扩展开发：“此扩展已启用，但容器未运行”

开源水下机器人 | BlueROV2
#1

正如标题所暗示的，我在将扩展上传到 BlueOS 时遇到了问题，并且收到一条错误消息，提示扩展已启用但容器未运行。

image

当我检查控制台日志时，它还说它正在不断尝试重新连接。

我已成功上传一个扩展程序来读取蓝色机器人 bar30 传感器的数据，并且没有遇到此错误。

我对 git 和 docker 等软件开发工具还很陌生，所以请告诉我我所写的内容是否有助于获得更好的诊断。

#2

你好，欢迎来到论坛！
扩展程序似乎无法启动，“查看日志”按钮显示什么了吗？
这个扩展程序的目标是什么？如果它尝试使用PWM执行操作，可能会与现有进程发生冲突？
如果您能分享这个扩展程序的GitHub日志，我很乐意看看……

#3

查看日志打开后什么也不显示。我想制作一个简单的 pwm 扫描器并尝试将其连接到我手头的 T200 电机来尝试扩展开发。

name: Deploy t200 Extension Image

on:
  workflow_dispatch:

jobs:
  deploy-docker-image:
    runs-on: ubuntu-latest
    steps:
      - name: Deploy BlueOS Extension
        uses: BlueOS-community/Deploy-BlueOS-Extension@v1
        with:
          docker-username: ${{ secrets.DOCKER_USERNAME }}
          docker-password: ${{ secrets.DOCKER_PASSWORD }}
          github-token: ${{ secrets.GITHUB_TOKEN }}
          image-name: 't200-pwm-extension'   # no username, just the image name
          image-prefix: 'blueos-'              # optional; defaults to blueos-
          dockerfile-location: 't200-pwm-extension'    # where your Dockerfile is
          author: ${{ vars.MY_NAME }}
          author-email: ${{ vars.MY_EMAIL }}
          maintainer: ${{ vars.ORG_NAME }}
          maintainer-email: ${{ vars.ORG_EMAIL }}
          build-platforms: linux/arm64,linux/amd64```

T200 Navigator PWM Sweeper

Continuously ramps from 1100 to 1900 and back, printing PWM values

import time
from lib.pwm import NavigatorPWM

if __name__ == "__main__":
    thruster = NavigatorPWM(channel=1)  # Use SERVO1

    try:
        thruster.arm()
        print("Starting PWM sweep...")

        direction = 1        # +1 for up, -1 for down
        pwm = 1100           # Start at minimum pulse width
        step = 1             # µs step size
        delay = 0.01         # Delay between steps (adjust to control speed)

        while True:
            thruster.set_pwm(pwm)
            print(pwm)
            time.sleep(delay)

            pwm += direction * step
            if pwm >= 1900:
                pwm = 1900
                direction = -1  # Reverse direction
            elif pwm <= 1100:
                pwm = 1100
                direction = 1   # Forward direction

    except KeyboardInterrupt:
        print("Interrupted! Stopping thruster.")
        thruster.stop()

FROM python:3.12.4-slim-bullseye

RUN apt update

No extra Python packages needed for sysfs access, but leaving this here in case of future needs

RUN pip install --no-cache-dir --upgrade pip

COPY t200-pwm-extension/app /app
COPY t200-pwm-extension/lib /lib
ENV PYTHONPATH="${PYTHONPATH}:/lib"

LABEL version="0.0.1"

LABEL permissions='\
{\
  "Tty": true,\
  "ExposedPorts": {\
    "80/tcp": {}\
  },\
  "HostConfig": {\
    "PortBindings": {\
      "80/tcp": [\
        {\
          "HostPort": ""\
        }\
      ]\
    },\
    "Privileged": true,\
    "Binds": [\
      "/root/.config:/root/.config",\
      "/sys/class/rc_output:/sys/class/rc_output"\
    ]\
  }\
}'

LABEL authors='[\ 
  {\ 
    "name": "Duncan Ford",\ 
    "email": "your@email.com"\ 
  }\ 
]'

LABEL company='{\ 
  "about": "",\ 
  "name": "Offshore Designs",\ 
  "email": "offshoredesigns@example.com"\ 
}'

LABEL type="example"
LABEL tags='[ "thruster", "navigator", "pwm" ]'
LABEL readme=''
LABEL links='{}'
LABEL requirements="core >= 1.1"

CMD python app/app.py

import time

import os

class NavigatorPWM:
    def __init__(self, channel=1):
        self.channel = channel
        self.path = f"/sys/class/rc_output/rc_output{channel}"
        self._ensure_enabled()

    def _ensure_enabled(self):
        # Enable output on the channel if it isn't already
        enable_path = f"{self.path}/enabled"
        with open(enable_path, 'w') as f:
            f.write("1")

    def set_pwm(self, pulse_us):
        """
        Sets PWM pulse width in microseconds.
        Typical ESC range: 1100 (min) to 1900 (max), 1500 = neutral
        """
        pwm_path = f"{self.path}/pwm"
        with open(pwm_path, 'w') as f:
            f.write(str(int(pulse_us)))

    def arm(self):
        print("Sending neutral signal to arm ESC...")
        self.set_pwm(1500)
        time.sleep(2)

    def stop(self):
        print("Stopping (neutral signal)")
        self.set_pwm(1500)

    def set_throttle(self, value):
        """
        Set throttle between -1.0 (full reverse) and 1.0 (full forward).
        Maps to 1100µs – 1900µs.
        """
        value = max(-1.0, min(1.0, value))
        pwm_us = 1500 + (400 * value)
        self.set_pwm(pwm_us)