默认不进行注册表报送，通过命令unilabos-register或者增加启动参数

unilabos/app/main.py

@@ -73,6 +73,11 @@ def parse_args():
         action="store_true",
         help="Slave模式下跳过等待host服务",
     )
+    parser.add_argument(
+        "--upload_registry",
+        action="store_true",
+        help="启动unilab时同时报送注册表信息",
+    )
     parser.add_argument(
         "--config",
         type=str,
@@ -117,6 +122,7 @@ 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)
+    BasicConfig.upload_registry = args_dict.get("upload_registry", 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

unilabos/app/mq.py

@@ -172,13 +172,14 @@ class MQTTClient:
         jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
         self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
 
-    def publish_registry(self, device_id: str, device_info: dict):
+    def publish_registry(self, device_id: str, device_info: dict, print_debug: bool = True):
         if self.mqtt_disable:
             return
         address = f"labs/{MQConfig.lab_id}/registry/"
         registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
         self.client.publish(address, registry_data, qos=2)
-        logger.debug(f"Registry data published: address: {address}, {registry_data}")
+        if print_debug:
+            logger.debug(f"Registry data published: address: {address}, {registry_data}")
 
     def publish_actions(self, action_id: str, action_info: dict):
         if self.mqtt_disable:

unilabos/app/register.py

@@ -15,15 +15,15 @@ def register_devices_and_resources(mqtt_client, lab_registry):
 
     # 注册设备信息
     for device_info in lab_registry.obtain_registry_device_info():
-        mqtt_client.publish_registry(device_info["id"], device_info)
+        mqtt_client.publish_registry(device_info["id"], device_info, False)
         logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
 
     # 注册资源信息
     for resource_info in lab_registry.obtain_registry_resource_info():
-        mqtt_client.publish_registry(resource_info["id"], resource_info)
+        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
         logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
 
-    time.sleep(20)
+    time.sleep(10)
 
     logger.info("[UniLab Register] 设备和资源注册完成.")
 
@@ -53,6 +53,10 @@ def main():
     load_config_from_file(args.config)
 
     from unilabos.app.mq import mqtt_client
+
+    # 连接mqtt
+    mqtt_client.start()
+
     from unilabos.registry.registry import lab_registry
 
     # 注册设备和资源

unilabos/config/config.py

@@ -10,8 +10,9 @@ from unilabos.utils import logger
 class BasicConfig:
     ENV = "pro"  # 'test'
     config_path = ""
-    is_host_mode = True  # 从registry.py移动过来
+    is_host_mode = True
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
+    upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
 

unilabos/ros/nodes/presets/host_node.py

@@ -22,6 +22,7 @@ from unilabos_msgs.srv import (
 )  # type: ignore
 from unique_identifier_msgs.msg import UUID
 
+from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
@@ -146,13 +147,15 @@ class HostNode(BaseROS2DeviceNode):
 
         self.device_status = {}  # 用来存储设备状态
         self.device_status_timestamps = {}  # 用来存储设备状态最后更新时间
+        if BasicConfig.upload_registry:
+            from unilabos.app.mq import mqtt_client
 
-        # from unilabos.app.mq import mqtt_client
-        #
-        # for device_info in lab_registry.obtain_registry_device_info():
-        #     mqtt_client.publish_registry(device_info["id"], device_info)
-        # for resource_info in lab_registry.obtain_registry_resource_info():
-        #     mqtt_client.publish_registry(resource_info["id"], resource_info)
+            for device_info in lab_registry.obtain_registry_device_info():
+                mqtt_client.publish_registry(device_info["id"], device_info)
+            for resource_info in lab_registry.obtain_registry_resource_info():
+                mqtt_client.publish_registry(resource_info["id"], resource_info)
+        else:
+            self.lab_logger().warning("本次启动注册表不报送云端，如果您需要联网调试，请使用unilab-register命令进行单独报送")
         time.sleep(1) # 等待MQTT连接稳定
         # 首次发现网络中的设备
         self._discover_devices()