Initial commit

unilabos/config/config.py

@@ -0,0 +1,123 @@
+#!/usr/bin/env python
+# coding=utf-8
+# 定义配置变量和加载函数
+import traceback
+import os
+import importlib.util
+from unilabos.utils import logger
+
+
+class BasicConfig:
+    ENV = "pro"  # 'test'
+    config_path = ""
+    is_host_mode = True  # 从registry.py移动过来
+    slave_no_host = False  # 是否跳过rclient.wait_for_service()
+
+
+# MQTT配置
+class MQConfig:
+    lab_id = ""
+    instance_id = ""
+    access_key = ""
+    secret_key = ""
+    group_id = ""
+    broker_url = ""
+    port = 1883
+    ca_content = ""
+    cert_content = ""
+    key_content = ""
+
+    # 指定
+    ca_file = ""
+    cert_file = ""
+    key_file = ""
+
+
+# OSS上传配置
+class OSSUploadConfig:
+    api_host = ""
+    authorization = ""
+    init_endpoint = ""
+    complete_endpoint = ""
+    max_retries = 3
+
+
+# HTTP配置
+class HTTPConfig:
+    remote_addr = "http://127.0.0.1:48197/api/v1"
+
+
+# ROS配置
+class ROSConfig:
+    modules = [
+        "std_msgs.msg",
+        "geometry_msgs.msg",
+        "control_msgs.msg",
+        "control_msgs.action",
+        "nav2_msgs.action",
+        "unilabos_msgs.msg",
+        "unilabos_msgs.action",
+    ]
+
+
+def _update_config_from_module(module):
+    for name, obj in globals().items():
+        if isinstance(obj, type) and name.endswith("Config"):
+            if hasattr(module, name) and isinstance(getattr(module, name), type):
+                for attr in dir(getattr(module, name)):
+                    if not attr.startswith("_"):
+                        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}"
+    # 对 ca_file cert_file key_file 进行初始化
+    if len(MQConfig.ca_content) == 0:
+        # 需要先判断是否为相对路径
+        if MQConfig.ca_file.startswith("."):
+            MQConfig.ca_file = os.path.join(BasicConfig.config_path, MQConfig.ca_file)
+        with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
+            MQConfig.ca_content = f.read()
+    if len(MQConfig.cert_content) == 0:
+        # 需要先判断是否为相对路径
+        if MQConfig.cert_file.startswith("."):
+            MQConfig.cert_file = os.path.join(BasicConfig.config_path, MQConfig.cert_file)
+        with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
+            MQConfig.cert_content = f.read()
+    if len(MQConfig.key_content) == 0:
+        # 需要先判断是否为相对路径
+        if MQConfig.key_file.startswith("."):
+            MQConfig.key_file = os.path.join(BasicConfig.config_path, MQConfig.key_file)
+        with open(MQConfig.key_file, "r", encoding="utf-8") as f:
+            MQConfig.key_content = f.read()
+
+
+def load_config(config_path=None):
+    # 如果提供了配置文件路径，从该文件导入配置
+    if config_path:
+        BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
+        if not os.path.exists(config_path):
+            logger.error(f"配置文件 {config_path} 不存在")
+            return
+
+        try:
+            module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
+            spec = importlib.util.spec_from_file_location(module_name, config_path)
+            if spec is None:
+                logger.error(f"配置文件 {config_path} 错误")
+                return
+            module = importlib.util.module_from_spec(spec)
+            spec.loader.exec_module(module)  # type: ignore
+            _update_config_from_module(module)
+            logger.info(f"配置文件 {config_path} 加载成功")
+        except Exception as e:
+            logger.error(f"加载配置文件 {config_path} 失败: {e}")
+            traceback.print_exc()
+            exit(1)
+    else:
+        try:
+            import unilabos.config.local_config as local_config  # type: ignore
+
+            _update_config_from_module(local_config)
+            logger.info("已加载默认配置 unilabos.config.local_config")
+        except ImportError:
+            pass