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124 lines
3.9 KiB
Python
124 lines
3.9 KiB
Python
#!/usr/bin/env python
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# coding=utf-8
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# 定义配置变量和加载函数
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import traceback
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import os
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import importlib.util
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from unilabos.utils import logger
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class BasicConfig:
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ENV = "pro" # 'test'
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config_path = ""
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is_host_mode = True # 从registry.py移动过来
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slave_no_host = False # 是否跳过rclient.wait_for_service()
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# MQTT配置
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class MQConfig:
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lab_id = ""
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instance_id = ""
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access_key = ""
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secret_key = ""
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group_id = ""
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broker_url = ""
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port = 1883
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ca_content = ""
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cert_content = ""
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key_content = ""
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# 指定
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ca_file = ""
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cert_file = ""
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key_file = ""
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# OSS上传配置
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class OSSUploadConfig:
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api_host = ""
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authorization = ""
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init_endpoint = ""
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complete_endpoint = ""
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max_retries = 3
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# HTTP配置
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class HTTPConfig:
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remote_addr = "http://127.0.0.1:48197/api/v1"
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# ROS配置
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class ROSConfig:
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modules = [
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"std_msgs.msg",
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"geometry_msgs.msg",
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"control_msgs.msg",
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"control_msgs.action",
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"nav2_msgs.action",
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"unilabos_msgs.msg",
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"unilabos_msgs.action",
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]
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def _update_config_from_module(module):
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for name, obj in globals().items():
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if isinstance(obj, type) and name.endswith("Config"):
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if hasattr(module, name) and isinstance(getattr(module, name), type):
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for attr in dir(getattr(module, name)):
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if not attr.startswith("_"):
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setattr(obj, attr, getattr(getattr(module, name), attr))
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# 更新OSS认证
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if len(OSSUploadConfig.authorization) == 0:
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OSSUploadConfig.authorization = f"lab {MQConfig.lab_id}"
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# 对 ca_file cert_file key_file 进行初始化
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if len(MQConfig.ca_content) == 0:
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# 需要先判断是否为相对路径
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if MQConfig.ca_file.startswith("."):
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MQConfig.ca_file = os.path.join(BasicConfig.config_path, MQConfig.ca_file)
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with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
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MQConfig.ca_content = f.read()
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if len(MQConfig.cert_content) == 0:
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# 需要先判断是否为相对路径
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if MQConfig.cert_file.startswith("."):
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MQConfig.cert_file = os.path.join(BasicConfig.config_path, MQConfig.cert_file)
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with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
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MQConfig.cert_content = f.read()
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if len(MQConfig.key_content) == 0:
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# 需要先判断是否为相对路径
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if MQConfig.key_file.startswith("."):
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MQConfig.key_file = os.path.join(BasicConfig.config_path, MQConfig.key_file)
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with open(MQConfig.key_file, "r", encoding="utf-8") as f:
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MQConfig.key_content = f.read()
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def load_config(config_path=None):
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# 如果提供了配置文件路径，从该文件导入配置
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if config_path:
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BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
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if not os.path.exists(config_path):
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logger.error(f"配置文件 {config_path} 不存在")
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return
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try:
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module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
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spec = importlib.util.spec_from_file_location(module_name, config_path)
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if spec is None:
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logger.error(f"配置文件 {config_path} 错误")
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return
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module = importlib.util.module_from_spec(spec)
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spec.loader.exec_module(module) # type: ignore
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_update_config_from_module(module)
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logger.info(f"配置文件 {config_path} 加载成功")
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except Exception as e:
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logger.error(f"加载配置文件 {config_path} 失败: {e}")
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traceback.print_exc()
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exit(1)
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else:
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try:
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import unilabos.config.local_config as local_config # type: ignore
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_update_config_from_module(local_config)
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logger.info("已加载默认配置 unilabos.config.local_config")
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except ImportError:
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pass
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