Revert "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。"
This reverts commit 38991ca9d8.
This commit is contained in:
@@ -1,11 +1,8 @@
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"""ROS2 Joy bridge for OmniDaemon or direct OmniSocket control."""
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"""ROS2 Joy -> OmniSocket bridge for Xbox control."""
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from __future__ import annotations
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import os
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from pathlib import Path
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import sys
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import time
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from typing import Dict
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import rclpy
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@@ -20,48 +17,30 @@ except ImportError: # pragma: no cover - direct script execution fallback
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from omnisocket_control import make_control_packet
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WORKSPACE_ROOT = Path(__file__).resolve().parents[3]
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DEFAULT_BACKEND = "daemon"
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def _load_daemon_client_api():
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try:
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from omnisocket_a_side.client import OmniDaemonClient
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except ImportError:
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python_dir = WORKSPACE_ROOT / "OmniSocketGo" / "python"
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if python_dir.exists():
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sys.path.insert(0, str(python_dir))
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from omnisocket_a_side.client import OmniDaemonClient
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return OmniDaemonClient
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def _load_omnisocket_api():
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try:
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from omnisocket import CONTROL_DEFAULTS, Session
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except ImportError as exc: # pragma: no cover - environment dependent
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raise RuntimeError(
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"omnisocket is not installed. Install it before using direct transport mode."
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"omnisocket is not installed. Install it before using "
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"omnisocket_xbox_sender.py."
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) from exc
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return CONTROL_DEFAULTS, Session
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class OmniSocketXboxSender(Node):
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"""Subscribe to Joy messages and forward them through the selected backend."""
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"""Subscribe to Joy messages and forward them through OmniSocket."""
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def __init__(self) -> None:
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super().__init__("omnisocket_xbox_sender")
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self.config: Dict[str, object] = {}
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self.backend = self._resolve_backend()
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self.seq_id = 0
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self.last_buttons: Dict[str, int] = {}
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self.last_dpad_h = 0.0
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self.session = None
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self.daemon_client = None
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self._last_transport_error = ""
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self._last_transport_error_at = 0.0
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self._load_config()
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self._init_transport()
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self._init_session()
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qos_profile = QoSProfile(
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reliability=ReliabilityPolicy.RELIABLE,
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@@ -73,25 +52,17 @@ class OmniSocketXboxSender(Node):
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)
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self.get_logger().info(
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f"Forwarding {self.joy_topic} via {self.backend} "
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f"from {self.peer_id} to {self.target_peer}"
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f"Forwarding {self.joy_topic} -> OmniSocket "
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f"{self.peer_id} -> {self.target_peer}"
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)
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self.get_logger().info(
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"Buttons: A=WALKAMP X=ZERO Y=STOP START=reset"
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)
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self.get_logger().info("Buttons: A=WALKAMP X=ZERO Y=STOP START=reset")
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@staticmethod
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def _resolve_backend() -> str:
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backend = os.getenv("OMNI_TRANSPORT_BACKEND", DEFAULT_BACKEND).strip().lower()
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if backend not in {"daemon", "direct"}:
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return DEFAULT_BACKEND
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return backend
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def destroy_node(self) -> bool:
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if self.session is not None:
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self.session.close()
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self.session = None
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if self.daemon_client is not None:
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self.daemon_client.close()
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self.daemon_client = None
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return super().destroy_node()
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def _load_config(self) -> None:
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@@ -184,12 +155,7 @@ class OmniSocketXboxSender(Node):
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except (TypeError, ValueError):
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pass
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def _init_transport(self) -> None:
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if self.backend == "daemon":
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daemon_client_cls = _load_daemon_client_api()
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self.daemon_client = daemon_client_cls()
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return
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def _init_session(self) -> None:
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control_defaults, session_cls = _load_omnisocket_api()
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self.session = session_cls()
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self.session.connect(
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@@ -291,40 +257,14 @@ class OmniSocketXboxSender(Node):
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def _send_event(
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self, event_code: str, key_name: str, drive_value: float = 1.0
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) -> None:
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try:
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if self.backend == "daemon":
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assert self.daemon_client is not None
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result = self.daemon_client.send_control_event(
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source="xbox-sender",
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event_code=event_code,
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drive_value=drive_value,
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client_time_ms=int(time.time() * 1000),
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)
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self.get_logger().debug(
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f"sent seq={result.get('assigned_seq_id')} event={event_code} key={key_name}"
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)
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else:
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if self.session is None:
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return
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packet = make_control_packet(self.seq_id, event_code, drive_value)
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self.seq_id += 1
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self.session.send(to=self.target_peer, data=packet.encode())
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self.get_logger().debug(
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f"sent seq={packet.seq_id} event={event_code} key={key_name}"
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)
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self._last_transport_error = ""
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except Exception as error:
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self._report_transport_error(str(error))
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def _report_transport_error(self, message: str) -> None:
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now = time.monotonic()
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if (
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message != self._last_transport_error
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or now - self._last_transport_error_at >= 2.0
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):
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self.get_logger().warning(f"control send failed via {self.backend}: {message}")
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self._last_transport_error = message
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self._last_transport_error_at = now
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if self.session is None:
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return
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packet = make_control_packet(self.seq_id, event_code, drive_value)
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self.seq_id += 1
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self.session.send(to=self.target_peer, data=packet.encode())
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self.get_logger().debug(
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f"sent seq={packet.seq_id} event={event_code} key={key_name}"
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)
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def main(args: list[str] | None = None) -> None:
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