Initial commit

unilabos/web/utils/ros_utils.py

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+"""
+ROS 工具函数模块
+
+提供处理 ROS 节点信息的辅助函数
+"""
+
+import traceback
+from typing import Dict, Any
+
+from unilabos.web.utils.action_utils import get_action_info
+
+# 存储 ROS 节点信息的全局变量
+ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}
+
+def get_ros_node_info() -> Dict[str, Any]:
+    """获取 ROS 节点信息，包括设备节点、发布的状态和动作
+
+    Returns:
+        包含 ROS 节点信息的字典
+    """
+    global ros_node_info
+    # 触发更新以获取最新信息
+    update_ros_node_info()
+    return ros_node_info
+
+
+def update_ros_node_info() -> Dict[str, Any]:
+    """更新 ROS 节点信息，使用全局设备注册表
+
+    Returns:
+        更新后的 ROS 节点信息字典
+    """
+    global ros_node_info
+    result = {"registered_devices": {}, "device_topics": {}, "device_actions": {}}
+
+    try:
+        from unilabos.ros.nodes.base_device_node import registered_devices
+
+        for device_id, device_info in registered_devices.items():
+            # 设备基本信息
+            result["registered_devices"][device_id] = {
+                "node_name": device_info["node_name"],
+                "namespace": device_info["namespace"],
+                "uuid": device_info["uuid"],
+            }
+
+            # 设备话题（状态）信息
+            result["device_topics"][device_id] = {
+                k: {
+                    "type_name": v.msg_type.__module__ + "." + v.msg_type.__name__,
+                    "timer_period": v.timer_period,
+                    "topic_path": device_info["base_node_instance"].namespace + "/" + v.name,
+                }
+                for k, v in device_info["status_publishers"].items()
+            }
+
+            # 设备动作信息
+            result["device_actions"][device_id] = {
+                k: get_action_info(v, k)
+                for k, v in device_info["actions"].items()
+            }
+        # 更新全局变量
+        ros_node_info = result
+    except Exception as e:
+        print(f"更新ROS节点信息出错: {e}")
+        traceback.print_exc()
+
+    return result