close #12

feat: slave node registry

unilabos/app/main.py

@@ -61,7 +61,7 @@ def parse_args():
     parser.add_argument(
         "--port",
         type=int,
-        default=None,
+        default=8002,
         help="信息页web服务的启动端口",
     )
     parser.add_argument(

unilabos/app/web/pages.py

@@ -92,7 +92,7 @@ def setup_web_pages(router: APIRouter) -> None:
 
             # 获取已加载的设备
             if lab_registry:
-                devices = lab_registry.obtain_registry_device_info()
+                devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
                 # 资源类型
                 for resource_id, resource_info in lab_registry.resource_type_registry.items():
                     resources.append(

unilabos/app/web/templates/status.html

@@ -329,7 +329,7 @@
         <tr id="device-info-{{ loop.index }}" class="detail-row" style="display: none;">
             <td colspan="5">
                 <div class="content-full">
-                    <pre>{{ device.class_json }}</pre>
+                    <pre>{{ device.class|tojson(indent=4) }}</pre>
                     
                     {% if device.is_online %}
                     <div class="status-badge"><span class="online-status">在线</span></div>

unilabos/registry/registry.py

@@ -7,7 +7,7 @@ from typing import Any
 import yaml
 
 from unilabos.utils import logger
-from unilabos.ros.msgs.message_converter import msg_converter_manager
+from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
 from unilabos.utils.decorator import singleton
 from unilabos.utils.type_check import TypeEncoder
 
@@ -131,6 +131,7 @@ class Registry:
                                     action_config["type"] = self._replace_type_with_class(
                                         action_config["type"], device_id, f"动作 {action_name}"
                                     )
+                                    action_config["schema"] = ros_action_to_json_schema(action_config["type"])
 
                 self.device_type_registry.update(data)
 
@@ -150,11 +151,7 @@ class Registry:
         for device_id, device_info in self.device_type_registry.items():
             msg = {
                 "id": device_id,
-                "name": device_info.get("name", "未命名"),
-                "file_path": device_info.get("file_path", ""),
-                "class_json": json.dumps(
-                    device_info.get("class", {}), indent=4, ensure_ascii=False, cls=TypeEncoder
-                ),
+                **device_info
             }
             devices.append(msg)
         return devices

unilabos/ros/main_slave_run.py

@@ -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()

unilabos/ros/nodes/presets/host_node.py

@@ -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: