mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-24 13:19:14 +00:00
100 lines
3.0 KiB
Python
100 lines
3.0 KiB
Python
from functools import wraps
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from typing import Any, Callable, Optional, TypeVar
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F = TypeVar("F", bound=Callable[..., Any])
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def singleton(cls):
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"""
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单例装饰器
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确保被装饰的类只有一个实例
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"""
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instances = {}
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def get_instance(*args, **kwargs):
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if cls not in instances:
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instances[cls] = cls(*args, **kwargs)
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return instances[cls]
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return get_instance
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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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qos: int = 10,
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) -> Callable[[F], F]:
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"""
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Topic订阅装饰器
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用于装饰 driver 类中的方法，使其成为 ROS topic 的订阅回调。
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当 ROS2DeviceNode 初始化时，会自动扫描并创建对应的订阅者。
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Args:
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topic: Topic 名称模板，支持以下占位符：
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- {device_id}: 设备ID (如 "pump_1")
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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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"""
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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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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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wrapper._has_subscribe = 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_subscribe_config(func) -> dict:
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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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"msg_type": getattr(func, "_subscribe_msg_type", None),
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"qos": getattr(func, "_subscribe_qos", 10),
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}
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return {}
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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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Returns:
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包含 (method_name, method, config) 元组的列表
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"""
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subscriptions = []
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for attr_name in dir(instance):
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if attr_name.startswith("_"):
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continue
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try:
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attr = getattr(instance, attr_name)
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if callable(attr):
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config = get_subscribe_config(attr)
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if config:
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subscriptions.append((attr_name, attr, config))
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except Exception:
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pass
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return subscriptions
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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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