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yaml dump支持ordered dict，支持config_info

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Xuwznln
2025-07-19 01:54:53 +08:00
parent 862f250e49
commit ebe9e1b1f8
9 changed files with 152298 additions and 325 deletions
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34
unilabos/registry/registry.py
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@@ -9,6 +9,7 @@ from typing import Any, Dict, List
import yaml
from unilabos.resources.graphio import resource_plr_to_ulab, tree_to_list
from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema, String
from unilabos.utils import logger
from unilabos.utils.decorator import singleton
@@ -65,7 +66,9 @@ class Registry:
},
"feedback": {},
"result": {"success": "success"},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter, '用于创建或更新物料资源，每次传入多个物料信息。'),
"schema": ros_action_to_json_schema(
self.ResourceCreateFromOuter, "用于创建或更新物料资源，每次传入多个物料信息。"
),
"goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
),
@@ -86,7 +89,9 @@ class Registry:
},
"feedback": {},
"result": {"success": "success"},
"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy, '用于创建或更新物料资源，每次传入一个物料信息。'),
"schema": ros_action_to_json_schema(
self.ResourceCreateFromOuterEasy, "用于创建或更新物料资源，每次传入一个物料信息。"
),
"goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
),
@@ -113,7 +118,9 @@ class Registry:
"goal": {},
"feedback": {},
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
"schema": ros_action_to_json_schema(self.EmptyIn, '用于测试延迟的动作，返回延迟时间和时间差。'),
"schema": ros_action_to_json_schema(
self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
),
"goal_default": {},
"handles": {},
},
@@ -149,6 +156,7 @@ class Registry:
for i, file in enumerate(files):
with open(file, encoding="utf-8", mode="r") as f:
data = yaml.safe_load(io.StringIO(f.read()))
complete_data = {}
if data:
# 为每个资源添加文件路径信息
for resource_id, resource_info in data.items():
@@ -172,11 +180,21 @@ class Registry:
if len(class_info) and "module" in class_info:
if class_info.get("type") == "pylabrobot":
res_class = get_class(class_info["module"])
if callable(res_class) and not isinstance(res_class, type): # 有的是类，有的是函数，这里暂时只登记函数类的
if callable(res_class) and not isinstance(
res_class, type
): # 有的是类，有的是函数，这里暂时只登记函数类的
res_instance = res_class(res_class.__name__)
print(res_instance)
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
resource_info["config_info"] = res_ulr
resource_info["registry_type"] = "resource"
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items()))) # 稍后dump到文件
complete_data = dict(sorted(complete_data.items()))
complete_data = copy.deepcopy(complete_data)
if complete_registry:
with open(file, "w", encoding="utf-8") as f:
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
self.resource_type_registry.update(data)
logger.debug(
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
@@ -462,7 +480,9 @@ class Registry:
# 恢复原有的description信息（auto开头的不修改）
for action_name, description in old_descriptions.items():
if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除
device_config["class"]["action_value_mappings"][action_name]["schema"]["description"] = description
device_config["class"]["action_value_mappings"][action_name]["schema"][
"description"
] = description
device_config["init_param_schema"] = {}
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
enhanced_info["init_params"], "__init__"