meiqi/tienkung-szu
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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。"

Browse Source 
This reverts commit 38991ca9d8.
This commit is contained in:
Mock
2026-04-01 22:17:09 +08:00
parent 64edabbb87
commit eb18f29c02
3 changed files with 38 additions and 154 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Deploy_Tienkung/udp_loopback/config/omnisocket_demo.yaml
View File

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

74
Deploy_Tienkung/udp_loopback/omnisocket_keyboard_sender.py
View File

@@ -1,4 +1,4 @@
"""Keyboard sender that emits control events through OmniDaemon or OmniSocket.""" """Keyboard sender that emits binary control packets over OmniSocket."""
from __future__ import annotations from __future__ import annotations
@@ -9,9 +9,8 @@ import signal
import sys import sys
import termios import termios
import threading import threading
import time
import tty import tty
from typing import Dict from typing import Dict, Optional
import yaml import yaml
@@ -21,55 +20,32 @@ except ImportError: # pragma: no cover - direct script execution fallback
from omnisocket_control import make_control_packet 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(): def _load_omnisocket_api():
try: try:
from omnisocket import CONTROL_DEFAULTS, Session from omnisocket import CONTROL_DEFAULTS, Session
except ImportError as exc: # pragma: no cover - environment dependent except ImportError as exc: # pragma: no cover - environment dependent
raise RuntimeError( raise RuntimeError(
"omnisocket is not installed. Install it before using direct transport mode." "omnisocket is not installed. Install it before using "
"omnisocket_keyboard_sender.py."
) from exc ) from exc
return CONTROL_DEFAULTS, Session return CONTROL_DEFAULTS, Session
class OmniSocketKeyboardSender: class OmniSocketKeyboardSender:
"""Standalone keyboard sender for A-side control-plane testing.""" """Standalone keyboard sender for OmniSocket control-plane testing."""
def __init__(self) -> None: def __init__(self) -> None:
self.config: Dict[str, object] = {} self.config: Dict[str, object] = {}
self.backend = self._resolve_backend()
self.seq_id = 0 self.seq_id = 0
self.running = False self.running = False
self.session = None self.session = None
self.daemon_client = None self.input_thread: Optional[threading.Thread] = None
self.input_thread: threading.Thread | None = None
self.original_terminal_settings = None self.original_terminal_settings = None
self._load_config() self._load_config()
self._init_transport() self._init_session()
self._print_help() 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: def _load_config(self) -> None:
config_path = Path(__file__).resolve().parent / "config" / "omnisocket_demo.yaml" config_path = Path(__file__).resolve().parent / "config" / "omnisocket_demo.yaml"
if config_path.exists(): if config_path.exists():
@@ -88,12 +64,7 @@ class OmniSocketKeyboardSender:
self.peer_id = str(sender_cfg.get("peer_id", "peer-a-ctrl")) self.peer_id = str(sender_cfg.get("peer_id", "peer-a-ctrl"))
self.target_peer = str(sender_cfg.get("target_peer", "peer-b-ctrl")) self.target_peer = str(sender_cfg.get("target_peer", "peer-b-ctrl"))
def _init_transport(self) -> None: def _init_session(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() control_defaults, session_cls = _load_omnisocket_api()
self.session = session_cls() self.session = session_cls()
self.session.connect( self.session.connect(
@@ -107,10 +78,6 @@ class OmniSocketKeyboardSender:
def _print_help(self) -> None: def _print_help(self) -> None:
print("OmniSocket keyboard sender ready") 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(f"Peer: {self.peer_id} -> {self.target_peer} via {self.server_addr}")
print("Keys:") print("Keys:")
print(" z -> pose_home") print(" z -> pose_home")
@@ -161,11 +128,6 @@ class OmniSocketKeyboardSender:
except KeyboardInterrupt: except KeyboardInterrupt:
self._handle_ctrl_c() self._handle_ctrl_c()
finally: finally:
if self.daemon_client is not None:
try:
self.daemon_client.close()
except Exception:
pass
if self.original_terminal_settings is not None: if self.original_terminal_settings is not None:
termios.tcsetattr( termios.tcsetattr(
sys.stdin, termios.TCSADRAIN, self.original_terminal_settings sys.stdin, termios.TCSADRAIN, self.original_terminal_settings
@@ -224,20 +186,6 @@ class OmniSocketKeyboardSender:
def _send_event( def _send_event(
self, event_code: str, key_name: str, drive_value: float = 1.0 self, event_code: str, key_name: str, drive_value: float = 1.0
) -> None: ) -> 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: if self.session is None:
return return
packet = make_control_packet(self.seq_id, event_code, drive_value) packet = make_control_packet(self.seq_id, event_code, drive_value)
@@ -246,12 +194,8 @@ class OmniSocketKeyboardSender:
self.session.send(to=self.target_peer, data=payload) self.session.send(to=self.target_peer, data=payload)
print( print(
f"sent seq={packet.seq_id} event={event_code} key={key_name} " f"sent seq={packet.seq_id} event={event_code} key={key_name} "
f"bytes={len(payload)} backend=direct" f"bytes={len(payload)}"
) )
except Exception as error:
print(f"send failed for {event_code}: {error}")
return
if event_code == "session_quit": if event_code == "session_quit":
self.running = False self.running = False

82
Deploy_Tienkung/udp_loopback/omnisocket_xbox_sender.py
View File

@@ -1,11 +1,8 @@
"""ROS2 Joy bridge for OmniDaemon or direct OmniSocket control.""" """ROS2 Joy -> OmniSocket bridge for Xbox control."""
from __future__ import annotations from __future__ import annotations
import os
from pathlib import Path from pathlib import Path
import sys
import time
from typing import Dict from typing import Dict
import rclpy import rclpy
@@ -20,48 +17,30 @@ except ImportError: # pragma: no cover - direct script execution fallback
from omnisocket_control import make_control_packet 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(): def _load_omnisocket_api():
try: try:
from omnisocket import CONTROL_DEFAULTS, Session from omnisocket import CONTROL_DEFAULTS, Session
except ImportError as exc: # pragma: no cover - environment dependent except ImportError as exc: # pragma: no cover - environment dependent
raise RuntimeError( raise RuntimeError(
"omnisocket is not installed. Install it before using direct transport mode." "omnisocket is not installed. Install it before using "
"omnisocket_xbox_sender.py."
) from exc ) from exc
return CONTROL_DEFAULTS, Session return CONTROL_DEFAULTS, Session
class OmniSocketXboxSender(Node): class OmniSocketXboxSender(Node):
"""Subscribe to Joy messages and forward them through the selected backend.""" """Subscribe to Joy messages and forward them through OmniSocket."""
def __init__(self) -> None: def __init__(self) -> None:
super().__init__("omnisocket_xbox_sender") super().__init__("omnisocket_xbox_sender")
self.config: Dict[str, object] = {} self.config: Dict[str, object] = {}
self.backend = self._resolve_backend()
self.seq_id = 0 self.seq_id = 0
self.last_buttons: Dict[str, int] = {} self.last_buttons: Dict[str, int] = {}
self.last_dpad_h = 0.0 self.last_dpad_h = 0.0
self.session = None self.session = None
self.daemon_client = None
self._last_transport_error = ""
self._last_transport_error_at = 0.0
self._load_config() self._load_config()
self._init_transport() self._init_session()
qos_profile = QoSProfile( qos_profile = QoSProfile(
reliability=ReliabilityPolicy.RELIABLE, reliability=ReliabilityPolicy.RELIABLE,
@@ -73,25 +52,17 @@ class OmniSocketXboxSender(Node):
) )
self.get_logger().info( self.get_logger().info(
f"Forwarding {self.joy_topic} via {self.backend} " f"Forwarding {self.joy_topic} -> OmniSocket "
f"from {self.peer_id} to {self.target_peer}" f"{self.peer_id} -> {self.target_peer}"
)
self.get_logger().info(
"Buttons: A=WALKAMP X=ZERO Y=STOP START=reset"
) )
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: def destroy_node(self) -> bool:
if self.session is not None: if self.session is not None:
self.session.close() self.session.close()
self.session = None self.session = None
if self.daemon_client is not None:
self.daemon_client.close()
self.daemon_client = None
return super().destroy_node() return super().destroy_node()
def _load_config(self) -> None: def _load_config(self) -> None:
@@ -184,12 +155,7 @@ class OmniSocketXboxSender(Node):
except (TypeError, ValueError): except (TypeError, ValueError):
pass pass
def _init_transport(self) -> None: def _init_session(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() control_defaults, session_cls = _load_omnisocket_api()
self.session = session_cls() self.session = session_cls()
self.session.connect( self.session.connect(
@@ -291,19 +257,6 @@ class OmniSocketXboxSender(Node):
def _send_event( def _send_event(
self, event_code: str, key_name: str, drive_value: float = 1.0 self, event_code: str, key_name: str, drive_value: float = 1.0
) -> None: ) -> 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: if self.session is None:
return return
packet = make_control_packet(self.seq_id, event_code, drive_value) packet = make_control_packet(self.seq_id, event_code, drive_value)
@@ -312,19 +265,6 @@ class OmniSocketXboxSender(Node):
self.get_logger().debug( self.get_logger().debug(
f"sent seq={packet.seq_id} event={event_code} key={key_name}" 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: def main(args: list[str] | None = None) -> None: