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add external devices param

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fix registry upload missing type
This commit is contained in:
Xuwznln
2026-03-23 15:01:16 +08:00
parent d2f204c5b0
commit 3d8123849a
7 changed files with 1074 additions and 173 deletions
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73
unilabos/registry/registry.py
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@@ -112,7 +112,7 @@ class Registry:
# 统一入口
# ------------------------------------------------------------------
def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False):
def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False, external_only=False):
"""统一构建注册表入口。"""
if self._setup_called:
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -123,24 +123,27 @@ class Registry:
)
# 1. AST 静态扫描 (快速, 无需 import)
self._run_ast_scan(devices_dirs, upload_registry=upload_registry)
self._run_ast_scan(devices_dirs, upload_registry=upload_registry, external_only=external_only)
# 2. Host node 内置设备
self._setup_host_node()
# 3. YAML 注册表加载 (兼容旧格式)
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
for i, path in enumerate(self.registry_paths):
sys_path = path.parent
logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
sys.path.append(str(sys_path))
self.load_device_types(path, complete_registry=complete_registry)
if BasicConfig.enable_resource_load:
self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
else:
logger.warning(
"[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
)
# 3. YAML 注册表加载 (兼容旧格式) — external_only 模式下跳过
if external_only:
logger.info("[UniLab Registry] external_only 模式: 跳过 YAML 注册表加载")
else:
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
for i, path in enumerate(self.registry_paths):
sys_path = path.parent
logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
sys.path.append(str(sys_path))
self.load_device_types(path, complete_registry=complete_registry)
if BasicConfig.enable_resource_load:
self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
else:
logger.warning(
"[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
)
self._startup_executor.shutdown(wait=True)
self._startup_executor = None
self._setup_called = True
@@ -253,7 +256,7 @@ class Registry:
# AST 静态扫描
# ------------------------------------------------------------------
def _run_ast_scan(self, devices_dirs=None, upload_registry=False):
def _run_ast_scan(self, devices_dirs=None, upload_registry=False, external_only=False):
"""
执行 AST 静态扫描，从 Python 代码中提取 @device / @resource 装饰器元数据。
无需 import 任何驱动模块，速度极快。
@@ -298,16 +301,30 @@ class Registry:
extra_dirs.append(d_path)
# 主扫描
exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
scan_result = scan_directory(
scan_root, python_path=python_path, executor=self._startup_executor,
exclude_files=exclude_files, cache=ast_cache,
)
if exclude_files:
logger.info(
f"[UniLab Registry] 排除扫描文件: {exclude_files} "
f"(可通过 --extra_resource 启用加载)"
if external_only:
core_files = [
pkg_root / "ros" / "nodes" / "presets" / "host_node.py",
pkg_root / "resources" / "container.py",
]
scan_result = scan_directory(
scan_root, python_path=python_path, executor=self._startup_executor,
cache=ast_cache, include_files=core_files,
)
logger.info(
f"[UniLab Registry] external_only 模式: 仅扫描核心文件 "
f"({', '.join(f.name for f in core_files)})"
)
else:
exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
scan_result = scan_directory(
scan_root, python_path=python_path, executor=self._startup_executor,
exclude_files=exclude_files, cache=ast_cache,
)
if exclude_files:
logger.info(
f"[UniLab Registry] 排除扫描文件: {exclude_files} "
f"(可通过 --extra_resource 启用加载)"
)
# 合并缓存统计
total_stats = scan_result.pop("_cache_stats", {"hits": 0, "misses": 0, "total": 0})
@@ -1534,9 +1551,9 @@ class Registry:
del resource_info["config_info"]
if "file_path" in resource_info:
del resource_info["file_path"]
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
resource_info["registry_type"] = "resource"
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
for rid in skip_ids:
data.pop(rid, None)
@@ -2175,7 +2192,7 @@ class Registry:
lab_registry = Registry()
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False):
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
"""
构建或获取Registry单例实例
"""
@@ -2189,7 +2206,7 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
if path not in current_paths:
lab_registry.registry_paths.append(path)
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry)
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
# 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
lab_registry.resolve_all_types()