add：dummy2

test_dummy2_integration.py

@@ -0,0 +1,254 @@
+#!/usr/bin/env python3
+"""
+Dummy2 机械臂接入 UniLab 系统测试脚本
+"""
+
+import os
+import sys
+import time
+import yaml
+import json
+
+def test_device_model_files():
+    """测试设备模型文件是否完整"""
+    print("=== 测试设备模型文件 ===")
+    
+    device_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/device_mesh/devices/dummy2_robot"
+    
+    required_files = [
+        "macro_device.xacro",
+        "dummy2_robot.json",
+        "config/joint_limits.yaml",
+        "config/default_kinematics.yaml", 
+        "config/physical_parameters.yaml",
+        "config/visual_parameters.yaml"
+    ]
+    
+    required_meshes = [
+        "meshes/base_link.stl",
+        "meshes/J1_1.stl",
+        "meshes/J2_1.stl", 
+        "meshes/J3_1.stl",
+        "meshes/J4_1.stl",
+        "meshes/J5_1.stl",
+        "meshes/J6_1.stl",
+        "meshes/camera_1.stl"
+    ]
+    
+    all_files = required_files + required_meshes
+    missing_files = []
+    
+    for file_path in all_files:
+        full_path = os.path.join(device_path, file_path)
+        if not os.path.exists(full_path):
+            missing_files.append(file_path)
+        else:
+            print(f"✅ {file_path}")
+    
+    if missing_files:
+        print(f"❌ 缺少文件: {missing_files}")
+        return False
+    else:
+        print("✅ 所有模型文件都存在")
+        return True
+
+def test_driver_file():
+    """测试驱动文件"""
+    print("\n=== 测试驱动文件 ===")
+    
+    driver_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/devices/ros_dev/moveit_interface.py"
+    
+    if not os.path.exists(driver_path):
+        print(f"❌ 驱动文件不存在: {driver_path}")
+        return False
+    
+    try:
+        # 尝试导入驱动类
+        sys.path.insert(0, os.path.dirname(driver_path))
+        from unilabos.devices.ros_dev.moveit_interface import MoveitInterface
+        print("✅ 驱动文件存在且可导入")
+        
+        # 检查必要的方法
+        required_methods = [
+            '__init__',
+            'post_init',
+            'check_tf_update_actions',
+            'resource_manager',
+            'wait_for_resource_action',
+            'moveit_joint_task',
+            'moveit_task'
+        ]
+        
+        missing_methods = []
+        for method in required_methods:
+            if not hasattr(MoveitInterface, method):
+                missing_methods.append(method)
+        
+        if missing_methods:
+            print(f"❌ 驱动类缺少方法: {missing_methods}")
+            return False
+        else:
+            print("✅ 驱动类包含所有必要方法")
+            return True
+            
+    except ImportError as e:
+        print(f"❌ 驱动文件导入失败: {e}")
+        return False
+
+def test_registry_config():
+    """测试注册表配置"""
+    print("\n=== 测试注册表配置 ===")
+    
+    registry_path = "/Users/dp/Documents/Uni-Lab-OS/unilabos/registry/devices/robot_arm.yaml"
+    
+    if not os.path.exists(registry_path):
+        print(f"❌ 注册表文件不存在: {registry_path}")
+        return False
+    
+    try:
+        with open(registry_path, 'r', encoding='utf-8') as f:
+            config = yaml.safe_load(f)
+        
+        if 'robotic_arm.Dummy2' not in config:
+            print("❌ 注册表中没有找到 robotic_arm.Dummy2 配置")
+            return False
+        
+        dummy2_config = config['robotic_arm.Dummy2']
+        
+        # 检查必要的配置项
+        required_keys = [
+            'category',
+            'class', 
+            'description',
+            'init_param_schema',
+            'model',
+            'version'
+        ]
+        
+        missing_keys = []
+        for key in required_keys:
+            if key not in dummy2_config:
+                missing_keys.append(key)
+        
+        if missing_keys:
+            print(f"❌ Dummy2配置缺少字段: {missing_keys}")
+            return False
+        
+        # 检查模块路径
+        module_path = dummy2_config.get('class', {}).get('module')
+        if module_path != 'unilabos.devices.ros_dev.moveit_interface:MoveitInterface':
+            print(f"❌ 模块路径不正确: {module_path}")
+            return False
+        
+        # 检查动作定义
+        actions = dummy2_config.get('class', {}).get('action_value_mappings', {})
+        required_actions = [
+            'auto-check_tf_update_actions',
+            'auto-post_init',
+            'auto-resource_manager', 
+            'auto-wait_for_resource_action',
+            'auto-moveit_joint_task',
+            'auto-moveit_task',
+            'pick_and_place'
+        ]
+        
+        missing_actions = []
+        for action in required_actions:
+            if action not in actions:
+                missing_actions.append(action)
+        
+        if missing_actions:
+            print(f"❌ 缺少动作定义: {missing_actions}")
+            return False
+        
+        print("✅ 注册表配置完整且正确")
+        return True
+        
+    except Exception as e:
+        print(f"❌ 注册表配置检查失败: {e}")
+        return False
+
+def test_can2eth_connectivity():
+    """测试CAN2ETH连接（可选）"""
+    print("\n=== 测试CAN2ETH连接 ===")
+    
+    try:
+        import socket
+        import struct
+        
+        # 尝试连接CAN2ETH网关
+        sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+        sock.settimeout(2.0)
+        
+        can2eth_host = "192.168.8.88"
+        can2eth_port = 8080
+        
+        # 发送ping命令
+        ping_cmd = struct.pack('>B', 0xFF)
+        sock.sendto(ping_cmd, (can2eth_host, can2eth_port))
+        
+        try:
+            data, addr = sock.recvfrom(1024)
+            if len(data) > 0:
+                print(f"✅ CAN2ETH网关 {can2eth_host}:{can2eth_port} 连接成功")
+                return True
+        except socket.timeout:
+            print(f"⚠️  CAN2ETH网关 {can2eth_host}:{can2eth_port} 无响应（可能未启动）")
+            return False
+        
+    except Exception as e:
+        print(f"⚠️  CAN2ETH连接测试失败: {e}")
+        return False
+    finally:
+        if 'sock' in locals():
+            sock.close()
+
+def main():
+    """主测试函数"""
+    print("🤖 Dummy2 机械臂接入 UniLab 系统测试")
+    print("=" * 50)
+    
+    tests = [
+        ("设备模型文件", test_device_model_files),
+        ("驱动文件", test_driver_file),
+        ("注册表配置", test_registry_config),
+        ("CAN2ETH连接", test_can2eth_connectivity)
+    ]
+    
+    results = []
+    
+    for test_name, test_func in tests:
+        try:
+            result = test_func()
+            results.append((test_name, result))
+        except Exception as e:
+            print(f"❌ {test_name}测试异常: {e}")
+            results.append((test_name, False))
+    
+    print("\n" + "=" * 50)
+    print("📊 测试结果汇总:")
+    
+    passed = 0
+    total = len(results)
+    
+    for test_name, result in results:
+        status = "✅ 通过" if result else "❌ 失败"
+        print(f"  {test_name}: {status}")
+        if result:
+            passed += 1
+    
+    print(f"\n总体结果: {passed}/{total} 项测试通过")
+    
+    if passed == total:
+        print("🎉 Dummy2 机械臂已成功接入 UniLab 系统！")
+        print("\n📋 后续步骤:")
+        print("1. 启动 CAN2ETH 服务: ros2 launch dummy2_can2eth dummy2_can2eth_server.launch.py")
+        print("2. 在 UniLab 界面中添加 Dummy2 设备实例")
+        print("3. 测试设备初始化和基本功能")
+    else:
+        print("⚠️  还有一些问题需要解决才能完全接入")
+    
+    return passed == total
+
+if __name__ == "__main__":
+    main()