feat: 把 A 端的 Session/KCP/视频/控制 都收口到一个本地 daemon 进程里，Django 和输入发送端都改成通过本机 UDS HTTP 去访问它，同时补齐了观测、性能和可用性上的几个关键问题。

Deploy_Tienkung/udp_loopback/omnisocket_xbox_sender.py

@@ -1,8 +1,11 @@
-"""ROS2 Joy -> OmniSocket bridge for Xbox control."""
+"""ROS2 Joy bridge for OmniDaemon or direct OmniSocket control."""
 
 from __future__ import annotations
 
+import os
 from pathlib import Path
+import sys
+import time
 from typing import Dict
 
 import rclpy
@@ -17,30 +20,48 @@ except ImportError:  # pragma: no cover - direct script execution fallback
     from omnisocket_control import make_control_packet
 
 
+WORKSPACE_ROOT = Path(__file__).resolve().parents[3]
+DEFAULT_BACKEND = "daemon"
+
+
+def _load_daemon_client_api():
+    try:
+        from omnisocket_a_side.client import OmniDaemonClient
+    except ImportError:
+        python_dir = WORKSPACE_ROOT / "OmniSocketGo" / "python"
+        if python_dir.exists():
+            sys.path.insert(0, str(python_dir))
+        from omnisocket_a_side.client import OmniDaemonClient
+    return OmniDaemonClient
+
+
 def _load_omnisocket_api():
     try:
         from omnisocket import CONTROL_DEFAULTS, Session
     except ImportError as exc:  # pragma: no cover - environment dependent
         raise RuntimeError(
-            "omnisocket is not installed. Install it before using "
-            "omnisocket_xbox_sender.py."
+            "omnisocket is not installed. Install it before using direct transport mode."
         ) from exc
     return CONTROL_DEFAULTS, Session
 
 
 class OmniSocketXboxSender(Node):
-    """Subscribe to Joy messages and forward them through OmniSocket."""
+    """Subscribe to Joy messages and forward them through the selected backend."""
 
     def __init__(self) -> None:
         super().__init__("omnisocket_xbox_sender")
         self.config: Dict[str, object] = {}
+        self.backend = self._resolve_backend()
         self.seq_id = 0
         self.last_buttons: Dict[str, int] = {}
         self.last_dpad_h = 0.0
         self.session = None
+        self.daemon_client = None
+        self._last_transport_error = ""
+        self._last_transport_error_at = 0.0
 
         self._load_config()
-        self._init_session()
+        self._init_transport()
 
         qos_profile = QoSProfile(
             reliability=ReliabilityPolicy.RELIABLE,
@@ -52,17 +73,25 @@ class OmniSocketXboxSender(Node):
         )
 
         self.get_logger().info(
-            f"Forwarding {self.joy_topic} -> OmniSocket "
-            f"{self.peer_id} -> {self.target_peer}"
-        )
-        self.get_logger().info(
-            "Buttons: A=WALKAMP X=ZERO Y=STOP START=reset"
+            f"Forwarding {self.joy_topic} via {self.backend} "
+            f"from {self.peer_id} to {self.target_peer}"
         )
+        self.get_logger().info("Buttons: A=WALKAMP X=ZERO Y=STOP START=reset")
+
+    @staticmethod
+    def _resolve_backend() -> str:
+        backend = os.getenv("OMNI_TRANSPORT_BACKEND", DEFAULT_BACKEND).strip().lower()
+        if backend not in {"daemon", "direct"}:
+            return DEFAULT_BACKEND
+        return backend
 
     def destroy_node(self) -> bool:
         if self.session is not None:
             self.session.close()
             self.session = None
+        if self.daemon_client is not None:
+            self.daemon_client.close()
+            self.daemon_client = None
         return super().destroy_node()
 
     def _load_config(self) -> None:
@@ -155,7 +184,12 @@ class OmniSocketXboxSender(Node):
                 except (TypeError, ValueError):
                     pass
 
-    def _init_session(self) -> None:
+    def _init_transport(self) -> None:
+        if self.backend == "daemon":
+            daemon_client_cls = _load_daemon_client_api()
+            self.daemon_client = daemon_client_cls()
+            return
+
         control_defaults, session_cls = _load_omnisocket_api()
         self.session = session_cls()
         self.session.connect(
@@ -257,14 +291,40 @@ class OmniSocketXboxSender(Node):
     def _send_event(
         self, event_code: str, key_name: str, drive_value: float = 1.0
     ) -> None:
-        if self.session is None:
-            return
-        packet = make_control_packet(self.seq_id, event_code, drive_value)
-        self.seq_id += 1
-        self.session.send(to=self.target_peer, data=packet.encode())
-        self.get_logger().debug(
-            f"sent seq={packet.seq_id} event={event_code} key={key_name}"
-        )
+        try:
+            if self.backend == "daemon":
+                assert self.daemon_client is not None
+                result = self.daemon_client.send_control_event(
+                    source="xbox-sender",
+                    event_code=event_code,
+                    drive_value=drive_value,
+                    client_time_ms=int(time.time() * 1000),
+                )
+                self.get_logger().debug(
+                    f"sent seq={result.get('assigned_seq_id')} event={event_code} key={key_name}"
+                )
+            else:
+                if self.session is None:
+                    return
+                packet = make_control_packet(self.seq_id, event_code, drive_value)
+                self.seq_id += 1
+                self.session.send(to=self.target_peer, data=packet.encode())
+                self.get_logger().debug(
+                    f"sent seq={packet.seq_id} event={event_code} key={key_name}"
+                )
+            self._last_transport_error = ""
+        except Exception as error:
+            self._report_transport_error(str(error))
+
+    def _report_transport_error(self, message: str) -> None:
+        now = time.monotonic()
+        if (
+            message != self._last_transport_error
+            or now - self._last_transport_error_at >= 2.0
+        ):
+            self.get_logger().warning(f"control send failed via {self.backend}: {message}")
+            self._last_transport_error = message
+            self._last_transport_error_at = now
 
 
 def main(args: list[str] | None = None) -> None: