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enable slave mode

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This commit is contained in:
Xuwznln
2025-11-07 16:11:27 +08:00
parent a5bad6074f
commit c796615f9f
6 changed files with 90 additions and 75 deletions
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4
unilabos/app/backend.py
View File

@@ -13,7 +13,7 @@ def start_backend(
graph=None,
controllers_config: dict = {},
bridges=[],
without_host: bool = False,
is_slave: bool = False,
visual: str = "None",
resources_mesh_config: dict = {},
**kwargs,
@@ -32,7 +32,7 @@ def start_backend(
raise ValueError(f"Unsupported backend: {backend}")
backend_thread = threading.Thread(
target=main if not without_host else slave,
target=main if not is_slave else slave,
args=(
devices_config,
resources_config,

5
unilabos/app/register.py
View File

@@ -1,11 +1,12 @@
import json
import time
from typing import Optional, Tuple, Dict, Any
from unilabos.utils.log import logger
from unilabos.utils.type_check import TypeEncoder
def register_devices_and_resources(lab_registry):
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
"""
注册设备和资源到服务器（仅支持HTTP）
"""
@@ -28,6 +29,8 @@ def register_devices_and_resources(lab_registry):
resources_to_register[resource_info["id"]] = resource_info
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
if gather_only:
return devices_to_register, resources_to_register
# 注册设备
if devices_to_register:
try:

130
unilabos/ros/main_slave_run.py
View File

@@ -6,11 +6,12 @@ from typing import Optional, Dict, Any, List
import rclpy
from unilabos_msgs.srv._serial_command import SerialCommand_Response
from unilabos.app.register import register_devices_and_resources
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
from unilabos_msgs.srv import SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor
from rclpy.executors import MultiThreadedExecutor
from rclpy.node import Node
from rclpy.timer import Timer
@@ -108,66 +109,51 @@ def slave(
rclpy_init_args: List[str] = ["--log-level", "debug"],
) -> None:
"""从节点函数"""
# 1. 初始化 ROS2
if not rclpy.ok():
rclpy.init(args=rclpy_init_args)
executor = rclpy.__executor
if not executor:
executor = rclpy.__executor = MultiThreadedExecutor()
devices_instances = {}
for device_config in devices_config.root_nodes:
device_id = device_config.res_content.id
if device_config.res_content.type != "device":
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
devices_instances[device_id] = d
# 默认初始化
# if d is not None and isinstance(d, Node):
# executor.add_node(d)
# else:
# print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
executor.add_node(n)
if visual != "disable":
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_config, # type: ignore FIXME
resource_tracker=DeviceNodeResourceTracker(),
device_id="resource_mesh_manager",
)
joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
# 1.5 启动 executor 线程
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
thread.start()
# 2. 创建 Slave Machine Node
n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
executor.add_node(n)
# 3. 向 Host 报送节点信息和物料，获取 UUID 映射
uuid_mapping = {}
if not BasicConfig.slave_no_host:
# 3.1 报送节点信息
sclient = n.create_client(SerialCommand, "/node_info_update")
sclient.wait_for_service()
registry_config = {}
devices_to_register, resources_to_register = register_devices_and_resources(lab_registry, True)
registry_config.update(devices_to_register)
registry_config.update(resources_to_register)
request = SerialCommand.Request()
request.command = json.dumps(
{
"machine_name": BasicConfig.machine_name,
"type": "slave",
"devices_config": devices_config.dump(),
"registry_config": lab_registry.obtain_registry_device_info(),
"registry_config": registry_config,
},
ensure_ascii=False,
cls=TypeEncoder,
)
response = sclient.call_async(request).result()
sclient.call_async(request).result()
logger.info(f"Slave node info updated.")
# 使用新的 c2s_update_resource_tree 服务
rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
rclient.wait_for_service()
# 序列化 ResourceTreeSet 为 JSON
# 3.2 报送物料树，获取 UUID 映射
if resources_config:
rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
rclient.wait_for_service()
request = SerialCommand.Request()
request.command = json.dumps(
{
@@ -180,35 +166,61 @@ def slave(
},
ensure_ascii=False,
)
tree_response: SerialCommand_Response = rclient.call_async(request).result()
tree_response: SerialCommand_Response = rclient.call(request)
uuid_mapping = json.loads(tree_response.response)
# 创建反向映射：new_uuid -> old_uuid
reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
for node in resources_config.root_nodes:
if node.res_content.type == "device":
for sub_node in node.children:
# 只有二级子设备
if sub_node.res_content.type != "device":
device_tracker = devices_instances[node.res_content.id].resource_tracker
# sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找
old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid)
if old_uuid:
# 找到旧UUID，使用UUID查找
resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
else:
# 未找到旧UUID，使用name查找
resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
logger.info(f"Slave resource tree added. UUID mapping: {len(uuid_mapping)} nodes")
# 3.3 使用 UUID 映射更新 resources_config 的 UUID（参考 client.py 逻辑）
old_uuids = {node.res_content.uuid: node for node in resources_config.all_nodes}
for old_uuid, node in old_uuids.items():
if old_uuid in uuid_mapping:
new_uuid = uuid_mapping[old_uuid]
node.res_content.uuid = new_uuid
# 更新所有子节点的 parent_uuid
for child in node.children:
child.res_content.parent_uuid = new_uuid
else:
logger.error("Slave模式不允许新增非设备节点下的物料")
continue
if tree_response:
logger.info(f"Slave resource tree added. Response: {tree_response.response}")
else:
logger.warning("Slave resource tree add response is None")
logger.warning(f"资源UUID未更新: {old_uuid}")
else:
logger.info("No resources to add.")
# 4. 初始化所有设备实例（此时 resources_config 的 UUID 已更新）
devices_instances = {}
for device_config in devices_config.root_nodes:
device_id = device_config.res_content.id
if device_config.res_content.type == "device":
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
if d is not None:
devices_instances[device_id] = d
logger.info(f"Device {device_id} initialized.")
else:
logger.warning(f"Device {device_id} initialization failed.")
# 5. 如果启用可视化，创建可视化相关节点
if visual != "disable":
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
# 将 ResourceTreeSet 转换为 list 用于 visual 组件
resources_list = (
[node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
if resources_config
else []
)
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_list,
resource_tracker=DeviceNodeResourceTracker(),
device_id="resource_mesh_manager",
)
joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
lh_joint_pub = LiquidHandlerJointPublisher(
resources_config=resources_list, resource_tracker=DeviceNodeResourceTracker()
)
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
executor.add_node(lh_joint_pub)
# 7. 保持运行
while True:
time.sleep(1)

21
unilabos/ros/nodes/presets/host_node.py
View File

@@ -878,11 +878,10 @@ class HostNode(BaseROS2DeviceNode):
success = False
uuid_mapping = {}
if len(self.bridges) > 0:
from unilabos.app.web.client import HTTPClient
from unilabos.app.web.client import HTTPClient, http_client
client: HTTPClient = self.bridges[-1]
resource_start_time = time.time()
uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
uuid_mapping = http_client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
success = True
resource_end_time = time.time()
self.lab_logger().info(
@@ -990,9 +989,10 @@ class HostNode(BaseROS2DeviceNode):
"""
更新节点信息回调
"""
self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
# self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
try:
from unilabos.app.communication import get_communication_client
from unilabos.app.web.client import HTTPClient, http_client
info = json.loads(request.command)
if "SYNC_SLAVE_NODE_INFO" in info:
@@ -1001,10 +1001,10 @@ class HostNode(BaseROS2DeviceNode):
edge_device_id = info["edge_device_id"]
self.device_machine_names[edge_device_id] = machine_name
else:
comm_client = get_communication_client()
registry_config = info["registry_config"]
for device_config in registry_config:
comm_client.publish_registry(device_config["id"], device_config)
devices_config = info.pop("devices_config")
registry_config = info.pop("registry_config")
if registry_config:
http_client.resource_registry({"resources": registry_config})
self.lab_logger().debug(f"[Host Node] Node info update: {info}")
response.response = "OK"
except Exception as e:
@@ -1030,10 +1030,9 @@ class HostNode(BaseROS2DeviceNode):
success = False
if len(self.bridges) > 0: # 边的提交待定
from unilabos.app.web.client import HTTPClient
from unilabos.app.web.client import HTTPClient, http_client
client: HTTPClient = self.bridges[-1]
r = client.resource_add(add_schema(resources))
r = http_client.resource_add(add_schema(resources))
success = bool(r)
response.success = success

2
unilabos/ros/nodes/resource_tracker.py
View File

@@ -1013,7 +1013,7 @@ class DeviceNodeResourceTracker(object):
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
if current_uuid and current_uuid in self.uuid_to_resources:
self.uuid_to_resources.pop(current_uuid)
logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}")
logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}")
return 1
return 0

3
unilabos/utils/log.py
View File

@@ -191,7 +191,8 @@ def configure_logger(loglevel=None):
# 添加处理器到根日志记录器
root_logger.addHandler(console_handler)
logging.getLogger("asyncio").setLevel(logging.INFO)
logging.getLogger("urllib3").setLevel(logging.INFO)
# 配置日志系统
configure_logger()