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https://github.com/dptech-corp/Uni-Lab-OS.git
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01ac3415ae
Closes #3. Closes #12. * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com>
75 lines
2.4 KiB
Python
75 lines
2.4 KiB
Python
"""
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ROS 工具函数模块
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提供处理 ROS 节点信息的辅助函数
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"""
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import traceback
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from typing import Dict, Any
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from unilabos.app.web.utils.action_utils import get_action_info
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# 存储 ROS 节点信息的全局变量
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ros_node_info = {"online_devices": {}, "device_topics": {}, "device_actions": {}}
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def get_ros_node_info() -> Dict[str, Any]:
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"""获取 ROS 节点信息，包括设备节点、发布的状态和动作
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Returns:
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包含 ROS 节点信息的字典
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"""
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global ros_node_info
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# 触发更新以获取最新信息
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update_ros_node_info()
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return ros_node_info
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def update_ros_node_info() -> Dict[str, Any]:
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"""更新 ROS 节点信息，使用全局设备注册表
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Returns:
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更新后的 ROS 节点信息字典
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"""
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global ros_node_info
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result = {"registered_devices": {}, "device_topics": {}, "device_actions": {}}
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try:
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from unilabos.ros.nodes.base_device_node import registered_devices
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from unilabos.ros.nodes.presets.host_node import HostNode
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# 尝试获取主机节点实例
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host_node = HostNode.get_instance(0)
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device_machine_names = {}
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if host_node:
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device_machine_names = host_node.device_machine_names
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for device_id, device_info in registered_devices.items():
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# 设备基本信息
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result["registered_devices"][device_id] = {
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"node_name": device_info["node_name"],
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"namespace": device_info["namespace"],
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"uuid": device_info["uuid"],
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"machine_name": device_machine_names.get(device_id, "本地"),
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}
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# 设备话题（状态）信息
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result["device_topics"][device_id] = {
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k: {
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"type_name": v.msg_type.__module__ + "." + v.msg_type.__name__,
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"timer_period": v.timer_period,
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"topic_path": device_info["base_node_instance"].namespace + "/" + v.name,
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}
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for k, v in device_info["status_publishers"].items()
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}
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# 设备动作信息
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result["device_actions"][device_id] = {k: get_action_info(v, k) for k, v in device_info["actions"].items()}
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# 更新全局变量
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ros_node_info = result
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except Exception as e:
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print(f"更新ROS节点信息出错: {e}")
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traceback.print_exc()
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return result
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