# -*- coding: utf-8 -*- """ DDS (Data Distribution Service) 适配器 基于 cyclonedds-python 实现 支持：Publisher/Subscriber、QoS 策略、Domain 隔离 DDS 是实时分布式系统的工业标准（无人机、机器人、航空航天广泛使用） """ import asyncio import json import logging from typing import Dict, Any try: import cyclonedds.domain as dds_domain import cyclonedds.pub as dds_pub import cyclonedds.sub as dds_sub import cyclonedds.topic as dds_topic import cyclonedds.core as dds_core from cyclonedds.idl import IdlStruct from cyclonedds.idl.types import array, sequence from cyclonedds.qos import Qos, Policy HAS_DDS = True except ImportError: HAS_DDS = False logging.getLogger(__name__).warning( "⚠️ cyclonedds 未安装，DDS 适配器运行在模拟模式。" " 安装: pip install cyclonedds" ) from uas.comm.base import CommBaseAdapter, ConnectionConfig, MessageHandler from uas.comm.message import Message class DDSAdapterComm(CommBaseAdapter): """ DDS 通信适配器（基于 CycloneDDS） URL 格式: dds://[domain_id@]host[:port][/topic_prefix][?qos_options] 示例: dds://0@localhost:7400/rt?reliability=RELIABLE&durability=TRANSIENT_LOCAL """ def __init__(self, config: ConnectionConfig): super().__init__(config) self._domain_id = int(config.username) if config.username.isdigit() else 0 self._topic_prefix = config.database or "" self._participant = None self._publishers: Dict[str, Any] = {} self._subscribers: Dict[str, Any] = {} self._writers: Dict[str, Any] = {} self._readers: Dict[str, Any] = {} self._poll_tasks: Dict[str, asyncio.Task] = {} def _build_qos(self) -> Any: """根据 URL options 构建 QoS 策略""" if not HAS_DDS: return None opts = self.config.options reliability = opts.get("reliability", "BEST_EFFORT") durability = opts.get("durability", "VOLATILE") policies = [] if reliability == "RELIABLE": policies.append(Policy.Reliability.Reliable()) else: policies.append(Policy.Reliability.BestEffort()) if durability == "TRANSIENT_LOCAL": policies.append(Policy.Durability.TransientLocal()) elif durability == "PERSISTENT": policies.append(Policy.Durability.Persistent()) else: policies.append(Policy.Durability.Volatile()) return Qos(*policies) # ── 生命周期 ────────────────────────────────────────────────── async def connect(self) -> None: if HAS_DDS: self._participant = dds_domain.DomainParticipant(self._domain_id) self.logger.info( f"✅ DDS 已连接: domain={self._domain_id} prefix={self._topic_prefix!r}" ) else: self.logger.warning("⚠️ DDS 模拟模式已启动（cyclonedds 未安装）") self._running = True async def disconnect(self) -> None: self._running = False for task in self._poll_tasks.values(): task.cancel() # CycloneDDS 资源自动释放（GC） self._participant = None self.logger.info("🔌 DDS 连接已关闭") # ── 核心功能 ────────────────────────────────────────────────── async def publish(self, message: Message) -> bool: full_topic = f"{self._topic_prefix}/{message.topic}".lstrip("/") if HAS_DDS: try: writer = self._get_or_create_writer(full_topic) # 序列化为 JSON bytes 写入 writer.write(json.dumps(message.to_dict()).encode()) self.logger.debug(f"📤 DDS 发布 topic={full_topic!r}") return True except Exception as e: self.logger.error(f"DDS 发布失败: {e}") return False else: # 模拟模式：直接本地分发 self.logger.debug(f"[MOCK] DDS 发布 topic={full_topic!r}") await self._dispatch(message) return True async def subscribe(self, topic: str, handler: MessageHandler) -> None: full_topic = f"{self._topic_prefix}/{topic}".lstrip("/") self._register_handler(topic, handler) if HAS_DDS and full_topic not in self._readers: reader = self._get_or_create_reader(full_topic) self._poll_tasks[full_topic] = asyncio.create_task( self._poll_loop(topic, full_topic, reader) ) self.logger.info(f"📥 订阅 DDS topic: {full_topic!r} domain={self._domain_id}") async def unsubscribe(self, topic: str) -> None: full_topic = f"{self._topic_prefix}/{topic}".lstrip("/") if full_topic in self._poll_tasks: self._poll_tasks[full_topic].cancel() del self._poll_tasks[full_topic] self._readers.pop(full_topic, None) self._handlers.pop(topic, None) self.logger.info(f"🚫 取消订阅 DDS topic: {full_topic!r}") # ── 内部工具 ────────────────────────────────────────────────── def _get_or_create_writer(self, topic_name: str): if topic_name not in self._writers: tp = dds_topic.Topic(self._participant, topic_name, bytes) pub = dds_pub.Publisher(self._participant) self._writers[topic_name] = dds_pub.DataWriter(pub, tp, qos=self._build_qos()) return self._writers[topic_name] def _get_or_create_reader(self, topic_name: str): if topic_name not in self._readers: tp = dds_topic.Topic(self._participant, topic_name, bytes) sub = dds_sub.Subscriber(self._participant) self._readers[topic_name] = dds_sub.DataReader(sub, tp, qos=self._build_qos()) return self._readers[topic_name] async def _poll_loop(self, logical_topic: str, full_topic: str, reader): """轮询 DDS Reader（DDS 无原生 asyncio 支持，用 run_in_executor 桥接）""" loop = asyncio.get_event_loop() self.logger.info(f"🔄 DDS 轮询循环启动: {full_topic!r}") try: while self._running: samples = await loop.run_in_executor(None, reader.take, 10) for sample in samples: try: data = json.loads(bytes(sample)) message = Message.from_dict(data) await self._dispatch(message) except Exception as e: self.logger.error(f"DDS 消息解析异常: {e}") await asyncio.sleep(0.01) # 10ms 轮询间隔 except asyncio.CancelledError: self.logger.info(f"🛑 DDS 轮询循环停止: {full_topic!r}")