import argparse import asyncio import os import shutil import signal import sys import threading import time from copy import deepcopy from typing import Dict, Any, List import networkx as nx import yaml from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict # 首先添加项目根目录到路径 current_dir = os.path.dirname(os.path.abspath(__file__)) unilabos_dir = os.path.dirname(os.path.dirname(current_dir)) if unilabos_dir not in sys.path: sys.path.append(unilabos_dir) from unilabos.config.config import load_config, BasicConfig, HTTPConfig from unilabos.utils.banner_print import print_status, print_unilab_banner from unilabos.resources.graphio import modify_to_backend_format def load_config_from_file(config_path): if config_path is None: config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None) if config_path: if not os.path.exists(config_path): print_status(f"配置文件 {config_path} 不存在", "error") elif not config_path.endswith(".py"): print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error") else: load_config(config_path) else: print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning") load_config(config_path) def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser): # easier for user input, easier for dev search code option_strings = list(args._option_string_actions.keys()) for i, arg in enumerate(sys.argv): for option_string in option_strings: if arg.startswith(option_string): new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :] sys.argv[i] = new_arg break def parse_args(): """解析命令行参数""" parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.") parser.add_argument("-g", "--graph", help="Physical setup graph file path.") parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.") parser.add_argument( "--registry_path", type=str, default=None, action="append", help="Path to the registry directory", ) parser.add_argument( "--working_dir", type=str, default=None, help="Path to the working directory", ) parser.add_argument( "--backend", choices=["ros", "simple", "automancer"], default="ros", help="Choose the backend to run with: 'ros', 'simple', or 'automancer'.", ) parser.add_argument( "--app_bridges", nargs="+", default=["websocket", "fastapi"], help="Bridges to connect to. Now support 'websocket' and 'fastapi'.", ) parser.add_argument( "--is_slave", action="store_true", help="Run the backend as slave node (without host privileges).", ) parser.add_argument( "--slave_no_host", action="store_true", help="Skip waiting for host service in slave mode", ) parser.add_argument( "--upload_registry", action="store_true", help="Upload registry information when starting unilab", ) parser.add_argument( "--use_remote_resource", action="store_true", help="Use remote resources when starting unilab", ) parser.add_argument( "--config", type=str, default=None, help="Configuration file path, supports .py format Python config files", ) parser.add_argument( "--port", type=int, default=8002, help="Port for web service information page", ) parser.add_argument( "--disable_browser", action="store_true", help="Disable opening information page on startup", ) parser.add_argument( "--2d_vis", action="store_true", help="Enable 2D visualization when starting pylabrobot instance", ) parser.add_argument( "--visual", choices=["rviz", "web", "disable"], default="disable", help="Choose visualization tool: rviz, web, or disable", ) parser.add_argument( "--ak", type=str, default="", help="Access key for laboratory requests", ) parser.add_argument( "--sk", type=str, default="", help="Secret key for laboratory requests", ) parser.add_argument( "--addr", type=str, default="https://uni-lab.bohrium.com/api/v1", help="Laboratory backend address", ) parser.add_argument( "--skip_env_check", action="store_true", help="Skip environment dependency check on startup", ) parser.add_argument( "--complete_registry", action="store_true", default=False, help="Complete registry information", ) return parser def main(): """主函数""" # 解析命令行参数 args = parse_args() convert_argv_dashes_to_underscores(args) args_dict = vars(args.parse_args()) # 环境检查 - 检查并自动安装必需的包 (可选) if not args_dict.get("skip_env_check", False): from unilabos.utils.environment_check import check_environment print_status("正在进行环境依赖检查...", "info") if not check_environment(auto_install=True): print_status("环境检查失败，程序退出", "error") os._exit(1) else: print_status("跳过环境依赖检查", "warning") # 加载配置文件，优先加载config，然后从env读取 config_path = args_dict.get("config") if os.getcwd().endswith("unilabos_data"): working_dir = os.path.abspath(os.getcwd()) else: working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data")) if args_dict.get("working_dir"): working_dir = args_dict.get("working_dir", "") if config_path and not os.path.exists(config_path): config_path = os.path.join(working_dir, "local_config.py") if not os.path.exists(config_path): print_status( f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径", "error", ) os._exit(1) elif config_path and os.path.exists(config_path): working_dir = os.path.dirname(config_path) elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")): config_path = os.path.join(working_dir, "local_config.py") elif not config_path and ( not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py")) ): print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info") print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info") if input() != "n": os.makedirs(working_dir, exist_ok=True) config_path = os.path.join(working_dir, "local_config.py") shutil.copy( os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path ) print_status(f"已创建 local_config.py 路径： {config_path}", "info") else: os._exit(1) # 加载配置文件 print_status(f"当前工作目录为 {working_dir}", "info") load_config_from_file(config_path) if args_dict["addr"] == "test": print_status("使用测试环境地址", "info") HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" elif args_dict["addr"] == "uat": print_status("使用uat环境地址", "info") HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1" elif args_dict["addr"] == "local": print_status("使用本地环境地址", "info") HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1" else: HTTPConfig.remote_addr = args_dict.get("addr", "") # 设置BasicConfig参数 if args_dict.get("ak", ""): BasicConfig.ak = args_dict.get("ak", "") print_status("传入了ak参数，优先采用传入参数！", "info") if args_dict.get("sk", ""): BasicConfig.sk = args_dict.get("sk", "") print_status("传入了sk参数，优先采用传入参数！", "info") # 使用远程资源启动 if args_dict["use_remote_resource"]: print_status("使用远程资源启动", "info") from unilabos.app.web import http_client res = http_client.resource_get("host_node", False) if str(res.get("code", 0)) == "0" and len(res.get("data", [])) > 0: print_status("远程资源已存在，使用云端物料！", "info") args_dict["graph"] = None else: print_status("远程资源不存在，本地将进行首次上报！", "info") BasicConfig.working_dir = working_dir BasicConfig.is_host_mode = not args_dict.get("is_slave", False) BasicConfig.slave_no_host = args_dict.get("slave_no_host", False) BasicConfig.upload_registry = args_dict.get("upload_registry", False) BasicConfig.communication_protocol = "websocket" machine_name = os.popen("hostname").read().strip() machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name]) BasicConfig.machine_name = machine_name BasicConfig.vis_2d_enable = args_dict["2d_vis"] from unilabos.resources.graphio import ( read_node_link_json, read_graphml, dict_from_graph, dict_to_nested_dict, initialize_resources, ) from unilabos.app.communication import get_communication_client from unilabos.registry.registry import build_registry from unilabos.app.backend import start_backend from unilabos.app.web import http_client from unilabos.app.web import start_server from unilabos.app.register import register_devices_and_resources # 显示启动横幅 print_unilab_banner(args_dict) # 注册表 lab_registry = build_registry( args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"] ) if not BasicConfig.ak or not BasicConfig.sk: print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning") os._exit(1) graph: nx.Graph resource_tree_set: ResourceTreeSet resource_links: List[Dict[str, Any]] if args_dict["graph"] is None: request_startup_json = http_client.request_startup_json() if not request_startup_json: print_status( "未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error" ) os._exit(1) else: print_status("联网获取设备加载文件成功", "info") graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json) else: file_path = args_dict["graph"] if file_path.endswith(".json"): graph, resource_tree_set, resource_links = read_node_link_json(file_path) else: graph, resource_tree_set, resource_links = read_graphml(file_path) import unilabos.resources.graphio as graph_res graph_res.physical_setup_graph = graph resource_edge_info = modify_to_backend_format(resource_links) materials = lab_registry.obtain_registry_resource_info() materials.extend(lab_registry.obtain_registry_device_info()) materials = {k["id"]: k for k in materials} # 从 ResourceTreeSet 中获取节点信息 nodes = {node.res_content.id: node.res_content for node in resource_tree_set.all_nodes} edge_info = len(resource_edge_info) for ind, i in enumerate(resource_edge_info[::-1]): source_node: ResourceDict = nodes[i["source"]] target_node: ResourceDict = nodes[i["target"]] source_handle = i["sourceHandle"] target_handle = i["targetHandle"] source_handler_keys = [ h["handler_key"] for h in materials[source_node.klass]["handles"] if h["io_type"] == "source" ] target_handler_keys = [ h["handler_key"] for h in materials[target_node.klass]["handles"] if h["io_type"] == "target" ] if source_handle not in source_handler_keys: print_status( f"节点 {source_node.id} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}", "error", ) resource_edge_info.pop(edge_info - ind - 1) continue if target_handle not in target_handler_keys: print_status( f"节点 {target_node.id} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}", "error", ) resource_edge_info.pop(edge_info - ind - 1) continue # 使用 ResourceTreeSet 代替 list args_dict["resources_config"] = resource_tree_set args_dict["devices_config"] = resource_tree_set args_dict["graph"] = graph_res.physical_setup_graph if BasicConfig.upload_registry: # 设备注册到服务端 - 需要 ak 和 sk if args_dict.get("ak") and args_dict.get("sk"): print_status("开始注册设备到服务端...", "info") try: register_devices_and_resources(lab_registry) print_status("设备注册完成", "info") except Exception as e: print_status(f"设备注册失败: {e}", "error") else: print_status("未提供 ak 和 sk，跳过设备注册", "info") else: print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning") if args_dict["controllers"] is not None: args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8")) else: args_dict["controllers_config"] = None args_dict["bridges"] = [] # 获取通信客户端（仅支持WebSocket） comm_client = get_communication_client() if "websocket" in args_dict["app_bridges"]: args_dict["bridges"].append(comm_client) if "fastapi" in args_dict["app_bridges"]: args_dict["bridges"].append(http_client) if "websocket" in args_dict["app_bridges"]: def _exit(signum, frame): comm_client.stop() sys.exit(0) signal.signal(signal.SIGINT, _exit) signal.signal(signal.SIGTERM, _exit) comm_client.start() args_dict["resources_mesh_config"] = {} args_dict["resources_edge_config"] = resource_edge_info # web visiualize 2D if args_dict["visual"] != "disable": enable_rviz = args_dict["visual"] == "rviz" devices_and_resources = dict_from_graph(graph_res.physical_setup_graph) if devices_and_resources is not None: from unilabos.device_mesh.resource_visalization import ( ResourceVisualization, ) # 此处开启后，logger会变更为INFO，有需要请调整 resource_visualization = ResourceVisualization( devices_and_resources, [n.res_content for n in args_dict["resources_config"].all_nodes], # type: ignore # FIXME enable_rviz=enable_rviz, ) args_dict["resources_mesh_config"] = resource_visualization.resource_model start_backend(**args_dict) server_thread = threading.Thread( target=start_server, kwargs=dict( open_browser=not args_dict["disable_browser"], port=args_dict["port"], ), ) server_thread.start() asyncio.set_event_loop(asyncio.new_event_loop()) resource_visualization.start() while True: time.sleep(1) else: start_backend(**args_dict) start_server( open_browser=not args_dict["disable_browser"], port=args_dict["port"], ) else: start_backend(**args_dict) start_server( open_browser=not args_dict["disable_browser"], port=args_dict["port"], ) if __name__ == "__main__": main()