mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 21:11:12 +00:00
213 lines
7.5 KiB
Python
213 lines
7.5 KiB
Python
import argparse
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import asyncio
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import os
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import signal
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import sys
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import json
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import time
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import yaml
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from copy import deepcopy
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import threading
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import rclpy
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
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# 首先添加项目根目录到路径
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current_dir = os.path.dirname(os.path.abspath(__file__))
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ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
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if ilabos_dir not in sys.path:
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sys.path.append(ilabos_dir)
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from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
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from unilabos.utils.banner_print import print_status, print_unilab_banner
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from unilabos.device_mesh.resource_visalization import ResourceVisualization
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from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
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from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
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from rclpy.executors import MultiThreadedExecutor
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def parse_args():
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"""解析命令行参数"""
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parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
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parser.add_argument("-g", "--graph", help="Physical setup graph.")
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parser.add_argument("-d", "--devices", help="Devices config file.")
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parser.add_argument("-r", "--resources", help="Resources config file.")
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parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
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parser.add_argument(
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"--registry_path",
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type=str,
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default=None,
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action="append",
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help="Path to the registry",
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)
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parser.add_argument(
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"--backend",
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choices=["ros", "simple", "automancer"],
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default="ros",
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help="Choose the backend to run with: 'ros', 'simple', or 'automancer'.",
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)
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parser.add_argument(
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"--app_bridges",
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nargs="+",
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default=["mqtt", "fastapi"],
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help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.",
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)
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parser.add_argument(
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"--without_host",
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action="store_true",
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help="Run the backend as slave (without host).",
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)
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parser.add_argument(
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"--slave_no_host",
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action="store_true",
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help="Slave模式下跳过等待host服务",
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)
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parser.add_argument(
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"--config",
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type=str,
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default=None,
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help="配置文件路径，支持.py格式的Python配置文件",
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)
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parser.add_argument(
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"--port",
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type=int,
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default=8002,
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help="信息页web服务的启动端口",
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)
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parser.add_argument(
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"--open_browser",
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type=bool,
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default=True,
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help="是否在启动时打开信息页",
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)
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parser.add_argument(
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"--visual",
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choices=["rviz", "web","None"],
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default="rviz",
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help="选择可视化工具: 'rviz' 或 'web' 或 'None'，默认'rviz'",
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)
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return parser.parse_args()
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def main():
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"""主函数"""
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# 解析命令行参数
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args = parse_args()
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args_dict = vars(args)
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# 加载配置文件，优先加载config，然后从env读取
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config_path = args_dict.get("config")
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if config_path is None:
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config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
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if config_path:
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if not os.path.exists(config_path):
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print_status(f"配置文件 {config_path} 不存在", "error")
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elif not config_path.endswith(".py"):
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print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
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else:
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load_config(config_path)
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else:
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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")
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load_config(config_path)
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# 设置BasicConfig参数
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BasicConfig.is_host_mode = not args_dict.get("without_host", False)
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BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
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machine_name = os.popen("hostname").read().strip()
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machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
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BasicConfig.machine_name = machine_name
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from unilabos.resources.graphio import (
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read_node_link_json,
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read_graphml,
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dict_from_graph,
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dict_to_nested_dict,
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initialize_resources,
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)
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from unilabos.app.mq import mqtt_client
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from unilabos.registry.registry import build_registry
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from unilabos.app.backend import start_backend
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from unilabos.app.web import http_client
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from unilabos.app.web import start_server
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# 显示启动横幅
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print_unilab_banner(args_dict)
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# 注册表
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build_registry(args_dict["registry_path"])
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if args_dict["graph"] is not None:
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import unilabos.resources.graphio as graph_res
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graph_res.physical_setup_graph = (
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read_node_link_json(args_dict["graph"])
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if args_dict["graph"].endswith(".json")
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else read_graphml(args_dict["graph"])
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)
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devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
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args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
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args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
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# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
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args_dict["graph"] = graph_res.physical_setup_graph
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else:
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if args_dict["devices"] is None or args_dict["resources"] is None:
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print_status("Either graph or devices and resources must be provided.", "error")
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sys.exit(1)
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args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
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args_dict["resources_config"] = initialize_resources(
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list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
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)
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print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
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for i in args_dict["resources_config"]:
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print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
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if args_dict["controllers"] is not None:
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args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
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else:
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args_dict["controllers_config"] = None
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args_dict["bridges"] = []
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if "mqtt" in args_dict["app_bridges"]:
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args_dict["bridges"].append(mqtt_client)
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if "fastapi" in args_dict["app_bridges"]:
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args_dict["bridges"].append(http_client)
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if "mqtt" in args_dict["app_bridges"]:
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def _exit(signum, frame):
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mqtt_client.stop()
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sys.exit(0)
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signal.signal(signal.SIGINT, _exit)
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signal.signal(signal.SIGTERM, _exit)
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mqtt_client.start()
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args_dict["resources_mesh_config"] = {}
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if args_dict["visual"] != "None":
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if args_dict["visual"] == "rviz":
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enable_rviz=True
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elif args_dict["visual"] == "web":
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enable_rviz=False
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resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
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args_dict["resources_mesh_config"] = resource_visualization.resource_model
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# 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中
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start_backend(**args_dict)
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server_thread = threading.Thread(target=start_server)
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server_thread.start()
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asyncio.set_event_loop(asyncio.new_event_loop())
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resource_visualization.start()
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while True:
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time.sleep(1)
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else:
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start_backend(**args_dict)
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start_server()
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if __name__ == "__main__":
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main()
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