margin: 10px 0;
|
||||
}
|
||||
|
||||
.inner-table th,
|
||||
.inner-table td {
|
||||
padding: 8px;
|
||||
border: 1px solid #eee;
|
||||
font-size: 0.9em;
|
||||
}
|
||||
|
||||
.inner-table th {
|
||||
background-color: #f8f9fa;
|
||||
font-weight: 600;
|
||||
}
|
||||
|
||||
.topic-row,
|
||||
.action-row {
|
||||
cursor: pointer;
|
||||
}
|
||||
|
||||
.topic-row:hover,
|
||||
.action-row:hover {
|
||||
background-color: #f1f8ff;
|
||||
}
|
||||
|
||||
.cmd-row td {
|
||||
padding: 0;
|
||||
}
|
||||
|
||||
.cmd-block {
|
||||
background-color: #f5f5f5;
|
||||
padding: 10px 15px;
|
||||
border-radius: 3px;
|
||||
margin: 5px 0;
|
||||
}
|
||||
|
||||
.cmd-line {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
margin: 10px 0;
|
||||
}
|
||||
|
||||
.cmd-line pre {
|
||||
flex: 1;
|
||||
background-color: #f1f1f1;
|
||||
padding: 8px;
|
||||
border-radius: 3px;
|
||||
overflow-x: auto;
|
||||
font-size: 13px;
|
||||
margin: 0;
|
||||
margin-right: 10px;
|
||||
}
|
||||
|
||||
.copy-btn {
|
||||
background-color: #1890ff;
|
||||
color: white;
|
||||
border: none;
|
||||
padding: 5px 10px;
|
||||
border-radius: 3px;
|
||||
cursor: pointer;
|
||||
font-size: 12px;
|
||||
transition: background-color 0.2s;
|
||||
}
|
||||
|
||||
.copy-btn:hover {
|
||||
background-color: #096dd9;
|
||||
}
|
||||
|
||||
.copy-btn.small {
|
||||
padding: 2px 6px;
|
||||
font-size: 11px;
|
||||
}
|
||||
|
||||
.copy-btn.copy-success {
|
||||
background-color: #52c41a;
|
||||
}
|
||||
|
||||
.goal-tip {
|
||||
font-size: 12px;
|
||||
color: #888;
|
||||
margin: 5px 0 0 0;
|
||||
font-style: italic;
|
||||
}
|
||||
|
||||
/* 文件路径样式 */
|
||||
.file-path {
|
||||
position: relative;
|
||||
max-width: 300px;
|
||||
white-space: nowrap;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
}
|
||||
|
||||
.folder-link {
|
||||
cursor: pointer;
|
||||
margin-left: 8px;
|
||||
color: #1890ff;
|
||||
}
|
||||
|
||||
.folder-link:hover {
|
||||
color: #096dd9;
|
||||
}
|
||||
|
||||
/* 注册表路径样式 */
|
||||
.registry-info {
|
||||
background-color: #f9f9f9;
|
||||
padding: 15px;
|
||||
border-radius: 5px;
|
||||
margin-bottom: 20px;
|
||||
font-size: 0.9em;
|
||||
}
|
||||
|
||||
.registry-path {
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
.registry-path:last-child {
|
||||
margin-bottom: 0;
|
||||
}
|
||||
|
||||
.path-list {
|
||||
list-style: none;
|
||||
padding-left: 10px;
|
||||
margin: 5px 0;
|
||||
}
|
||||
|
||||
.path-list li {
|
||||
margin-bottom: 5px;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
}
|
||||
|
||||
.path {
|
||||
flex: 1;
|
||||
overflow: hidden;
|
||||
text-overflow: ellipsis;
|
||||
white-space: nowrap;
|
||||
}
|
||||
|
||||
/* 导航标签 */
|
||||
.nav-tabs {
|
||||
display: flex;
|
||||
margin-bottom: 20px;
|
||||
border-bottom: 1px solid #ddd;
|
||||
overflow-x: auto;
|
||||
white-space: nowrap;
|
||||
padding-bottom: 1px;
|
||||
}
|
||||
|
||||
.nav-tab {
|
||||
padding: 8px 16px;
|
||||
color: #666;
|
||||
text-decoration: none;
|
||||
margin-right: 2px;
|
||||
background-color: #f8f9fa;
|
||||
border: 1px solid #ddd;
|
||||
border-bottom: none;
|
||||
border-radius: 4px 4px 0 0;
|
||||
transition: all 0.2s;
|
||||
}
|
||||
|
||||
.nav-tab:hover {
|
||||
background-color: #e9ecef;
|
||||
color: #333;
|
||||
}
|
||||
|
||||
.nav-tab:active {
|
||||
background-color: #fff;
|
||||
border-bottom: 1px solid white;
|
||||
margin-bottom: -1px;
|
||||
color: #1890ff;
|
||||
}
|
||||
|
||||
/* 调试按钮 */
|
||||
.debug-btn {
|
||||
background-color: #e8e8e8;
|
||||
color: #666;
|
||||
border: none;
|
||||
padding: 5px 10px;
|
||||
border-radius: 3px;
|
||||
cursor: pointer;
|
||||
font-size: 12px;
|
||||
margin-left: 5px;
|
||||
transition: background-color 0.2s;
|
||||
}
|
||||
|
||||
.debug-btn:hover {
|
||||
background-color: #d9d9d9;
|
||||
}
|
||||
|
||||
.debug-info {
|
||||
margin-top: 10px;
|
||||
background-color: #fafafa;
|
||||
border: 1px solid #eee;
|
||||
padding: 10px;
|
||||
border-radius: 3px;
|
||||
font-size: 12px;
|
||||
overflow: auto;
|
||||
max-height: 200px;
|
||||
}
|
||||
|
||||
/* 返回顶部按钮 */
|
||||
#back-to-top {
|
||||
display: none;
|
||||
position: fixed;
|
||||
bottom: 20px;
|
||||
right: 20px;
|
||||
background-color: #1890ff;
|
||||
color: white;
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
border-radius: 50%;
|
||||
text-align: center;
|
||||
line-height: 40px;
|
||||
font-size: 20px;
|
||||
cursor: pointer;
|
||||
border: none;
|
||||
box-shadow: 0 2px 8px rgba(0, 0, 0, 0.2);
|
||||
z-index: 1000;
|
||||
transition: all 0.3s;
|
||||
}
|
||||
|
||||
#back-to-top:hover {
|
||||
background-color: #096dd9;
|
||||
transform: translateY(-3px);
|
||||
}
|
||||
|
||||
/* 响应式设计 */
|
||||
@media (max-width: 768px) {
|
||||
.responsive-table {
|
||||
display: block;
|
||||
overflow-x: auto;
|
||||
}
|
||||
|
||||
.card {
|
||||
padding: 15px;
|
||||
}
|
||||
|
||||
.cmd-line {
|
||||
flex-direction: column;
|
||||
align-items: stretch;
|
||||
}
|
||||
|
||||
.cmd-line pre {
|
||||
margin-right: 0;
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
.topics-list {
|
||||
flex-direction: column;
|
||||
}
|
||||
|
||||
.topic-item {
|
||||
width: 100%;
|
||||
box-sizing: border-box;
|
||||
}
|
||||
|
||||
.nav-tabs {
|
||||
overflow-x: auto;
|
||||
flex-wrap: nowrap;
|
||||
}
|
||||
|
||||
.nav-tab {
|
||||
flex: 0 0 auto;
|
||||
}
|
||||
}
|
||||
172
unilabos/web/templates/base.html
Normal file
172
unilabos/web/templates/base.html
Normal file
@@ -0,0 +1,172 @@
|
||||
<!DOCTYPE html>
|
||||
<html>
|
||||
<head>
|
||||
<title>{% block title %}UniLab{% endblock %}</title>
|
||||
<style>
|
||||
body { font-family: Arial, sans-serif; margin: 0; padding: 20px; }
|
||||
h1, h2, h3 { color: #333; }
|
||||
.card { background: #f5f5f5; border-radius: 5px; padding: 15px; margin-bottom: 15px; }
|
||||
table { width: 100%; border-collapse: collapse; }
|
||||
th, td { padding: 8px; text-align: left; border-bottom: 1px solid #ddd; }
|
||||
th { background-color: #f2f2f2; }
|
||||
tr:hover { background-color: #f5f5f5; }
|
||||
.folder-link { color: #4CAF50; cursor: pointer; margin-left: 5px; }
|
||||
a { color: #2196F3; text-decoration: none; }
|
||||
a:hover { text-decoration: underline; }
|
||||
.home-link { display: block; background: #2196F3; color: white; padding: 10px 15px;
|
||||
border-radius: 4px; margin: 20px 0; text-align: center; }
|
||||
.status-link { display: block; background: #4CAF50; color: white; padding: 10px 15px;
|
||||
border-radius: 4px; margin: 20px 0; text-align: center; }
|
||||
.endpoint { margin-bottom: 10px; padding: 10px; background: #fff; border-radius: 3px;
|
||||
border-left: 4px solid #2196F3; }
|
||||
.method { font-weight: bold; color: #2196F3; }
|
||||
|
||||
/* 折叠面板样式 */
|
||||
.collapsible { background-color: #f8f8f8; cursor: pointer; padding: 10px;
|
||||
border: none; text-align: left; outline: none; margin-bottom: 1px;
|
||||
font-weight: bold; color: #2196F3; width: 100%; border-radius: 4px; }
|
||||
.active, .collapsible:hover { background-color: #e6f2ff; }
|
||||
.content { padding: 0 10px; max-height: 0; overflow: hidden;
|
||||
transition: max-height 0.2s ease-out; background-color: white; }
|
||||
.content pre { margin: 10px 0; white-space: pre-wrap; max-height: 400px; overflow: auto; }
|
||||
|
||||
/* 整行折叠样式 */
|
||||
.collapsible-row { transition: background-color 0.3s; }
|
||||
.collapsible-row:hover { background-color: #e6f2ff; }
|
||||
.collapsible-row.active { background-color: #e6f2ff; }
|
||||
.detail-row { background-color: #f8f8f8; }
|
||||
.content-full { padding: 15px; background-color: white; border-radius: 4px; }
|
||||
.content-full pre { margin: 0; white-space: pre-wrap; max-height: 400px; overflow: auto; }
|
||||
.toggle-info { color: #2196F3; font-weight: bold; }
|
||||
|
||||
/* Registry信息样式 */
|
||||
.registry-info {
|
||||
background-color: #e9f7fe;
|
||||
padding: 10px 15px;
|
||||
margin: 10px 0 20px 0;
|
||||
border-radius: 5px;
|
||||
border-left: 4px solid #2196F3;
|
||||
}
|
||||
.registry-path {
|
||||
margin: 10px 0;
|
||||
font-size: 0.9em;
|
||||
}
|
||||
.path {
|
||||
font-family: monospace;
|
||||
color: #555;
|
||||
}
|
||||
.path-list {
|
||||
margin: 5px 0;
|
||||
padding-left: 20px;
|
||||
list-style-type: none;
|
||||
}
|
||||
.path-list li {
|
||||
margin-bottom: 3px;
|
||||
padding: 3px 0;
|
||||
}
|
||||
|
||||
/* 导航标签样式 */
|
||||
.nav-tabs {
|
||||
display: flex;
|
||||
margin-bottom: 20px;
|
||||
border-bottom: 1px solid #ddd;
|
||||
padding-bottom: 10px;
|
||||
}
|
||||
.nav-tab {
|
||||
margin-right: 15px;
|
||||
padding: 8px 16px;
|
||||
background-color: #f8f9fa;
|
||||
border-radius: 4px;
|
||||
text-decoration: none;
|
||||
color: #555;
|
||||
transition: all 0.2s;
|
||||
}
|
||||
.nav-tab:hover {
|
||||
background-color: #e9ecef;
|
||||
color: #333;
|
||||
}
|
||||
|
||||
/* 在线状态样式 */
|
||||
.online-status {
|
||||
background-color: #d4edda;
|
||||
color: #155724;
|
||||
padding: 3px 8px;
|
||||
border-radius: 3px;
|
||||
font-size: 0.85em;
|
||||
}
|
||||
.offline-status {
|
||||
background-color: #f8d7da;
|
||||
color: #721c24;
|
||||
padding: 3px 8px;
|
||||
border-radius: 3px;
|
||||
font-size: 0.85em;
|
||||
}
|
||||
|
||||
/* 内部表格样式 */
|
||||
.inner-table {
|
||||
width: 100%;
|
||||
border-collapse: collapse;
|
||||
margin-bottom: 15px;
|
||||
font-size: 0.9em;
|
||||
}
|
||||
.inner-table th, .inner-table td {
|
||||
padding: 8px;
|
||||
text-align: left;
|
||||
border-bottom: 1px solid #ddd;
|
||||
}
|
||||
.inner-table th {
|
||||
background-color: #f8f9fa;
|
||||
font-weight: 600;
|
||||
}
|
||||
|
||||
/* 详情列表样式 */
|
||||
.detail-list {
|
||||
margin: 5px 0 15px 0;
|
||||
padding-left: 20px;
|
||||
}
|
||||
.detail-list li {
|
||||
margin-bottom: 8px;
|
||||
}
|
||||
|
||||
/* 返回顶部按钮 */
|
||||
#back-to-top {
|
||||
display: none;
|
||||
position: fixed;
|
||||
bottom: 20px;
|
||||
right: 30px;
|
||||
z-index: 99;
|
||||
border: none;
|
||||
outline: none;
|
||||
background-color: #2196F3;
|
||||
color: white;
|
||||
cursor: pointer;
|
||||
padding: 15px;
|
||||
border-radius: 50%;
|
||||
font-size: 18px;
|
||||
width: 50px;
|
||||
height: 50px;
|
||||
line-height: 20px;
|
||||
text-align: center;
|
||||
box-shadow: 0 4px 8px rgba(0,0,0,0.2);
|
||||
transition: all 0.3s;
|
||||
}
|
||||
#back-to-top:hover {
|
||||
background-color: #0b7dda;
|
||||
}
|
||||
|
||||
.file-path { font-family: monospace; font-size: 0.9em; color: #666; }
|
||||
.classes-count { color: #999; font-size: 0.9em; margin-left: 5px; }
|
||||
</style>
|
||||
{% block scripts %}{% endblock %}
|
||||
</head>
|
||||
<body>
|
||||
<h1>{% block header %}UniLab{% endblock %}</h1>
|
||||
{% block nav %}
|
||||
<a href="/unilabos/webtic" class="home-link">Home</a>
|
||||
{% endblock %}
|
||||
|
||||
{% block top_info %}{% endblock %}
|
||||
|
||||
{% block content %}{% endblock %}
|
||||
</body>
|
||||
</html>
|
||||
22
unilabos/web/templates/home.html
Normal file
22
unilabos/web/templates/home.html
Normal file
@@ -0,0 +1,22 @@
|
||||
{% extends "base.html" %}
|
||||
|
||||
{% block title %}UniLab API{% endblock %}
|
||||
|
||||
{% block header %}UniLab API{% endblock %}
|
||||
|
||||
{% block nav %}
|
||||
<a href="/status" class="status-link">System Status</a>
|
||||
{% endblock %}
|
||||
|
||||
{% block content %}
|
||||
<div class="card">
|
||||
<h2>Available Endpoints</h2>
|
||||
{% for route in routes %}
|
||||
<div class="endpoint">
|
||||
<span class="method">{{ route.method }}</span>
|
||||
<a href="{{ route.path }}">{{ route.path }}</a>
|
||||
<p>{{ route.summary }}</p>
|
||||
</div>
|
||||
{% endfor %}
|
||||
</div>
|
||||
{% endblock %}
|
||||
1241
unilabos/web/templates/status.html
Normal file
1241
unilabos/web/templates/status.html
Normal file
File diff suppressed because it is too large
Load Diff
0
unilabos/web/utils/__init__.py
Normal file
0
unilabos/web/utils/__init__.py
Normal file
360
unilabos/web/utils/action_utils.py
Normal file
360
unilabos/web/utils/action_utils.py
Normal file
@@ -0,0 +1,360 @@
|
||||
"""
|
||||
Action 工具函数模块
|
||||
|
||||
提供处理 ROS Action 相关的辅助函数
|
||||
"""
|
||||
|
||||
import traceback
|
||||
from typing import Dict, Any, Type, TypedDict, Optional
|
||||
|
||||
from rclpy.action import ActionClient, ActionServer
|
||||
from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType
|
||||
|
||||
from unilabos.ros.msgs.message_converter import msg_converter_manager
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
class ActionInfoType(TypedDict):
|
||||
type_name: str
|
||||
type_name_convert: str
|
||||
action_path: str
|
||||
goal_info: str
|
||||
|
||||
|
||||
def get_action_info(
|
||||
v: ActionClient | ActionServer, name: Optional[str] = None, full_name: Optional[str] = None
|
||||
) -> ActionInfoType:
|
||||
# noinspection PyProtectedMember
|
||||
n: BaseROS2DeviceNode = v._node
|
||||
if full_name is None:
|
||||
assert name is not None
|
||||
full_name = n.namespace + "/" + name
|
||||
# noinspection PyProtectedMember
|
||||
return {
|
||||
"type_name": v._action_type.__module__ + "." + v._action_type.__name__,
|
||||
"type_name_convert": (v._action_type.__module__ + "." + v._action_type.__name__).replace(".", "/"),
|
||||
"action_path": full_name,
|
||||
"goal_info": get_yaml_from_goal_type(v._action_type.Goal),
|
||||
}
|
||||
|
||||
|
||||
def get_ros_msg_instance_as_dict(ros_msg_instance):
|
||||
full_dict = {}
|
||||
lower_dir = {i.lower(): i for i in dir(ros_msg_instance)}
|
||||
for k in dir(ros_msg_instance):
|
||||
if k == "SLOT_TYPES" or k.startswith("_") or k.endswith("__DEFAULT") or k in ["get_fields_and_field_types"]:
|
||||
continue
|
||||
v = getattr(ros_msg_instance, k)
|
||||
if f"{k.lower()}__default" in lower_dir:
|
||||
v_default = getattr(ros_msg_instance, lower_dir[f"{k.lower()}__default"])
|
||||
v = v_default
|
||||
if isinstance(v, (str, int, float, list, dict)):
|
||||
full_dict[k] = v
|
||||
else:
|
||||
full_dict[k] = get_ros_msg_instance_as_dict(v)
|
||||
return full_dict
|
||||
|
||||
|
||||
def get_yaml_from_goal_type(goal_type) -> str:
|
||||
"""从Goal类型对象中生成默认YAML格式字符串
|
||||
|
||||
Args:
|
||||
goal_type: Goal类型对象
|
||||
|
||||
Returns:
|
||||
str: 默认Goal参数的YAML格式字符串
|
||||
"""
|
||||
if not goal_type:
|
||||
return "{}"
|
||||
|
||||
goal_dict = {}
|
||||
slot_type = None
|
||||
try:
|
||||
for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
|
||||
slot_name, slot_type = slot_info
|
||||
type_info = goal_type.SLOT_TYPES[ind]
|
||||
default_value = "unknown"
|
||||
if isinstance(type_info, UnboundedSequence):
|
||||
inner_type = type_info.value_type
|
||||
if isinstance(inner_type, NamespacedType):
|
||||
cls_name = ".".join(inner_type.namespaces) + ":" + inner_type.name
|
||||
type_class = msg_converter_manager.get_class(cls_name)
|
||||
default_value = [get_ros_msg_instance_as_dict(type_class())]
|
||||
elif isinstance(inner_type, BasicType):
|
||||
default_value = [get_default_value_for_ros_type(inner_type.typename)]
|
||||
else:
|
||||
default_value = "unknown"
|
||||
elif isinstance(type_info, NamespacedType):
|
||||
cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
|
||||
type_class = msg_converter_manager.get_class(cls_name)
|
||||
if type_class is None:
|
||||
print("type_class", type_class, cls_name)
|
||||
default_value = get_ros_msg_instance_as_dict(type_class())
|
||||
elif isinstance(type_info, BasicType):
|
||||
default_value = get_default_value_for_ros_type(type_info.typename)
|
||||
else:
|
||||
type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
|
||||
if type_class is not None:
|
||||
default_value = type_class().data
|
||||
else:
|
||||
default_value = "unknown"
|
||||
goal_dict[slot_name] = default_value
|
||||
except Exception as e:
|
||||
logger.error(f"获取Goal字段 {slot_type} 信息时出错: {e}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
# 将字典转换为YAML格式字符串
|
||||
yaml_str = "{"
|
||||
|
||||
# 每个字段转换为YAML格式
|
||||
yaml_parts = []
|
||||
for key, value in goal_dict.items():
|
||||
if isinstance(value, str):
|
||||
yaml_parts.append(f"{key}: '{value}'")
|
||||
elif isinstance(value, bool):
|
||||
yaml_parts.append(f"{key}: {str(value).lower()}")
|
||||
elif isinstance(value, (int, float)):
|
||||
yaml_parts.append(f"{key}: {value}")
|
||||
elif isinstance(value, dict) and not value:
|
||||
yaml_parts.append(f"{key}: {{}}")
|
||||
else:
|
||||
yaml_parts.append(f"{key}: {value}")
|
||||
|
||||
yaml_str += ", ".join(yaml_parts) + "}"
|
||||
|
||||
return yaml_str
|
||||
|
||||
|
||||
"""旧版本函数"""
|
||||
|
||||
|
||||
def get_default_value_for_ros_type(type_hint_or_str: Any) -> Any:
|
||||
"""生成基于ROS类型提示或字符串的默认值
|
||||
|
||||
根据ROS2类型定义，生成适当的默认值。支持基本类型、数组类型和嵌套消息类型。
|
||||
|
||||
Args:
|
||||
type_hint_or_str: ROS2类型提示或类型名称字符串
|
||||
|
||||
Returns:
|
||||
Any: 对应类型的默认值
|
||||
"""
|
||||
# 处理None或无效输入
|
||||
if type_hint_or_str is None:
|
||||
return None
|
||||
|
||||
# 基本类型映射
|
||||
type_str = str(type_hint_or_str).lower() # 使用字符串表示
|
||||
|
||||
# 处理常见基本类型
|
||||
if "int" in type_str:
|
||||
return 0
|
||||
if "float" in type_str or "double" in type_str:
|
||||
return 0.0
|
||||
if "bool" in type_str:
|
||||
return False
|
||||
if "string" in type_str:
|
||||
return ""
|
||||
if "byte" in type_str or "char" in type_str:
|
||||
return 0 # 用整数表示
|
||||
if "time" == type_str or "duration" == type_str:
|
||||
return {"sec": 0, "nanosec": 0}
|
||||
|
||||
# 处理数组 - 返回空列表
|
||||
if "sequence" in type_str or "vector" in type_str or "[]" in type_str:
|
||||
return []
|
||||
|
||||
# 处理嵌套消息类型 - 返回空字典占位符
|
||||
if "." in str(type_hint_or_str):
|
||||
# 尝试用消息转换管理器查找类型并生成默认值
|
||||
try:
|
||||
type_name = str(type_hint_or_str).strip().split("[")[0] # 移除数组部分
|
||||
# 尝试查找类型
|
||||
if msg_converter_manager:
|
||||
type_class = msg_converter_manager.search_class(type_name)
|
||||
if type_class:
|
||||
# 递归生成默认值字典
|
||||
return generate_example_dict_from_ros_class(type_class)
|
||||
except Exception as e:
|
||||
print(f"查找类型默认值时出错: {type_hint_or_str}, {e}")
|
||||
|
||||
# 如果找不到或出错，返回空字典
|
||||
return {}
|
||||
|
||||
# 特殊类型的默认值
|
||||
if "pose" in type_str or "position" in type_str:
|
||||
return {"x": 0.0, "y": 0.0, "z": 0.0}
|
||||
if "orientation" in type_str or "quaternion" in type_str:
|
||||
return {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0}
|
||||
if "header" in type_str:
|
||||
return {"frame_id": "", "stamp": {"sec": 0, "nanosec": 0}}
|
||||
|
||||
return None # 未知类型
|
||||
|
||||
|
||||
def generate_example_dict_from_ros_class(ros_class: Any) -> Dict[str, Any]:
|
||||
"""检查ROS消息/服务/动作类并生成带有默认值的字典
|
||||
|
||||
分析ROS2消息类定义，提取其字段结构，并为每个字段生成合适的默认值。
|
||||
|
||||
Args:
|
||||
ros_class: ROS2消息/服务/动作类或其实例
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 包含消息字段及默认值的字典
|
||||
"""
|
||||
example_dict = {}
|
||||
|
||||
# 检查是否已经是字典
|
||||
if isinstance(ros_class, dict):
|
||||
return ros_class
|
||||
|
||||
# 处理无效输入
|
||||
if ros_class is None:
|
||||
return {}
|
||||
|
||||
# 获取字段信息
|
||||
fields = {}
|
||||
try:
|
||||
if hasattr(ros_class, "_fields_and_field_types"):
|
||||
fields = ros_class._fields_and_field_types
|
||||
elif hasattr(ros_class, "__slots__") and hasattr(ros_class, "__annotations__"):
|
||||
for slot in getattr(ros_class, "__slots__", []):
|
||||
field_name = slot # 假设slot名称与字段名称匹配
|
||||
if field_name in getattr(ros_class, "__annotations__", {}):
|
||||
fields[field_name] = ros_class.__annotations__[field_name]
|
||||
else:
|
||||
fields[field_name] = "unknown" # 如果缺少类型提示则使用默认值
|
||||
except Exception as e:
|
||||
print(f"获取ROS类字段信息时出错: {e}")
|
||||
return {}
|
||||
|
||||
# 为每个字段生成默认值
|
||||
for field_name, field_type in fields.items():
|
||||
example_dict[field_name] = get_default_value_for_ros_type(field_type)
|
||||
|
||||
return example_dict
|
||||
|
||||
|
||||
def extract_action_structures(action_type: Type) -> Dict[str, Any]:
|
||||
"""从Action类型对象中提取Goal/Result/Feedback结构"""
|
||||
result = {"goal": {}, "result": {}, "feedback": {}}
|
||||
|
||||
try:
|
||||
# 检查action_type是否为合法对象
|
||||
if hasattr(action_type, "Goal"):
|
||||
# 获取Goal类及其字段
|
||||
goal_class = getattr(action_type, "Goal", None)
|
||||
if goal_class:
|
||||
result["goal"] = generate_example_dict_from_ros_class(goal_class)
|
||||
|
||||
# 获取Result类及其字段
|
||||
result_class = getattr(action_type, "Result", None)
|
||||
if result_class:
|
||||
result["result"] = generate_example_dict_from_ros_class(result_class)
|
||||
|
||||
# 获取Feedback类及其字段
|
||||
feedback_class = getattr(action_type, "Feedback", None)
|
||||
if feedback_class:
|
||||
result["feedback"] = generate_example_dict_from_ros_class(feedback_class)
|
||||
except Exception as e:
|
||||
print(f"提取Action结构时出错: {type(action_type)}")
|
||||
print(traceback.format_exc())
|
||||
|
||||
return result
|
||||
|
||||
|
||||
def process_device_actions(action_config: Dict[str, Any], action_type: Type, action_name: str) -> Dict[str, Any]:
|
||||
"""处理设备动作，生成命令示例和结构信息
|
||||
|
||||
Args:
|
||||
action_config: 动作配置信息，包含topic等内容
|
||||
action_type: 动作类型，可以是类型对象或字符串
|
||||
action_name: 动作名称
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 包含命令示例和结构信息的字典
|
||||
"""
|
||||
# 检查action_type是否为None或非法值
|
||||
if action_type is None:
|
||||
# 返回基本结构，确保前端不会报错
|
||||
return {
|
||||
"topic": action_config.get("topic", "UNKNOWN_TOPIC"),
|
||||
"type_str": "UNKNOWN_TYPE",
|
||||
"goal": "{}",
|
||||
"full_command": f"ros2 action send_goal {action_config.get('topic', 'UNKNOWN_TOPIC')} UNKNOWN_TYPE '{{}}'",
|
||||
"goal_dict": {},
|
||||
"result_dict": {},
|
||||
"feedback_dict": {},
|
||||
}
|
||||
|
||||
# 提取类型路径字符串，从<class 'package.action._action_name.ActionName'>格式转换为package/action/ActionName
|
||||
type_str = str(action_type)[8:-2] # 去除<class ' ... '>
|
||||
parts = type_str.split(".")
|
||||
|
||||
# 构造ROS2类型字符串
|
||||
if len(parts) >= 3 and "action" in parts:
|
||||
action_idx = parts.index("action")
|
||||
if action_idx >= 0 and action_idx < len(parts) - 1:
|
||||
package_name = parts[0]
|
||||
action_class_name = parts[-1]
|
||||
ros2_type_str = f"{package_name}/action/{action_class_name}"
|
||||
else:
|
||||
ros2_type_str = type_str.replace(".", "/")
|
||||
else:
|
||||
ros2_type_str = type_str.replace(".", "/")
|
||||
|
||||
# 提取动作结构
|
||||
action_structures = extract_action_structures(action_type)
|
||||
|
||||
# 获取goal部分并转换为YAML格式
|
||||
goal_dict = action_structures["goal"]
|
||||
goal_yaml = dict_to_yaml_str(goal_dict)
|
||||
|
||||
# 获取topic
|
||||
topic = action_config.get("topic", "UNKNOWN_TOPIC")
|
||||
|
||||
return {
|
||||
"topic": topic,
|
||||
"type_str": ros2_type_str,
|
||||
"goal": goal_yaml,
|
||||
"full_command": f"ros2 action send_goal {topic} {ros2_type_str} '{goal_yaml}'",
|
||||
"goal_dict": goal_dict,
|
||||
"result_dict": action_structures["result"],
|
||||
"feedback_dict": action_structures["feedback"],
|
||||
}
|
||||
|
||||
|
||||
def dict_to_yaml_str(d: Dict) -> str:
|
||||
"""将字典转换为YAML字符串（单行格式）
|
||||
|
||||
Args:
|
||||
d: 要转换的字典
|
||||
|
||||
Returns:
|
||||
str: YAML格式的字符串
|
||||
"""
|
||||
if not d:
|
||||
return "{}"
|
||||
|
||||
parts = []
|
||||
|
||||
def format_value(v):
|
||||
if isinstance(v, str):
|
||||
return f"'{v}'"
|
||||
elif isinstance(v, bool):
|
||||
return str(v).lower()
|
||||
elif isinstance(v, (int, float)) or v is None:
|
||||
return str(v)
|
||||
elif isinstance(v, list):
|
||||
items = [format_value(item) for item in v]
|
||||
return f"[{', '.join(items)}]"
|
||||
elif isinstance(v, dict):
|
||||
return dict_to_yaml_str(v)
|
||||
return "null"
|
||||
|
||||
for key, value in d.items():
|
||||
parts.append(f"{key}: {format_value(value)}")
|
||||
|
||||
return "{" + ", ".join(parts) + "}"
|
||||
58
unilabos/web/utils/device_utils.py
Normal file
58
unilabos/web/utils/device_utils.py
Normal file
@@ -0,0 +1,58 @@
|
||||
"""
|
||||
设备工具函数模块
|
||||
|
||||
提供处理设备配置的辅助函数
|
||||
"""
|
||||
|
||||
import json
|
||||
from typing import Dict, Any
|
||||
|
||||
# 这里不能循环导入
|
||||
# 在函数内部导入process_device_actions
|
||||
# from unilabos.web.utils.action_utils import process_device_actions
|
||||
|
||||
|
||||
|
||||
def get_registry_info() -> Dict[str, Any]:
|
||||
"""获取Registry相关路径信息
|
||||
|
||||
Returns:
|
||||
包含Registry路径信息的字典
|
||||
"""
|
||||
from unilabos.registry.registry import lab_registry
|
||||
from pathlib import Path
|
||||
|
||||
registry_info = {}
|
||||
|
||||
if lab_registry:
|
||||
# 获取所有registry路径
|
||||
if hasattr(lab_registry, "registry_paths") and lab_registry.registry_paths:
|
||||
# 保存所有注册表路径
|
||||
registry_info["paths"] = [str(path).replace("\\", "/") for path in lab_registry.registry_paths]
|
||||
|
||||
# 获取设备和资源的相关路径
|
||||
for reg_path in lab_registry.registry_paths:
|
||||
base_path = Path(reg_path)
|
||||
|
||||
# 检查设备目录
|
||||
devices_path = base_path / "devices"
|
||||
if devices_path.exists():
|
||||
if "devices_paths" not in registry_info:
|
||||
registry_info["devices_paths"] = []
|
||||
registry_info["devices_paths"].append(str(devices_path).replace("\\", "/"))
|
||||
|
||||
# 检查设备通信目录
|
||||
device_comms_path = base_path / "device_comms"
|
||||
if device_comms_path.exists():
|
||||
if "device_comms_paths" not in registry_info:
|
||||
registry_info["device_comms_paths"] = []
|
||||
registry_info["device_comms_paths"].append(str(device_comms_path).replace("\\", "/"))
|
||||
|
||||
# 检查资源目录
|
||||
resources_path = base_path / "resources"
|
||||
if resources_path.exists():
|
||||
if "resources_paths" not in registry_info:
|
||||
registry_info["resources_paths"] = []
|
||||
registry_info["resources_paths"].append(str(resources_path).replace("\\", "/"))
|
||||
|
||||
return registry_info
|
||||
68
unilabos/web/utils/host_utils.py
Normal file
68
unilabos/web/utils/host_utils.py
Normal file
@@ -0,0 +1,68 @@
|
||||
"""
|
||||
主机节点工具模块
|
||||
|
||||
提供与主机节点相关的工具函数
|
||||
"""
|
||||
|
||||
import time
|
||||
from typing import Dict, Any
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
from unilabos.web.utils.action_utils import get_action_info
|
||||
|
||||
|
||||
def get_host_node_info() -> Dict[str, Any]:
|
||||
"""
|
||||
获取主机节点信息
|
||||
|
||||
尝试获取HostNode实例并提取其设备、主题和动作客户端信息
|
||||
|
||||
Returns:
|
||||
Dict: 包含主机节点信息的字典
|
||||
"""
|
||||
host_info = {"available": False, "devices": {}, "subscribed_topics": [], "action_clients": {}}
|
||||
if not BasicConfig.is_host_mode:
|
||||
return host_info
|
||||
# 尝试获取HostNode实例，设置超时为0秒
|
||||
host_node = HostNode.get_instance(0)
|
||||
if not host_node:
|
||||
return host_info
|
||||
host_info["available"] = True
|
||||
host_info["devices"] = {
|
||||
device_id: {
|
||||
"namespace": namespace,
|
||||
"is_online": f"{namespace}/{device_id}" in host_node._online_devices,
|
||||
"key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
|
||||
}
|
||||
for 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))
|
||||
# 获取动作客户端信息
|
||||
for action_id, client in host_node._action_clients.items():
|
||||
host_info["action_clients"] = {
|
||||
action_id: get_action_info(client, full_name=action_id)
|
||||
}
|
||||
|
||||
# 获取设备状态
|
||||
host_info["device_status"] = host_node.device_status
|
||||
|
||||
# 添加设备状态更新时间戳
|
||||
current_time = time.time()
|
||||
host_info["device_status_timestamps"] = {}
|
||||
for device_id, properties in host_node.device_status_timestamps.items():
|
||||
host_info["device_status_timestamps"][device_id] = {}
|
||||
for prop_name, timestamp in properties.items():
|
||||
if timestamp > 0: # 只处理有效的时间戳
|
||||
host_info["device_status_timestamps"][device_id][prop_name] = {
|
||||
"timestamp": timestamp,
|
||||
"elapsed": round(current_time - timestamp, 2), # 计算经过的时间（秒）
|
||||
}
|
||||
else:
|
||||
host_info["device_status_timestamps"][device_id][prop_name] = {
|
||||
"timestamp": 0,
|
||||
"elapsed": -1, # 表示未曾更新过
|
||||
}
|
||||
|
||||
return host_info
|
||||
68
unilabos/web/utils/ros_utils.py
Normal file
68
unilabos/web/utils/ros_utils.py
Normal file
@@ -0,0 +1,68 @@
|
||||
"""
|
||||
ROS 工具函数模块
|
||||
|
||||
提供处理 ROS 节点信息的辅助函数
|
||||
"""
|
||||
|
||||
import traceback
|
||||
from typing import Dict, Any
|
||||
|
||||
from unilabos.web.utils.action_utils import get_action_info
|
||||
|
||||
# 存储 ROS 节点信息的全局变量
|
||||
ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}
|
||||
|
||||
def get_ros_node_info() -> Dict[str, Any]:
|
||||
"""获取 ROS 节点信息，包括设备节点、发布的状态和动作
|
||||
|
||||
Returns:
|
||||
包含 ROS 节点信息的字典
|
||||
"""
|
||||
global ros_node_info
|
||||
# 触发更新以获取最新信息
|
||||
update_ros_node_info()
|
||||
return ros_node_info
|
||||
|
||||
|
||||
def update_ros_node_info() -> Dict[str, Any]:
|
||||
"""更新 ROS 节点信息，使用全局设备注册表
|
||||
|
||||
Returns:
|
||||
更新后的 ROS 节点信息字典
|
||||
"""
|
||||
global ros_node_info
|
||||
result = {"registered_devices": {}, "device_topics": {}, "device_actions": {}}
|
||||
|
||||
try:
|
||||
from unilabos.ros.nodes.base_device_node import registered_devices
|
||||
|
||||
for device_id, device_info in registered_devices.items():
|
||||
# 设备基本信息
|
||||
result["registered_devices"][device_id] = {
|
||||
"node_name": device_info["node_name"],
|
||||
"namespace": device_info["namespace"],
|
||||
"uuid": device_info["uuid"],
|
||||
}
|
||||
|
||||
# 设备话题（状态）信息
|
||||
result["device_topics"][device_id] = {
|
||||
k: {
|
||||
"type_name": v.msg_type.__module__ + "." + v.msg_type.__name__,
|
||||
"timer_period": v.timer_period,
|
||||
"topic_path": device_info["base_node_instance"].namespace + "/" + v.name,
|
||||
}
|
||||
for k, v in device_info["status_publishers"].items()
|
||||
}
|
||||
|
||||
# 设备动作信息
|
||||
result["device_actions"][device_id] = {
|
||||
k: get_action_info(v, k)
|
||||
for k, v in device_info["actions"].items()
|
||||
}
|
||||
# 更新全局变量
|
||||
ros_node_info = result
|
||||
except Exception as e:
|
||||
print(f"更新ROS节点信息出错: {e}")
|
||||
traceback.print_exc()
|
||||
|
||||
return result
|
||||
Reference in New Issue
Block a user