import argparse import asyncio import json import os import signal import sys import threading import time from copy import deepcopy import yaml from unilabos.resources.graphio import tree_to_list # 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, _update_config_from_env from unilabos.utils.banner_print import print_status, print_unilab_banner 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.") parser.add_argument("-d", "--devices", help="Devices config file.") parser.add_argument("-r", "--resources", help="Resources config file.") parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.") parser.add_argument( "--registry_path", type=str, default=None, action="append", help="Path to the registry", ) 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=["mqtt", "fastapi"], help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.", ) parser.add_argument( "--without_host", action="store_true", help="Run the backend as slave (without host).", ) parser.add_argument( "--slave_no_host", action="store_true", help="Slave模式下跳过等待host服务", ) parser.add_argument( "--config", type=str, default=None, help="配置文件路径，支持.py格式的Python配置文件", ) parser.add_argument( "--port", type=int, default=8002, help="信息页web服务的启动端口", ) parser.add_argument( "--disable_browser", action='store_true', help="是否在启动时关闭信息页", ) parser.add_argument( "--2d_vis", action='store_true', help="是否在pylabrobot实例启动时，同时启动可视化", ) parser.add_argument( "--visual", choices=["rviz", "web", "disable"], default="disable", help="选择可视化工具: rviz, web", ) return parser.parse_args() def main(): """主函数""" # 解析命令行参数 args = parse_args() args_dict = vars(args) # 加载配置文件，优先加载config，然后从env读取 config_path = args_dict.get("config") 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) # 设置BasicConfig参数 BasicConfig.is_host_mode = not args_dict.get("without_host", False) BasicConfig.slave_no_host = args_dict.get("slave_no_host", False) 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.mq import mqtt_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 # 显示启动横幅 print_unilab_banner(args_dict) # 注册表 build_registry(args_dict["registry_path"]) devices_and_resources = None if args_dict["graph"] is not None: import unilabos.resources.graphio as graph_res graph_res.physical_setup_graph = ( read_node_link_json(args_dict["graph"]) if args_dict["graph"].endswith(".json") else read_graphml(args_dict["graph"]) ) devices_and_resources = dict_from_graph(graph_res.physical_setup_graph) # args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values())) args_dict["resources_config"] = list(devices_and_resources.values()) args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False) args_dict["graph"] = graph_res.physical_setup_graph else: if args_dict["devices"] is None or args_dict["resources"] is None: print_status("Either graph or devices and resources must be provided.", "error") sys.exit(1) args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8")) # args_dict["resources_config"] = initialize_resources( # list(json.load(open(args_dict["resources"], encoding="utf-8")).values()) # ) args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values()) print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info") for i in args_dict["resources_config"]: print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info") 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"] = [] if "mqtt" in args_dict["app_bridges"]: args_dict["bridges"].append(mqtt_client) if "fastapi" in args_dict["app_bridges"]: args_dict["bridges"].append(http_client) if "mqtt" in args_dict["app_bridges"]: def _exit(signum, frame): mqtt_client.stop() sys.exit(0) signal.signal(signal.SIGINT, _exit) signal.signal(signal.SIGTERM, _exit) mqtt_client.start() args_dict["resources_mesh_config"] = {} # web visiualize 2D if args_dict["visual"] != "disable": enable_rviz = args_dict["visual"] == "rviz" 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, args_dict["resources_config"] ,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()