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

View File

@@ -21,15 +21,11 @@ __all__ = [
"get_class",
"get_module",
"init_from_list",
"get_class_info_static",
"get_registry_class_info",
"get_enhanced_class_info",
]
from ast import Constant
from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
from unilabos.utils import logger
from unilabos.utils.decorator import is_not_action, is_always_free
class ImportManager:
@@ -45,6 +41,7 @@ class ImportManager:
self._modules: Dict[str, Any] = {}
self._classes: Dict[str, Type] = {}
self._functions: Dict[str, Callable] = {}
self._search_miss: set = set()
if module_list:
for module_path in module_list:
@@ -159,193 +156,113 @@ class ImportManager:
Returns:
找到的类对象如果未找到则返回None
"""
# 如果cls_name是builtins中的关键字则返回对应类
if class_name in builtins.__dict__:
return builtins.__dict__[class_name]
# 首先在已索引的类中查找
if class_name in self._classes:
return self._classes[class_name]
cache_key = class_name.lower() if search_lower else class_name
if cache_key in self._search_miss:
return None
if search_lower:
classes = {name.lower(): obj for name, obj in self._classes.items()}
if class_name in classes:
return classes[class_name]
# 遍历所有已加载的模块进行搜索
for module_path, module in self._modules.items():
for name, obj in inspect.getmembers(module):
if inspect.isclass(obj) and (
(name.lower() == class_name.lower()) if search_lower else (name == class_name)
):
# 将找到的类添加到索引中
self._classes[name] = obj
self._classes[f"{module_path}:{name}"] = obj
return obj
self._search_miss.add(cache_key)
return None
def get_enhanced_class_info(self, module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
"""
获取增强的类信息,支持动态导入和静态分析
def get_enhanced_class_info(self, module_path: str, **_kwargs) -> Dict[str, Any]:
"""通过 AST 分析获取类的增强信息。
复用 ``ast_registry_scanner`` 的 ``_collect_imports`` / ``_extract_class_body``
与 AST 扫描注册表完全一致。
Args:
module_path: 模块路径,格式为 "module.path""module.path:ClassName"
use_dynamic: 是否优先使用动态导入
module_path: 格式 ``"module.path:ClassName"``
Returns:
包含详细类信息的字典
``{"module_path", "ast_analysis_success", "import_map",
"init_params", "status_methods", "action_methods"}``
"""
result = {
from unilabos.registry.ast_registry_scanner import (
_collect_imports,
_extract_class_body,
_filepath_to_module,
)
result: Dict[str, Any] = {
"module_path": module_path,
"dynamic_import_success": False,
"static_analysis_success": False,
"init_params": {},
"status_methods": {}, # get_ 开头和 @property 方法
"action_methods": {}, # set_ 开头和其他非_开头方法
}
# 尝试动态导入
dynamic_info = None
static_info = None
if use_dynamic:
try:
dynamic_info = self._get_dynamic_class_info(module_path)
result["dynamic_import_success"] = True
logger.debug(f"[ImportManager] 动态导入类 {module_path} 成功")
except Exception as e:
logger.warning(
f"[UniLab Registry] 在补充注册表时,动态导入类 "
f"{module_path} 失败(将使用静态分析,"
f"建议修复导入错误,以实现更好的注册表识别效果!): {e}"
)
use_dynamic = False
if not use_dynamic:
# 尝试静态分析
try:
static_info = self._get_static_class_info(module_path)
result["static_analysis_success"] = True
logger.debug(f"[ImportManager] 静态分析类 {module_path} 成功")
except Exception as e:
logger.warning(f"[ImportManager] 静态分析类 {module_path} 失败: {e}")
# 合并信息(优先使用动态导入的信息)
if dynamic_info:
result.update(dynamic_info)
elif static_info:
result.update(static_info)
return result
def _get_dynamic_class_info(self, class_path: str) -> Dict[str, Any]:
"""使用inspect模块动态获取类信息"""
cls = get_class(class_path)
class_name = cls.__name__
result = {
"class_name": class_name,
"init_params": self._analyze_method_signature(cls.__init__)["args"],
"ast_analysis_success": False,
"import_map": {},
"init_params": [],
"status_methods": {},
"action_methods": {},
}
# 分析类的所有成员
for name, method in cls.__dict__.items():
if name.startswith("_"):
continue
# 检查是否是property
if isinstance(method, property):
# @property 装饰的方法
# noinspection PyTypeChecker
return_type = self._get_return_type_from_method(method.fget) if method.fget else "Any"
prop_info = {
"name": name,
"return_type": return_type,
}
result["status_methods"][name] = prop_info
# 检查是否有对应的setter
if method.fset:
setter_info = self._analyze_method_signature(method.fset)
result["action_methods"][name] = setter_info
elif inspect.ismethod(method) or inspect.isfunction(method):
if name.startswith("get_"):
actual_name = name[4:] # 去掉get_前缀
if actual_name in result["status_methods"]:
continue
# get_ 开头的方法归类为status
method_info = self._analyze_method_signature(method)
result["status_methods"][actual_name] = method_info
elif not name.startswith("_"):
# 检查是否被 @not_action 装饰器标记
if is_not_action(method):
continue
# 其他非_开头的方法归类为action
method_info = self._analyze_method_signature(method)
# 检查是否被 @always_free 装饰器标记
if is_always_free(method):
method_info["always_free"] = True
result["action_methods"][name] = method_info
return result
def _get_static_class_info(self, module_path: str) -> Dict[str, Any]:
"""使用AST静态分析获取类信息"""
module_name, class_name = module_path.rsplit(":", 1)
# 将模块路径转换为文件路径
file_path = self._module_path_to_file_path(module_name)
if not file_path or not os.path.exists(file_path):
raise FileNotFoundError(f"找不到模块文件: {module_name} -> {file_path}")
logger.warning(f"[ImportManager] 找不到模块文件: {module_name} -> {file_path}")
return result
with open(file_path, "r", encoding="utf-8") as f:
source_code = f.read()
try:
with open(file_path, "r", encoding="utf-8") as f:
tree = ast.parse(f.read(), filename=file_path)
except Exception as e:
logger.warning(f"[ImportManager] 解析文件 {file_path} 失败: {e}")
return result
tree = ast.parse(source_code)
# 推导 module dotted path → 构建 import_map
python_path = Path(file_path)
for sp in sorted(sys.path, key=len, reverse=True):
try:
Path(file_path).relative_to(sp)
python_path = Path(sp)
break
except ValueError:
continue
module_dotted = _filepath_to_module(Path(file_path), python_path)
import_map = _collect_imports(tree, module_dotted)
result["import_map"] = import_map
# 查找目标类
# 定位目标类 AST 节点
target_class = None
for node in ast.walk(tree):
if isinstance(node, ast.ClassDef):
if node.name == class_name:
target_class = node
break
if isinstance(node, ast.ClassDef) and node.name == class_name:
target_class = node
break
if target_class is None:
raise AttributeError(f"在文件 {file_path} 中找不到类 {class_name}")
logger.warning(f"[ImportManager] 在文件 {file_path} 中找不到类 {class_name}")
return result
result = {
"class_name": class_name,
"init_params": {},
"status_methods": {},
"action_methods": {},
body = _extract_class_body(target_class, import_map)
# 映射到统一字段名(与 registry.py complete_registry 消费端一致)
result["init_params"] = body.get("init_params", [])
result["status_methods"] = body.get("status_properties", {})
result["action_methods"] = {
k: {
"args": v.get("params", []),
"return_type": v.get("return_type", ""),
"is_async": v.get("is_async", False),
"always_free": v.get("always_free", False),
"docstring": v.get("docstring"),
}
for k, v in body.get("auto_methods", {}).items()
}
# 分析类的方法
for node in target_class.body:
if isinstance(node, ast.FunctionDef):
method_info = self._analyze_method_node(node)
method_name = node.name
if method_name == "__init__":
result["init_params"] = method_info["args"]
elif method_name.startswith("_"):
continue
elif self._is_property_method(node):
# @property 装饰的方法
result["status_methods"][method_name] = method_info
elif method_name.startswith("get_"):
# get_ 开头的方法归类为status
actual_name = method_name[4:] # 去掉get_前缀
if actual_name not in result["status_methods"]:
result["status_methods"][actual_name] = method_info
else:
# 检查是否被 @not_action 装饰器标记
if self._is_not_action_method(node):
continue
# 其他非_开头的方法归类为action
# 检查是否被 @always_free 装饰器标记
if self._is_always_free_method(node):
method_info["always_free"] = True
result["action_methods"][method_name] = method_info
result["ast_analysis_success"] = True
return result
def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]:
@@ -401,23 +318,26 @@ class ImportManager:
"name": method.__name__,
"args": args,
"return_type": self._get_type_string(signature.return_annotation),
"return_annotation": signature.return_annotation, # 保留原始类型注解用于TypedDict等特殊处理
"is_async": inspect.iscoroutinefunction(method),
}
def _get_return_type_from_method(self, method) -> str:
def _get_return_type_from_method(self, method) -> Union[str, Tuple[str, Any]]:
"""从方法中获取返回类型"""
signature = inspect.signature(method)
return self._get_type_string(signature.return_annotation)
def _get_type_string(self, annotation) -> Union[str, Tuple[str, Any]]:
"""将类型注解转换为Class Library中可搜索的类名"""
"""将类型注解转换为类型字符串。
非内建类返回 ``module:ClassName`` 全路径(如
``"unilabos.registry.placeholder_type:ResourceSlot"``
避免短名冲突;内建类型直接返回短名(如 ``"str"``、``"int"``)。
"""
if annotation == inspect.Parameter.empty:
return "Any" # 如果没有注解返回Any
return "Any"
if annotation is None:
return "None" # 明确的None类型
return "None"
if hasattr(annotation, "__origin__"):
# 处理typing模块的类型
origin = annotation.__origin__
if origin in (list, set, tuple):
if hasattr(annotation, "__args__") and annotation.__args__:
@@ -432,126 +352,26 @@ class ImportManager:
return "dict"
elif origin is Optional:
return "Unknown"
return f"Unknown"
return "Unknown"
annotation_str = str(annotation)
# 处理typing模块的复杂类型
if "typing." in annotation_str:
# 简化typing类型显示
return (
annotation_str.replace("typing.", "")
if getattr(annotation, "_name", None) is None
else annotation._name.lower()
)
# 如果是类型对象
if hasattr(annotation, "__name__"):
# 如果是内置类型
if annotation.__module__ == "builtins":
return annotation.__name__
else:
# 如果是自定义类,返回完整路径
return f"{annotation.__module__}:{annotation.__name__}"
# 如果是typing模块的类型
module = getattr(annotation, "__module__", None)
if module and module != "builtins":
return f"{module}:{annotation.__name__}"
return annotation.__name__
elif hasattr(annotation, "_name"):
return annotation._name
# 如果是字符串形式的类型注解
elif isinstance(annotation, str):
return annotation
else:
return annotation_str
def _is_property_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@property装饰的方法"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Name) and decorator.id == "property":
return True
return False
def _is_setter_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@xxx.setter装饰的方法"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
return True
return False
def _is_not_action_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@not_action装饰的方法"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Name) and decorator.id == "not_action":
return True
return False
def _is_always_free_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@always_free装饰的方法"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Name) and decorator.id == "always_free":
return True
return False
def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
"""从setter装饰器中获取属性名"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
if isinstance(decorator.value, ast.Name):
return decorator.value.id
return node.name
def get_class_info_static(self, module_class_path: str) -> Dict[str, Any]:
"""
静态分析获取类的方法信息,不需要实际导入模块
Args:
module_class_path: 格式为 "module.path:ClassName" 的字符串
Returns:
包含类方法信息的字典
"""
try:
if ":" not in module_class_path:
raise ValueError("module_class_path必须是 'module.path:ClassName' 格式")
module_path, class_name = module_class_path.rsplit(":", 1)
# 将模块路径转换为文件路径
file_path = self._module_path_to_file_path(module_path)
if not file_path or not os.path.exists(file_path):
logger.warning(f"找不到模块文件: {module_path} -> {file_path}")
return {}
# 解析源码
with open(file_path, "r", encoding="utf-8") as f:
source_code = f.read()
tree = ast.parse(source_code)
# 查找目标类
class_node = None
for node in ast.walk(tree):
if isinstance(node, ast.ClassDef) and node.name == class_name:
class_node = node
break
if not class_node:
logger.warning(f"在模块 {module_path} 中找不到类 {class_name}")
return {}
# 分析类的方法
methods_info = {}
for node in class_node.body:
if isinstance(node, ast.FunctionDef):
method_info = self._analyze_method_node(node)
methods_info[node.name] = method_info
return {
"class_name": class_name,
"module_path": module_path,
"file_path": file_path,
"methods": methods_info,
}
except Exception as e:
logger.error(f"静态分析类 {module_class_path} 时出错: {str(e)}")
return {}
def _module_path_to_file_path(self, module_path: str) -> Optional[str]:
for path in sys.path:
potential_path = Path(path) / module_path.replace(".", "/")
@@ -566,222 +386,6 @@ class ImportManager:
return None
def _analyze_method_node(self, node: ast.FunctionDef) -> Dict[str, Any]:
"""分析方法节点,提取参数和返回类型信息"""
method_info = {
"name": node.name,
"args": [],
"return_type": None,
"is_async": isinstance(node, ast.AsyncFunctionDef),
}
# 获取默认值列表
defaults = node.args.defaults
num_defaults = len(defaults)
# 计算必需参数数量
total_args = len(node.args.args)
num_required = total_args - num_defaults
# 提取参数信息
for i, arg in enumerate(node.args.args):
if arg.arg == "self":
continue
# 跳过 sample_uuids 参数(由系统自动注入)
if arg.arg == PARAM_SAMPLE_UUIDS:
continue
arg_info = {
"name": arg.arg,
"type": None,
"default": None,
"required": i < num_required,
}
# 提取类型注解
if arg.annotation:
arg_info["type"] = ast.unparse(arg.annotation) if hasattr(ast, "unparse") else str(arg.annotation)
# 提取默认值并推断类型
if i >= num_required:
default_index = i - num_required
if default_index < len(defaults):
default_value: Constant = defaults[default_index] # type: ignore
assert isinstance(default_value, Constant), "暂不支持对非常量类型进行推断,可反馈开源仓库"
arg_info["default"] = default_value.value
# 如果没有类型注解,尝试从默认值推断类型
if not arg_info["type"]:
arg_info["type"] = self._get_type_string(type(arg_info["default"]))
method_info["args"].append(arg_info)
# 提取返回类型
if node.returns:
method_info["return_type"] = ast.unparse(node.returns) if hasattr(ast, "unparse") else str(node.returns)
return method_info
def _infer_type_from_default(self, node: ast.AST) -> Optional[str]:
"""从默认值推断参数类型"""
if isinstance(node, ast.Constant):
value = node.value
if isinstance(value, bool):
return "bool"
elif isinstance(value, int):
return "int"
elif isinstance(value, float):
return "float"
elif isinstance(value, str):
return "str"
elif value is None:
return "Optional[Any]"
elif isinstance(node, ast.List):
return "List"
elif isinstance(node, ast.Dict):
return "Dict"
elif isinstance(node, ast.Tuple):
return "Tuple"
elif isinstance(node, ast.Set):
return "Set"
elif isinstance(node, ast.Name):
# 常见的默认值模式
if node.id in ["None"]:
return "Optional[Any]"
elif node.id in ["True", "False"]:
return "bool"
return None
def _infer_types_from_docstring(self, method_info: Dict[str, Any]) -> None:
"""从docstring中推断参数类型"""
docstring = method_info.get("docstring", "")
if not docstring:
return
lines = docstring.split("\n")
in_args_section = False
for line in lines:
line = line.strip()
# 检测Args或Arguments段落
if line.lower().startswith(("args:", "arguments:")):
in_args_section = True
continue
elif line.startswith(("returns:", "return:", "yields:", "raises:")):
in_args_section = False
continue
elif not line or not in_args_section:
continue
# 解析参数行,格式通常是: param_name (type): description 或 param_name: description
if ":" in line:
parts = line.split(":", 1)
param_part = parts[0].strip()
# 提取参数名和类型
param_name = None
param_type = None
if "(" in param_part and ")" in param_part:
# 格式: param_name (type)
param_name = param_part.split("(")[0].strip()
type_part = param_part.split("(")[1].split(")")[0].strip()
param_type = type_part
else:
# 格式: param_name
param_name = param_part
# 更新对应参数的类型信息
if param_name:
for arg_info in method_info["args"]:
if arg_info["name"] == param_name and not arg_info["type"]:
if param_type:
arg_info["inferred_type"] = param_type
elif not arg_info["inferred_type"]:
# 从描述中推断类型
description = parts[1].strip().lower()
if any(word in description for word in ["path", "file", "directory", "filename"]):
arg_info["inferred_type"] = "str"
elif any(
word in description for word in ["port", "number", "count", "size", "length"]
):
arg_info["inferred_type"] = "int"
elif any(
word in description for word in ["rate", "ratio", "percentage", "temperature"]
):
arg_info["inferred_type"] = "float"
elif any(word in description for word in ["flag", "enable", "disable", "option"]):
arg_info["inferred_type"] = "bool"
def get_registry_class_info(self, module_class_path: str) -> Dict[str, Any]:
"""
获取适用于注册表的类信息,包含完整的类型推断
Args:
module_class_path: 格式为 "module.path:ClassName" 的字符串
Returns:
适用于注册表的类信息字典
"""
class_info = self.get_class_info_static(module_class_path)
if not class_info:
return {}
registry_info = {
"class_name": class_info["class_name"],
"module_path": class_info["module_path"],
"file_path": class_info["file_path"],
"methods": {},
"properties": [],
"init_params": {},
"action_methods": {},
}
for method_name, method_info in class_info["methods"].items():
# 分类处理不同类型的方法
if method_info["is_property"]:
registry_info["properties"].append(
{
"name": method_name,
"return_type": method_info.get("return_type"),
"docstring": method_info.get("docstring"),
}
)
elif method_name == "__init__":
# 处理初始化参数
init_params = {}
for arg in method_info["args"]:
if arg["name"] != "self":
param_info = {
"name": arg["name"],
"type": arg.get("type") or arg.get("inferred_type"),
"required": arg.get("is_required", True),
"default": arg.get("default"),
}
init_params[arg["name"]] = param_info
registry_info["init_params"] = init_params
elif not method_name.startswith("_"):
# 处理公共方法可能的action方法
action_info = {
"name": method_name,
"params": {},
"return_type": method_info.get("return_type"),
"docstring": method_info.get("docstring"),
"num_required": method_info.get("num_required", 0) - 1, # 减去self
"num_defaults": method_info.get("num_defaults", 0),
}
for arg in method_info["args"]:
if arg["name"] != "self":
param_info = {
"name": arg["name"],
"type": arg.get("type") or arg.get("inferred_type"),
"required": arg.get("is_required", True),
"default": arg.get("default"),
}
action_info["params"][arg["name"]] = param_info
registry_info["action_methods"][method_name] = action_info
return registry_info
# 全局实例,便于直接使用
@@ -809,16 +413,6 @@ def init_from_list(module_list: List[str]) -> None:
default_manager = ImportManager(module_list)
def get_class_info_static(module_class_path: str) -> Dict[str, Any]:
"""静态分析获取类信息的便捷函数"""
return default_manager.get_class_info_static(module_class_path)
def get_registry_class_info(module_class_path: str) -> Dict[str, Any]:
"""获取适用于注册表的类信息的便捷函数"""
return default_manager.get_registry_class_info(module_class_path)
def get_enhanced_class_info(module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
def get_enhanced_class_info(module_path: str, **kwargs) -> Dict[str, Any]:
"""获取增强的类信息的便捷函数"""
return default_manager.get_enhanced_class_info(module_path, use_dynamic)
return default_manager.get_enhanced_class_info(module_path, **kwargs)