mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-24 09:49:16 +00:00
v0.10.19
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
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Xuwznln
@@ -19,74 +19,6 @@ def singleton(cls):
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return get_instance
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def topic_config(
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period: Optional[float] = None,
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print_publish: Optional[bool] = None,
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qos: Optional[int] = None,
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) -> Callable[[F], F]:
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"""
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Topic发布配置装饰器
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用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
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Args:
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period: 发布周期（秒）。None 表示使用默认值 5.0
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print_publish: 是否打印发布日志。None 表示使用节点默认配置
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qos: QoS深度配置。None 表示使用默认值 10
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Example:
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class MyDriver:
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# 方式1: 装饰 get_{attr_name} 方法
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@topic_config(period=1.0, print_publish=False, qos=5)
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def get_temperature(self):
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return self._temperature
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# 方式2: 与 @property 连用（topic_config 放在下面）
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@property
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@topic_config(period=0.1)
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def position(self):
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return self._position
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Note:
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与 @property 连用时，@topic_config 必须放在 @property 下面，
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这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
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"""
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def decorator(func: F) -> F:
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@wraps(func)
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def wrapper(*args, **kwargs):
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return func(*args, **kwargs)
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# 在函数上附加配置属性 (type: ignore 用于动态属性)
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wrapper._topic_period = period # type: ignore[attr-defined]
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wrapper._topic_print_publish = print_publish # type: ignore[attr-defined]
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wrapper._topic_qos = qos # type: ignore[attr-defined]
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wrapper._has_topic_config = True # type: ignore[attr-defined]
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return wrapper # type: ignore[return-value]
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return decorator
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def get_topic_config(func) -> dict:
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"""
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获取函数上的topic配置
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Args:
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func: 被装饰的函数
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Returns:
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包含 period, print_publish, qos 的配置字典
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"""
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if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
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return {
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"period": getattr(func, "_topic_period", None),
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"print_publish": getattr(func, "_topic_print_publish", None),
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"qos": getattr(func, "_topic_qos", None),
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}
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return {}
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def subscribe(
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topic: str,
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msg_type: Optional[type] = None,
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@@ -104,24 +36,6 @@ def subscribe(
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- {namespace}: 完整命名空间 (如 "/devices/pump_1")
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msg_type: ROS 消息类型。如果为 None，需要在回调函数的类型注解中指定
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qos: QoS 深度配置，默认为 10
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Example:
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from std_msgs.msg import String, Float64
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class MyDriver:
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@subscribe(topic="/devices/{device_id}/set_speed", msg_type=Float64)
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def on_speed_update(self, msg: Float64):
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self._speed = msg.data
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print(f"Speed updated to: {self._speed}")
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@subscribe(topic="{namespace}/command")
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def on_command(self, msg: String):
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# msg_type 可从类型注解推断
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self.execute_command(msg.data)
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Note:
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- 回调方法的第一个参数是 self，第二个参数是收到的 ROS 消息
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- topic 中的占位符会在创建订阅时被实际值替换
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"""
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def decorator(func: F) -> F:
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@@ -129,7 +43,6 @@ def subscribe(
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def wrapper(*args, **kwargs):
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return func(*args, **kwargs)
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# 在函数上附加订阅配置
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wrapper._subscribe_topic = topic # type: ignore[attr-defined]
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wrapper._subscribe_msg_type = msg_type # type: ignore[attr-defined]
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wrapper._subscribe_qos = qos # type: ignore[attr-defined]
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@@ -141,15 +54,7 @@ def subscribe(
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def get_subscribe_config(func) -> dict:
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"""
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获取函数上的订阅配置
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Args:
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func: 被装饰的函数
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Returns:
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包含 topic, msg_type, qos 的配置字典
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"""
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"""获取函数上的订阅配置 (topic, msg_type, qos)"""
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if hasattr(func, "_has_subscribe") and getattr(func, "_has_subscribe", False):
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return {
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"topic": getattr(func, "_subscribe_topic", None),
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@@ -163,9 +68,6 @@ def get_all_subscriptions(instance) -> list:
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"""
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扫描实例的所有方法，获取带有 @subscribe 装饰器的方法及其配置
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Args:
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instance: 要扫描的实例
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Returns:
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包含 (method_name, method, config) 元组的列表
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"""
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@@ -184,92 +86,14 @@ def get_all_subscriptions(instance) -> list:
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return subscriptions
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def always_free(func: F) -> F:
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"""
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标记动作为永久闲置(不受busy队列限制)的装饰器
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被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
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任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
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Example:
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class MyDriver:
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@always_free
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def query_status(self, param: str):
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# 这个动作可以随时执行，不需要排队
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return self._status
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def transfer(self, volume: float):
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# 这个动作会按正常排队逻辑执行
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pass
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Note:
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- 可以与其他装饰器组合使用，@always_free 应放在最外层
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- 仅影响 WebSocket 调度层的 busy/free 判断，不影响 ROS2 层
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"""
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@wraps(func)
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def wrapper(*args, **kwargs):
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return func(*args, **kwargs)
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wrapper._is_always_free = True # type: ignore[attr-defined]
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return wrapper # type: ignore[return-value]
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def is_always_free(func) -> bool:
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"""
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检查函数是否被标记为永久闲置
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Args:
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func: 被检查的函数
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Returns:
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如果函数被 @always_free 装饰则返回 True，否则返回 False
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"""
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return getattr(func, "_is_always_free", False)
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def not_action(func: F) -> F:
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"""
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标记方法为非动作的装饰器
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用于装饰 driver 类中的方法，使其在 complete_registry 时不被识别为动作。
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适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
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Example:
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class MyDriver:
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@not_action
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def helper_method(self):
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# 这个方法不会被注册为动作
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pass
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def actual_action(self, param: str):
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# 这个方法会被注册为动作
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self.helper_method()
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Note:
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- 可以与其他装饰器组合使用，@not_action 应放在最外层
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- 仅影响 complete_registry 的动作识别，不影响方法的正常调用
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"""
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@wraps(func)
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def wrapper(*args, **kwargs):
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return func(*args, **kwargs)
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# 在函数上附加标记
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wrapper._is_not_action = True # type: ignore[attr-defined]
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return wrapper # type: ignore[return-value]
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def is_not_action(func) -> bool:
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"""
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检查函数是否被标记为非动作
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Args:
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func: 被检查的函数
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Returns:
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如果函数被 @not_action 装饰则返回 True，否则返回 False
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"""
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return getattr(func, "_is_not_action", False)
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# ---------------------------------------------------------------------------
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# 向后兼容重导出 -- 已迁移到 unilabos.registry.decorators
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# ---------------------------------------------------------------------------
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from unilabos.registry.decorators import ( # noqa: E402, F401
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topic_config,
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get_topic_config,
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always_free,
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is_always_free,
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not_action,
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is_not_action,
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)
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