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335 lines
8.4 KiB
Markdown
335 lines
8.4 KiB
Markdown
# HTTP API 指南
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本文档介绍如何通过 HTTP API 与 Uni-Lab-OS 进行交互，包括查询设备、提交任务和获取结果。
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## 概述
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Uni-Lab-OS 提供 RESTful HTTP API，允许外部系统通过标准 HTTP 请求控制实验室设备。API 基于 FastAPI 构建，默认运行在 `http://localhost:8002`。
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### 基础信息
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- **Base URL**: `http://localhost:8002/api/v1`
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- **Content-Type**: `application/json`
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- **响应格式**: JSON
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### 通用响应结构
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```json
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{
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"code": 0,
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"data": { ... },
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"message": "success"
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}
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```
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| 字段 | 类型 | 说明 |
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| --------- | ------ | ------------------ |
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| `code` | int | 状态码，0 表示成功 |
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| `data` | object | 响应数据 |
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| `message` | string | 响应消息 |
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## 快速开始
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以下是一个完整的工作流示例：查询设备 → 获取动作 → 提交任务 → 获取结果。
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### 步骤 1: 获取在线设备
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```bash
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curl -X GET "http://localhost:8002/api/v1/online-devices"
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```
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**响应示例**:
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```json
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{
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"code": 0,
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"data": {
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"online_devices": {
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"host_node": {
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"device_key": "/host_node",
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"namespace": "",
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"machine_name": "本地",
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"uuid": "xxx-xxx-xxx",
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"node_name": "host_node"
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}
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},
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"total_count": 1,
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"timestamp": 1732612345.123
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},
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"message": "success"
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}
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```
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### 步骤 2: 获取设备可用动作
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```bash
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curl -X GET "http://localhost:8002/api/v1/devices/host_node/actions"
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```
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**响应示例**:
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```json
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{
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"code": 0,
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"data": {
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"device_id": "host_node",
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"actions": {
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"test_latency": {
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"type_name": "unilabos_msgs.action._empty_in.EmptyIn",
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"type_name_convert": "unilabos_msgs/action/_empty_in/EmptyIn",
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"action_path": "/devices/host_node/test_latency",
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"goal_info": "{}",
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"is_busy": false,
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"current_job_id": null
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},
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"create_resource": {
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"type_name": "unilabos_msgs.action._resource_create_from_outer_easy.ResourceCreateFromOuterEasy",
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"action_path": "/devices/host_node/create_resource",
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"goal_info": "{res_id: '', device_id: '', class_name: '', ...}",
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"is_busy": false,
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"current_job_id": null
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}
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},
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"action_count": 5
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},
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"message": "success"
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}
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```
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**动作状态字段说明**:
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| 字段 | 说明 |
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| ---------------- | ----------------------------- |
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| `type_name` | 动作类型的完整名称 |
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| `action_path` | ROS2 动作路径 |
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| `goal_info` | 动作参数模板 |
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| `is_busy` | 动作是否正在执行 |
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| `current_job_id` | 当前执行的任务 ID（如果繁忙） |
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### 步骤 3: 提交任务
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```bash
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curl -X POST "http://localhost:8002/api/v1/job/add" \
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-H "Content-Type: application/json" \
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-d '{"device_id":"host_node","action":"test_latency","action_args":{}}'
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```
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**请求体**:
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```json
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{
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"device_id": "host_node",
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"action": "test_latency",
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"action_args": {}
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}
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```
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**请求参数说明**:
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| 字段 | 类型 | 必填 | 说明 |
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| ------------- | ------ | ---- | ---------------------------------- |
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| `device_id` | string | ✓ | 目标设备 ID |
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| `action` | string | ✓ | 动作名称 |
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| `action_args` | object | ✓ | 动作参数（根据动作类型不同而变化） |
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**响应示例**:
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```json
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{
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"code": 0,
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"data": {
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"jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
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"status": 1,
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"result": {}
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},
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"message": "success"
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}
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```
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**任务状态码**:
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| 状态码 | 含义 | 说明 |
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| ------ | --------- | ------------------------------ |
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| 0 | UNKNOWN | 未知状态 |
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| 1 | ACCEPTED | 任务已接受，等待执行 |
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| 2 | EXECUTING | 任务执行中 |
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| 3 | CANCELING | 任务取消中 |
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| 4 | SUCCEEDED | 任务成功完成 |
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| 5 | CANCELED | 任务已取消 |
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| 6 | ABORTED | 任务中止（设备繁忙或执行失败） |
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### 步骤 4: 查询任务状态和结果
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```bash
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curl -X GET "http://localhost:8002/api/v1/job/b6acb586-733a-42ab-9f73-55c9a52aa8bd/status"
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```
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**响应示例（执行中）**:
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```json
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{
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"code": 0,
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"data": {
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"jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
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"status": 2,
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"result": {}
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},
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"message": "success"
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}
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```
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**响应示例（执行完成）**:
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```json
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{
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"code": 0,
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"data": {
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"jobId": "b6acb586-733a-42ab-9f73-55c9a52aa8bd",
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"status": 4,
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"result": {
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"error": "",
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"suc": true,
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"return_value": {
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"avg_rtt_ms": 103.99,
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"avg_time_diff_ms": 7181.55,
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"max_time_error_ms": 7210.57,
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"task_delay_ms": -1,
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"raw_delay_ms": 33.19,
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"test_count": 5,
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"status": "success"
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}
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}
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},
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"message": "success"
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}
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```
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> **注意**: 任务结果在首次查询后会被自动删除，请确保保存返回的结果数据。
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## API 端点列表
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### 设备相关
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| 端点 | 方法 | 说明 |
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| ---------------------------------------------------------- | ---- | ---------------------- |
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| `/api/v1/online-devices` | GET | 获取在线设备列表 |
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| `/api/v1/devices` | GET | 获取设备配置 |
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| `/api/v1/devices/{device_id}/actions` | GET | 获取指定设备的可用动作 |
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| `/api/v1/devices/{device_id}/actions/{action_name}/schema` | GET | 获取动作参数 Schema |
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| `/api/v1/actions` | GET | 获取所有设备的可用动作 |
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### 任务相关
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| 端点 | 方法 | 说明 |
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| ----------------------------- | ---- | ------------------ |
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| `/api/v1/job/add` | POST | 提交新任务 |
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| `/api/v1/job/{job_id}/status` | GET | 查询任务状态和结果 |
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### 资源相关
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| 端点 | 方法 | 说明 |
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| ------------------- | ---- | ------------ |
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| `/api/v1/resources` | GET | 获取资源列表 |
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## 常见动作示例
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### test_latency - 延迟测试
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测试系统延迟，无需参数。
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```bash
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curl -X POST "http://localhost:8002/api/v1/job/add" \
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-H "Content-Type: application/json" \
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-d '{"device_id":"host_node","action":"test_latency","action_args":{}}'
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```
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### create_resource - 创建资源
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在设备上创建新资源。
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```bash
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curl -X POST "http://localhost:8002/api/v1/job/add" \
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-H "Content-Type: application/json" \
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-d '{
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"device_id": "host_node",
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"action": "create_resource",
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"action_args": {
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"res_id": "my_plate",
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"device_id": "host_node",
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"class_name": "Plate",
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"parent": "deck",
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"bind_locations": {"x": 0, "y": 0, "z": 0}
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}
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}'
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```
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## 错误处理
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### 设备繁忙
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当设备正在执行其他任务时，提交新任务会返回 `status: 6`（ABORTED）：
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```json
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{
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"code": 0,
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"data": {
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"jobId": "xxx",
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"status": 6,
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"result": {}
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},
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"message": "success"
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}
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```
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此时应等待当前任务完成后重试，或使用 `/devices/{device_id}/actions` 检查动作的 `is_busy` 状态。
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### 参数错误
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```json
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{
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"code": 2002,
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"data": { ... },
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"message": "device_id is required"
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}
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```
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## 轮询策略
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推荐的任务状态轮询策略：
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```python
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import requests
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import time
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def wait_for_job(job_id, timeout=60, interval=0.5):
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"""等待任务完成并返回结果"""
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start_time = time.time()
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while time.time() - start_time < timeout:
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response = requests.get(f"http://localhost:8002/api/v1/job/{job_id}/status")
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data = response.json()["data"]
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status = data["status"]
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if status in (4, 5, 6): # SUCCEEDED, CANCELED, ABORTED
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return data
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time.sleep(interval)
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raise TimeoutError(f"Job {job_id} did not complete within {timeout} seconds")
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# 使用示例
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response = requests.post(
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"http://localhost:8002/api/v1/job/add",
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json={"device_id": "host_node", "action": "test_latency", "action_args": {}}
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)
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job_id = response.json()["data"]["jobId"]
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result = wait_for_job(job_id)
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print(result)
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```
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## 相关文档
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- [设备注册指南](add_device.md)
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- [动作定义指南](add_action.md)
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- [网络架构概述](networking_overview.md)
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