mirror of
https://github.com/deepmodeling/Uni-Lab-OS
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v0.11.3
ci(deps): bump actions/deploy-pages from 4 to 5 (#251) Bumps [actions/deploy-pages](https://github.com/actions/deploy-pages) from 4 to 5. - [Release notes](https://github.com/actions/deploy-pages/releases) - [Commits](https://github.com/actions/deploy-pages/compare/v4...v5) --- updated-dependencies: - dependency-name: actions/deploy-pages dependency-version: '5' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> ci(deps): bump actions/configure-pages from 5 to 6 (#252) Bumps [actions/configure-pages](https://github.com/actions/configure-pages) from 5 to 6. - [Release notes](https://github.com/actions/configure-pages/releases) - [Commits](https://github.com/actions/configure-pages/compare/v5...v6) --- updated-dependencies: - dependency-name: actions/configure-pages dependency-version: '6' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> ci(deps): bump actions/upload-pages-artifact from 4 to 5 (#260) Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 4 to 5. - [Release notes](https://github.com/actions/upload-pages-artifact/releases) - [Commits](https://github.com/actions/upload-pages-artifact/compare/v4...v5) --- updated-dependencies: - dependency-name: actions/upload-pages-artifact dependency-version: '5' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> ci(deps): bump conda-incubator/setup-miniconda from 3 to 4 (#261) Bumps [conda-incubator/setup-miniconda](https://github.com/conda-incubator/setup-miniconda) from 3 to 4. - [Release notes](https://github.com/conda-incubator/setup-miniconda/releases) - [Changelog](https://github.com/conda-incubator/setup-miniconda/blob/main/CHANGELOG.md) - [Commits](https://github.com/conda-incubator/setup-miniconda/compare/v3...v4) --- updated-dependencies: - dependency-name: conda-incubator/setup-miniconda dependency-version: '4' dependency-type: direct:production update-type: version-update:semver-major ... Signed-off-by: dependabot[bot] <support@github.com> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com> Add PLC communication guide (#264) * Add post process station and related resources - Created JSON configuration for post_process_station and its child post_process_deck. - Added YAML definitions for post_process_station, bottle carriers, bottles, and deck resources. - Implemented Python classes for bottle carriers, bottles, decks, and warehouses to manage resources in the post process. - Established a factory method for creating warehouses with customizable dimensions and layouts. - Defined the structure and behavior of the post_process_deck and its associated warehouses. * feat(post_process): add post_process_station and related warehouse functionality - Introduced post_process_station.json to define the post-processing station structure. - Implemented post_process_warehouse.py to create warehouse configurations with customizable layouts. - Added warehouses.py for specific warehouse configurations (4x3x1). - Updated post_process_station.yaml to reflect new module paths for OpcUaClient. - Refactored bottle carriers and bottles YAML files to point to the new module paths. - Adjusted deck.yaml to align with the new organizational structure for post_process_deck. * Add PLC communication guide for AI4M Add a comprehensive developer guide (docs/developer_guide/add_PLC.md) describing the PLC integration standard used by Uni-Lab for workstation devices, using the AI4M implementation as reference. Covers rationale for using OPC UA, the opcua_nodes_*.csv node-table format, communication base classes (BaseOpcUaClient / OpcUaClientWithSubscription), data types, and subscription/cache/reconnect behavior. Documents driver patterns for AI4MDevice, three handshake paradigms (pulse, parameter handshake, id-based), registry/graph configuration (YAML/JSON), debugging tips (KEPServerEX sim, standalone run), and a checklist for onboarding new PLC-controlled equipment.
This commit is contained in:
Roy
Xuwznln
@@ -45,6 +45,7 @@ from unilabos.resources.graphio import (
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)
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from unilabos.resources.plr_additional_res_reg import register
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from unilabos.ros.msgs.message_converter import (
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String,
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convert_to_ros_msg,
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convert_from_ros_msg_with_mapping,
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convert_to_ros_msg_with_mapping,
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@@ -250,7 +251,8 @@ class PropertyPublisher:
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):
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self.node = node
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self.name = name
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self.msg_type = msg_type
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self.msg_type = self._normalize_msg_type(msg_type)
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self.original_msg_type = msg_type
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self.get_method = get_method
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self.timer_period = initial_period
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self.print_publish = print_publish
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@@ -258,16 +260,36 @@ class PropertyPublisher:
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self._value = None
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try:
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self.publisher_ = node.create_publisher(msg_type, f"{name}", qos)
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self.publisher_ = node.create_publisher(self.msg_type, f"{name}", qos)
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except Exception as e:
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self.node.lab_logger().error(
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f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {e}"
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f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，"
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f"可能由于注册表有误，类型: {msg_type}，错误: {e}"
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)
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self.msg_type = String
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try:
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self.publisher_ = node.create_publisher(self.msg_type, f"{name}", qos)
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self.node.lab_logger().warning(
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f"属性 {name} 的发布类型已降级为 String，原始类型: {msg_type}"
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)
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except Exception:
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self.publisher_ = None
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self.timer = node.create_timer(self.timer_period, self.publish_property)
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self.__loop = ROS2DeviceNode.get_asyncio_loop()
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str_msg_type = str(msg_type)[8:-2]
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str_msg_type = str(self.msg_type)[8:-2]
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self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}")
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@staticmethod
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def _normalize_msg_type(msg_type):
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if msg_type in (dict, list, tuple, set) or msg_type in ("dict", "list", "tuple", "set"):
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return String
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return msg_type
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def _normalize_value(self, value):
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if self.msg_type is String and isinstance(value, (dict, list, tuple, set)):
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return json.dumps(value, ensure_ascii=False, cls=TypeEncoder)
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return value
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def get_property(self):
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if asyncio.iscoroutinefunction(self.get_method):
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# 如果是异步函数，运行事件循环并等待结果
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@@ -302,12 +324,16 @@ class PropertyPublisher:
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pass
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# self.node.lab_logger().trace(f"【.publish_property】发布 {self.msg_type}: {value}")
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if value is not None:
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if self.publisher_ is None:
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return
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value = self._normalize_value(value)
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msg = convert_to_ros_msg(self.msg_type, value)
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self.publisher_.publish(msg)
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# self.node.lab_logger().trace(f"【.publish_property】属性 {self.name} 发布成功")
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except Exception as e:
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topic = getattr(self.publisher_, "topic", self.name)
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self.node.lab_logger().error(
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f"【.publish_property】发布属性 {self.publisher_.topic} 出错: {str(e)}\n{traceback.format_exc()}"
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f"【.publish_property】发布属性 {topic} 出错: {str(e)}\n{traceback.format_exc()}"
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)
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def change_frequency(self, period):
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