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v0.10.19

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fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

add ai conventions

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow

add gzip

change pose extra to any

add isFlapY
This commit is contained in:
Xuwznln
2026-03-04 18:59:45 +08:00
parent 145fcaae65
commit c001f6a151
99 changed files with 10885 additions and 7191 deletions
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58
unilabos/ros/msgs/message_converter.py
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@@ -11,6 +11,7 @@ from io import StringIO
from typing import Iterable, Any, Dict, Type, TypeVar, Union
import yaml
from msgcenterpy.instances.ros2_instance import ROS2MessageInstance
from pydantic import BaseModel
from dataclasses import asdict, is_dataclass
@@ -716,6 +717,19 @@ def ros_field_type_to_json_schema(
# return {'type': 'object', 'description': f'未知类型: {field_type}'}
def _strip_rosidl_descriptions(schema: Any) -> None:
"""递归清除 rosidl_parser 自动生成的无意义 description（含内存地址）。"""
if isinstance(schema, dict):
desc = schema.get("description", "")
if isinstance(desc, str) and "rosidl_parser" in desc:
del schema["description"]
for v in schema.values():
_strip_rosidl_descriptions(v)
elif isinstance(schema, list):
for item in schema:
_strip_rosidl_descriptions(item)
def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any]:
"""
将 ROS 消息类转换为 JSON Schema
@@ -727,46 +741,10 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
Returns:
对应的 JSON Schema 定义
"""
schema = {"type": "object", "properties": {}, "required": []}
# 优先使用字段名作为标题，否则使用类名
schema = ROS2MessageInstance(msg_class()).get_json_schema()
schema["title"] = field_name
# 获取消息的字段和字段类型
try:
for ind, slot_info in enumerate(msg_class._fields_and_field_types.items()):
slot_name, slot_type = slot_info
type_info = msg_class.SLOT_TYPES[ind]
field_schema = ros_field_type_to_json_schema(type_info, slot_name)
schema["properties"][slot_name] = field_schema
schema["required"].append(slot_name)
# if hasattr(msg_class, 'get_fields_and_field_types'):
# fields_and_types = msg_class.get_fields_and_field_types()
#
# for field_name, field_type in fields_and_types.items():
# # 将 ROS 字段类型转换为 JSON Schema
# field_schema = ros_field_type_to_json_schema(field_type)
#
# schema['properties'][field_name] = field_schema
# schema['required'].append(field_name)
# elif hasattr(msg_class, '__slots__') and hasattr(msg_class, '_fields_and_field_types'):
# # 直接从实例属性获取
# for field_name in msg_class.__slots__:
# # 移除前导下划线（如果有）
# clean_name = field_name[1:] if field_name.startswith('_') else field_name
#
# # 从 _fields_and_field_types 获取类型
# if clean_name in msg_class._fields_and_field_types:
# field_type = msg_class._fields_and_field_types[clean_name]
# field_schema = ros_field_type_to_json_schema(field_type)
#
# schema['properties'][clean_name] = field_schema
# schema['required'].append(clean_name)
except Exception as e:
# 如果获取字段类型失败，添加错误信息
schema["description"] = f"解析消息字段时出错: {str(e)}"
logger.error(f"解析 {msg_class.__name__} 消息字段失败: {str(e)}")
schema.pop("description", None)
_strip_rosidl_descriptions(schema)
return schema
@@ -813,6 +791,8 @@ def ros_action_to_json_schema(
"required": ["goal"],
}
_strip_rosidl_descriptions(schema)
# 保留之前 schema 中 goal/feedback/result 下一级字段的 description
if previous_schema:
_preserve_field_descriptions(schema, previous_schema)