Initial commit

unilabos/registry/registry.py

@@ -0,0 +1,176 @@
+import os
+import sys
+from pathlib import Path
+from typing import Any
+
+import yaml
+
+from unilabos.utils import logger
+from unilabos.ros.msgs.message_converter import msg_converter_manager
+from unilabos.utils.decorator import singleton
+
+DEFAULT_PATHS = [Path(__file__).absolute().parent]
+
+
+@singleton
+class Registry:
+    def __init__(self, registry_paths=None):
+        self.registry_paths = DEFAULT_PATHS.copy()  # 使用copy避免修改默认值
+        if registry_paths:
+            self.registry_paths.extend(registry_paths)
+        self.device_type_registry = {}
+        self.resource_type_registry = {}
+        self._setup_called = False  # 跟踪setup是否已调用
+        # 其他状态变量
+        # self.is_host_mode = False  # 移至BasicConfig中
+
+    def setup(self):
+        # 检查是否已调用过setup
+        if self._setup_called:
+            logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
+            return
+
+        # 标记setup已被调用
+        self._setup_called = True
+
+        logger.debug(f"[UniLab Registry] ----------Setup----------")
+        self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
+        for i, path in enumerate(self.registry_paths):
+            sys_path = path.parent
+            logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
+            sys.path.append(str(sys_path))
+            self.load_device_types(path)
+            self.load_resource_types(path)
+        logger.info("[UniLab Registry] 注册表设置完成")
+
+    def load_resource_types(self, path: os.PathLike):
+        abs_path = Path(path).absolute()
+        resource_path = abs_path / "resources"
+        files = list(resource_path.glob("*/*.yaml"))
+        logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
+        current_resource_number = len(self.resource_type_registry) + 1
+        for i, file in enumerate(files):
+            data = yaml.safe_load(open(file, encoding="utf-8"))
+            if data:
+                # 为每个资源添加文件路径信息
+                for resource_id, resource_info in data.items():
+                    # 添加文件路径 - 使用规范化的完整文件路径
+                    resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
+
+                self.resource_type_registry.update(data)
+                logger.debug(
+                    f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
+                    + f"Add {list(data.keys())}"
+                )
+                current_resource_number += 1
+            else:
+                logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
+
+    def _replace_type_with_class(self, type_name: str, device_id: str, field_name: str) -> Any:
+        """
+        将类型名称替换为实际的类对象
+
+        Args:
+            type_name: 类型名称
+            device_id: 设备ID，用于错误信息
+            field_name: 字段名称，用于错误信息
+
+        Returns:
+            找到的类对象或原始字符串
+
+        Raises:
+            SystemExit: 如果找不到类型则终止程序
+        """
+        # 如果类型名为空，跳过替换
+        if not type_name or type_name == "":
+            logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
+            return type_name
+        if "." in type_name:
+            type_class = msg_converter_manager.get_class(type_name)
+        else:
+            type_class = msg_converter_manager.search_class(type_name)
+        if type_class:
+            return type_class
+        else:
+            logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
+            sys.exit(1)
+
+    def load_device_types(self, path: os.PathLike):
+        abs_path = Path(path).absolute()
+        devices_path = abs_path / "devices"
+        device_comms_path = abs_path / "device_comms"
+        files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
+        logger.debug(
+            f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
+            + f"total: {len(files)}"
+        )
+        current_device_number = len(self.device_type_registry) + 1
+        for i, file in enumerate(files):
+            data = yaml.safe_load(open(file, encoding="utf-8"))
+            if data:
+                # 在添加到注册表前处理类型替换
+                for device_id, device_config in data.items():
+                    # 添加文件路径信息 - 使用规范化的完整文件路径
+                    device_config["file_path"] = str(file.absolute()).replace("\\", "/")
+
+                    if "class" in device_config:
+                        # 处理状态类型
+                        if "status_types" in device_config["class"]:
+                            for status_name, status_type in device_config["class"]["status_types"].items():
+                                device_config["class"]["status_types"][status_name] = self._replace_type_with_class(
+                                    status_type, device_id, f"状态 {status_name}"
+                                )
+
+                        # 处理动作值映射
+                        if "action_value_mappings" in device_config["class"]:
+                            for action_name, action_config in device_config["class"]["action_value_mappings"].items():
+                                if "type" in action_config:
+                                    action_config["type"] = self._replace_type_with_class(
+                                        action_config["type"], device_id, f"动作 {action_name}"
+                                    )
+
+                self.device_type_registry.update(data)
+
+                for device_id in data.keys():
+                    logger.debug(
+                        f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
+                        + f"[{data[device_id].get('name', '未命名设备')}]"
+                    )
+                    current_device_number += 1
+            else:
+                logger.debug(
+                    f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
+                )
+
+
+# 全局单例实例
+lab_registry = Registry()
+
+
+def build_registry(registry_paths=None):
+    """
+    构建或获取Registry单例实例
+
+    Args:
+        registry_paths: 额外的注册表路径列表
+
+    Returns:
+        Registry实例
+    """
+    logger.info("[UniLab Registry] 构建注册表实例")
+
+    # 由于使用了单例，这里不需要重新创建实例
+    global lab_registry
+
+    # 如果有额外路径，添加到registry_paths
+    if registry_paths:
+        current_paths = lab_registry.registry_paths.copy()
+        # 检查是否有新路径需要添加
+        for path in registry_paths:
+            if path not in current_paths:
+                lab_registry.registry_paths.append(path)
+
+    # 初始化注册表
+    lab_registry.setup()
+
+    return lab_registry