feat: websocket test

unilabos/app/model.py

@@ -50,11 +50,15 @@ class Resp(BaseModel):
 
 class JobAddReq(BaseModel):
     device_id: str = Field(examples=["Gripper"], description="device id")
-    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
+    action: str = Field(examples=["_execute_driver_command_async"], description="action name", default="")
+    action_type: str = Field(examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action name", default="")
+    action_args: dict = Field(examples=[{'string': 'string'}], description="action name", default="")
     job_id: str = Field(examples=["job_id"], description="goal uuid")
     node_id: str = Field(examples=["node_id"], description="node uuid")
     server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
 
+    data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default={})
+
 
 class JobStepFinishReq(BaseModel):
     token: str = Field(examples=["030944"], description="token")

unilabos/app/web/client.py

@@ -53,7 +53,7 @@ class HTTPClient:
             f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}"
             if not self.backend_go else f"{self.remote_addr}/lab/material/edge",
             json=resources,
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
             timeout=100,
         )
         if response.status_code != 200 and response.status_code != 201:
@@ -73,7 +73,7 @@ class HTTPClient:
         response = requests.post(
             f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}" if not self.backend_go else f"{self.remote_addr}/lab/material",
             json=resources if not self.backend_go else {"nodes": resources},
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
             timeout=100,
         )
         if response.status_code != 200:
@@ -96,7 +96,7 @@ class HTTPClient:
         response = requests.get(
             f"{self.remote_addr}/lab/resource/?edge_format=1" if not self.backend_go else f"{self.remote_addr}/lab/material",
             params={"id": id, "with_children": with_children},
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
             timeout=20,
         )
         return response.json()
@@ -114,7 +114,7 @@ class HTTPClient:
         response = requests.delete(
             f"{self.remote_addr}/lab/resource/batch_delete/",
             params={"id": id},
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
             timeout=20,
         )
         return response
@@ -132,7 +132,7 @@ class HTTPClient:
         response = requests.patch(
             f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
             json=resources,
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
             timeout=100,
         )
         return response
@@ -156,7 +156,7 @@ class HTTPClient:
             response = requests.post(
                 f"{self.remote_addr}/api/account/file_upload/{scene}",
                 files=files,
-                headers={"Authorization": f"lab {self.auth}"},
+                headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
                 timeout=30,  # 上传文件可能需要更长的超时时间
             )
         return response
@@ -174,7 +174,7 @@ class HTTPClient:
         response = requests.post(
             f"{self.remote_addr}/lab/registry/" if not self.backend_go else f"{self.remote_addr}/lab/resource",
             json=registry_data,
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
             timeout=30,
         )
         if response.status_code not in [200, 201]:
@@ -193,7 +193,7 @@ class HTTPClient:
         """
         response = requests.get(
             f"{self.remote_addr}/lab/resource/graph_info/",
-            headers={"Authorization": f"lab {self.auth}"},
+            headers={"Authorization": f"{'lab' if not self.backend_go else 'Lab'} {self.auth}"},
             timeout=(3, 30),
         )
         if response.status_code != 200:

unilabos/app/ws_client.py

@@ -17,6 +17,7 @@ from urllib.parse import urlparse
 from unilabos.app.controler import job_add
 from unilabos.app.model import JobAddReq
 from unilabos.ros.nodes.presets.host_node import HostNode
+from unilabos.utils.type_check import serialize_result_info
 
 try:
     import websockets
@@ -80,8 +81,10 @@ class WebSocketClient(BaseCommunicationClient):
             scheme = "wss"
         else:
             scheme = "ws"
+        if ":" in parsed.netloc:
+            self.websocket_url = f"{scheme}://{parsed.hostname}:{parsed.port + 1}/api/v1/lab"
+        else:
             self.websocket_url = f"{scheme}://{parsed.netloc}/api/v1/lab"
-
         logger.debug(f"[WebSocket] URL: {self.websocket_url}")
 
     def start(self) -> None:
@@ -148,7 +151,7 @@ class WebSocketClient(BaseCommunicationClient):
                     ssl=ssl_context,
                     ping_interval=WSConfig.ping_interval,
                     ping_timeout=10,
-                    additional_headers={"Authorization": f"Bearer {BasicConfig.auth_secret()}"},
+                    additional_headers={"Authorization": f"Lab {BasicConfig.auth_secret()}"},
                 ) as websocket:
                     self.websocket = websocket
                     self.connected = True
@@ -176,6 +179,8 @@ class WebSocketClient(BaseCommunicationClient):
             elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
                 logger.error("[WebSocket] Max reconnection attempts reached")
                 break
+            else:
+                self.reconnect_count -= 1
 
     async def _close_connection(self):
         """关闭WebSocket连接"""
@@ -232,10 +237,18 @@ class WebSocketClient(BaseCommunicationClient):
     async def _handle_job_start(self, data: Dict[str, Any]):
         """处理作业启动消息"""
         try:
-            job_req = JobAddReq(**data.get("job_data", {}))
+            req = JobAddReq(**data)
-            job_add(job_req)
+            try:
-            job_id = getattr(job_req, "id", "unknown")
+                req.job_id = str(uuid.uuid4())
-            logger.info(f"[WebSocket] Job started: {job_id}")
+                logger.info(f"[WebSocket] Job started: {req.job_id}")
+                HostNode.get_instance().send_goal(req.device_id, action_type=req.action_type, action_name=req.action,
+                                                  action_kwargs=req.action_args, goal_uuid=req.job_id,
+                                                  server_info=req.server_info)
+            except Exception as e:
+                for bridge in HostNode.get_instance().bridges:
+                    traceback.print_exc()
+                    if hasattr(bridge, "publish_job_status"):
+                        self.publish_job_status({}, req.job_id, "failed", serialize_result_info(traceback.format_exc(), False, {}))
         except Exception as e:
             logger.error(f"[WebSocket] Error handling job start: {str(e)}")
 

unilabos/config/config.py

@@ -56,7 +56,7 @@ class MQConfig:
 # WebSocket配置
 class WSConfig:
     reconnect_interval = 5  # 重连间隔（秒）
-    max_reconnect_attempts = 10  # 最大重连次数
+    max_reconnect_attempts = 999  # 最大重连次数
     ping_interval = 30  # ping间隔（秒）
 
 
@@ -96,7 +96,7 @@ def _update_config_from_module(module, override_labid: Optional[str]):
                         setattr(obj, attr, getattr(getattr(module, name), attr))
     # 更新OSS认证
     if len(OSSUploadConfig.authorization) == 0:
-        OSSUploadConfig.authorization = f"lab {MQConfig.lab_id}"
+        OSSUploadConfig.authorization = f"Lab {MQConfig.lab_id}"
     # 对 ca_file cert_file key_file 进行初始化
     if override_labid:
         MQConfig.lab_id = override_labid