feat: 添加服务框架
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zpff
parent
1843c21972
commit
3fbf51603a
151
http_server.py
151
http_server.py
@ -1,8 +1,15 @@
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import dataclasses
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import importlib
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import os
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import socket
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import subprocess
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import threading
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import flask
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import werkzeug.serving
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from flask import jsonify, request
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import gazebo_ctrl
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@dataclasses.dataclass
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@ -15,9 +22,10 @@ class HttpHost():
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def __post_init__(self):
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if not self.hostname:
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raise ValueError("Hostname cannot be empty")
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raise ValueError('Hostname cannot be empty')
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if not (0 <= self.port <= 65535):
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raise ValueError(f"Invalid port: {self.port}")
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raise ValueError(f'Invalid port: {self.port}')
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class HttpRPCServer():
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"""
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@ -35,15 +43,15 @@ class HttpRPCServer():
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添加HTTP路由，handler应符合Flask视图函数的规范。
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"""
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if not callable(handler):
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raise ValueError("Handler must be a callable function")
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raise ValueError('Handler must be a callable function')
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self._app.add_url_rule(uri, view_func=handler, methods=methods)
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def start(self, hostname: str = "0.0.0.0", port: int = None):
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def start(self, hostname: str = '0.0.0.0', port: int = None):
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"""
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启动并以阻塞方式提供服务。
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"""
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if self._server:
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raise RuntimeError("Server is already running")
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raise RuntimeError('Server is already running')
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self.host = HttpHost(
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hostname=hostname, port=port if port else self.find_free_port())
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self._server = werkzeug.serving.make_server(
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@ -61,13 +69,142 @@ class HttpRPCServer():
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def find_free_port(self):
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with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as s:
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s.bind(("127.0.0.1", 0))
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s.bind(('127.0.0.1', 0))
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return s.getsockname()[1]
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class GazeboSimHttpServer(HttpRPCServer):
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"""
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Gazebo仿真环境的HTTP服务器。
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"""
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def __init__(self):
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super().__init__()
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super().__init__()
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# Gazebo仿真/程序控制
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self.add_route('/simulation/scene', self.get_simulation_scene, ['GET'])
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self.add_route('/simulation/start', self.start_simulation, ['GET'])
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self.add_route('/simulation/shutdown',
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self.shutdown_simulation, ['GET'])
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self.add_route('/simulation/run-script', self.run_script, ['POST'])
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# Gazebo仿真/仿真控制
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self.add_route('/physics/continue', self.continue_physics, ['GET'])
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self.add_route('/physics/pause', self.pause_physics, ['GET'])
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self.add_route('/physics/reset', self.reset_physics, ['GET'])
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# Gazebo仿真/模型控制
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self.add_route('/model/state', self.get_model_state, ['GET'])
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self.add_route('/model/state', self.set_model_state, ['POST'])
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self.add_route('/model/spawn', self.spawn_model, ['POST'])
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self.add_route('/model/delete', self.delete_model, ['POST'])
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# Gazebo仿真/场景专有控制
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self.add_route('/<scene>/model/state',
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self.get_scene_model_state, ['GET'])
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self.add_route('/<scene>/model/state',
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self.set_scene_model_state, ['POST'])
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self.add_route('/<scene>/model/spawn',
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self.spawn_scene_model, ['POST'])
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# ===== 处理函数实现 =====
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def get_simulation_scene(self):
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scene_dir = os.path.join(os.path.dirname(__file__), 'scene')
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if not os.path.exists(scene_dir):
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return jsonify([])
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scenes = [name for name in os.listdir(
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scene_dir) if os.path.isdir(os.path.join(scene_dir, name))]
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return jsonify(scenes)
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def start_simulation(self):
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scene = request.args.get('scene', 'grasp-box')
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self.scene_name = scene
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# 找到场景文件夹下的launch文件
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launch_file = os.path.join('scene', scene, 'launch.sh')
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if not os.path.exists(launch_file):
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return jsonify({'error': 'Launch file not found'}), 404
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# 加载场景插件
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plugin_py = os.path.join('scene', scene, 'plugin.py')
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if not os.path.exists(plugin_py):
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return jsonify({'error': 'Plugin file not found'}), 404
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self.scene_plugin_class = importlib.import_module(f'scene.{scene}.plugin')
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self.scene_plugin = self.scene_plugin_class.Plugin(scene)
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# 执行launch文件
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def run_sim():
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self.sim_process = subprocess.Popen(['bash', launch_file])
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if hasattr(self, 'sim_thread') and self.sim_thread.is_alive():
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return jsonify({'error': 'Simulation already running'}), 400
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self.sim_thread = threading.Thread(target=run_sim, daemon=True)
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self.sim_thread.start()
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self.gazebo_controller = gazebo_ctrl.GazeboROSController()
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return 'OK', 200
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def shutdown_simulation(self):
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if hasattr(self, 'sim_process') and self.sim_process:
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self.sim_process.terminate()
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self.sim_process = None
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self.sim_thread.join(timeout=1)
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self.sim_thread = None
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self.scene_name = None
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self.scene_plugin = None
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self.scene_plugin_class = None
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return jsonify({'status': 'stopped'})
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def run_script(self):
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name = request.args.get('name')
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if not name:
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return jsonify({'error': 'Missing name'}), 400
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return jsonify({'status': 'script executed', 'name': name})
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def continue_physics(self):
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return jsonify({'status': 'physics continued'})
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def pause_physics(self):
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return jsonify({'status': 'physics paused'})
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def reset_physics(self):
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return jsonify({'status': 'physics reset'})
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def get_model_state(self):
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names = request.args.getlist('names') or []
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return jsonify([{'name': n, 'pose': {}, 'twist': {}} for n in names])
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def set_model_state(self):
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data = request.get_json(silent=True)
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if not data or 'name' not in data:
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return jsonify({'error': 'Missing required field name'}), 400
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return jsonify({'status': 'model state updated', 'data': data})
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def spawn_model(self):
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data = request.get_json(silent=True)
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required = ['pose', 'name', 'xml']
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if not data or not all(k in data for k in required):
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return jsonify({'error': f'Missing required fields {required}'}), 400
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return jsonify({'status': 'model spawned', 'data': data})
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def delete_model(self):
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data = request.get_json(silent=True)
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if not data or 'name' not in data:
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return jsonify({'error': 'Missing required field name'}), 400
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return jsonify({'status': 'model deleted', 'name': data['name']})
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def get_scene_model_state(self, scene):
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if scene != self.scene_name:
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return jsonify({'error': f'running {self.scene_name} but try to access {scene}'}), 400
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return self.scene_plugin.get_scene_model_state()
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def set_scene_model_state(self, scene):
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if scene != self.scene_name:
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return jsonify({'error': f'running {self.scene_name} but try to access {scene}'}), 400
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return self.scene_plugin.post_scene_model_state()
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def spawn_scene_model(self, scene):
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if scene != self.scene_name:
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return jsonify({'error': f'running {self.scene_name} but try to access {scene}'}), 400
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return self.scene_plugin.post_scene_model_spawn()
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if __name__ == '__main__':
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server = GazeboSimHttpServer()
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server.start(hostname='0.0.0.0', port=12300)
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@ -0,0 +1,15 @@
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import scene_plugin
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class Plugin(scene_plugin.ScenePluginBase):
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def __init__(self, scene_name):
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super().__init__(scene_name)
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def post_scene_model_spawn(self):
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raise NotImplementedError()
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def post_scene_model_state(self):
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raise NotImplementedError()
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def get_scene_model_state(self):
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raise NotImplementedError()
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@ -1,4 +1,4 @@
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class ScenePlugin:
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class ScenePluginBase:
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"""
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场景自定义模型的处理。
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"""
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