zpf/gazebo_world_manager
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fix: 接口与参数限制

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zpff 2025-08-12 14:05:18 +08:00
parent b65b94643c
commit 86929312b8
7 changed files with 36 additions and 26 deletions
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2
gazebo_ctrl.py
View File

@ -145,7 +145,7 @@ class GazeboROSController:
""" """
if not model_names or len(model_names) == 0: if not model_names or len(model_names) == 0:
model_names = self.get_model_names() model_names = self.get_model_names()
print(f"Getting info for models: {model_names}") # print(f"Getting info for models: {model_names}")
model_info = [] model_info = []
states = self.get_model_state(model_names) states = self.get_model_state(model_names)
for name in model_names: for name in model_names:

31
http_server.py
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@ -9,7 +9,6 @@ import rospy
import werkzeug.serving import werkzeug.serving
from flask import jsonify, request from flask import jsonify, request
import gazebo_ctrl
from heartbeat import HeartbeatServer from heartbeat import HeartbeatServer
from model_mgr.manager import ModelManager from model_mgr.manager import ModelManager
from model_mgr.model_types import Model from model_mgr.model_types import Model
@ -113,6 +112,9 @@ class GazeboSimHttpServer(HttpRPCServer):
self._app.add_url_rule( self._app.add_url_rule(
'/api/v1/scene/object', view_func=self.remove_model, methods=['DELETE']) '/api/v1/scene/object', view_func=self.remove_model, methods=['DELETE'])
self._app.add_url_rule('/api/v1/scene/shut',
view_func=self.shut_scene, methods=['GET'])
print('Sever init done.') print('Sever init done.')
def query_scenes(self): def query_scenes(self):
@ -121,12 +123,12 @@ class GazeboSimHttpServer(HttpRPCServer):
ret = {'code': 200, 'message': ''} ret = {'code': 200, 'message': ''}
try: try:
scs = self.scene_mgr.get_scenes() scs = self.scene_mgr.get_scenes()
data = [sc.to_dict for sc in scs] data = [sc.to_dict() for sc in scs]
ret['data'] = data ret['data'] = data
except Exception as e: except Exception as e:
ret['code'] = 400 ret['code'] = 400
ret['message'] = str(e) ret['message'] = str(e)
print('Server query scenes done.') print(f'Server query scenes done. {ret}')
return jsonify(ret) return jsonify(ret)
def start_scene(self): def start_scene(self):
@ -155,8 +157,9 @@ class GazeboSimHttpServer(HttpRPCServer):
return jsonify(ret) return jsonify(ret)
def shut_scene(self): def shut_scene(self):
# 关闭场景，仅供start_scene、心跳线程使用 # 关闭场景
with self.rlock: with self.rlock:
ret = {'code': 200, 'message': ''}
try: try:
if not self.scene_mgr.running_scene: if not self.scene_mgr.running_scene:
raise RuntimeError('No scene is running') raise RuntimeError('No scene is running')
@ -167,8 +170,10 @@ class GazeboSimHttpServer(HttpRPCServer):
threading.Thread(target=shutt, daemon=True).start() threading.Thread(target=shutt, daemon=True).start()
self.model_mgr = None self.model_mgr = None
except Exception as e: except Exception as e:
print(str(e)) ret['code'] = 400
ret['message'] = str(e)
print('Server shut scene done.') print('Server shut scene done.')
return ret
def get_all_models(self): def get_all_models(self):
# 获取所有模型 # 获取所有模型
@ -180,10 +185,11 @@ class GazeboSimHttpServer(HttpRPCServer):
data = {} data = {}
data['total_count'] = cnt data['total_count'] = cnt
data['list'] = [m.to_dict() for m in mods] data['list'] = [m.to_dict() for m in mods]
ret['data'] = data
except Exception as e: except Exception as e:
ret['code'] = 400 ret['code'] = 400
ret['message'] = str(e) ret['message'] = str(e)
print('Server get all models done.') print(f'Server get all models done. {ret}')
return jsonify(ret) return jsonify(ret)
def modify_model(self): def modify_model(self):
@ -193,11 +199,12 @@ class GazeboSimHttpServer(HttpRPCServer):
try: try:
# 解析参数 # 解析参数
info = request.get_json() info = request.get_json()
scene_id = info.get('scene_id', type=int, default=None) print(f'get mod req {info}')
scene_id = info.get('id')
if not scene_id or scene_id != self.scene_mgr.running_scene: if not scene_id or scene_id != self.scene_mgr.running_scene:
raise ValueError( raise ValueError(
f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}') f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
object_id = info.get('object_id', type=int, default=None) object_id = info.get('object_id')
if not object_id: if not object_id:
raise ValueError('Object ID is required') raise ValueError('Object ID is required')
# 制作Model # 制作Model
@ -219,7 +226,8 @@ class GazeboSimHttpServer(HttpRPCServer):
try: try:
# 解析参数 # 解析参数
info = request.get_json() info = request.get_json()
scene_id = info.get('scene_id', type=int, default=None) print(f'get add req {info}')
scene_id = info.get('id')
if not scene_id or scene_id != self.scene_mgr.running_scene: if not scene_id or scene_id != self.scene_mgr.running_scene:
raise ValueError( raise ValueError(
f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}') f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
@ -241,11 +249,12 @@ class GazeboSimHttpServer(HttpRPCServer):
try: try:
# 解析参数 # 解析参数
info = request.get_json() info = request.get_json()
scene_id = info.get('scene_id', type=int, default=None) print(f'get del req {info}')
scene_id = info.get('id')
if not scene_id or scene_id != self.scene_mgr.running_scene: if not scene_id or scene_id != self.scene_mgr.running_scene:
raise ValueError( raise ValueError(
f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}') f'Scene {scene_id} does not match the running scene {self.scene_mgr.running_scene}')
object_id = info.get('object_id', type=int, default=None) object_id = info.get('object_id')
# 删除模型 # 删除模型
self.model_mgr.remove_model(object_id) self.model_mgr.remove_model(object_id)
except Exception as e: except Exception as e:

10
model_mgr/manager.py
View File

@ -37,21 +37,25 @@ class ModelManager:
if not add_sim: if not add_sim:
return return
# TODO: （谁爱做谁做）场景决定id-类型定义 # TODO: （谁爱做谁做）场景决定id-类型定义
if model.obj_type == ModelType.ROBOT:
raise ValueError(f'Cannot add robot model {model.id} {model.name}')
if model.obj_type == ModelType.TABLE: if model.obj_type == ModelType.TABLE:
self.generator.generate_table(name=model.name, x=model.pose.position.x, y=model.pose.position.y, height=model.pose.position.z, self.generator.generate_table(name=model.name, x=model.pose.position.x, y=model.pose.position.y, height=model.pose.position.z,
roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw) roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw)
elif model.obj_type == ModelType.TAG: elif model.obj_type == ModelType.TAG:
self.generator.generate_apriltag(name=model.name, tag_id=model.id, x=model.pose.position.x, y=model.pose.position.y, self.generator.generate_apriltag(name=model.name, tag_id=model.tag_id, x=model.pose.position.x, y=model.pose.position.y,
z=model.pose.position.z, roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw) z=model.pose.position.z, roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw)
elif model.obj_type == ModelType.BOX: elif model.obj_type == ModelType.BOX:
self.generator.generate_box_with_apriltag(name=model.name, l=model.size.length, w=model.size.width, h=model.size.height, self.generator.generate_box_with_apriltag(name=model.name, l=model.size.length, w=model.size.width, h=model.size.height,
tag_id=model.id, x=model.pose.position.x, y=model.pose.position.y, z=model.pose.position.z, tag_id=model.tag_id, x=model.pose.position.x, y=model.pose.position.y, z=model.pose.position.z,
roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw) roll=model.pose.orientation.roll, pitch=model.pose.orientation.pitch, yaw=model.pose.orientation.yaw)
def remove_model(self, model_id: int): def remove_model(self, model_id: int):
with self.rlock: with self.rlock:
# 信息删除 # 信息删除
model = self.model_id_dict.get(model_id) model = self.model_id_dict.get(model_id)
if model.obj_type == ModelType.ROBOT:
raise ValueError(f'Cannot remove robot model {model_id} {model.name}')
name = model.name name = model.name
del self.model_id_dict[model_id] del self.model_id_dict[model_id]
del self.model_name_dict[name] del self.model_name_dict[name]
@ -76,6 +80,8 @@ class ModelManager:
def modify_model(self, model: Model): def modify_model(self, model: Model):
with self.rlock: with self.rlock:
# 视觉元素tag.id、box.size、table.height无法动态修改，于是我们选择先删除再添加 # 视觉元素tag.id、box.size、table.height无法动态修改，于是我们选择先删除再添加
if model.obj_type == ModelType.ROBOT:
raise ValueError(f'Cannot remove robot model {model.id} {model.name}')
self.remove_model(model.id) self.remove_model(model.id)
self.add_model(model) self.add_model(model)

2
model_mgr/model_types.py
View File

@ -150,7 +150,7 @@ class Model:
"obj_type": int(self.obj_type), "obj_type": int(self.obj_type),
"id": self.id, "id": self.id,
"pose": self.pose.to_dict(), "pose": self.pose.to_dict(),
"description": self.description, "describe": self.description, # 输出为dict/json时名为describe
"ability_code": self.ability_code, "ability_code": self.ability_code,
"tag_id": self.tag_id, "tag_id": self.tag_id,
"mass": self.mass, "mass": self.mass,

8
scene/grasp_box/config.json
View File

@ -15,7 +15,7 @@
"description": "a table model", "description": "a table model",
"pose": { "pose": {
"position": { "position": {
"x": 1, "x": 0,
"y": 2, "y": 2,
"z": 0.8 "z": 0.8
}, },
@ -34,7 +34,7 @@
"description": "a table model", "description": "a table model",
"pose": { "pose": {
"position": { "position": {
"x": 1, "x": 0,
"y": -2, "y": -2,
"z": 0.8 "z": 0.8
}, },
@ -53,7 +53,7 @@
"description": "a box model", "description": "a box model",
"pose": { "pose": {
"position": { "position": {
"x": 1, "x": 0,
"y": 2, "y": 2,
"z": 1.0 "z": 1.0
}, },
@ -79,7 +79,7 @@
"description": "a tag model", "description": "a tag model",
"pose": { "pose": {
"position": { "position": {
"x": 1, "x": 0,
"y": -1.8, "y": -1.8,
"z": 1.6 "z": 1.6
}, },

3
scene/grasp_box/pids.txt
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@ -1,3 +0,0 @@
513161
513368
514751

6
scene_mgr/manager.py
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@ -1,10 +1,8 @@
import dataclasses
import importlib
import json import json
import os import os
import signal import signal
import subprocess import subprocess
import threading import time
from .scene_types import PreloadModel, Scene from .scene_types import PreloadModel, Scene
@ -66,7 +64,7 @@ class SceneManager:
if name not in self.scene_name_dict: if name not in self.scene_name_dict:
raise ValueError(f'scene {name} not found') raise ValueError(f'scene {name} not found')
self.pid_file = os.path.join( self.pid_file = os.path.join(
os.path.dirname(__file__), 'scene', name, 'pids.txt') os.path.dirname(__file__), '..', 'scene', name, 'pids.txt')
if os.path.exists(self.pid_file): if os.path.exists(self.pid_file):
os.remove(self.pid_file) os.remove(self.pid_file)
self.sim_process = subprocess.Popen( self.sim_process = subprocess.Popen(