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feat: slave node registry
This commit is contained in:
wznln
2025-04-29 13:42:30 +08:00
parent 09fc17429e
commit e5749a8058
6 changed files with 19 additions and 16 deletions
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14
unilabos/ros/main_slave_run.py
View File

@@ -1,3 +1,4 @@
import copy
import json
import os
import traceback
@@ -85,7 +86,7 @@ def slave(
"""从节点函数"""
rclpy.init(args=args)
rclpy.__executor = executor = MultiThreadedExecutor()
devices_config_copy = copy.deepcopy(devices_config)
for device_id, device_config in devices_config.items():
d = initialize_device_from_dict(device_id, device_config)
if d is None:
@@ -109,20 +110,19 @@ def slave(
request.command = json.dumps({
"machine_name": machine_name,
"type": "slave",
"devices_config": devices_config,
"devices_config": devices_config_copy,
"registry_config": lab_registry.obtain_registry_device_info()
}, ensure_ascii=False, cls=TypeEncoder)
response = sclient.call_async(request)
logger.info(f"Slave node info update response: {response}")
response = sclient.call_async(request).result()
logger.info(f"Slave node info updated.")
rclient = n.create_client(ResourceAdd, "/resources/add")
rclient.wait_for_service() # FIXME 可能一直等待，加一个参数
request = ResourceAdd.Request()
request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources_config]
response = rclient.call_async(request)
logger.info(f"Slave resource add response: {response}")
response = rclient.call_async(request).result()
logger.info(f"Slave resource added.")
run_event_loop_in_thread()

6
unilabos/ros/nodes/presets/host_node.py
View File

@@ -516,7 +516,13 @@ class HostNode(BaseROS2DeviceNode):
"""
self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
try:
from unilabos.app.mq import mqtt_client
info = json.loads(request.command)
machine_name = info["machine_name"]
devices_config = info["devices_config"]
registry_config = info["registry_config"]
for device_config in registry_config:
mqtt_client.publish_registry(device_config["id"], device_config)
self.lab_logger().info(f"[Host Node] Node info update: {info}")
response.response = "OK"
except Exception as e: