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https://github.com/dptech-corp/Uni-Lab-OS.git
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364 lines
13 KiB
Python
364 lines
13 KiB
Python
"""
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Action 工具函数模块
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提供处理 ROS Action 相关的辅助函数
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"""
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import traceback
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from typing import Dict, Any, Type, TypedDict, Optional
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from rclpy.action import ActionClient, ActionServer
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from rosidl_parser.definition import UnboundedSequence, NamespacedType, BasicType, UnboundedString
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from unilabos.ros.msgs.message_converter import msg_converter_manager
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from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
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from unilabos.utils import logger
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class ActionInfoType(TypedDict):
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type_name: str
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type_name_convert: str
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action_path: str
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goal_info: str
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def get_action_info(
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v: ActionClient | ActionServer, name: Optional[str] = None, full_name: Optional[str] = None
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) -> ActionInfoType:
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# noinspection PyProtectedMember
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n: BaseROS2DeviceNode = v._node
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if full_name is None:
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assert name is not None
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full_name = n.namespace + "/" + name
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# noinspection PyProtectedMember
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return {
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"type_name": v._action_type.__module__ + "." + v._action_type.__name__,
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"type_name_convert": (v._action_type.__module__ + "." + v._action_type.__name__).replace(".", "/"),
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"action_path": full_name,
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"goal_info": get_yaml_from_goal_type(v._action_type.Goal),
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}
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def get_ros_msg_instance_as_dict(ros_msg_instance):
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full_dict = {}
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lower_dir = {i.lower(): i for i in dir(ros_msg_instance)}
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for k in dir(ros_msg_instance):
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if k == "SLOT_TYPES" or k.startswith("_") or k.endswith("__DEFAULT") or k in ["get_fields_and_field_types"]:
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continue
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v = getattr(ros_msg_instance, k)
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if f"{k.lower()}__default" in lower_dir:
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v_default = getattr(ros_msg_instance, lower_dir[f"{k.lower()}__default"])
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v = v_default
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if isinstance(v, (str, int, float, list, dict)):
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full_dict[k] = v
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else:
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full_dict[k] = get_ros_msg_instance_as_dict(v)
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return full_dict
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def get_yaml_from_goal_type(goal_type) -> str:
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"""从Goal类型对象中生成默认YAML格式字符串
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Args:
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goal_type: Goal类型对象
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Returns:
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str: 默认Goal参数的YAML格式字符串
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"""
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if not goal_type:
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return "{}"
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goal_dict = {}
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slot_type = None
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try:
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for ind, slot_info in enumerate(goal_type._fields_and_field_types.items()):
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slot_name, slot_type = slot_info
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type_info = goal_type.SLOT_TYPES[ind]
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if isinstance(type_info, UnboundedSequence):
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inner_type = type_info.value_type
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if isinstance(inner_type, NamespacedType):
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cls_name = ".".join(inner_type.namespaces) + ":" + inner_type.name
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type_class = msg_converter_manager.get_class(cls_name)
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default_value = [get_ros_msg_instance_as_dict(type_class())]
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elif isinstance(inner_type, BasicType):
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default_value = [get_default_value_for_ros_type(inner_type.typename)]
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elif isinstance(inner_type, UnboundedString):
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default_value = [""]
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else:
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default_value = []
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elif isinstance(type_info, NamespacedType):
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cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
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type_class = msg_converter_manager.get_class(cls_name)
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if type_class is None:
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print("type_class", type_class, cls_name)
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default_value = get_ros_msg_instance_as_dict(type_class())
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elif isinstance(type_info, BasicType):
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default_value = get_default_value_for_ros_type(type_info.typename)
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elif isinstance(type_info, UnboundedString):
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default_value = ""
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else:
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type_class = msg_converter_manager.search_class(slot_type, search_lower=True)
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if type_class is not None:
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default_value = type_class().data
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else:
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default_value = "unknown"
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goal_dict[slot_name] = default_value
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except Exception as e:
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logger.error(f"获取Goal字段 {slot_type} 信息时出错: {e}")
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logger.error(traceback.format_exc())
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# 将字典转换为YAML格式字符串
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yaml_str = "{"
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# 每个字段转换为YAML格式
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yaml_parts = []
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for key, value in goal_dict.items():
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if isinstance(value, str):
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yaml_parts.append(f"{key}: '{value}'")
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elif isinstance(value, bool):
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yaml_parts.append(f"{key}: {str(value).lower()}")
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elif isinstance(value, (int, float)):
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yaml_parts.append(f"{key}: {value}")
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elif isinstance(value, dict) and not value:
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yaml_parts.append(f"{key}: {{}}")
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else:
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yaml_parts.append(f"{key}: {value}")
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yaml_str += ", ".join(yaml_parts) + "}"
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return yaml_str
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"""旧版本函数"""
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def get_default_value_for_ros_type(type_hint_or_str: Any) -> Any:
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"""生成基于ROS类型提示或字符串的默认值
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根据ROS2类型定义，生成适当的默认值。支持基本类型、数组类型和嵌套消息类型。
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Args:
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type_hint_or_str: ROS2类型提示或类型名称字符串
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Returns:
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Any: 对应类型的默认值
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"""
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# 处理None或无效输入
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if type_hint_or_str is None:
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return None
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# 基本类型映射
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type_str = str(type_hint_or_str).lower() # 使用字符串表示
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# 处理常见基本类型
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if "int" in type_str:
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return 0
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if "float" in type_str or "double" in type_str:
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return 0.0
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if "bool" in type_str:
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return False
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if "string" in type_str:
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return ""
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if "byte" in type_str or "char" in type_str:
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return 0 # 用整数表示
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if "time" == type_str or "duration" == type_str:
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return {"sec": 0, "nanosec": 0}
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# 处理数组 - 返回空列表
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if "sequence" in type_str or "vector" in type_str or "[]" in type_str:
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return []
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# 处理嵌套消息类型 - 返回空字典占位符
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if "." in str(type_hint_or_str):
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# 尝试用消息转换管理器查找类型并生成默认值
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try:
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type_name = str(type_hint_or_str).strip().split("[")[0] # 移除数组部分
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# 尝试查找类型
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if msg_converter_manager:
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type_class = msg_converter_manager.search_class(type_name)
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if type_class:
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# 递归生成默认值字典
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return generate_example_dict_from_ros_class(type_class)
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except Exception as e:
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print(f"查找类型默认值时出错: {type_hint_or_str}, {e}")
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# 如果找不到或出错，返回空字典
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return {}
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# 特殊类型的默认值
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if "pose" in type_str or "position" in type_str:
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return {"x": 0.0, "y": 0.0, "z": 0.0}
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if "orientation" in type_str or "quaternion" in type_str:
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return {"x": 0.0, "y": 0.0, "z": 0.0, "w": 1.0}
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if "header" in type_str:
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return {"frame_id": "", "stamp": {"sec": 0, "nanosec": 0}}
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return None # 未知类型
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def generate_example_dict_from_ros_class(ros_class: Any) -> Dict[str, Any]:
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"""检查ROS消息/服务/动作类并生成带有默认值的字典
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分析ROS2消息类定义，提取其字段结构，并为每个字段生成合适的默认值。
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Args:
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ros_class: ROS2消息/服务/动作类或其实例
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Returns:
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Dict[str, Any]: 包含消息字段及默认值的字典
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"""
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example_dict = {}
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# 检查是否已经是字典
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if isinstance(ros_class, dict):
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return ros_class
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# 处理无效输入
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if ros_class is None:
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return {}
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# 获取字段信息
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fields = {}
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try:
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if hasattr(ros_class, "_fields_and_field_types"):
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fields = ros_class._fields_and_field_types
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elif hasattr(ros_class, "__slots__") and hasattr(ros_class, "__annotations__"):
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for slot in getattr(ros_class, "__slots__", []):
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field_name = slot # 假设slot名称与字段名称匹配
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if field_name in getattr(ros_class, "__annotations__", {}):
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fields[field_name] = ros_class.__annotations__[field_name]
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else:
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fields[field_name] = "unknown" # 如果缺少类型提示则使用默认值
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except Exception as e:
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print(f"获取ROS类字段信息时出错: {e}")
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return {}
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# 为每个字段生成默认值
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for field_name, field_type in fields.items():
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example_dict[field_name] = get_default_value_for_ros_type(field_type)
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return example_dict
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def extract_action_structures(action_type: Type) -> Dict[str, Any]:
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"""从Action类型对象中提取Goal/Result/Feedback结构"""
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result = {"goal": {}, "result": {}, "feedback": {}}
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try:
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# 检查action_type是否为合法对象
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if hasattr(action_type, "Goal"):
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# 获取Goal类及其字段
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goal_class = getattr(action_type, "Goal", None)
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if goal_class:
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result["goal"] = generate_example_dict_from_ros_class(goal_class)
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# 获取Result类及其字段
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result_class = getattr(action_type, "Result", None)
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if result_class:
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result["result"] = generate_example_dict_from_ros_class(result_class)
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# 获取Feedback类及其字段
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feedback_class = getattr(action_type, "Feedback", None)
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if feedback_class:
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result["feedback"] = generate_example_dict_from_ros_class(feedback_class)
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except Exception as e:
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print(f"提取Action结构时出错: {type(action_type)}")
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print(traceback.format_exc())
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return result
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def process_device_actions(action_config: Dict[str, Any], action_type: Type, action_name: str) -> Dict[str, Any]:
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"""处理设备动作，生成命令示例和结构信息
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Args:
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action_config: 动作配置信息，包含topic等内容
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action_type: 动作类型，可以是类型对象或字符串
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action_name: 动作名称
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Returns:
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Dict[str, Any]: 包含命令示例和结构信息的字典
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"""
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# 检查action_type是否为None或非法值
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if action_type is None:
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# 返回基本结构，确保前端不会报错
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return {
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"topic": action_config.get("topic", "UNKNOWN_TOPIC"),
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"type_str": "UNKNOWN_TYPE",
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"goal": "{}",
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"full_command": f"ros2 action send_goal {action_config.get('topic', 'UNKNOWN_TOPIC')} UNKNOWN_TYPE '{{}}'",
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"goal_dict": {},
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"result_dict": {},
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"feedback_dict": {},
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}
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# 提取类型路径字符串，从<class 'package.action._action_name.ActionName'>格式转换为package/action/ActionName
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type_str = str(action_type)[8:-2] # 去除<class ' ... '>
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parts = type_str.split(".")
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# 构造ROS2类型字符串
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if len(parts) >= 3 and "action" in parts:
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action_idx = parts.index("action")
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if action_idx >= 0 and action_idx < len(parts) - 1:
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package_name = parts[0]
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action_class_name = parts[-1]
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ros2_type_str = f"{package_name}/action/{action_class_name}"
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else:
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ros2_type_str = type_str.replace(".", "/")
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else:
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ros2_type_str = type_str.replace(".", "/")
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# 提取动作结构
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action_structures = extract_action_structures(action_type)
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# 获取goal部分并转换为YAML格式
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goal_dict = action_structures["goal"]
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goal_yaml = dict_to_yaml_str(goal_dict)
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# 获取topic
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topic = action_config.get("topic", "UNKNOWN_TOPIC")
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return {
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"topic": topic,
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"type_str": ros2_type_str,
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"goal": goal_yaml,
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"full_command": f"ros2 action send_goal {topic} {ros2_type_str} '{goal_yaml}'",
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"goal_dict": goal_dict,
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"result_dict": action_structures["result"],
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"feedback_dict": action_structures["feedback"],
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}
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def dict_to_yaml_str(d: Dict) -> str:
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"""将字典转换为YAML字符串（单行格式）
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Args:
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d: 要转换的字典
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Returns:
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str: YAML格式的字符串
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"""
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if not d:
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return "{}"
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parts = []
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def format_value(v):
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if isinstance(v, str):
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return f"'{v}'"
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elif isinstance(v, bool):
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return str(v).lower()
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elif isinstance(v, (int, float)) or v is None:
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return str(v)
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elif isinstance(v, list):
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items = [format_value(item) for item in v]
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return f"[{', '.join(items)}]"
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elif isinstance(v, dict):
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return dict_to_yaml_str(v)
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return "null"
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for key, value in d.items():
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parts.append(f"{key}: {format_value(value)}")
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return "{" + ", ".join(parts) + "}"
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