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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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21
unilabos/ros/nodes/presets/host_node.py
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@@ -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