From ea6f25d1ce0d7613c784dc7e95fd3f5abcc5c79a Mon Sep 17 00:00:00 2001 From: wznln <18435084+Xuwznln@users.noreply.github.com> Date: Tue, 29 Apr 2025 14:39:14 +0800 Subject: [PATCH] feat: show machine name fix: host node registry not uploaded --- unilabos/app/web/templates/status.html | 6 +++++- unilabos/app/web/utils/host_utils.py | 5 ++--- unilabos/app/web/utils/ros_utils.py | 14 ++++++++++---- unilabos/ros/nodes/presets/host_node.py | 14 ++++++++++++++ 4 files changed, 31 insertions(+), 8 deletions(-) diff --git a/unilabos/app/web/templates/status.html b/unilabos/app/web/templates/status.html index 9217691c..f4ef011a 100644 --- a/unilabos/app/web/templates/status.html +++ b/unilabos/app/web/templates/status.html @@ -96,17 +96,19 @@ 设备ID 命名空间 + 机器名称 状态 {% for device_id, device_info in host_node_info.devices.items() %} {{ device_id }} {{ device_info.namespace }} + {{ device_info.machine_name }} {{ "在线" if device_info.is_online else "离线" }} {% else %} - 没有发现已管理的设备 + 没有发现已管理的设备 {% endfor %} @@ -218,6 +220,7 @@ Device ID 节点名称 命名空间 + 机器名称 状态项 动作数 @@ -227,6 +230,7 @@ {{ device_id }} {{ device_info.node_name }} {{ device_info.namespace }} + {{ device_info.machine_name|default("本地") }} {{ ros_node_info.device_topics.get(device_id, {})|length }} {{ ros_node_info.device_actions.get(device_id, {})|length }} ▼ diff --git a/unilabos/app/web/utils/host_utils.py b/unilabos/app/web/utils/host_utils.py index 0df5e816..6ceb068a 100644 --- a/unilabos/app/web/utils/host_utils.py +++ b/unilabos/app/web/utils/host_utils.py @@ -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 diff --git a/unilabos/app/web/utils/ros_utils.py b/unilabos/app/web/utils/ros_utils.py index 01733510..8e1c767c 100644 --- a/unilabos/app/web/utils/ros_utils.py +++ b/unilabos/app/web/utils/ros_utils.py @@ -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: diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index e8d43b35..2c114412 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -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}")