Merge branch 'device-registry-port' of github.com:KCFeng425/Uni-Lab-OS into device-registry-port

setup.py

@@ -17,6 +17,7 @@ setup(
     entry_points={
         'console_scripts': [
             "unilab = unilabos.app.main:main",
+            "unilab-register = unilabos.app.register:main"
         ],
     },
 )

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -153,7 +153,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 200,
                 "y": 150,
@@ -174,7 +174,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 250,
                 "y": 150,
@@ -195,7 +195,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 300,
                 "y": 150,
@@ -216,7 +216,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 900,
                 "y": 150,
@@ -237,7 +237,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 950,
                 "y": 150,
@@ -302,7 +302,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 400,
                 "y": 450,
@@ -387,7 +387,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 500,
                 "y": 400,
@@ -406,7 +406,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1100,
                 "y": 500,
@@ -570,7 +570,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 900,
                 "y": 500,
@@ -589,7 +589,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 950,
                 "y": 500,
@@ -608,7 +608,7 @@
             "children": [],
             "parent": "ComprehensiveProtocolStation",
             "type": "container",
-            "class": null,
+            "class": "container",
             "position": {
                 "x": 1050,
                 "y": 500,

unilabos/app/main.py

@@ -22,6 +22,21 @@ from unilabos.config.config import load_config, BasicConfig, _update_config_from
 from unilabos.utils.banner_print import print_status, print_unilab_banner
 
 
+def load_config_from_file(config_path):
+    if config_path is None:
+        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
+    if config_path:
+        if not os.path.exists(config_path):
+            print_status(f"配置文件 {config_path} 不存在", "error")
+        elif not config_path.endswith(".py"):
+            print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
+        else:
+            load_config(config_path)
+    else:
+        print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
+        load_config(config_path)
+
+
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
@@ -58,6 +73,11 @@ def parse_args():
         action="store_true",
         help="Slave模式下跳过等待host服务",
     )
+    parser.add_argument(
+        "--upload_registry",
+        action="store_true",
+        help="启动unilab时同时报送注册表信息",
+    )
     parser.add_argument(
         "--config",
         type=str,
@@ -97,22 +117,12 @@ def main():
 
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    if config_path is None:
-        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
-    if config_path:
-        if not os.path.exists(config_path):
-            print_status(f"配置文件 {config_path} 不存在", "error")
-        elif not config_path.endswith(".py"):
-            print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
-        else:
-            load_config(config_path)
-    else:
-        print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
-        load_config(config_path)
+    load_config_from_file(config_path)
 
     # 设置BasicConfig参数
     BasicConfig.is_host_mode = not args_dict.get("without_host", False)
     BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
+    BasicConfig.upload_registry = args_dict.get("upload_registry", False)
     machine_name = os.popen("hostname").read().strip()
     machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
     BasicConfig.machine_name = machine_name

unilabos/app/mq.py

@@ -172,13 +172,14 @@ class MQTTClient:
         jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
         self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
 
-    def publish_registry(self, device_id: str, device_info: dict):
+    def publish_registry(self, device_id: str, device_info: dict, print_debug: bool = True):
         if self.mqtt_disable:
             return
         address = f"labs/{MQConfig.lab_id}/registry/"
         registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
         self.client.publish(address, registry_data, qos=2)
-        logger.debug(f"Registry data published: address: {address}, {registry_data}")
+        if print_debug:
+            logger.debug(f"Registry data published: address: {address}, {registry_data}")
 
     def publish_actions(self, action_id: str, action_info: dict):
         if self.mqtt_disable:

unilabos/app/register.py

@@ -15,15 +15,15 @@ def register_devices_and_resources(mqtt_client, lab_registry):
 
     # 注册设备信息
     for device_info in lab_registry.obtain_registry_device_info():
-        mqtt_client.publish_registry(device_info["id"], device_info)
+        mqtt_client.publish_registry(device_info["id"], device_info, False)
         logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
 
     # 注册资源信息
     for resource_info in lab_registry.obtain_registry_resource_info():
-        mqtt_client.publish_registry(resource_info["id"], resource_info)
+        mqtt_client.publish_registry(resource_info["id"], resource_info, False)
         logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
 
-    time.sleep(20)
+    time.sleep(10)
 
     logger.info("[UniLab Register] 设备和资源注册完成.")
 
@@ -53,6 +53,10 @@ def main():
     load_config_from_file(args.config)
 
     from unilabos.app.mq import mqtt_client
+
+    # 连接mqtt
+    mqtt_client.start()
+
     from unilabos.registry.registry import lab_registry
 
     # 注册设备和资源

unilabos/config/config.py

@@ -10,8 +10,9 @@ from unilabos.utils import logger
 class BasicConfig:
     ENV = "pro"  # 'test'
     config_path = ""
-    is_host_mode = True  # 从registry.py移动过来
+    is_host_mode = True
     slave_no_host = False  # 是否跳过rclient.wait_for_service()
+    upload_registry = False
     machine_name = "undefined"
     vis_2d_enable = False
 

unilabos/registry/devices/virtual_device.yaml

@@ -218,6 +218,7 @@ virtual_multiway_valve:
   - handler_key: transferpump
     label: transferpump
     data_type: fluid
+    side: NORTH
     io_type: target
     data_source: handle
     data_key: fluid_in

unilabos/resources/graphio.py

@@ -175,8 +175,7 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
             edge["targetHandle"] = port[target]
         elif "target_port" in edge:
             edge["targetHandle"] = edge.pop("target_port")
-        if "id" not in edge:
-            edge["id"] = f"reactflow__edge-{edge['sourceHandle']}-{edge['targetHandle']}"
+        edge["id"] = f"reactflow__edge-{source}-{edge['sourceHandle']}-{target}-{edge['targetHandle']}"
         for key in ["source_port", "target_port"]:
             if key in edge:
                 edge.pop(key)

unilabos/ros/nodes/presets/host_node.py

@@ -22,6 +22,7 @@ from unilabos_msgs.srv import (
 )  # type: ignore
 from unique_identifier_msgs.msg import UUID
 
+from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
@@ -146,13 +147,15 @@ class HostNode(BaseROS2DeviceNode):
 
         self.device_status = {}  # 用来存储设备状态
         self.device_status_timestamps = {}  # 用来存储设备状态最后更新时间
+        if BasicConfig.upload_registry:
+            from unilabos.app.mq import mqtt_client
 
-        from unilabos.app.mq import mqtt_client
-
-        for device_info in lab_registry.obtain_registry_device_info():
-            mqtt_client.publish_registry(device_info["id"], device_info)
-        for resource_info in lab_registry.obtain_registry_resource_info():
-            mqtt_client.publish_registry(resource_info["id"], resource_info)
+            for device_info in lab_registry.obtain_registry_device_info():
+                mqtt_client.publish_registry(device_info["id"], device_info)
+            for resource_info in lab_registry.obtain_registry_resource_info():
+                mqtt_client.publish_registry(resource_info["id"], resource_info)
+        else:
+            self.lab_logger().warning("本次启动注册表不报送云端，如果您需要联网调试，请使用unilab-register命令进行单独报送，或者在启动命令增加--upload_registry")
         time.sleep(1) # 等待MQTT连接稳定
         # 首次发现网络中的设备
         self._discover_devices()
@@ -195,18 +198,18 @@ class HostNode(BaseROS2DeviceNode):
         resource_ids_to_instance = {i["id"]: i for i in resources_config}
         resource_name_to_with_parent_name = {}
         for res in resources_config:
-            if res.get("parent") and res.get("type") == "device" and res.get("class"):
-                parent_id = res.get("parent")
-                parent_res = resource_ids_to_instance[parent_id]
-                if parent_res.get("type") == "device" and parent_res.get("class"):
-                    resource_with_parent_name.append(copy.deepcopy(res))
-                    resource_name_to_with_parent_name[resource_with_parent_name[-1]["id"]] = f"{parent_res['id']}/{res['id']}"
-                    resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
-                    continue
+            # if res.get("parent") and res.get("type") == "device" and res.get("class"):
+            #     parent_id = res.get("parent")
+            #     parent_res = resource_ids_to_instance[parent_id]
+            #     if parent_res.get("type") == "device" and parent_res.get("class"):
+            #         resource_with_parent_name.append(copy.deepcopy(res))
+            #         resource_name_to_with_parent_name[resource_with_parent_name[-1]["id"]] = f"{parent_res['id']}/{res['id']}"
+            #         resource_with_parent_name[-1]["id"] = f"{parent_res['id']}/{res['id']}"
+            #         continue
             resource_with_parent_name.append(copy.deepcopy(res))
-        for edge in self.resources_edge_config:
-            edge["source"] = resource_name_to_with_parent_name.get(edge.get("source"), edge.get("source"))
-            edge["target"] = resource_name_to_with_parent_name.get(edge.get("target"), edge.get("target"))
+        # for edge in self.resources_edge_config:
+        #     edge["source"] = resource_name_to_with_parent_name.get(edge.get("source"), edge.get("source"))
+        #     edge["target"] = resource_name_to_with_parent_name.get(edge.get("target"), edge.get("target"))
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):

unilabos/ros/nodes/presets/protocol_node.py

@@ -110,7 +110,8 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
 
     def initialize_device(self, device_id, device_config):
         """初始化设备并创建相应的动作客户端"""
-        device_id_abs = f"{self.device_id}/{device_id}"
+        # device_id_abs = f"{self.device_id}/{device_id}"
+        device_id_abs = f"{device_id}"
         self.lab_logger().info(f"初始化子设备: {device_id_abs}")
         d = self.sub_devices[device_id] = initialize_device_from_dict(device_id_abs, device_config)