feat: show machine name

fix: host node registry not uploaded

unilabos/app/web/templates/status.html

@@ -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>

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"] = {
+        host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
-            action_id: get_action_info(client, full_name=action_id)
-        }
 
     # 获取设备状态
     host_info["device_status"] = host_node.device_status

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] = {
+            result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
-                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:

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}")