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68 lines
2.5 KiB
Python
68 lines
2.5 KiB
Python
"""
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主机节点工具模块
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提供与主机节点相关的工具函数
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"""
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import time
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from typing import Dict, Any
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from unilabos.config.config import BasicConfig
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from unilabos.ros.nodes.presets.host_node import HostNode
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from unilabos.app.web.utils.action_utils import get_action_info
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def get_host_node_info() -> Dict[str, Any]:
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"""
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获取主机节点信息
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尝试获取HostNode实例并提取其设备、主题和动作客户端信息
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Returns:
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Dict: 包含主机节点信息的字典
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"""
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host_info = {"available": False, "devices": {}, "subscribed_topics": [], "action_clients": {}}
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if not BasicConfig.is_host_mode:
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return host_info
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# 尝试获取HostNode实例，设置超时为0秒
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host_node = HostNode.get_instance(0)
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if not host_node:
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return host_info
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host_info["available"] = True
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host_info["devices"] = {
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device_id: {
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"namespace": namespace,
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"is_online": f"{namespace}/{device_id}" in host_node._online_devices,
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"key": f"{namespace}/{device_id}" if namespace.startswith("/") else f"/{namespace}/{device_id}",
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"machine_name": host_node.device_machine_names.get(device_id, "未知"),
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}
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for device_id, namespace in host_node.devices_names.items()
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}
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# 获取已订阅的主题
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host_info["subscribed_topics"] = sorted(list(host_node._subscribed_topics))
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# 获取动作客户端信息
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for action_id, client in host_node._action_clients.items():
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host_info["action_clients"] = {action_id: get_action_info(client, full_name=action_id)}
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# 获取设备状态
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host_info["device_status"] = host_node.device_status
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# 添加设备状态更新时间戳
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current_time = time.time()
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host_info["device_status_timestamps"] = {}
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for device_id, properties in host_node.device_status_timestamps.items():
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host_info["device_status_timestamps"][device_id] = {}
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for prop_name, timestamp in properties.items():
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if timestamp > 0: # 只处理有效的时间戳
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host_info["device_status_timestamps"][device_id][prop_name] = {
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"timestamp": timestamp,
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"elapsed": round(current_time - timestamp, 2), # 计算经过的时间（秒）
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}
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else:
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host_info["device_status_timestamps"][device_id][prop_name] = {
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"timestamp": 0,
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"elapsed": -1, # 表示未曾更新过
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}
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return host_info
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