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feat: show machine name

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fix: host node registry not uploaded
This commit is contained in:
wznln
2025-04-29 14:39:14 +08:00
parent e5749a8058
commit ea6f25d1ce
4 changed files with 31 additions and 8 deletions
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6
unilabos/app/web/templates/status.html
View File

@@ -96,17 +96,19 @@
<tr>
<th>设备ID</th>
<th>命名空间</th>
<th>机器名称</th>
<th>状态</th>
</tr>
{% for device_id, device_info in host_node_info.devices.items() %}
<tr>
<td>{{ device_id }}</td>
<td>{{ device_info.namespace }}</td>
<td>{{ device_info.machine_name }}</td>
<td><span class="status-badge online">{{ "在线" if device_info.is_online else "离线" }}</span></td>
</tr>
{% else %}
<tr>
<td colspan="3" class="empty-state">没有发现已管理的设备</td>
<td colspan="4" class="empty-state">没有发现已管理的设备</td>
</tr>
{% endfor %}
</table>
@@ -218,6 +220,7 @@
<th>Device ID</th>
<th>节点名称</th>
<th>命名空间</th>
<th>机器名称</th>
<th>状态项</th>
<th>动作数</th>
</tr>
@@ -227,6 +230,7 @@
<td>{{ device_id }}</td>
<td>{{ device_info.node_name }}</td>
<td>{{ device_info.namespace }}</td>
<td>{{ device_info.machine_name|default("本地") }}</td>
<td>{{ ros_node_info.device_topics.get(device_id, {})|length }}</td>
<td>{{ ros_node_info.device_actions.get(device_id, {})|length }} <span class="toggle-indicator">▼</span></td>
</tr>

5
unilabos/app/web/utils/host_utils.py
View File

@@ -34,6 +34,7 @@ def get_host_node_info() -> Dict[str, Any]:
"namespace": namespace,
"is_online": f"{namespace}/{device_id}" in host_node._online_devices,
"key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
"machine_name": host_node.device_machine_names.get(device_id, "未知"),
}
for device_id, namespace in host_node.devices_names.items()
}
@@ -41,9 +42,7 @@ def get_host_node_info() -> Dict[str, Any]:
host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
# 获取动作客户端信息
for action_id, client in host_node._action_clients.items():
host_info["action_clients"] = {
action_id: get_action_info(client, full_name=action_id)
}
host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
# 获取设备状态
host_info["device_status"] = host_node.device_status

14
unilabos/app/web/utils/ros_utils.py
View File

@@ -12,6 +12,7 @@ from unilabos.app.web.utils.action_utils import get_action_info
# 存储 ROS 节点信息的全局变量
ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}
def get_ros_node_info() -> Dict[str, Any]:
"""获取 ROS 节点信息，包括设备节点、发布的状态和动作
@@ -35,6 +36,13 @@ def update_ros_node_info() -> Dict[str, Any]:
try:
from unilabos.ros.nodes.base_device_node import registered_devices
from unilabos.ros.nodes.presets.host_node import HostNode
# 尝试获取主机节点实例
host_node = HostNode.get_instance(0)
device_machine_names = {}
if host_node:
device_machine_names = host_node.device_machine_names
for device_id, device_info in registered_devices.items():
# 设备基本信息
@@ -42,6 +50,7 @@ def update_ros_node_info() -> Dict[str, Any]:
"node_name": device_info["node_name"],
"namespace": device_info["namespace"],
"uuid": device_info["uuid"],
"machine_name": device_machine_names.get(device_id, "本地"),
}
# 设备话题（状态）信息
@@ -55,10 +64,7 @@ def update_ros_node_info() -> Dict[str, Any]:
}
# 设备动作信息
result["device_actions"][device_id] = {
k: get_action_info(v, k)
for k, v in device_info["actions"].items()
}
result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
# 更新全局变量
ros_node_info = result
except Exception as e:

14
unilabos/ros/nodes/presets/host_node.py
View File

@@ -14,6 +14,7 @@ from rclpy.callback_groups import ReentrantCallbackGroup
from rclpy.service import Service
from unique_identifier_msgs.msg import UUID
from unilabos.registry.registry import lab_registry
from unilabos.resources.registry import add_schema
from unilabos.ros.initialize_device import initialize_device_from_dict
from unilabos.ros.msgs.message_converter import (
@@ -97,6 +98,7 @@ class HostNode(BaseROS2DeviceNode):
# 创建设备、动作客户端和目标存储
self.devices_names: Dict[str, str] = {} # 存储设备名称和命名空间的映射
self.devices_instances: Dict[str, ROS2DeviceNode] = {} # 存储设备实例
self.device_machine_names: Dict[str, str] = {} # 存储设备ID到机器名称的映射
self._action_clients: Dict[str, ActionClient] = {} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = (
{}
@@ -113,6 +115,10 @@ 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
from unilabos.app.mq import mqtt_client
for device_config in lab_registry.obtain_registry_device_info():
mqtt_client.publish_registry(device_config["id"], device_config)
# 首次发现网络中的设备
self._discover_devices()
@@ -255,6 +261,7 @@ class HostNode(BaseROS2DeviceNode):
return
# noinspection PyProtectedMember
self.devices_names[device_id] = d._ros_node.namespace
self.device_machine_names[device_id] = "本地"
self.devices_instances[device_id] = d
# noinspection PyProtectedMember
for action_name, action_value_mapping in d._ros_node._action_value_mappings.items():
@@ -517,10 +524,17 @@ 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"]
# 更新设备机器名称映射
for device_id in devices_config.keys():
self.device_machine_names[device_id] = machine_name
self.lab_logger().debug(f"[Host Node] Updated machine name for device {device_id}: {machine_name}")
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}")