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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。

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This commit is contained in:
Mock
2026-04-01 15:49:27 +08:00
parent 8756044026
commit 38991ca9d8
3 changed files with 154 additions and 38 deletions
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2
Deploy_Tienkung/udp_loopback/config/omnisocket_demo.yaml
View File

@@ -1,5 +1,5 @@
transport:
server_addr: 81.70.156.140:10909
server_addr: ""
relay_via: 106.55.173.235:10909
bind_ip: ""
bind_device: ""

74
Deploy_Tienkung/udp_loopback/omnisocket_keyboard_sender.py
View File

@@ -1,4 +1,4 @@
"""Keyboard sender that emits binary control packets over OmniSocket."""
"""Keyboard sender that emits control events through OmniDaemon or OmniSocket."""
from __future__ import annotations
@@ -9,8 +9,9 @@ import signal
import sys
import termios
import threading
import time
import tty
from typing import Dict, Optional
from typing import Dict
import yaml
@@ -20,32 +21,55 @@ 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_keyboard_sender.py."
"omnisocket is not installed. Install it before using direct transport mode."
) from exc
return CONTROL_DEFAULTS, Session
class OmniSocketKeyboardSender:
"""Standalone keyboard sender for OmniSocket control-plane testing."""
"""Standalone keyboard sender for A-side control-plane testing."""
def __init__(self) -> None:
self.config: Dict[str, object] = {}
self.backend = self._resolve_backend()
self.seq_id = 0
self.running = False
self.session = None
self.input_thread: Optional[threading.Thread] = None
self.daemon_client = None
self.input_thread: threading.Thread | None = None
self.original_terminal_settings = None
self._load_config()
self._init_session()
self._init_transport()
self._print_help()
@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 _load_config(self) -> None:
config_path = Path(__file__).resolve().parent / "config" / "omnisocket_demo.yaml"
if config_path.exists():
@@ -64,7 +88,12 @@ class OmniSocketKeyboardSender:
self.peer_id = str(sender_cfg.get("peer_id", "peer-a-ctrl"))
self.target_peer = str(sender_cfg.get("target_peer", "peer-b-ctrl"))
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(
@@ -78,6 +107,10 @@ class OmniSocketKeyboardSender:
def _print_help(self) -> None:
print("OmniSocket keyboard sender ready")
print(f"Backend: {self.backend}")
if self.backend == "daemon":
print(f"Daemon socket: {os.getenv('OMNIDAEMON_SOCKET', '/tmp/omnisocket-a-side.sock')}")
else:
print(f"Peer: {self.peer_id} -> {self.target_peer} via {self.server_addr}")
print("Keys:")
print(" z -> pose_home")
@@ -128,6 +161,11 @@ class OmniSocketKeyboardSender:
except KeyboardInterrupt:
self._handle_ctrl_c()
finally:
if self.daemon_client is not None:
try:
self.daemon_client.close()
except Exception:
pass
if self.original_terminal_settings is not None:
termios.tcsetattr(
sys.stdin, termios.TCSADRAIN, self.original_terminal_settings
@@ -186,6 +224,20 @@ class OmniSocketKeyboardSender:
def _send_event(
self, event_code: str, key_name: str, drive_value: float = 1.0
) -> None:
try:
if self.backend == "daemon":
assert self.daemon_client is not None
result = self.daemon_client.send_control_event(
source="keyboard-sender",
event_code=event_code,
drive_value=drive_value,
client_time_ms=int(time.time() * 1000),
)
print(
f"sent seq={result.get('assigned_seq_id')} event={event_code} "
f"key={key_name} backend=daemon"
)
else:
if self.session is None:
return
packet = make_control_packet(self.seq_id, event_code, drive_value)
@@ -194,8 +246,12 @@ class OmniSocketKeyboardSender:
self.session.send(to=self.target_peer, data=payload)
print(
f"sent seq={packet.seq_id} event={event_code} key={key_name} "
f"bytes={len(payload)}"
f"bytes={len(payload)} backend=direct"
)
except Exception as error:
print(f"send failed for {event_code}: {error}")
return
if event_code == "session_quit":
self.running = False

82
Deploy_Tienkung/udp_loopback/omnisocket_xbox_sender.py
View File

@@ -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(
@@ -257,6 +291,19 @@ class OmniSocketXboxSender(Node):
def _send_event(
self, event_code: str, key_name: str, drive_value: float = 1.0
) -> None:
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)
@@ -265,6 +312,19 @@ class OmniSocketXboxSender(Node):
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: