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new registry system backwards to yaml

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This commit is contained in:
Xuwznln
2026-03-22 02:19:54 +08:00
parent 4c2adea55a
commit 59c26265e9
62 changed files with 5034 additions and 6271 deletions
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8
unilabos/app/main.py
View File

@@ -247,6 +247,12 @@ def parse_args():
default=False,
help="Run in check mode for CI: validates registry imports and ensures no file changes",
)
parser.add_argument(
"--complete_registry",
action="store_true",
default=False,
help="Complete and rewrite YAML registry files using AST analysis results",
)
parser.add_argument(
"--no_update_feedback",
action="store_true",
@@ -491,11 +497,13 @@ def main():
# Step 0: AST 分析优先 + YAML 注册表加载
# check_mode 和 upload_registry 都会执行实际 import 验证
devices_dirs = args_dict.get("devices", None)
complete_registry = args_dict.get("complete_registry", False) or check_mode
lab_registry = build_registry(
registry_paths=args_dict["registry_path"],
devices_dirs=devices_dirs,
upload_registry=BasicConfig.upload_registry,
check_mode=check_mode,
complete_registry=complete_registry,
)
# Check mode: 注册表验证完成后直接退出

13
unilabos/app/register.py
View File

@@ -1,19 +1,8 @@
import json
import time
from typing import Any, Dict, Optional, Tuple
from unilabos.utils.log import logger
from unilabos.utils.type_check import TypeEncoder
try:
import orjson
def _normalize_device(info: dict) -> dict:
"""Serialize via orjson to strip non-JSON types (type objects etc.)."""
return orjson.loads(orjson.dumps(info, default=str))
except ImportError:
def _normalize_device(info: dict) -> dict:
return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
from unilabos.utils.tools import normalize_json as _normalize_device
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:

19
unilabos/app/web/client.py
View File

@@ -8,24 +8,7 @@ import json
import os
from typing import List, Dict, Any, Optional
try:
import orjson as _json_fast
def _fast_dumps(obj, **kwargs) -> bytes:
return _json_fast.dumps(obj, option=_json_fast.OPT_NON_STR_KEYS, default=str)
def _fast_dumps_pretty(obj, **kwargs) -> bytes:
return _json_fast.dumps(
obj, option=_json_fast.OPT_NON_STR_KEYS | _json_fast.OPT_INDENT_2, default=str,
)
except ImportError:
_json_fast = None # type: ignore[assignment]
def _fast_dumps(obj, **kwargs) -> bytes:
return json.dumps(obj, ensure_ascii=False, default=str).encode("utf-8")
def _fast_dumps_pretty(obj, **kwargs) -> bytes:
return json.dumps(obj, indent=2, ensure_ascii=False, default=str).encode("utf-8")
from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
import requests
from unilabos.resources.resource_tracker import ResourceTreeSet

23
unilabos/registry/ast_registry_scanner.py
View File

@@ -839,24 +839,39 @@ def _extract_class_body(
if _has_decorator(item, "not_action") and _is_registry_decorator("not_action", import_map):
continue
# --- get_ 前缀且无额外参数（仅 self）→ status property ---
if method_name.startswith("get_"):
real_args = [a for a in item.args.args if a.arg != "self"]
if len(real_args) == 0:
prop_name = method_name[4:]
return_type = _get_annotation_str(item.returns, import_map)
if prop_name not in result["status_properties"]:
result["status_properties"][prop_name] = {
"name": prop_name,
"return_type": return_type,
"is_property": False,
"topic_config": None,
}
continue
# --- Public method without @action => auto-action ---
# Skip lifecycle / dunder methods that should never be auto-actions
if method_name in ("post_init", "__str__", "__repr__"):
continue
# 'close' and 'cleanup' could be actions in some drivers -- keep them
method_params = _extract_method_params(item, import_map)
return_type = _get_annotation_str(item.returns, import_map)
is_async = isinstance(item, ast.AsyncFunctionDef)
method_doc = ast.get_docstring(item)
result["auto_methods"][method_name] = {
auto_entry: dict = {
"params": method_params,
"return_type": return_type,
"is_async": is_async,
"docstring": method_doc,
}
if _has_decorator(item, "always_free") and _is_registry_decorator("always_free", import_map):
auto_entry["always_free"] = True
result["auto_methods"][method_name] = auto_entry
return result

58
unilabos/registry/devices/Qone_nmr.yaml
View File

@@ -13,21 +13,18 @@ Qone_nmr:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -71,31 +68,6 @@ Qone_nmr:
title: monitor_folder_for_new_content参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-strings_to_txt:
feedback: {}
goal: {}
@@ -138,21 +110,18 @@ Qone_nmr:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -167,32 +136,31 @@ Qone_nmr:
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:

91
unilabos/registry/devices/bioyond_cell.yaml
View File

@@ -22,7 +22,8 @@ bioyond_cell:
required:
- xlsx_path
type: object
result: {}
result:
type: object
required:
- goal
title: auto_batch_outbound_from_xlsx参数
@@ -490,7 +491,9 @@ bioyond_cell:
goal:
properties:
material_names:
type: string
items:
type: string
type: array
type_id:
default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
type: string
@@ -499,7 +502,8 @@ bioyond_cell:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: create_and_inbound_materials参数
@@ -535,7 +539,8 @@ bioyond_cell:
- type_id
- warehouse_name
type: object
result: {}
result:
type: object
required:
- goal
title: create_material参数
@@ -556,11 +561,16 @@ bioyond_cell:
goal:
properties:
mappings:
additionalProperties:
type: object
type: object
required:
- mappings
type: object
result: {}
result:
items:
type: object
type: array
required:
- goal
title: create_materials参数
@@ -592,7 +602,8 @@ bioyond_cell:
required:
- xlsx_path
type: object
result: {}
result:
type: object
required:
- goal
title: create_orders参数
@@ -624,7 +635,8 @@ bioyond_cell:
required:
- xlsx_path
type: object
result: {}
result:
type: object
required:
- goal
title: create_orders_v2参数
@@ -665,7 +677,8 @@ bioyond_cell:
- bottle_type
- location_code
type: object
result: {}
result:
type: object
required:
- goal
title: create_sample参数
@@ -718,7 +731,8 @@ bioyond_cell:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: order_list_v2参数
@@ -821,7 +835,8 @@ bioyond_cell:
required:
- material_obj
type: object
result: {}
result:
type: object
required:
- goal
title: report_material_change参数
@@ -875,7 +890,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_continue参数
@@ -896,7 +912,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_reset参数
@@ -917,7 +934,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_start参数
@@ -1362,7 +1380,8 @@ bioyond_cell:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_start_and_auto_feeding参数
@@ -1807,7 +1826,8 @@ bioyond_cell:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_start_and_auto_feeding_v2参数
@@ -1828,7 +1848,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: scheduler_stop参数
@@ -1850,12 +1871,15 @@ bioyond_cell:
properties:
items:
items:
additionalProperties:
type: string
type: object
type: array
required:
- items
type: object
result: {}
result:
type: object
required:
- goal
title: storage_batch_inbound参数
@@ -1884,7 +1908,8 @@ bioyond_cell:
- material_id
- location_id
type: object
result: {}
result:
type: object
required:
- goal
title: storage_inbound参数
@@ -1905,7 +1930,8 @@ bioyond_cell:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: transfer_1_to_2参数
@@ -1946,7 +1972,8 @@ bioyond_cell:
type: integer
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: transfer_3_to_2参数
@@ -1983,7 +2010,8 @@ bioyond_cell:
type: integer
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: transfer_3_to_2_to_1参数
@@ -2007,10 +2035,11 @@ bioyond_cell:
ip:
type: string
port:
type: string
type: integer
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: update_push_ip参数
@@ -2039,7 +2068,8 @@ bioyond_cell:
required:
- order_code
type: object
result: {}
result:
type: object
required:
- goal
title: wait_for_order_finish参数
@@ -2072,7 +2102,8 @@ bioyond_cell:
required:
- order_code
type: object
result: {}
result:
type: object
required:
- goal
title: wait_for_order_finish_polling参数
@@ -2104,7 +2135,8 @@ bioyond_cell:
type: integer
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: wait_for_transfer_task参数
@@ -2112,8 +2144,7 @@ bioyond_cell:
type: UniLabJsonCommand
module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
status_types:
device_id: String
material_info: dict
device_id: ''
type: python
config_info: []
description: ''
@@ -2134,11 +2165,7 @@ bioyond_cell:
properties:
device_id:
type: string
material_info:
type: object
required:
- device_id
- material_info
type: object
registry_type: device
version: 1.0.0

217
unilabos/registry/devices/bioyond_dispensing_station.yaml
View File

@@ -24,7 +24,8 @@ bioyond_dispensing_station:
required:
- data
type: object
result: {}
result:
type: object
required:
- goal
title: brief_step_parameters参数
@@ -53,7 +54,8 @@ bioyond_dispensing_station:
- report_request
- used_materials
type: object
result: {}
result:
type: object
required:
- goal
title: process_order_finish_report参数
@@ -78,7 +80,8 @@ bioyond_dispensing_station:
required:
- order_id
type: object
result: {}
result:
type: object
required:
- goal
title: project_order_report参数
@@ -128,7 +131,8 @@ bioyond_dispensing_station:
required:
- workflow_id
type: object
result: {}
result:
type: object
required:
- goal
title: workflow_sample_locations参数
@@ -144,12 +148,12 @@ bioyond_dispensing_station:
temperature: temperature
titration: titration
goal_default:
delay_time: '600'
hold_m_name: ''
delay_time: null
hold_m_name: null
liquid_material_name: NMP
speed: '400'
temperature: '40'
titration: ''
speed: null
temperature: null
titration: null
handles:
input:
- data_key: titration
@@ -165,20 +169,16 @@ bioyond_dispensing_station:
handler_key: BATCH_CREATE_RESULT
io_type: sink
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
properties:
feedback:
properties: {}
required: []
title: BatchCreate9010VialFeedingTasks_Feedback
type: object
goal:
properties:
delay_time:
default: '600'
description: 延迟时间(秒),默认600
type: string
hold_m_name:
@@ -189,11 +189,9 @@ bioyond_dispensing_station:
description: 10%物料的液体物料名称,默认为"NMP"
type: string
speed:
default: '400'
description: 搅拌速度,默认400
type: string
temperature:
default: '40'
description: 温度(℃),默认40
type: string
titration:
@@ -202,21 +200,14 @@ bioyond_dispensing_station:
type: string
required:
- titration
- hold_m_name
title: BatchCreate9010VialFeedingTasks_Goal
type: object
result:
properties:
return_info:
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
type: string
required:
- return_info
title: BatchCreate9010VialFeedingTasks_Result
type: object
type: string
required:
- goal
title: BatchCreate9010VialFeedingTasks
title: batch_create_90_10_vial_feeding_tasks参数
type: object
type: UniLabJsonCommand
batch_create_diamine_solution_tasks:
@@ -228,11 +219,11 @@ bioyond_dispensing_station:
speed: speed
temperature: temperature
goal_default:
delay_time: '600'
delay_time: null
liquid_material_name: NMP
solutions: ''
speed: '400'
temperature: '20'
solutions: null
speed: null
temperature: null
handles:
input:
- data_key: solutions
@@ -248,20 +239,16 @@ bioyond_dispensing_station:
handler_key: BATCH_CREATE_RESULT
io_type: sink
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
properties:
feedback:
properties: {}
required: []
title: BatchCreateDiamineSolutionTasks_Feedback
type: object
goal:
properties:
delay_time:
default: '600'
description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
type: string
liquid_material_name:
@@ -275,11 +262,9 @@ bioyond_dispensing_station:
4.5, "solvent_volume": 18}]'
type: string
speed:
default: '400'
description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
type: string
temperature:
default: '20'
description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
type: string
required:
@@ -287,17 +272,11 @@ bioyond_dispensing_station:
title: BatchCreateDiamineSolutionTasks_Goal
type: object
result:
properties:
return_info:
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
type: string
required:
- return_info
title: BatchCreateDiamineSolutionTasks_Result
type: object
type: string
required:
- goal
title: BatchCreateDiamineSolutionTasks
title: batch_create_diamine_solution_tasks参数
type: object
type: UniLabJsonCommand
compute_experiment_design:
@@ -309,7 +288,7 @@ bioyond_dispensing_station:
wt_percent: wt_percent
goal_default:
m_tot: '70'
ratio: ''
ratio: null
titration_percent: '0.03'
wt_percent: '0.25'
handles:
@@ -338,12 +317,8 @@ bioyond_dispensing_station:
handler_key: feeding_order
io_type: sink
label: Feeding Order Data From Calculation Node
result:
feeding_order: feeding_order
return_info: return_info
solutions: solutions
solvents: solvents
titration: titration
placeholder_keys: {}
result: {}
schema:
description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
properties:
@@ -356,7 +331,7 @@ bioyond_dispensing_station:
type: string
ratio:
description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
type: string
type: object
titration_percent:
default: '0.03'
description: 滴定比例(10%部分)
@@ -371,14 +346,23 @@ bioyond_dispensing_station:
result:
properties:
feeding_order:
items: {}
title: Feeding Order
type: array
return_info:
title: Return Info
type: string
solutions:
items: {}
title: Solutions
type: array
solvents:
additionalProperties: true
title: Solvents
type: object
titration:
additionalProperties: true
title: Titration
type: object
required:
- solutions
@@ -386,11 +370,11 @@ bioyond_dispensing_station:
- solvents
- feeding_order
- return_info
title: ComputeExperimentDesign_Result
title: ComputeExperimentDesignReturn
type: object
required:
- goal
title: ComputeExperimentDesign
title: compute_experiment_design参数
type: object
type: UniLabJsonCommand
create_90_10_vial_feeding_task:
@@ -444,17 +428,18 @@ bioyond_dispensing_station:
speed: ''
temperature: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: DispenStationVialFeed_Feedback
type: object
goal:
additionalProperties: false
properties:
delay_time:
type: string
@@ -502,38 +487,13 @@ bioyond_dispensing_station:
type: string
temperature:
type: string
required:
- order_name
- percent_90_1_assign_material_name
- percent_90_1_target_weigh
- percent_90_2_assign_material_name
- percent_90_2_target_weigh
- percent_90_3_assign_material_name
- percent_90_3_target_weigh
- percent_10_1_assign_material_name
- percent_10_1_target_weigh
- percent_10_1_volume
- percent_10_1_liquid_material_name
- percent_10_2_assign_material_name
- percent_10_2_target_weigh
- percent_10_2_volume
- percent_10_2_liquid_material_name
- percent_10_3_assign_material_name
- percent_10_3_target_weigh
- percent_10_3_volume
- percent_10_3_liquid_material_name
- speed
- temperature
- delay_time
- hold_m_name
title: DispenStationVialFeed_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: DispenStationVialFeed_Result
type: object
required:
@@ -564,17 +524,18 @@ bioyond_dispensing_station:
temperature: ''
volume: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: DispenStationSolnPrep_Feedback
type: object
goal:
additionalProperties: false
properties:
delay_time:
type: string
@@ -594,24 +555,13 @@ bioyond_dispensing_station:
type: string
volume:
type: string
required:
- order_name
- material_name
- target_weigh
- volume
- liquid_material_name
- speed
- temperature
- delay_time
- hold_m_name
title: DispenStationSolnPrep_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: DispenStationSolnPrep_Result
type: object
required:
@@ -624,8 +574,8 @@ bioyond_dispensing_station:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
properties:
@@ -635,12 +585,6 @@ bioyond_dispensing_station:
required: []
type: object
result:
properties:
return_info:
description: 调度器启动结果，成功返回1，失败返回0
type: integer
required:
- return_info
title: scheduler_start结果
type: object
required:
@@ -654,8 +598,8 @@ bioyond_dispensing_station:
target_device_id: target_device_id
transfer_groups: transfer_groups
goal_default:
target_device_id: ''
transfer_groups: ''
target_device_id: null
transfer_groups: null
handles: {}
placeholder_keys:
target_device_id: unilabos_devices
@@ -671,32 +615,13 @@ bioyond_dispensing_station:
type: string
transfer_groups:
description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
items:
properties:
materials:
description: 物料名称（手动输入，系统将通过RPC查询验证）
type: string
target_sites:
description: 目标库位（手动输入，如"A01"）
type: string
target_stack:
description: 目标堆栈名称（从列表选择）
enum:
- 堆栈1左
- 堆栈1右
- 站内试剂存放堆栈
type: string
required:
- materials
- target_stack
- target_sites
type: object
type: array
required:
- target_device_id
- transfer_groups
type: object
result: {}
result:
type: object
required:
- goal
title: transfer_materials_to_reaction_station参数
@@ -709,9 +634,9 @@ bioyond_dispensing_station:
check_interval: check_interval
timeout: timeout
goal_default:
batch_create_result: ''
check_interval: '10'
timeout: '7200'
batch_create_result: null
check_interval: 10
timeout: 7200
handles:
input:
- data_key: batch_create_result
@@ -727,47 +652,35 @@ bioyond_dispensing_station:
handler_key: batch_reports_result
io_type: sink
label: Batch Order Completion Reports
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
properties:
feedback:
properties: {}
required: []
title: WaitForMultipleOrdersAndGetReports_Feedback
type: object
goal:
properties:
batch_create_result:
description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
type: string
check_interval:
default: '10'
default: 10
description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
type: string
type: integer
timeout:
default: '7200'
default: 7200
description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
type: string
required:
- batch_create_result
type: integer
required: []
title: WaitForMultipleOrdersAndGetReports_Goal
type: object
result:
properties:
return_info:
description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
order_id, status, completion_status, report, elapsed_time)'
type: string
required:
- return_info
title: WaitForMultipleOrdersAndGetReports_Result
type: object
required:
- goal
title: WaitForMultipleOrdersAndGetReports
title: wait_for_multiple_orders_and_get_reports参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation

81
unilabos/registry/devices/camera.yaml
View File

@@ -1,81 +0,0 @@
camera:
category:
- camera
class:
action_value_mappings:
auto-destroy_node:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: destroy_node参数
type: object
type: UniLabJsonCommand
auto-timer_callback:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: timer_callback参数
type: object
type: UniLabJsonCommand
module: unilabos.ros.nodes.presets.camera:VideoPublisher
status_types: {}
type: ros2
config_info: []
description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
handles: []
icon: ''
init_param_schema:
config:
properties:
camera_index:
default: 0
type: string
device_id:
default: video_publisher
type: string
device_uuid:
default: ''
type: string
period:
default: 0.1
type: number
registry_name:
default: ''
type: string
resource_tracker:
type: object
required: []
type: object
data:
properties: {}
required: []
type: object
version: 1.0.0

8
unilabos/registry/devices/cameraSII.yaml
View File

@@ -18,7 +18,7 @@ cameracontroller_device:
goal:
properties:
config:
type: string
type: object
required: []
type: object
result: {}
@@ -42,7 +42,8 @@ cameracontroller_device:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: stop参数
@@ -50,7 +51,7 @@ cameracontroller_device:
type: UniLabJsonCommand
module: unilabos.devices.cameraSII.cameraUSB:CameraController
status_types:
status: dict
status: Dict[str, Any]
type: python
config_info: []
description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
@@ -103,5 +104,4 @@ cameracontroller_device:
required:
- status
type: object
registry_type: device
version: 1.0.0

64
unilabos/registry/devices/characterization_chromatic.yaml
View File

@@ -141,30 +141,26 @@ hplc.agilent:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -175,7 +171,6 @@ hplc.agilent:
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
status_types:
could_run: bool
data_file: String
device_status: str
driver_init_ok: bool
finish_status: str
@@ -199,10 +194,6 @@ hplc.agilent:
properties:
could_run:
type: boolean
data_file:
items:
type: string
type: array
device_status:
type: string
driver_init_ok:
@@ -216,14 +207,13 @@ hplc.agilent:
success:
type: boolean
required:
- status_text
- device_status
- could_run
- device_status
- driver_init_ok
- is_running
- success
- finish_status
- data_file
- is_running
- status_text
- success
type: object
version: 1.0.0
hplc.agilent-zhida:
@@ -236,26 +226,25 @@ hplc.agilent-zhida:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -315,21 +304,18 @@ hplc.agilent-zhida:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -341,35 +327,35 @@ hplc.agilent-zhida:
feedback: {}
goal:
string: string
text: text
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -407,7 +393,7 @@ hplc.agilent-zhida:
status:
type: object
required:
- status
- methods
- status
type: object
version: 1.0.0

15
unilabos/registry/devices/characterization_optic.yaml
View File

@@ -120,42 +120,41 @@ raman.home_made:
type: object
type: UniLabJsonCommand
raman_cmd:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:

231
unilabos/registry/devices/chinwe.yaml
View File

@@ -19,7 +19,8 @@ separator.chinwe:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: connect参数
@@ -65,135 +66,145 @@ separator.chinwe:
required:
- command_dict
type: object
result: {}
result:
type: boolean
required:
- goal
title: execute_command_from_outer参数
type: object
type: UniLabJsonCommand
motor_rotate_quarter:
feedback: {}
goal:
direction: 顺时针
motor_id: 4
speed: 60
goal_default:
direction: 顺时针
motor_id: null
speed: 60
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 电机旋转 1/4 圈
properties:
feedback: {}
goal:
properties:
direction:
default: 顺时针
description: 旋转方向
enum:
- 顺时针
- 逆时针
type: string
motor_id:
default: '4'
description: 选择电机 (4:搅拌, 5:旋钮)
enum:
- '4'
- '5'
type: string
type: integer
speed:
default: 60
description: 速度 (RPM)
type: integer
required:
- motor_id
- speed
type: object
result: {}
required:
- goal
title: motor_rotate_quarter参数
type: object
type: UniLabJsonCommand
motor_run_continuous:
feedback: {}
goal:
direction: 顺时针
motor_id: 4
speed: 60
goal_default:
direction: 顺时针
motor_id: null
speed: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 电机一直旋转 (速度模式)
properties:
feedback: {}
goal:
properties:
direction:
default: 顺时针
description: 旋转方向
enum:
- 顺时针
- 逆时针
type: string
motor_id:
default: '4'
description: 选择电机 (4:搅拌, 5:旋钮)
enum:
- '4'
- '5'
type: string
type: integer
speed:
default: 60
description: 速度 (RPM)
type: integer
required:
- motor_id
- speed
type: object
result: {}
required:
- goal
title: motor_run_continuous参数
type: object
type: UniLabJsonCommand
motor_stop:
feedback: {}
goal:
motor_id: 4
goal_default:
motor_id: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 停止指定步进电机
properties:
feedback: {}
goal:
properties:
motor_id:
default: '4'
description: 选择电机
enum:
- '4'
- '5'
title: '注: 4=搅拌, 5=旋钮'
type: string
type: integer
required:
- motor_id
type: object
result: {}
required:
- goal
title: motor_stop参数
type: object
type: UniLabJsonCommand
pump_aspirate:
feedback: {}
goal:
pump_id: 1
valve_port: 1
volume: 1000
goal_default:
pump_id: null
valve_port: null
volume: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 注射泵吸液
properties:
feedback: {}
goal:
properties:
pump_id:
default: '1'
description: 选择泵
enum:
- '1'
- '2'
- '3'
type: string
type: integer
valve_port:
default: '1'
description: 阀门端口
enum:
- '1'
- '2'
- '3'
- '4'
- '5'
- '6'
- '7'
- '8'
type: string
type: integer
volume:
default: 1000
description: 吸液步数
type: integer
required:
@@ -201,41 +212,38 @@ separator.chinwe:
- volume
- valve_port
type: object
result: {}
required:
- goal
title: pump_aspirate参数
type: object
type: UniLabJsonCommand
pump_dispense:
feedback: {}
goal:
pump_id: 1
valve_port: 1
volume: 1000
goal_default:
pump_id: null
valve_port: null
volume: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 注射泵排液
properties:
feedback: {}
goal:
properties:
pump_id:
default: '1'
description: 选择泵
enum:
- '1'
- '2'
- '3'
type: string
type: integer
valve_port:
default: '1'
description: 阀门端口
enum:
- '1'
- '2'
- '3'
- '4'
- '5'
- '6'
- '7'
- '8'
type: string
type: integer
volume:
default: 1000
description: 排液步数
type: integer
required:
@@ -243,121 +251,152 @@ separator.chinwe:
- volume
- valve_port
type: object
result: {}
required:
- goal
title: pump_dispense参数
type: object
type: UniLabJsonCommand
pump_initialize:
feedback: {}
goal:
drain_port: 0
output_port: 0
pump_id: 1
speed: 10
goal_default:
drain_port: 0
output_port: 0
pump_id: null
speed: 10
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 初始化指定注射泵
properties:
feedback: {}
goal:
properties:
drain_port:
default: 0
description: 排液口索引
type: integer
type: string
output_port:
default: 0
description: 输出口索引
type: integer
pump_id:
default: '1'
description: 选择泵
enum:
- '1'
- '2'
- '3'
title: '注: 1号泵, 2号泵, 3号泵'
type: string
pump_id:
description: 选择泵
title: '注: 1号泵, 2号泵, 3号泵'
type: integer
speed:
default: 10
description: 运动速度
type: integer
type: string
required:
- pump_id
type: object
result: {}
required:
- goal
title: pump_initialize参数
type: object
type: UniLabJsonCommand
pump_valve:
feedback: {}
goal:
port: 1
pump_id: 1
goal_default:
port: null
pump_id: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 切换指定泵的阀门端口
properties:
feedback: {}
goal:
properties:
port:
default: '1'
description: 阀门端口号 (1-8)
enum:
- '1'
- '2'
- '3'
- '4'
- '5'
- '6'
- '7'
- '8'
type: string
type: integer
pump_id:
default: '1'
description: 选择泵
enum:
- '1'
- '2'
- '3'
type: string
type: integer
required:
- pump_id
- port
type: object
result: {}
required:
- goal
title: pump_valve参数
type: object
type: UniLabJsonCommand
wait_sensor_level:
feedback: {}
goal:
target_state: 有液
timeout: 30
goal_default:
target_state: 有液
timeout: 30
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 等待传感器液位条件
properties:
feedback: {}
goal:
properties:
target_state:
default: 有液
description: 目标液位状态
enum:
- 有液
- 无液
type: string
timeout:
default: 30
description: 超时时间 (秒)
type: integer
required:
- target_state
required: []
type: object
result:
type: boolean
required:
- goal
title: wait_sensor_level参数
type: object
type: UniLabJsonCommand
wait_time:
feedback: {}
goal:
duration: 10
goal_default:
duration: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 等待指定时间
properties:
feedback: {}
goal:
properties:
duration:
default: 10
description: 等待时间 (秒)
type: integer
required:
- duration
type: object
result:
type: boolean
required:
- goal
title: wait_time参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.separator.chinwe:ChinweDevice
status_types:
@@ -406,8 +445,8 @@ separator.chinwe:
sensor_rssi:
type: integer
required:
- is_connected
- sensor_level
- sensor_rssi
- is_connected
type: object
version: 2.1.0

76
unilabos/registry/devices/coin_cell_workstation.yaml
View File

@@ -64,7 +64,8 @@ coincellassemblyworkstation_device:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: fun_wuliao_test参数
@@ -109,7 +110,8 @@ coincellassemblyworkstation_device:
- elec_num
- elec_use_num
type: object
result: {}
result:
type: object
required:
- goal
title: func_allpack_cmd参数
@@ -220,7 +222,8 @@ coincellassemblyworkstation_device:
- elec_num
- elec_use_num
type: object
result: {}
result:
type: object
required:
- goal
title: func_allpack_cmd_simp参数
@@ -309,7 +312,8 @@ coincellassemblyworkstation_device:
type: boolean
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_device_init_auto_start_combined参数
@@ -351,7 +355,8 @@ coincellassemblyworkstation_device:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_device_stop参数
@@ -376,7 +381,8 @@ coincellassemblyworkstation_device:
type: string
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_get_msg_cmd参数
@@ -430,7 +436,8 @@ coincellassemblyworkstation_device:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_send_finished_cmd参数
@@ -467,7 +474,8 @@ coincellassemblyworkstation_device:
- assembly_type
- assembly_pressure
type: object
result: {}
result:
type: boolean
required:
- goal
title: func_pack_send_msg_cmd参数
@@ -611,7 +619,8 @@ coincellassemblyworkstation_device:
- elec_num
- elec_use_num
type: object
result: {}
result:
type: object
required:
- goal
title: func_sendbottle_allpack_multi参数
@@ -663,31 +672,6 @@ coincellassemblyworkstation_device:
title: modify_deck_name参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: object
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-qiming_coin_cell_code:
feedback: {}
goal: {}
@@ -735,7 +719,8 @@ coincellassemblyworkstation_device:
required:
- fujipian_panshu
type: object
result: {}
result:
type: boolean
required:
- goal
title: qiming_coin_cell_code参数
@@ -826,25 +811,24 @@ coincellassemblyworkstation_device:
sys_status:
type: string
required:
- sys_status
- sys_mode
- request_rec_msg_status
- request_send_msg_status
- data_assembly_coin_cell_num
- data_assembly_pressure
- data_assembly_time
- data_open_circuit_voltage
- data_axis_x_pos
- data_axis_y_pos
- data_axis_z_pos
- data_pole_weight
- data_assembly_pressure
- data_electrolyte_volume
- data_coin_num
- data_coin_cell_code
- data_coin_num
- data_electrolyte_code
- data_glove_box_pressure
- data_electrolyte_volume
- data_glove_box_o2_content
- data_glove_box_pressure
- data_glove_box_water_content
- data_open_circuit_voltage
- data_pole_weight
- request_rec_msg_status
- request_send_msg_status
- sys_mode
- sys_status
type: object
registry_type: device
version: 1.0.0

82
unilabos/registry/devices/gas_handler.yaml
View File

@@ -50,26 +50,25 @@ gas_source.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -82,26 +81,25 @@ gas_source.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -116,32 +114,31 @@ gas_source.mock:
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -232,26 +229,25 @@ vacuum_pump.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -264,26 +260,25 @@ vacuum_pump.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -298,32 +293,31 @@ vacuum_pump.mock:
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:

2
unilabos/registry/devices/hotel.yaml
View File

@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
action_value_mappings: {}
module: unilabos.devices.resource_container.container:HotelContainer
status_types:
rotation: String
rotation: ''
type: python
config_info: []
description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。

93
unilabos/registry/devices/laiyu_liquid_test.yaml
View File

@@ -22,7 +22,8 @@ xyz_stepper_controller:
required:
- degrees
type: object
result: {}
result:
type: integer
required:
- goal
title: degrees_to_steps参数
@@ -47,7 +48,8 @@ xyz_stepper_controller:
required:
- axis
type: object
result: {}
result:
type: boolean
required:
- goal
title: emergency_stop参数
@@ -72,7 +74,10 @@ xyz_stepper_controller:
type: boolean
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: enable_all_axes参数
@@ -101,7 +106,8 @@ xyz_stepper_controller:
required:
- axis
type: object
result: {}
result:
type: boolean
required:
- goal
title: enable_motor参数
@@ -122,7 +128,10 @@ xyz_stepper_controller:
properties: {}
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: home_all_axes参数
@@ -147,7 +156,8 @@ xyz_stepper_controller:
required:
- axis
type: object
result: {}
result:
type: boolean
required:
- goal
title: home_axis参数
@@ -188,7 +198,8 @@ xyz_stepper_controller:
- axis
- position
type: object
result: {}
result:
type: boolean
required:
- goal
title: move_to_position参数
@@ -229,7 +240,8 @@ xyz_stepper_controller:
- axis
- degrees
type: object
result: {}
result:
type: boolean
required:
- goal
title: move_to_position_degrees参数
@@ -270,7 +282,8 @@ xyz_stepper_controller:
- axis
- revolutions
type: object
result: {}
result:
type: boolean
required:
- goal
title: move_to_position_revolutions参数
@@ -301,14 +314,17 @@ xyz_stepper_controller:
default: 5000
type: integer
x:
type: string
type: integer
y:
type: string
type: integer
z:
type: string
type: integer
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz参数
@@ -339,14 +355,17 @@ xyz_stepper_controller:
default: 5000
type: integer
x_deg:
type: string
type: number
y_deg:
type: string
type: number
z_deg:
type: string
type: number
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz_degrees参数
@@ -377,14 +396,17 @@ xyz_stepper_controller:
default: 5000
type: integer
x_rev:
type: string
type: number
y_rev:
type: string
type: number
z_rev:
type: string
type: number
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: move_xyz_revolutions参数
@@ -409,7 +431,8 @@ xyz_stepper_controller:
required:
- revolutions
type: object
result: {}
result:
type: integer
required:
- goal
title: revolutions_to_steps参数
@@ -442,7 +465,8 @@ xyz_stepper_controller:
- axis
- speed
type: object
result: {}
result:
type: boolean
required:
- goal
title: set_speed_mode参数
@@ -467,7 +491,8 @@ xyz_stepper_controller:
required:
- steps
type: object
result: {}
result:
type: number
required:
- goal
title: steps_to_degrees参数
@@ -492,7 +517,8 @@ xyz_stepper_controller:
required:
- steps
type: object
result: {}
result:
type: number
required:
- goal
title: steps_to_revolutions参数
@@ -513,7 +539,10 @@ xyz_stepper_controller:
properties: {}
required: []
type: object
result: {}
result:
additionalProperties:
type: boolean
type: object
required:
- goal
title: stop_all_axes参数
@@ -542,7 +571,8 @@ xyz_stepper_controller:
required:
- axis
type: object
result: {}
result:
type: boolean
required:
- goal
title: wait_for_completion参数
@@ -550,8 +580,7 @@ xyz_stepper_controller:
type: UniLabJsonCommand
module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
status_types:
all_positions: dict
motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
all_positions: Dict[MotorAxis, MotorPosition]
type: python
config_info: []
description: 新XYZ控制器
@@ -574,12 +603,10 @@ xyz_stepper_controller:
data:
properties:
all_positions:
type: object
motor_status:
additionalProperties:
type: object
type: object
required:
- motor_status
- all_positions
type: object
registry_type: device
version: 1.0.0

3600
unilabos/registry/devices/liquid_handler.yaml
View File

File diff suppressed because it is too large Load Diff

228
unilabos/registry/devices/neware_battery_test_system.yaml
View File

@@ -5,31 +5,6 @@ neware_battery_test_system:
- battery_test
class:
action_value_mappings:
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-print_status_summary:
feedback: {}
goal: {}
@@ -66,7 +41,8 @@ neware_battery_test_system:
properties: {}
required: []
type: object
result: {}
result:
type: boolean
required:
- goal
title: test_connection参数
@@ -77,9 +53,8 @@ neware_battery_test_system:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 调试方法：显示所有资源的实际名称
properties:
@@ -89,19 +64,10 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
return_info:
description: 资源调试信息
type: string
success:
description: 是否成功
type: boolean
required:
- return_info
- success
type: object
required:
- goal
title: debug_resource_names参数
type: object
type: UniLabJsonCommand
export_status_json:
@@ -111,9 +77,8 @@ neware_battery_test_system:
goal_default:
filepath: bts_status.json
handles: {}
result:
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 导出当前状态数据到JSON文件
properties:
@@ -127,19 +92,10 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
return_info:
description: 导出操作结果信息
type: string
success:
description: 导出是否成功
type: boolean
required:
- return_info
- success
type: object
required:
- goal
title: export_status_json参数
type: object
type: UniLabJsonCommand
get_device_summary:
@@ -181,10 +137,8 @@ neware_battery_test_system:
goal_default:
plate_num: null
handles: {}
result:
plate_data: plate_data
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 获取指定盘或所有盘的状态信息
properties:
@@ -193,29 +147,14 @@ neware_battery_test_system:
properties:
plate_num:
description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
maximum: 2
minimum: 1
type: integer
required: []
type: object
result:
properties:
plate_data:
description: 盘状态数据（单盘或所有盘）
type: object
return_info:
description: 操作结果信息
type: string
success:
description: 查询是否成功
type: boolean
required:
- return_info
- success
- plate_data
type: object
required:
- goal
title: get_plate_status参数
type: object
type: UniLabJsonCommand
print_status_summary_action:
@@ -223,9 +162,8 @@ neware_battery_test_system:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 打印通道状态摘要信息到控制台
properties:
@@ -235,28 +173,21 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
return_info:
description: 打印操作结果信息
type: string
success:
description: 打印是否成功
type: boolean
required:
- return_info
- success
type: object
required:
- goal
title: print_status_summary_action参数
type: object
type: UniLabJsonCommand
query_plate_action:
feedback: {}
goal:
string: plate_id
plate_id: plate_id
string: string
goal_default:
string: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
@@ -264,27 +195,23 @@ neware_battery_test_system:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -298,13 +225,11 @@ neware_battery_test_system:
csv_path: string
output_dir: string
goal_default:
csv_path: ''
csv_path: null
output_dir: .
handles: {}
result:
return_info: return_info
submitted_count: submitted_count
success: success
placeholder_keys: {}
result: {}
schema:
description: 从CSV文件批量提交Neware测试任务
properties:
@@ -315,31 +240,17 @@ neware_battery_test_system:
description: 输入CSV文件的绝对路径
type: string
output_dir:
default: .
description: 输出目录（用于存储XML和备份文件），默认当前目录
type: string
required:
- csv_path
type: object
result:
properties:
return_info:
description: 执行结果详细信息
type: string
submitted_count:
description: 成功提交的任务数量
type: integer
success:
description: 是否成功
type: boolean
total_count:
description: CSV文件中的总行数
type: integer
required:
- return_info
- success
type: object
required:
- goal
title: submit_from_csv参数
type: object
type: UniLabJsonCommand
test_connection_action:
@@ -347,9 +258,8 @@ neware_battery_test_system:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
success: success
placeholder_keys: {}
result: {}
schema:
description: 测试与电池测试系统的TCP连接
properties:
@@ -359,19 +269,10 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
return_info:
description: 连接测试结果信息
type: string
success:
description: 连接测试是否成功
type: boolean
required:
- return_info
- success
type: object
required:
- goal
title: test_connection_action参数
type: object
type: UniLabJsonCommand
upload_backup_to_oss:
@@ -392,12 +293,8 @@ neware_battery_test_system:
handler_key: uploaded_files
io_type: sink
label: Uploaded Files (with standard flow info)
result:
failed_files: failed_files
return_info: return_info
success: success
total_count: total_count
uploaded_count: uploaded_count
placeholder_keys: {}
result: {}
schema:
description: 上传备份文件到阿里云OSS
properties:
@@ -417,65 +314,17 @@ neware_battery_test_system:
required: []
type: object
result:
properties:
failed_files:
description: 上传失败的文件名列表
items:
type: string
type: array
return_info:
description: 上传操作结果信息
type: string
success:
description: 上传是否成功
type: boolean
total_count:
description: 总文件数
type: integer
uploaded_count:
description: 成功上传的文件数
type: integer
uploaded_files:
description: 成功上传的文件详情列表
items:
properties:
Battery_Code:
description: 电池编码
type: string
Electrolyte_Code:
description: 电解液编码
type: string
filename:
description: 文件名
type: string
url:
description: OSS下载链接
type: string
required:
- filename
- url
- Battery_Code
- Electrolyte_Code
type: object
type: array
required:
- return_info
- success
- uploaded_count
- total_count
- failed_files
- uploaded_files
type: object
required:
- goal
title: upload_backup_to_oss参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
status_types:
channel_status: dict
connection_info: dict
channel_status: Dict[int, Dict]
connection_info: Dict[str, str]
device_summary: dict
plate_status: dict
status: str
total_channels: int
type: python
@@ -517,23 +366,24 @@ neware_battery_test_system:
data:
properties:
channel_status:
additionalProperties:
type: object
type: object
connection_info:
additionalProperties:
type: string
type: object
device_summary:
type: object
plate_status:
type: object
status:
type: string
total_channels:
type: integer
required:
- status
- channel_status
- connection_info
- total_channels
- plate_status
- device_summary
- status
- total_channels
type: object
version: 1.0.0

10
unilabos/registry/devices/opcua_example.yaml
View File

@@ -142,8 +142,7 @@ opcua_example:
type: object
type: UniLabJsonCommand
module: unilabos.device_comms.opcua_client.client:OpcUaClient
status_types:
node_value: String
status_types: {}
type: python
config_info: []
description: null
@@ -167,10 +166,7 @@ opcua_example:
- url
type: object
data:
properties:
node_value:
type: string
required:
- node_value
properties: {}
required: []
type: object
version: 1.0.0

3
unilabos/registry/devices/opsky_ATR30007.yaml
View File

@@ -80,7 +80,8 @@ opsky_ATR30007:
type: string
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: run_once参数

75
unilabos/registry/devices/organic_miscellaneous.yaml
View File

@@ -100,42 +100,41 @@ rotavap.one:
type: object
type: UniLabJsonCommand
set_timer:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -250,9 +249,13 @@ separator.homemade:
feedback:
status: status
goal:
event: event
settling_time: settling_time
stir_speed: stir_speed
stir_time: stir_time,
stir_time: stir_time
time: time
time_spec: time_spec
vessel: vessel
goal_default:
event: ''
settling_time: ''
@@ -281,34 +284,42 @@ separator.homemade:
sample_id: ''
type: ''
handles: {}
placeholder_keys: {}
result:
message: message
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: Stir_Feedback
type: object
goal:
additionalProperties: false
properties:
event:
type: string
settling_time:
type: string
stir_speed:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
stir_time:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
time:
type: string
time_spec:
type: string
vessel:
additionalProperties: false
properties:
category:
type: string
@@ -327,16 +338,26 @@ separator.homemade:
parent:
type: string
pose:
additionalProperties: false
properties:
orientation:
additionalProperties: false
properties:
w:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -346,12 +367,19 @@ separator.homemade:
title: orientation
type: object
position:
additionalProperties: false
properties:
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -381,17 +409,10 @@ separator.homemade:
- data
title: vessel
type: object
required:
- vessel
- time
- event
- time_spec
- stir_time
- stir_speed
- settling_time
title: Stir_Goal
type: object
result:
additionalProperties: false
properties:
message:
type: string
@@ -399,10 +420,6 @@ separator.homemade:
type: string
success:
type: boolean
required:
- success
- message
- return_info
title: Stir_Result
type: object
required:
@@ -418,36 +435,34 @@ separator.homemade:
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:

187
unilabos/registry/devices/post_process_station.yaml
View File

@@ -28,31 +28,6 @@ post_process_station:
title: load_config参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-print_cache_stats:
feedback: {}
goal: {}
@@ -104,42 +79,41 @@ post_process_station:
type: object
type: UniLabJsonCommand
disconnect:
feedback: {}
feedback:
status: status
goal:
command: {}
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -149,42 +123,41 @@ post_process_station:
type: SendCmd
read_node:
feedback:
result: result
status: status
goal:
command: node_name
command: command
node_name: node_name
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -283,17 +256,19 @@ post_process_station:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: PostProcessTriggerClean_Feedback
type: object
goal:
additionalProperties: false
properties:
acetone_inner_wall_cleaning_count:
maximum: 2147483647
minimum: -2147483648
type: integer
acetone_inner_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
acetone_inner_wall_cleaning_waste_time:
maximum: 2147483647
@@ -304,6 +279,8 @@ post_process_station:
minimum: -2147483648
type: integer
acetone_outer_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
acetone_outer_wall_cleaning_wait_time:
maximum: 2147483647
@@ -322,6 +299,8 @@ post_process_station:
minimum: -2147483648
type: integer
acetone_stirrer_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
acetone_stirrer_cleaning_wait_time:
maximum: 2147483647
@@ -348,6 +327,8 @@ post_process_station:
minimum: -2147483648
type: integer
nmp_inner_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
nmp_inner_wall_cleaning_waste_time:
maximum: 2147483647
@@ -358,6 +339,8 @@ post_process_station:
minimum: -2147483648
type: integer
nmp_outer_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
nmp_outer_wall_cleaning_wait_time:
maximum: 2147483647
@@ -376,6 +359,8 @@ post_process_station:
minimum: -2147483648
type: integer
nmp_stirrer_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
nmp_stirrer_cleaning_wait_time:
maximum: 2147483647
@@ -394,6 +379,8 @@ post_process_station:
minimum: -2147483648
type: integer
water_inner_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
water_inner_wall_cleaning_waste_time:
maximum: 2147483647
@@ -404,6 +391,8 @@ post_process_station:
minimum: -2147483648
type: integer
water_outer_wall_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
water_outer_wall_cleaning_wait_time:
maximum: 2147483647
@@ -422,6 +411,8 @@ post_process_station:
minimum: -2147483648
type: integer
water_stirrer_cleaning_injection:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
water_stirrer_cleaning_wait_time:
maximum: 2147483647
@@ -431,55 +422,13 @@ post_process_station:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- nmp_outer_wall_cleaning_injection
- nmp_outer_wall_cleaning_count
- nmp_outer_wall_cleaning_wait_time
- nmp_outer_wall_cleaning_waste_time
- nmp_inner_wall_cleaning_injection
- nmp_inner_wall_cleaning_count
- nmp_pump_cleaning_suction_count
- nmp_inner_wall_cleaning_waste_time
- nmp_stirrer_cleaning_injection
- nmp_stirrer_cleaning_count
- nmp_stirrer_cleaning_wait_time
- nmp_stirrer_cleaning_waste_time
- water_outer_wall_cleaning_injection
- water_outer_wall_cleaning_count
- water_outer_wall_cleaning_wait_time
- water_outer_wall_cleaning_waste_time
- water_inner_wall_cleaning_injection
- water_inner_wall_cleaning_count
- water_pump_cleaning_suction_count
- water_inner_wall_cleaning_waste_time
- water_stirrer_cleaning_injection
- water_stirrer_cleaning_count
- water_stirrer_cleaning_wait_time
- water_stirrer_cleaning_waste_time
- acetone_outer_wall_cleaning_injection
- acetone_outer_wall_cleaning_count
- acetone_outer_wall_cleaning_wait_time
- acetone_outer_wall_cleaning_waste_time
- acetone_inner_wall_cleaning_injection
- acetone_inner_wall_cleaning_count
- acetone_pump_cleaning_suction_count
- acetone_inner_wall_cleaning_waste_time
- acetone_stirrer_cleaning_injection
- acetone_stirrer_cleaning_count
- acetone_stirrer_cleaning_wait_time
- acetone_stirrer_cleaning_waste_time
- pipe_blowing_time
- injection_pump_forward_empty_suction_count
- injection_pump_reverse_empty_suction_count
- filtration_liquid_selection
title: PostProcessTriggerClean_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: PostProcessTriggerClean_Result
type: object
required:
@@ -502,11 +451,11 @@ post_process_station:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: PostProcessGrab_Feedback
type: object
goal:
additionalProperties: false
properties:
raw_tank_number:
maximum: 2147483647
@@ -516,17 +465,13 @@ post_process_station:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- reaction_tank_number
- raw_tank_number
title: PostProcessGrab_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: PostProcessGrab_Result
type: object
required:
@@ -573,13 +518,15 @@ post_process_station:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: PostProcessTriggerPostPro_Feedback
type: object
goal:
additionalProperties: false
properties:
atomization_fast_speed:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
atomization_pressure_kpa:
maximum: 2147483647
@@ -594,8 +541,12 @@ post_process_station:
minimum: -2147483648
type: integer
first_wash_water_amount:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
initial_water_amount:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
injection_pump_push_speed:
maximum: 2147483647
@@ -622,32 +573,20 @@ post_process_station:
minimum: -2147483648
type: integer
second_wash_water_amount:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
wash_slow_speed:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- atomization_fast_speed
- wash_slow_speed
- injection_pump_suction_speed
- injection_pump_push_speed
- raw_liquid_suction_count
- first_wash_water_amount
- second_wash_water_amount
- first_powder_mixing_tim
- second_powder_mixing_time
- first_powder_wash_count
- second_powder_wash_count
- initial_water_amount
- pre_filtration_mixing_time
- atomization_pressure_kpa
title: PostProcessTriggerPostPro_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: PostProcessTriggerPostPro_Result
type: object
required:
@@ -669,30 +608,26 @@ post_process_station:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -702,8 +637,7 @@ post_process_station:
type: SendCmd
module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
status_types:
cache_stats: dict
node_value: String
cache_stats: Dict[str, Any]
type: python
config_info: []
description: 后处理站
@@ -718,7 +652,9 @@ post_process_station:
config_path:
type: string
deck:
type: string
anyOf:
- type: object
- type: object
password:
type: string
subscription_interval:
@@ -738,10 +674,7 @@ post_process_station:
properties:
cache_stats:
type: object
node_value:
type: string
required:
- node_value
- cache_stats
type: object
version: 1.0.0

144
unilabos/registry/devices/pump_and_valve.yaml
View File

@@ -136,36 +136,36 @@ solenoid_valve:
set_valve_position:
feedback: {}
goal:
string: position
position: position
string: string
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -278,26 +278,25 @@ solenoid_valve.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -310,26 +309,25 @@ solenoid_valve.mock:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -422,6 +420,27 @@ syringe_pump_with_valve.runze.SY03B-T06:
title: initialize参数
type: object
type: UniLabJsonCommand
auto-list:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: list的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: list参数
type: object
type: UniLabJsonCommand
auto-pull_plunger:
feedback: {}
goal: {}
@@ -695,7 +714,10 @@ syringe_pump_with_valve.runze.SY03B-T06:
goal:
properties:
position:
type: string
anyOf:
- type: integer
- type: string
- type: number
required:
- position
type: object
@@ -720,7 +742,9 @@ syringe_pump_with_valve.runze.SY03B-T06:
goal:
properties:
velocity:
type: string
anyOf:
- type: integer
- type: string
required:
- velocity
type: object
@@ -780,13 +804,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
status_types:
max_velocity: float
mode: int
plunger_position: String
plunger_position: ''
position: float
status: str
valve_position: str
velocity_end: String
velocity_grade: String
velocity_init: String
velocity_end: ''
velocity_grade: ''
velocity_init: ''
type: python
config_info: []
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -885,15 +909,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
velocity_init:
type: string
required:
- status
- mode
- max_velocity
- mode
- plunger_position
- position
- status
- valve_position
- velocity_end
- velocity_grade
- velocity_init
- velocity_end
- valve_position
- position
- plunger_position
type: object
version: 1.0.0
syringe_pump_with_valve.runze.SY03B-T08:
@@ -943,6 +967,27 @@ syringe_pump_with_valve.runze.SY03B-T08:
title: initialize参数
type: object
type: UniLabJsonCommand
auto-list:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: list的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: list参数
type: object
type: UniLabJsonCommand
auto-pull_plunger:
feedback: {}
goal: {}
@@ -1216,7 +1261,10 @@ syringe_pump_with_valve.runze.SY03B-T08:
goal:
properties:
position:
type: string
anyOf:
- type: integer
- type: string
- type: number
required:
- position
type: object
@@ -1241,7 +1289,9 @@ syringe_pump_with_valve.runze.SY03B-T08:
goal:
properties:
velocity:
type: string
anyOf:
- type: integer
- type: string
required:
- velocity
type: object
@@ -1301,13 +1351,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
status_types:
max_velocity: float
mode: int
plunger_position: String
plunger_position: ''
position: float
status: str
valve_position: str
velocity_end: String
velocity_grade: String
velocity_init: String
velocity_end: ''
velocity_grade: ''
velocity_init: ''
type: python
config_info: []
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
@@ -1422,14 +1472,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
velocity_init:
type: string
required:
- status
- mode
- max_velocity
- mode
- plunger_position
- position
- status
- valve_position
- velocity_end
- velocity_grade
- velocity_init
- velocity_end
- valve_position
- position
- plunger_position
type: object
version: 1.0.0

308
unilabos/registry/devices/reaction_station_bioyond.yaml
View File

@@ -13,12 +13,13 @@ reaction_station.bioyond:
start_point: start_point
start_step_key: start_step_key
goal_default:
duration: 0
duration: null
end_point: 0
end_step_key: ''
start_point: 0
start_step_key: ''
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 添加时间约束 - 在两个工作流之间添加时间约束
@@ -30,23 +31,19 @@ reaction_station.bioyond:
description: 时间(秒)
type: integer
end_point:
default: Start
default: 0
description: 终点计时点 (Start=开始前, End=结束后)
enum:
- Start
- End
type: string
type: integer
end_step_key:
default: ''
description: 终点步骤Key (可选, 默认为空则自动选择)
type: string
start_point:
default: Start
default: 0
description: 起点计时点 (Start=开始前, End=结束后)
enum:
- Start
- End
type: string
type: integer
start_step_key:
default: ''
description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
type: string
required:
@@ -98,7 +95,8 @@ reaction_station.bioyond:
required:
- json_str
type: object
result: {}
result:
type: object
required:
- goal
title: create_order参数
@@ -125,7 +123,8 @@ reaction_station.bioyond:
required:
- workflow_ids
type: object
result: {}
result:
type: object
required:
- goal
title: hard_delete_merged_workflows参数
@@ -150,7 +149,8 @@ reaction_station.bioyond:
required:
- json_str
type: object
result: {}
result:
type: object
required:
- goal
title: merge_workflow_with_parameters参数
@@ -175,7 +175,8 @@ reaction_station.bioyond:
required:
- report_request
type: object
result: {}
result:
type: object
required:
- goal
title: process_temperature_cutoff_report参数
@@ -200,7 +201,12 @@ reaction_station.bioyond:
required:
- web_workflow_json
type: object
result: {}
result:
items:
additionalProperties:
type: string
type: object
type: array
required:
- goal
title: process_web_workflows参数
@@ -229,7 +235,8 @@ reaction_station.bioyond:
- reactor_id
- temperature
type: object
result: {}
result:
type: string
required:
- goal
title: set_reactor_temperature参数
@@ -254,7 +261,8 @@ reaction_station.bioyond:
required:
- preintake_id
type: object
result: {}
result:
type: object
required:
- goal
title: skip_titration_steps参数
@@ -275,7 +283,8 @@ reaction_station.bioyond:
properties: {}
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: sync_workflow_sequence_from_bioyond参数
@@ -307,7 +316,8 @@ reaction_station.bioyond:
type: integer
required: []
type: object
result: {}
result:
type: object
required:
- goal
title: wait_for_multiple_orders_and_get_reports参数
@@ -359,7 +369,8 @@ reaction_station.bioyond:
required:
- workflow_id
type: object
result: {}
result:
type: object
required:
- goal
title: workflow_step_query参数
@@ -370,9 +381,8 @@ reaction_station.bioyond:
goal: {}
goal_default: {}
handles: {}
result:
code: code
message: message
placeholder_keys: {}
result: {}
schema:
description: 清空服务端所有非核心工作流 (保留核心流程)
properties:
@@ -382,13 +392,6 @@ reaction_station.bioyond:
required: []
type: object
result:
properties:
code:
description: 操作结果代码(1表示成功)
type: integer
message:
description: 结果描述
type: string
type: object
required:
- goal
@@ -405,13 +408,14 @@ reaction_station.bioyond:
torque_variation: torque_variation
volume: volume
goal_default:
assign_material_name: ''
temperature: ''
time: ''
titration_type: ''
torque_variation: ''
volume: ''
assign_material_name: null
temperature: 25.0
time: '90'
titration_type: '1'
torque_variation: 2
volume: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 滴回去
@@ -423,33 +427,27 @@ reaction_station.bioyond:
description: 物料名称（不能为空）
type: string
temperature:
default: 25.0
description: 温度设定(°C)
type: string
type: number
time:
default: '90'
description: 观察时间(分钟)
type: string
titration_type:
default: '1'
description: 是否滴定(NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 2
description: 是否观察 (NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume:
description: 分液公式(mL)
type: string
required:
- volume
- assign_material_name
- time
- torque_variation
- titration_type
- temperature
- volume
type: object
result: {}
required:
@@ -462,7 +460,7 @@ reaction_station.bioyond:
goal:
batch_reports_result: batch_reports_result
goal_default:
batch_reports_result: ''
batch_reports_result: null
handles:
input:
- data_key: batch_reports_result
@@ -478,8 +476,8 @@ reaction_station.bioyond:
handler_key: ACTUALS_EXTRACTED
io_type: sink
label: Extracted Actuals
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
properties:
@@ -493,13 +491,6 @@ reaction_station.bioyond:
- batch_reports_result
type: object
result:
properties:
return_info:
description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
actualVolume
type: string
required:
- return_info
title: extract_actuals_from_batch_reports结果
type: object
required:
@@ -517,13 +508,14 @@ reaction_station.bioyond:
torque_variation: torque_variation
volume: volume
goal_default:
assign_material_name: ''
temperature: ''
time: ''
titration_type: ''
torque_variation: ''
volume: ''
assign_material_name: BAPP
temperature: 25.0
time: '0'
titration_type: '1'
torque_variation: 1
volume: '350'
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 液体进料烧杯
@@ -532,36 +524,30 @@ reaction_station.bioyond:
goal:
properties:
assign_material_name:
default: BAPP
description: 物料名称
type: string
temperature:
default: 25.0
description: 温度设定(°C)
type: string
type: number
time:
default: '0'
description: 观察时间(分钟)
type: string
titration_type:
default: '1'
description: 是否滴定(NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 1
description: 是否观察 (NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume:
default: '350'
description: 分液公式(mL)
type: string
required:
- volume
- assign_material_name
- time
- torque_variation
- titration_type
- temperature
required: []
type: object
result: {}
required:
@@ -580,13 +566,13 @@ reaction_station.bioyond:
torque_variation: torque_variation
volume: volume
goal_default:
assign_material_name: ''
solvents: ''
temperature: '25.00'
assign_material_name: null
solvents: null
temperature: 25.0
time: '360'
titration_type: '1'
torque_variation: '2'
volume: ''
torque_variation: 2
volume: null
handles:
input:
- data_key: solvents
@@ -595,6 +581,7 @@ reaction_station.bioyond:
handler_key: solvents
io_type: source
label: Solvents Data From Calculation Node
placeholder_keys: {}
result: {}
schema:
description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
@@ -609,27 +596,21 @@ reaction_station.bioyond:
description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
type: string
temperature:
default: '25.00'
default: 25.0
description: 温度设定(°C),默认25.00
type: string
type: number
time:
default: '360'
description: 观察时间(分钟),默认360
type: string
titration_type:
default: 'NO'
default: '1'
description: 是否滴定(NO=否, YES=是),默认NO
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 'YES'
default: 2
description: 是否观察 (NO=否, YES=是),默认YES
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume:
description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
type: string
@@ -655,15 +636,15 @@ reaction_station.bioyond:
volume_formula: volume_formula
x_value: x_value
goal_default:
assign_material_name: ''
extracted_actuals: ''
feeding_order_data: ''
temperature: '25.00'
assign_material_name: null
extracted_actuals: null
feeding_order_data: null
temperature: 25.0
time: '90'
titration_type: '2'
torque_variation: '2'
volume_formula: ''
x_value: ''
torque_variation: 2
volume_formula: null
x_value: null
handles:
input:
- data_key: extracted_actuals
@@ -678,6 +659,7 @@ reaction_station.bioyond:
handler_key: feeding_order
io_type: source
label: Feeding Order Data From Calculation Node
placeholder_keys: {}
result: {}
schema:
description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
@@ -696,27 +678,21 @@ reaction_station.bioyond:
{"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
type: string
temperature:
default: '25.00'
default: 25.0
description: 温度设定(°C),默认25.00
type: string
type: number
time:
default: '90'
description: 观察时间(分钟),默认90
type: string
titration_type:
default: 'YES'
default: '2'
description: 是否滴定(NO=否, YES=是),默认YES
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 'YES'
default: 2
description: 是否观察 (NO=否, YES=是),默认YES
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume_formula:
description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
type: string
@@ -742,13 +718,14 @@ reaction_station.bioyond:
torque_variation: torque_variation
volume_formula: volume_formula
goal_default:
assign_material_name: ''
temperature: ''
time: ''
titration_type: ''
torque_variation: ''
volume_formula: ''
assign_material_name: null
temperature: 25.0
time: '0'
titration_type: '1'
torque_variation: 1
volume_formula: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 液体进料小瓶(非滴定)
@@ -760,33 +737,27 @@ reaction_station.bioyond:
description: 物料名称
type: string
temperature:
default: 25.0
description: 温度设定(°C)
type: string
type: number
time:
default: '0'
description: 观察时间(分钟)
type: string
titration_type:
default: '1'
description: 是否滴定(NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
torque_variation:
default: 1
description: 是否观察 (NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
type: integer
volume_formula:
description: 分液公式(mL)
type: string
required:
- volume_formula
- assign_material_name
- time
- torque_variation
- titration_type
- temperature
type: object
result: {}
required:
@@ -800,9 +771,10 @@ reaction_station.bioyond:
task_name: task_name
workflow_name: workflow_name
goal_default:
task_name: ''
workflow_name: ''
task_name: null
workflow_name: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 处理并执行工作流
@@ -820,7 +792,8 @@ reaction_station.bioyond:
- workflow_name
- task_name
type: object
result: {}
result:
type: object
required:
- goal
title: process_and_execute_workflow参数
@@ -833,10 +806,11 @@ reaction_station.bioyond:
cutoff: cutoff
temperature: temperature
goal_default:
assign_material_name: ''
cutoff: ''
temperature: ''
assign_material_name: null
cutoff: '900000'
temperature: -10.0
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
@@ -848,14 +822,14 @@ reaction_station.bioyond:
description: 物料名称
type: string
cutoff:
default: '900000'
description: 粘度上限
type: string
temperature:
default: -10.0
description: 温度设定(°C)
type: string
type: number
required:
- cutoff
- temperature
- assign_material_name
type: object
result: {}
@@ -869,6 +843,7 @@ reaction_station.bioyond:
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
@@ -878,15 +853,7 @@ reaction_station.bioyond:
properties: {}
required: []
type: object
result:
properties:
code:
description: 操作结果代码(1表示成功,0表示失败)
type: integer
return_info:
description: 操作结果详细信息
type: string
type: object
result: {}
required:
- goal
title: reactor_taken_out参数
@@ -897,8 +864,8 @@ reaction_station.bioyond:
goal: {}
goal_default: {}
handles: {}
result:
return_info: return_info
placeholder_keys: {}
result: {}
schema:
description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
properties:
@@ -908,12 +875,6 @@ reaction_station.bioyond:
required: []
type: object
result:
properties:
return_info:
description: 调度器启动结果，成功返回1，失败返回0
type: integer
required:
- return_info
title: scheduler_start结果
type: object
required:
@@ -930,12 +891,13 @@ reaction_station.bioyond:
time: time
torque_variation: torque_variation
goal_default:
assign_material_name: ''
material_id: ''
temperature: ''
time: ''
torque_variation: ''
assign_material_name: null
material_id: null
temperature: 25.0
time: '0'
torque_variation: 1
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
@@ -948,29 +910,21 @@ reaction_station.bioyond:
type: string
material_id:
description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
enum:
- Salt
- Flour
- BTDA
type: string
temperature:
default: 25.0
description: 温度设定(°C)
type: string
type: number
time:
default: '0'
description: 观察时间(分钟)
type: string
torque_variation:
default: 1
description: 是否观察 (NO=否, YES=是)
enum:
- 'NO'
- 'YES'
type: string
type: integer
required:
- assign_material_name
- material_id
- time
- torque_variation
- temperature
type: object
result: {}
required:

15
unilabos/registry/devices/robot_agv.yaml
View File

@@ -37,42 +37,41 @@ agv.SEER:
type: object
type: UniLabJsonCommand
send_nav_task:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:

120
unilabos/registry/devices/robot_arm.yaml
View File

@@ -122,31 +122,6 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: post_init的参数schema
properties:
feedback: {}
goal:
properties:
ros_node:
type: object
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-resource_manager:
feedback: {}
goal: {}
@@ -198,41 +173,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: UniLabJsonCommand
pick_and_place:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -241,41 +216,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: SendCmd
set_position:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -284,41 +259,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
type: SendCmd
set_status:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -455,42 +430,41 @@ robotic_arm.UR:
type: object
type: UniLabJsonCommand
move_pos_task:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -532,8 +506,8 @@ robotic_arm.UR:
type: string
required:
- arm_pose
- gripper_pose
- arm_status
- gripper_pose
- gripper_status
type: object
version: 1.0.0
@@ -726,41 +700,41 @@ robotic_arm.elite:
type: object
type: UniLabJsonCommand
modbus_task_cmd:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -770,8 +744,8 @@ robotic_arm.elite:
type: SendCmd
module: unilabos.devices.arm.elite_robot:EliteRobot
status_types:
actual_joint_positions: String
arm_pose: String
actual_joint_positions: ''
arm_pose: list[float]
type: python
config_info: []
description: Elite robot arm
@@ -797,8 +771,8 @@ robotic_arm.elite:
type: number
type: array
required:
- arm_pose
- actual_joint_positions
- arm_pose
type: object
model:
mesh: elite_robot

62
unilabos/registry/devices/robot_gripper.yaml
View File

@@ -114,11 +114,12 @@ gripper.misumi_rz:
goal:
properties:
data:
type: string
type: object
required:
- data
type: object
result: {}
result:
type: object
required:
- goal
title: modbus_crc参数
@@ -398,30 +399,26 @@ gripper.misumi_rz:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -504,71 +501,82 @@ gripper.mock:
type: UniLabJsonCommand
push_to:
feedback:
effort: torque
effort: effort
position: position
reached_goal: reached_goal
stalled: stalled
goal:
command.max_effort: torque
command.position: position
command: command
position: position
torque: torque
velocity: velocity
goal_default:
command:
max_effort: 0.0
position: 0.0
handles: {}
placeholder_keys: {}
result:
effort: torque
effort: effort
position: position
reached_goal: reached_goal
stalled: stalled
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
effort:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
reached_goal:
type: boolean
stalled:
type: boolean
required:
- position
- effort
- stalled
- reached_goal
title: GripperCommand_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
additionalProperties: false
properties:
max_effort:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- position
- max_effort
title: command
type: object
required:
- command
title: GripperCommand_Goal
type: object
result:
additionalProperties: false
properties:
effort:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
reached_goal:
type: boolean
stalled:
type: boolean
required:
- position
- effort
- stalled
- reached_goal
title: GripperCommand_Result
type: object
required:
@@ -604,8 +612,8 @@ gripper.mock:
type: number
required:
- position
- velocity
- torque
- status
- torque
- velocity
type: object
version: 1.0.0

236
unilabos/registry/devices/robot_linear_motion.yaml
View File

@@ -24,6 +24,27 @@ linear_motion.grbl:
title: initialize参数
type: object
type: UniLabJsonCommand
auto-list:
feedback: {}
goal: {}
goal_default: {}
handles: {}
placeholder_keys: {}
result: {}
schema:
description: list的参数schema
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: list参数
type: object
type: UniLabJsonCommand
auto-set_position:
feedback: {}
goal: {}
@@ -93,44 +114,39 @@ linear_motion.grbl:
type: UniLabJsonCommandAsync
move_through_points:
feedback:
current_pose.pose.position: position
estimated_time_remaining.sec: time_remaining
navigation_time.sec: time_spent
number_of_poses_remaining: pose_number_remaining
current_pose: current_pose
distance_remaining: distance_remaining
estimated_time_remaining: estimated_time_remaining
navigation_time: navigation_time
number_of_poses_remaining: number_of_poses_remaining
number_of_recoveries: number_of_recoveries
goal:
poses[].pose.position: positions[]
behavior_tree: behavior_tree
poses: poses
positions: positions
goal_default:
behavior_tree: ''
poses:
- header:
frame_id: ''
stamp:
nanosec: 0
sec: 0
pose:
orientation:
w: 1.0
x: 0.0
y: 0.0
z: 0.0
position:
x: 0.0
y: 0.0
z: 0.0
poses: []
handles: {}
result: {}
placeholder_keys: {}
result:
result: result
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
current_pose:
additionalProperties: false
properties:
header:
additionalProperties: false
properties:
frame_id:
type: string
stamp:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -151,16 +167,26 @@ linear_motion.grbl:
title: header
type: object
pose:
additionalProperties: false
properties:
orientation:
additionalProperties: false
properties:
w:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -170,12 +196,19 @@ linear_motion.grbl:
title: orientation
type: object
position:
additionalProperties: false
properties:
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -194,8 +227,11 @@ linear_motion.grbl:
title: current_pose
type: object
distance_remaining:
maximum: 3.4028235e+38
minimum: -3.4028235e+38
type: number
estimated_time_remaining:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -211,6 +247,7 @@ linear_motion.grbl:
title: estimated_time_remaining
type: object
navigation_time:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -233,16 +270,10 @@ linear_motion.grbl:
maximum: 32767
minimum: -32768
type: integer
required:
- current_pose
- navigation_time
- estimated_time_remaining
- number_of_recoveries
- distance_remaining
- number_of_poses_remaining
title: NavigateThroughPoses_Feedback
type: object
goal:
additionalProperties: false
properties:
behavior_tree:
type: string
@@ -256,12 +287,8 @@ linear_motion.grbl:
stamp:
properties:
nanosec:
maximum: 4294967295
minimum: 0
type: integer
sec:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- sec
@@ -314,23 +341,17 @@ linear_motion.grbl:
required:
- header
- pose
title: poses
type: object
type: array
required:
- poses
- behavior_tree
title: NavigateThroughPoses_Goal
type: object
result:
additionalProperties: false
properties:
result:
properties: {}
required: []
additionalProperties: true
title: result
type: object
required:
- result
title: NavigateThroughPoses_Result
type: object
required:
@@ -340,9 +361,15 @@ linear_motion.grbl:
type: NavigateThroughPoses
set_spindle_speed:
feedback:
position: spindle_speed
error: error
header: header
position: position
velocity: velocity
goal:
position: spindle_speed
max_velocity: max_velocity
min_duration: min_duration
position: position
spindle_speed: spindle_speed
goal_default:
max_velocity: 0.0
min_duration:
@@ -350,19 +377,25 @@ linear_motion.grbl:
sec: 0
position: 0.0
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
error:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
header:
additionalProperties: false
properties:
frame_id:
type: string
stamp:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -383,21 +416,24 @@ linear_motion.grbl:
title: header
type: object
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
velocity:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- header
- position
- velocity
- error
title: SingleJointPosition_Feedback
type: object
goal:
additionalProperties: false
properties:
max_velocity:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
min_duration:
additionalProperties: false
properties:
nanosec:
maximum: 4294967295
@@ -413,16 +449,13 @@ linear_motion.grbl:
title: min_duration
type: object
position:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- position
- min_duration
- max_velocity
title: SingleJointPosition_Goal
type: object
result:
properties: {}
required: []
additionalProperties: true
title: SingleJointPosition_Result
type: object
required:
@@ -432,7 +465,7 @@ linear_motion.grbl:
type: SingleJointPosition
module: unilabos.devices.cnc.grbl_sync:GrblCNC
status_types:
position: unilabos.messages:Point3D
position: Point3D
spindle_speed: float
status: str
type: python
@@ -471,9 +504,9 @@ linear_motion.grbl:
status:
type: string
required:
- status
- position
- spindle_speed
- status
type: object
version: 1.0.0
linear_motion.toyo_xyz.sim:
@@ -600,31 +633,6 @@ linear_motion.toyo_xyz.sim:
title: moveit_task参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: post_init的参数schema
properties:
feedback: {}
goal:
properties:
ros_node:
type: object
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-resource_manager:
feedback: {}
goal: {}
@@ -676,41 +684,41 @@ linear_motion.toyo_xyz.sim:
type: object
type: UniLabJsonCommand
pick_and_place:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -719,41 +727,41 @@ linear_motion.toyo_xyz.sim:
type: object
type: SendCmd
set_position:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -762,41 +770,41 @@ linear_motion.toyo_xyz.sim:
type: object
type: SendCmd
set_status:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -939,30 +947,26 @@ motor.iCL42:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -1000,8 +1004,8 @@ motor.iCL42:
success:
type: boolean
required:
- motor_position
- is_executing_run
- motor_position
- success
type: object
version: 1.0.0

130
unilabos/registry/devices/solid_dispenser.yaml
View File

@@ -14,19 +14,24 @@ solid_dispenser.laiyu:
powder_tube_number: 0
target_tube_position: ''
handles: {}
placeholder_keys: {}
result:
actual_mass_mg: actual_mass_mg
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: SolidDispenseAddPowderTube_Feedback
type: object
goal:
additionalProperties: false
properties:
compound_mass:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
powder_tube_number:
maximum: 2147483647
@@ -34,24 +39,19 @@ solid_dispenser.laiyu:
type: integer
target_tube_position:
type: string
required:
- powder_tube_number
- target_tube_position
- compound_mass
title: SolidDispenseAddPowderTube_Goal
type: object
result:
additionalProperties: false
properties:
actual_mass_mg:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
return_info:
type: string
success:
type: boolean
required:
- return_info
- actual_mass_mg
- success
title: SolidDispenseAddPowderTube_Result
type: object
required:
@@ -74,11 +74,12 @@ solid_dispenser.laiyu:
goal:
properties:
data:
type: string
type: object
required:
- data
type: object
result: {}
result:
type: object
required:
- goal
title: calculate_crc参数
@@ -99,11 +100,12 @@ solid_dispenser.laiyu:
goal:
properties:
command:
type: string
type: object
required:
- command
type: object
result: {}
result:
type: object
required:
- goal
title: send_command参数
@@ -112,36 +114,37 @@ solid_dispenser.laiyu:
discharge:
feedback: {}
goal:
float_input: float_input
float_in: float_in
goal_default:
float_in: 0.0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: FloatSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
float_in:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- float_in
title: FloatSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: FloatSingleInput_Result
type: object
required:
@@ -156,32 +159,31 @@ solid_dispenser.laiyu:
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -200,38 +202,41 @@ solid_dispenser.laiyu:
y: 0.0
z: 0.0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: Point3DSeparateInput_Feedback
type: object
goal:
additionalProperties: false
properties:
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
- y
- z
title: Point3DSeparateInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: Point3DSeparateInput_Result
type: object
required:
@@ -246,34 +251,33 @@ solid_dispenser.laiyu:
goal_default:
int_input: 0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: IntSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
int_input:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- int_input
title: IntSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: IntSingleInput_Result
type: object
required:
@@ -288,34 +292,33 @@ solid_dispenser.laiyu:
goal_default:
int_input: 0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: IntSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
int_input:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- int_input
title: IntSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: IntSingleInput_Result
type: object
required:
@@ -328,26 +331,25 @@ solid_dispenser.laiyu:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:

130
unilabos/registry/devices/temperature.yaml
View File

@@ -34,7 +34,8 @@ chiller:
- register_address
- value
type: object
result: {}
result:
type: object
required:
- goal
title: build_modbus_frame参数
@@ -63,7 +64,8 @@ chiller:
required:
- temperature
type: object
result: {}
result:
type: integer
required:
- goal
title: convert_temperature_to_modbus_value参数
@@ -84,11 +86,12 @@ chiller:
goal:
properties:
data:
type: string
type: object
required:
- data
type: object
result: {}
result:
type: object
required:
- goal
title: modbus_crc参数
@@ -116,42 +119,41 @@ chiller:
type: object
type: UniLabJsonCommand
set_temperature:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -266,9 +268,15 @@ heaterstirrer.dalong:
feedback:
status: status
goal:
pressure: pressure
purpose: purpose
reflux_solvent: reflux_solvent
stir: stir
stir_speed: stir_speed
temp: temp
temp_spec: temp_spec
time: time
time_spec: time_spec
vessel: vessel
goal_default:
pressure: ''
@@ -301,20 +309,23 @@ heaterstirrer.dalong:
sample_id: ''
type: ''
handles: {}
placeholder_keys: {}
result:
message: message
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: HeatChill_Feedback
type: object
goal:
additionalProperties: false
properties:
pressure:
type: string
@@ -325,8 +336,12 @@ heaterstirrer.dalong:
stir:
type: boolean
stir_speed:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
temp:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
temp_spec:
type: string
@@ -335,6 +350,7 @@ heaterstirrer.dalong:
time_spec:
type: string
vessel:
additionalProperties: false
properties:
category:
type: string
@@ -353,16 +369,26 @@ heaterstirrer.dalong:
parent:
type: string
pose:
additionalProperties: false
properties:
orientation:
additionalProperties: false
properties:
w:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -372,12 +398,19 @@ heaterstirrer.dalong:
title: orientation
type: object
position:
additionalProperties: false
properties:
x:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
y:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
z:
maximum: 1.7976931348623157e+308
minimum: -1.7976931348623157e+308
type: number
required:
- x
@@ -407,20 +440,10 @@ heaterstirrer.dalong:
- data
title: vessel
type: object
required:
- vessel
- temp
- time
- temp_spec
- time_spec
- pressure
- reflux_solvent
- stir
- stir_speed
- purpose
title: HeatChill_Goal
type: object
result:
additionalProperties: false
properties:
message:
type: string
@@ -428,10 +451,6 @@ heaterstirrer.dalong:
type: string
success:
type: boolean
required:
- success
- message
- return_info
title: HeatChill_Result
type: object
required:
@@ -440,42 +459,42 @@ heaterstirrer.dalong:
type: object
type: HeatChill
set_temp_target:
feedback: {}
feedback:
status: status
goal:
command: temp
command: command
temp: temp
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -484,42 +503,42 @@ heaterstirrer.dalong:
type: object
type: SendCmd
set_temp_warning:
feedback: {}
feedback:
status: status
goal:
command: temp
command: command
temp: temp
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:
@@ -569,8 +588,8 @@ heaterstirrer.dalong:
- status
- stir_speed
- temp
- temp_warning
- temp_target
- temp_warning
type: object
version: 1.0.0
tempsensor:
@@ -691,42 +710,41 @@ tempsensor:
type: object
type: UniLabJsonCommand
set_warning:
feedback: {}
feedback:
status: status
goal:
command: command
goal_default:
command: ''
handles: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
additionalProperties: false
properties:
status:
type: string
required:
- status
title: SendCmd_Feedback
type: object
goal:
additionalProperties: false
properties:
command:
type: string
required:
- command
title: SendCmd_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SendCmd_Result
type: object
required:

1894
unilabos/registry/devices/virtual_device.yaml
View File

File diff suppressed because it is too large Load Diff

1272
unilabos/registry/devices/work_station.yaml
View File

File diff suppressed because it is too large Load Diff

226
unilabos/registry/devices/xrd_d7mate.yaml
View File

@@ -45,31 +45,6 @@ xrd_d7mate:
title: connect参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
auto-start_from_string:
feedback: {}
goal: {}
@@ -85,11 +60,14 @@ xrd_d7mate:
goal:
properties:
params:
type: string
anyOf:
- type: string
- type: object
required:
- params
type: object
result: {}
result:
type: object
required:
- goal
title: start_from_string参数
@@ -105,21 +83,18 @@ xrd_d7mate:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -130,38 +105,38 @@ xrd_d7mate:
get_sample_down:
feedback: {}
goal:
sample_station: 1
int_input: int_input
sample_station: sample_station
goal_default:
int_input: 0
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: IntSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
int_input:
maximum: 2147483647
minimum: -2147483648
type: integer
required:
- int_input
title: IntSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: IntSingleInput_Result
type: object
required:
@@ -179,21 +154,18 @@ xrd_d7mate:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -211,21 +183,18 @@ xrd_d7mate:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -238,26 +207,25 @@ xrd_d7mate:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -274,42 +242,35 @@ xrd_d7mate:
sample_id: ''
start_theta: 10.0
goal_default:
end_theta: 80.0
exp_time: 0.5
increment: 0.02
sample_id: Sample001
start_theta: 10.0
end_theta: null
exp_time: null
increment: null
sample_id: null
start_theta: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 送样完成后，发送样品信息和采集参数
properties:
feedback:
properties: {}
required: []
title: SampleReadyInput_Feedback
type: object
goal:
properties:
end_theta:
description: 结束角度（≥5.5°，且必须大于start_theta）
minimum: 5.5
type: number
exp_time:
description: 曝光时间（0.1-5.0秒）
maximum: 5.0
minimum: 0.1
type: number
increment:
description: 角度增量（≥0.005）
minimum: 0.005
type: number
sample_id:
description: 样品标识符
type: string
start_theta:
description: 起始角度（≥5°）
minimum: 5.0
type: number
required:
- sample_id
@@ -320,19 +281,11 @@ xrd_d7mate:
title: SampleReadyInput_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: SampleReadyInput_Result
type: object
required:
- goal
title: SampleReadyInput
title: send_sample_ready参数
type: object
type: UniLabJsonCommand
set_power_off:
@@ -340,26 +293,25 @@ xrd_d7mate:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -372,26 +324,25 @@ xrd_d7mate:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -405,18 +356,16 @@ xrd_d7mate:
current: 30.0
voltage: 40.0
goal_default:
current: 30.0
voltage: 40.0
current: null
voltage: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 设置高压电源电压和电流
properties:
feedback:
properties: {}
required: []
title: VoltageCurrentInput_Feedback
type: object
goal:
properties:
current:
@@ -431,19 +380,11 @@ xrd_d7mate:
title: VoltageCurrentInput_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: VoltageCurrentInput_Result
type: object
required:
- goal
title: VoltageCurrentInput
title: set_voltage_current参数
type: object
type: UniLabJsonCommand
start:
@@ -453,11 +394,12 @@ xrd_d7mate:
end_theta: 80.0
exp_time: 0.1
increment: 0.05
sample_id: 样品名称
sample_id: ''
start_theta: 10.0
string: ''
wait_minutes: 3.0
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
@@ -466,54 +408,42 @@ xrd_d7mate:
goal:
properties:
end_theta:
default: 80.0
description: 结束角度（≥5.5°，且必须大于start_theta）
minimum: 5.5
type: string
type: number
exp_time:
default: 0.1
description: 曝光时间（0.1-5.0秒）
maximum: 5.0
minimum: 0.1
type: string
type: number
increment:
default: 0.05
description: 角度增量（≥0.005）
minimum: 0.005
type: string
type: number
sample_id:
default: ''
description: 样品标识符
type: string
start_theta:
default: 10.0
description: 起始角度（≥5°）
minimum: 5.0
type: string
type: number
string:
default: ''
description: 字符串格式的参数输入，如果提供则优先解析使用
type: string
wait_minutes:
default: 3.0
description: 允许上样后等待分钟数
minimum: 0.0
type: number
required:
- sample_id
- start_theta
- end_theta
- increment
- exp_time
required: []
title: StartWorkflow_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StartWorkflow_Result
type: object
required:
- goal
title: StartWorkflow
title: start参数
type: object
type: UniLabJsonCommand
start_auto_mode:
@@ -521,17 +451,15 @@ xrd_d7mate:
goal:
status: true
goal_default:
status: true
status: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: 启动或停止自动模式
properties:
feedback:
properties: {}
required: []
title: BoolSingleInput_Feedback
type: object
goal:
properties:
status:
@@ -542,25 +470,16 @@ xrd_d7mate:
title: BoolSingleInput_Goal
type: object
result:
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: BoolSingleInput_Result
type: object
required:
- goal
title: BoolSingleInput
title: start_auto_mode参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
status_types:
current_acquire_data: dict
sample_down: dict
sample_request: dict
sample_status: dict
type: python
@@ -586,16 +505,13 @@ xrd_d7mate:
properties:
current_acquire_data:
type: object
sample_down:
type: object
sample_request:
type: object
sample_status:
type: object
required:
- sample_request
- current_acquire_data
- sample_request
- sample_status
- sample_down
type: object
version: 1.0.0

112
unilabos/registry/devices/zhida_gcms.yaml
View File

@@ -8,26 +8,25 @@ zhida_gcms:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -77,31 +76,6 @@ zhida_gcms:
title: connect参数
type: object
type: UniLabJsonCommand
auto-post_init:
feedback: {}
goal: {}
goal_default:
ros_node: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
ros_node:
type: string
required:
- ros_node
type: object
result: {}
required:
- goal
title: post_init参数
type: object
type: UniLabJsonCommand
get_methods:
feedback: {}
goal: {}
@@ -112,21 +86,18 @@ zhida_gcms:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -144,21 +115,18 @@ zhida_gcms:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -176,21 +144,18 @@ zhida_gcms:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -203,26 +168,25 @@ zhida_gcms:
goal: {}
goal_default: {}
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Feedback
type: object
goal:
properties: {}
required: []
additionalProperties: true
title: EmptyIn_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
required:
- return_info
title: EmptyIn_Result
type: object
required:
@@ -234,35 +198,35 @@ zhida_gcms:
feedback: {}
goal:
string: string
text: text
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -273,36 +237,36 @@ zhida_gcms:
start_with_csv_file:
feedback: {}
goal:
csv_file_path: csv_file_path
string: string
goal_default:
string: ''
handles: {}
result: {}
placeholder_keys: {}
result:
return_info: return_info
success: success
schema:
description: ''
properties:
feedback:
properties: {}
required: []
additionalProperties: true
title: StrSingleInput_Feedback
type: object
goal:
additionalProperties: false
properties:
string:
type: string
required:
- string
title: StrSingleInput_Goal
type: object
result:
additionalProperties: false
properties:
return_info:
type: string
success:
type: boolean
required:
- return_info
- success
title: StrSingleInput_Result
type: object
required:
@@ -343,8 +307,8 @@ zhida_gcms:
version:
type: object
required:
- status
- methods
- status
- version
type: object
version: 1.0.0

692
unilabos/registry/registry.py
View File

@@ -47,6 +47,7 @@ from unilabos.registry.utils import (
normalize_ast_action_handles,
wrap_action_schema,
preserve_field_descriptions,
strip_ros_descriptions,
resolve_method_params_via_import,
SIMPLE_TYPE_MAP,
)
@@ -110,7 +111,7 @@ class Registry:
# 统一入口
# ------------------------------------------------------------------
def setup(self, devices_dirs=None, upload_registry=False):
def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False):
"""统一构建注册表入口。"""
if self._setup_called:
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -132,9 +133,9 @@ class Registry:
sys_path = path.parent
logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
sys.path.append(str(sys_path))
self.load_device_types(path)
self.load_device_types(path, complete_registry=complete_registry)
if BasicConfig.enable_resource_load:
self.load_resource_types(path, upload_registry)
self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
else:
logger.warning(
"[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
@@ -271,17 +272,11 @@ class Registry:
执行 AST 静态扫描，从 Python 代码中提取 @device / @resource 装饰器元数据。
无需 import 任何驱动模块，速度极快。
启用文件级缓存：对每个 .py 文件记录 MD5/size/mtime，未变化的文件直接
复用上次的扫描结果，大幅减少重复启动时的耗时。
扫描策略：
- 默认扫描 unilabos 包所在目录（即 unilabos 的父目录）
- 如果传入 devices_dirs，额外扫描这些目录（并将其父目录加入 sys.path）
所有缓存（AST 扫描 / build 结果 / config_info）统一存放在
registry_cache.pkl 一个文件中，删除即可完全重置。
"""
import time as _time
from unilabos.registry.ast_registry_scanner import (
scan_directory, load_scan_cache, save_scan_cache,
)
from unilabos.registry.ast_registry_scanner import scan_directory
scan_t0 = _time.perf_counter()
@@ -293,11 +288,9 @@ class Registry:
)
own_executor = True
# 加载缓存
cache_path = None
if BasicConfig.working_dir:
cache_path = Path(BasicConfig.working_dir) / "ast_scan_cache.json"
cache = load_scan_cache(cache_path)
# ---- 统一缓存：一个 pkl 包含所有数据 ----
unified_cache = self._load_config_cache()
ast_cache = unified_cache.setdefault("_ast_scan", {"files": {}})
# 默认：扫描 unilabos 包所在的父目录
pkg_root = Path(__file__).resolve().parent.parent # .../unilabos
@@ -322,7 +315,7 @@ class Registry:
exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
scan_result = scan_directory(
scan_root, python_path=python_path, executor=self._startup_executor,
exclude_files=exclude_files, cache=cache,
exclude_files=exclude_files, cache=ast_cache,
)
if exclude_files:
logger.info(
@@ -337,7 +330,7 @@ class Registry:
for d_path in extra_dirs:
extra_result = scan_directory(
d_path, python_path=str(d_path.parent), executor=self._startup_executor,
cache=cache,
cache=ast_cache,
)
extra_stats = extra_result.pop("_cache_stats", {"hits": 0, "misses": 0, "total": 0})
total_stats["hits"] += extra_stats["hits"]
@@ -361,10 +354,6 @@ class Registry:
)
scan_result.setdefault("resources", {})[rid] = rmeta
# 持久化缓存
cache["saved_at"] = _time.strftime("%Y-%m-%d %H:%M:%S")
save_scan_cache(cache_path, cache)
# 缓存命中统计
if total_stats["total"] > 0:
logger.info(
@@ -378,10 +367,9 @@ class Registry:
# build 结果缓存：当所有 AST 文件命中时跳过 _build_*_entry_from_ast
all_ast_hit = total_stats["misses"] == 0 and total_stats["total"] > 0
build_cache = self._load_config_cache() if all_ast_hit else {}
cached_build = build_cache.get("_build_results")
cached_build = unified_cache.get("_build_results") if all_ast_hit else None
if all_ast_hit and cached_build:
if cached_build:
cached_devices = cached_build.get("devices", {})
cached_resources = cached_build.get("resources", {})
if set(cached_devices) == set(ast_devices) and set(cached_resources) == set(ast_resources):
@@ -410,22 +398,17 @@ class Registry:
build_elapsed = _time.perf_counter() - build_t0
logger.info(f"[UniLab Registry] entry 构建耗时: {build_elapsed:.2f}s")
if not build_cache:
build_cache = self._load_config_cache()
build_cache["_build_results"] = {
unified_cache["_build_results"] = {
"devices": {k: v for k, v in self.device_type_registry.items() if k in ast_devices},
"resources": {k: v for k, v in self.resource_type_registry.items() if k in ast_resources},
}
# upload 模式下，利用线程池并行 import pylabrobot 资源并生成 config_info
if upload_registry:
if build_cache:
self._populate_resource_config_info(config_cache=build_cache)
self._save_config_cache(build_cache)
else:
self._populate_resource_config_info()
elif build_cache and not cached_build:
self._save_config_cache(build_cache)
self._populate_resource_config_info(config_cache=unified_cache)
# 统一保存一次
self._save_config_cache(unified_cache)
ast_device_count = len(ast_devices)
ast_resource_count = len(ast_resources)
@@ -528,7 +511,6 @@ class Registry:
else:
json_type = get_json_schema_type(param_type)
if json_type == "string" and param_type and param_type.lower() not in SIMPLE_TYPE_MAP:
# 不在已知简单类型中的未知类型名，当 object 处理
prop_schema["type"] = "object"
else:
prop_schema["type"] = json_type
@@ -557,7 +539,8 @@ class Registry:
return prop_schema
def _generate_unilab_json_command_schema(
self, method_args: list, docstring: Optional[str] = None
self, method_args: list, docstring: Optional[str] = None,
import_map: Optional[Dict[str, str]] = None,
) -> Dict[str, Any]:
"""根据方法参数和 docstring 生成 UniLabJsonCommand schema"""
doc_info = parse_docstring(docstring)
@@ -589,7 +572,7 @@ class Registry:
schema["properties"][param_name] = {"type": "string", "description": "device reference"}
else:
schema["properties"][param_name] = self._generate_schema_from_info(
param_name, param_type, param_default
param_name, param_type, param_default, import_map=import_map
)
if param_name in param_descs:
@@ -638,7 +621,7 @@ class Registry:
# 动态类信息提取 (import-based)
# ------------------------------------------------------------------
def _extract_class_info(self, cls) -> Dict[str, Any]:
def _extract_class_info(self, cls: type) -> Dict[str, Any]:
"""
从类中提取 init 参数、状态方法和动作方法信息。
"""
@@ -721,261 +704,6 @@ class Registry:
return result
# ------------------------------------------------------------------
# 设备注册表条目构建 (import-based)
# ------------------------------------------------------------------
def _build_device_entry(self, cls, device_meta: Dict[str, Any]) -> Tuple[Dict[str, Any], Dict[str, Any]]:
"""
根据类和装饰器元数据构建一个设备的完整注册表条目。
"""
class_info = self._extract_class_info(cls)
module_str = f"{cls.__module__}:{cls.__name__}"
# --- status_types ---
status_types_str = {}
status_types_ros = {}
status_str_type_mapping = {}
for name, info in class_info["status_methods"].items():
ret_type = info.get("return_type", "str")
if isinstance(ret_type, tuple) or ret_type in ["Any", "None", "Unknown"]:
ret_type = "String"
status_types_str[name] = ret_type
target_type = self._replace_type_with_class(ret_type, device_meta.get("device_id", ""), f"状态 {name}")
if target_type in [dict, list]:
target_type = String
if target_type:
status_types_ros[name] = target_type
status_str_type_mapping[ret_type] = target_type
status_types_str = dict(sorted(status_types_str.items()))
# --- action_value_mappings ---
action_value_mappings_yaml = {}
action_value_mappings_runtime = {}
action_str_type_mapping = {
"UniLabJsonCommand": "UniLabJsonCommand",
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
}
# 1) auto- 动作
for method_name, method_info in class_info["action_methods"].items():
is_async = method_info.get("is_async", False)
type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
schema = self._generate_unilab_json_command_schema(
method_info["args"],
docstring=getattr(getattr(cls, method_name, None), "__doc__", None),
)
goal_default = {a["name"]: a.get("default") for a in method_info["args"]}
action_entry = {
"type": type_str,
"goal": {},
"feedback": {},
"result": {},
"schema": schema,
"goal_default": goal_default,
"handles": {},
}
action_value_mappings_yaml[f"auto-{method_name}"] = action_entry
action_value_mappings_runtime[f"auto-{method_name}"] = copy.deepcopy(action_entry)
# 2) @action() 无 action_type
for method_name, info in class_info["decorated_no_type_actions"].items():
method_info = info["method_info"]
action_meta = info["action_meta"]
is_async = method_info.get("is_async", False)
type_str = "UniLabJsonCommandAsync" if is_async else "UniLabJsonCommand"
schema = self._generate_unilab_json_command_schema(
method_info["args"],
docstring=getattr(getattr(cls, method_name, None), "__doc__", None),
)
goal_default = {a["name"]: a.get("default") for a in method_info["args"]}
action_name = action_meta.get("action_name", method_name)
action_entry = {
"type": type_str,
"goal": {},
"feedback": {},
"result": {},
"schema": schema,
"goal_default": goal_default,
"handles": {},
}
if is_always_free(getattr(cls, method_name, None)):
action_entry["always_free"] = True
action_value_mappings_yaml[action_name] = action_entry
action_value_mappings_runtime[action_name] = copy.deepcopy(action_entry)
# 3) @action(action_type=X)
for method_name, info in class_info["explicit_actions"].items():
method_info = info["method_info"]
action_meta = info["action_meta"]
action_type_raw = action_meta.get("action_type", "")
action_name = action_meta.get("action_name", method_name)
action_type_obj = None
if isinstance(action_type_raw, type):
action_type_obj = action_type_raw
action_type_str = f"{action_type_raw.__module__}:{action_type_raw.__name__}"
elif isinstance(action_type_raw, str) and "." in action_type_raw and ":" not in action_type_raw:
parts = action_type_raw.rsplit(".", 1)
action_type_str = f"{parts[0]}:{parts[1]}" if len(parts) == 2 else action_type_raw
action_type_obj = resolve_type_object(action_type_str)
else:
action_type_str = str(action_type_raw)
if ":" in action_type_str:
action_type_obj = resolve_type_object(action_type_str)
action_str_type_mapping[action_type_str] = action_type_str
# goal: 优先方法参数 identity, 其次 MRO 父类参数 (需 parent=True), 最后 ROS2 Goal identity
method_args = method_info.get("args", [])
goal = {a["name"]: a["name"] for a in method_args}
if not goal and action_meta.get("parent"):
for base_cls in cls.__mro__:
if method_name not in base_cls.__dict__:
continue
base_method = base_cls.__dict__[method_name]
actual = getattr(base_method, "__wrapped__", base_method)
if isinstance(actual, (staticmethod, classmethod)):
actual = actual.__func__
if not callable(actual):
continue
try:
sig = inspect.signature(actual, follow_wrapped=True)
params = [
p.name for p in sig.parameters.values()
if p.name not in ("self", "cls")
and p.kind not in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD)
]
if params:
goal = {p: p for p in params}
break
except (ValueError, TypeError):
continue
if not goal and action_type_obj is not None and hasattr(action_type_obj, "Goal"):
try:
goal = {k: k for k in action_type_obj.Goal.get_fields_and_field_types()}
except Exception:
pass
goal_mapping_override = action_meta.get("goal_mapping", {})
if goal_mapping_override:
override_values = set(goal_mapping_override.values())
goal = {k: v for k, v in goal.items() if not (k == v and v in override_values)}
goal.update(goal_mapping_override)
# feedback / result: ROS2 identity + override
feedback = {}
if action_type_obj is not None and hasattr(action_type_obj, "Feedback"):
try:
feedback = {k: k for k in action_type_obj.Feedback.get_fields_and_field_types()}
except Exception:
pass
feedback.update(action_meta.get("feedback_mapping", {}))
result_mapping = {}
if action_type_obj is not None and hasattr(action_type_obj, "Result"):
try:
result_mapping = {k: k for k in action_type_obj.Result.get_fields_and_field_types()}
except Exception:
pass
result_mapping.update(action_meta.get("result_mapping", {}))
goal_default = {}
if action_type_obj is not None and hasattr(action_type_obj, "Goal"):
try:
goal_default = ROS2MessageInstance(action_type_obj.Goal()).get_python_dict()
except Exception:
pass
action_entry = {
"type": action_type_str,
"goal": goal,
"feedback": feedback,
"result": result_mapping,
"schema": ros_action_to_json_schema(action_type_str),
"goal_default": goal_default,
"handles": {},
}
if is_always_free(getattr(cls, method_name, None)):
action_entry["always_free"] = True
action_value_mappings_yaml[action_name] = action_entry
action_value_mappings_runtime[action_name] = copy.deepcopy(action_entry)
action_value_mappings_yaml = dict(sorted(action_value_mappings_yaml.items()))
action_value_mappings_runtime = dict(sorted(action_value_mappings_runtime.items()))
# --- init_param_schema ---
init_schema = self._generate_unilab_json_command_schema(class_info["init_params"])
# --- handles ---
handles_raw = device_meta.get("handles", [])
handles = []
for h in handles_raw:
if isinstance(h, dict):
handles.append(h)
elif hasattr(h, "to_dict"):
handles.append(h.to_dict())
# --- 构建 YAML 版本 ---
yaml_entry: Dict[str, Any] = {
"category": device_meta.get("category", []),
"class": {
"module": module_str,
"status_types": status_types_str,
"action_value_mappings": action_value_mappings_yaml,
"init_params": {a["name"]: a.get("type", "") for a in class_info["init_params"]},
},
"description": device_meta.get("description", ""),
"handles": handles,
"icon": device_meta.get("icon", ""),
"init_param_schema": init_schema,
"version": device_meta.get("version", "1.0.0"),
}
# --- 构建运行时版本 ---
runtime_entry: Dict[str, Any] = {
"category": device_meta.get("category", []),
"class": {
"module": module_str,
"status_types": status_types_ros,
"action_value_mappings": action_value_mappings_runtime,
"init_params": {a["name"]: a.get("type", "") for a in class_info["init_params"]},
},
"description": device_meta.get("description", ""),
"handles": handles,
"icon": device_meta.get("icon", ""),
"init_param_schema": init_schema,
"version": device_meta.get("version", "1.0.0"),
}
return yaml_entry, runtime_entry
def _build_resource_entry(self, obj, resource_meta: Dict[str, Any]) -> Dict[str, Any]:
"""根据 @resource 元数据构建资源注册表条目"""
module_str = f"{obj.__module__}:{obj.__name__}" if hasattr(obj, "__name__") else ""
entry = {
"category": resource_meta.get("category") or [],
"class": {
"module": module_str,
"type": resource_meta.get("class_type", "python"),
},
"description": resource_meta.get("description", ""),
"handles": [],
"icon": resource_meta.get("icon", ""),
"init_param_schema": {},
"version": resource_meta.get("version", "1.0.0"),
}
if resource_meta.get("model"):
entry["model"] = resource_meta["model"]
return entry
# ------------------------------------------------------------------
# 内置动作
# ------------------------------------------------------------------
@@ -1186,6 +914,7 @@ class Registry:
logger.debug(f"[AST] device action '{action_name}': Result enrichment failed: {e}")
try:
schema = ros_action_to_json_schema(action_type_obj)
strip_ros_descriptions(schema)
except Exception:
pass
# 直接从 ROS2 Goal 实例获取默认值 (msgcenterpy)
@@ -1365,6 +1094,39 @@ class Registry:
return entry
# ------------------------------------------------------------------
# 定向 AST 扫描（供 complete_registry Case 1 使用）
# ------------------------------------------------------------------
def _ast_scan_module(self, module_str: str) -> Optional[Dict[str, Any]]:
"""对单个 module_str 做定向 AST 扫描，返回 ast_meta 或 None。
用于 complete_registry 模式下 YAML 中存在但 AST 全量扫描未覆盖的设备/资源。
仅做文件定位 + AST 解析，不实例化类。
"""
from unilabos.registry.ast_registry_scanner import _parse_file
mod_part = module_str.split(":")[0]
try:
mod = importlib.import_module(mod_part)
src_file = Path(inspect.getfile(mod))
except Exception:
return None
python_path = Path(__file__).resolve().parent.parent.parent
try:
devs, ress = _parse_file(src_file, python_path)
except Exception:
return None
for d in devs:
if d.get("module") == module_str:
return d
for r in ress:
if r.get("module") == module_str:
return r
return None
# ------------------------------------------------------------------
# config_info 缓存 (pickle 格式，比 JSON 快 ~10x，debug 模式下差异更大)
# ------------------------------------------------------------------
@@ -1372,9 +1134,11 @@ class Registry:
@staticmethod
def _get_config_cache_path() -> Optional[Path]:
if BasicConfig.working_dir:
return Path(BasicConfig.working_dir) / "resource_config_cache.pkl"
return Path(BasicConfig.working_dir) / "registry_cache.pkl"
return None
_CACHE_VERSION = 3
def _load_config_cache(self) -> dict:
import pickle
cache_path = self._get_config_cache_path()
@@ -1382,7 +1146,7 @@ class Registry:
return {}
try:
data = pickle.loads(cache_path.read_bytes())
if not isinstance(data, dict) or data.get("_version") != 2:
if not isinstance(data, dict) or data.get("_version") != self._CACHE_VERSION:
return {}
return data
except Exception:
@@ -1394,7 +1158,7 @@ class Registry:
if cache_path is None:
return
try:
cache["_version"] = 2
cache["_version"] = self._CACHE_VERSION
cache_path.parent.mkdir(parents=True, exist_ok=True)
tmp = cache_path.with_suffix(".tmp")
tmp.write_bytes(pickle.dumps(cache, protocol=pickle.HIGHEST_PROTOCOL))
@@ -1708,60 +1472,6 @@ class Registry:
except Exception as e:
logger.debug(f"[Registry] 设备 {device_id} 类型解析失败: {e}")
# ------------------------------------------------------------------
# 模块加载 (import-based)
# ------------------------------------------------------------------
def load_modules(self, module_paths: List[str]):
"""导入指定的 Python 模块，触发其中的装饰器执行。"""
for module_path in module_paths:
try:
importlib.import_module(module_path)
logger.debug(f"[Registry] 已导入模块: {module_path}")
except Exception as e:
logger.warning(f"[Registry] 导入模块 {module_path} 失败: {e}")
def setup_from_imports(self, module_paths: Optional[List[str]] = None):
"""
通过实际 import 构建注册表 (较慢路径)。
"""
if module_paths:
self.load_modules(module_paths)
for device_id, cls in get_all_registered_devices().items():
device_meta = get_device_meta(cls, device_id)
if device_meta is None:
continue
try:
yaml_entry, runtime_entry = self._build_device_entry(cls, device_meta)
runtime_entry["registry_type"] = "device"
runtime_entry["file_path"] = str(Path(inspect.getfile(cls)).absolute()).replace("\\", "/")
self._add_builtin_actions(runtime_entry, device_id)
self.device_type_registry[device_id] = runtime_entry
logger.debug(f"[Registry] 注册设备: {device_id}")
except Exception as e:
logger.warning(f"[Registry] 生成设备 {device_id} 注册表失败: {e}")
traceback.print_exc()
for resource_id, obj in get_all_registered_resources().items():
resource_meta = get_resource_meta(obj)
if resource_meta is None:
continue
try:
entry = self._build_resource_entry(obj, resource_meta)
entry["registry_type"] = "resource"
if hasattr(obj, "__module__"):
try:
entry["file_path"] = str(Path(inspect.getfile(obj)).absolute()).replace("\\", "/")
except (TypeError, OSError):
entry["file_path"] = ""
self.resource_type_registry[resource_id] = entry
logger.debug(f"[Registry] 注册资源: {resource_id}")
except Exception as e:
logger.warning(f"[Registry] 生成资源 {resource_id} 注册表失败: {e}")
# ------------------------------------------------------------------
# YAML 注册表加载 (兼容旧格式)
# ------------------------------------------------------------------
@@ -1786,9 +1496,20 @@ class Registry:
return {}, {}, False
complete_data = {}
skip_ids = set()
for resource_id, resource_info in data.items():
if not isinstance(resource_info, dict):
continue
# AST 已有该资源 → 跳过，提示冗余
if self.resource_type_registry.get(resource_id):
logger.warning(
f"[UniLab Registry] 资源 '{resource_id}' 已由 AST 扫描注册，"
f"YAML 定义冗余，跳过 YAML 处理"
)
skip_ids.add(resource_id)
continue
if "version" not in resource_info:
resource_info["version"] = "1.0.0"
if "category" not in resource_info:
@@ -1813,8 +1534,22 @@ class Registry:
resource_info["registry_type"] = "resource"
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
for rid in skip_ids:
data.pop(rid, None)
complete_data = dict(sorted(complete_data.items()))
if complete_registry:
write_data = copy.deepcopy(complete_data)
for res_id, res_cfg in write_data.items():
res_cfg.pop("file_path", None)
res_cfg.pop("registry_type", None)
try:
with open(file, "w", encoding="utf-8") as f:
yaml.dump(write_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
except Exception as e:
logger.warning(f"[UniLab Registry] 写入资源文件失败: {file}, 错误: {e}")
return data, complete_data, True
def load_resource_types(self, path: os.PathLike, upload_registry: bool, complete_registry: bool = False):
@@ -1838,29 +1573,33 @@ class Registry:
uncached_files: list[Path] = []
yaml_file_rids: dict[str, list[str]] = {}
for file in files:
file_key = str(file.absolute()).replace("\\", "/")
if upload_registry and yaml_cache:
try:
yaml_md5 = _hl.md5(file.read_bytes()).hexdigest()
except OSError:
uncached_files.append(file)
yaml_cache_misses += 1
continue
cached = yaml_cache.get(file_key)
if cached and cached.get("yaml_md5") == yaml_md5:
module_hashes: dict = cached.get("module_hashes", {})
all_ok = all(
self._module_source_hash(m) == h
for m, h in module_hashes.items()
) if module_hashes else True
if all_ok and cached.get("entries"):
for rid, entry in cached["entries"].items():
self.resource_type_registry[rid] = entry
yaml_cache_hits += 1
if complete_registry:
uncached_files = files
yaml_cache_misses = len(files)
else:
for file in files:
file_key = str(file.absolute()).replace("\\", "/")
if upload_registry and yaml_cache:
try:
yaml_md5 = _hl.md5(file.read_bytes()).hexdigest()
except OSError:
uncached_files.append(file)
yaml_cache_misses += 1
continue
uncached_files.append(file)
yaml_cache_misses += 1
cached = yaml_cache.get(file_key)
if cached and cached.get("yaml_md5") == yaml_md5:
module_hashes: dict = cached.get("module_hashes", {})
all_ok = all(
self._module_source_hash(m) == h
for m, h in module_hashes.items()
) if module_hashes else True
if all_ok and cached.get("entries"):
for rid, entry in cached["entries"].items():
self.resource_type_registry[rid] = entry
yaml_cache_hits += 1
continue
uncached_files.append(file)
yaml_cache_misses += 1
# Process uncached YAML files with thread pool
executor = self._startup_executor
@@ -1945,6 +1684,7 @@ class Registry:
status_str_type_mapping = {}
device_ids = []
skip_ids = set()
for device_id, device_config in data.items():
if not isinstance(device_config, dict):
continue
@@ -1968,6 +1708,16 @@ class Registry:
device_config["init_param_schema"] = {}
if "class" in device_config:
# --- AST 已有该设备 → 跳过，提示冗余 ---
if self.device_type_registry.get(device_id):
logger.warning(
f"[UniLab Registry] 设备 '{device_id}' 已由 AST 扫描注册，"
f"YAML 定义冗余，跳过 YAML 处理"
)
skip_ids.add(device_id)
continue
# --- 正常 YAML 处理 ---
if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None:
device_config["class"]["status_types"] = {}
if (
@@ -1977,14 +1727,17 @@ class Registry:
device_config["class"]["action_value_mappings"] = {}
enhanced_info = {}
enhanced_import_map: Dict[str, str] = {}
if complete_registry:
original_status_keys = set(device_config["class"]["status_types"].keys())
device_config["class"]["status_types"].clear()
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
if not enhanced_info.get("dynamic_import_success", False):
enhanced_info = get_enhanced_class_info(device_config["class"]["module"])
if not enhanced_info.get("ast_analysis_success", False):
continue
device_config["class"]["status_types"].update(
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
)
enhanced_import_map = enhanced_info.get("import_map", {})
for st_k, st_v in enhanced_info["status_methods"].items():
if st_k in original_status_keys:
device_config["class"]["status_types"][st_k] = st_v["return_type"]
# --- status_types: 字符串 → class 映射 ---
for status_name, status_type in device_config["class"]["status_types"].items():
@@ -2001,64 +1754,134 @@ class Registry:
device_config["class"]["status_types"] = dict(sorted(device_config["class"]["status_types"].items()))
if complete_registry:
old_action_configs = {}
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
old_action_configs[action_name] = action_config
old_action_configs = dict(device_config["class"]["action_value_mappings"])
device_config["class"]["action_value_mappings"] = {
k: v
for k, v in device_config["class"]["action_value_mappings"].items()
if not k.startswith("auto-")
}
device_config["class"]["action_value_mappings"].update(
{
f"auto-{k}": {
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
"goal": {i["name"]: i["default"] for i in v["args"] if i["default"] is not None},
"feedback": {},
"result": {},
"schema": self._generate_unilab_json_command_schema(v["args"]),
"goal_default": {i["name"]: i["default"] for i in v["args"]},
"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
"placeholder_keys": {
i["name"]: (
"unilabos_resources"
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
else "unilabos_devices"
)
for i in v["args"]
if i.get("type", "")
in [
"unilabos.registry.placeholder_type:ResourceSlot",
"unilabos.registry.placeholder_type:DeviceSlot",
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
]
},
**({"always_free": True} if v.get("always_free") else {}),
}
for k, v in enhanced_info["action_methods"].items()
if k not in device_config["class"]["action_value_mappings"]
for k, v in enhanced_info["action_methods"].items():
if k in device_config["class"]["action_value_mappings"]:
action_key = k
elif k.startswith("get_"):
continue
else:
action_key = f"auto-{k}"
goal_schema = self._generate_unilab_json_command_schema(
v["args"], import_map=enhanced_import_map
)
ret_type = v.get("return_type", "")
result_schema = None
if ret_type and ret_type not in ("None", "Any", ""):
result_schema = self._generate_schema_from_info(
"result", ret_type, None, import_map=enhanced_import_map
)
old_cfg = old_action_configs.get(action_key) or old_action_configs.get(f"auto-{k}", {})
new_schema = wrap_action_schema(goal_schema, action_key, result_schema=result_schema)
old_schema = old_cfg.get("schema", {})
if old_schema:
preserve_field_descriptions(new_schema, old_schema)
if "description" in old_schema:
new_schema["description"] = old_schema["description"]
new_schema.setdefault("description", "")
old_type = old_cfg.get("type", "")
entry_goal = old_cfg.get("goal", {})
entry_feedback = {}
entry_result = {}
entry_schema = new_schema
entry_goal_default = {i["name"]: i.get("default") for i in v["args"]}
if old_type and not old_type.startswith("UniLabJsonCommand"):
entry_type = old_type
try:
action_type_obj = self._replace_type_with_class(
old_type, device_id, f"动作 {action_key}"
)
except ROSMsgNotFound:
action_type_obj = None
if action_type_obj is not None and not isinstance(action_type_obj, str):
real_params = [p for p in v["args"]]
ros_goal = {p["name"]: p["name"] for p in real_params}
try:
if hasattr(action_type_obj, "Goal"):
goal_fields = action_type_obj.Goal.get_fields_and_field_types()
ros2_goal = {f: f for f in goal_fields}
ros2_goal.update(ros_goal)
entry_goal = ros2_goal
except Exception:
pass
try:
if hasattr(action_type_obj, "Feedback"):
fb_fields = action_type_obj.Feedback.get_fields_and_field_types()
entry_feedback = {f: f for f in fb_fields}
except Exception:
pass
try:
if hasattr(action_type_obj, "Result"):
res_fields = action_type_obj.Result.get_fields_and_field_types()
entry_result = {f: f for f in res_fields}
except Exception:
pass
try:
entry_schema = ros_action_to_json_schema(action_type_obj)
strip_ros_descriptions(entry_schema)
if old_schema:
preserve_field_descriptions(entry_schema, old_schema)
if "description" in old_schema:
entry_schema["description"] = old_schema["description"]
entry_schema.setdefault("description", "")
except Exception:
pass
try:
entry_goal_default = ROS2MessageInstance(
action_type_obj.Goal()
).get_python_dict()
except Exception:
entry_goal_default = old_cfg.get("goal_default", {})
else:
entry_type = "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand"
merged_pk = dict(old_cfg.get("placeholder_keys", {}))
merged_pk.update(detect_placeholder_keys(v["args"]))
entry = {
"type": entry_type,
"goal": entry_goal,
"feedback": entry_feedback,
"result": entry_result,
"schema": entry_schema,
"goal_default": entry_goal_default,
"handles": old_cfg.get("handles", []),
"placeholder_keys": merged_pk,
}
)
# 保留旧 schema 中的 description
for action_name, old_config in old_action_configs.items():
if action_name in device_config["class"]["action_value_mappings"]:
old_schema = old_config.get("schema", {})
new_schema = device_config["class"]["action_value_mappings"][action_name].get("schema", {})
if old_schema:
preserve_field_descriptions(new_schema, old_schema)
if "description" in old_schema and old_schema["description"]:
new_schema["description"] = old_schema["description"]
if v.get("always_free"):
entry["always_free"] = True
device_config["class"]["action_value_mappings"][action_key] = entry
device_config["init_param_schema"] = {}
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
enhanced_info["init_params"], "__init__"
)["properties"]["goal"]
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
enhanced_info["status_methods"]
init_schema = self._generate_unilab_json_command_schema(
enhanced_info["init_params"], "__init__",
import_map=enhanced_import_map,
)
device_config["init_param_schema"]["config"] = init_schema
data_schema: Dict[str, Any] = {
"type": "object",
"properties": {},
"required": [],
}
for st_name in device_config["class"]["status_types"]:
st_type_str = device_config["class"]["status_types"][st_name]
if isinstance(st_type_str, str):
data_schema["properties"][st_name] = self._generate_schema_from_info(
st_name, st_type_str, None, import_map=enhanced_import_map
)
else:
data_schema["properties"][st_name] = {"type": "string"}
data_schema["required"].append(st_name)
device_config["init_param_schema"]["data"] = data_schema
# --- action_value_mappings: 处理非 UniLabJsonCommand 类型 ---
device_config.pop("schema", None)
@@ -2089,7 +1912,14 @@ class Registry:
action_config["goal_default"] = ROS2MessageInstance(target_type.Goal()).get_python_dict()
except Exception:
action_config["goal_default"] = {}
prev_schema = action_config.get("schema", {})
action_config["schema"] = ros_action_to_json_schema(target_type)
strip_ros_descriptions(action_config["schema"])
if prev_schema:
preserve_field_descriptions(action_config["schema"], prev_schema)
if "description" in prev_schema:
action_config["schema"]["description"] = prev_schema["description"]
action_config["schema"].setdefault("description", "")
else:
logger.warning(
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
@@ -2112,10 +1942,12 @@ class Registry:
device_ids.append(device_id)
for did in skip_ids:
data.pop(did, None)
complete_data = dict(sorted(complete_data.items()))
complete_data = copy.deepcopy(complete_data)
if complete_registry:
# 仅在 complete_registry 模式下回写 YAML，排除运行时字段
write_data = copy.deepcopy(complete_data)
for dev_id, dev_cfg in write_data.items():
dev_cfg.pop("file_path", None)
@@ -2264,7 +2096,7 @@ class Registry:
lab_registry = Registry()
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False):
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False):
"""
构建或获取Registry单例实例
"""
@@ -2278,7 +2110,7 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
if path not in current_paths:
lab_registry.registry_paths.append(path)
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry)
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry)
# 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
lab_registry.resolve_all_types()

7
unilabos/registry/resources/bioyond/YB_bottle.yaml
View File

@@ -9,7 +9,6 @@ YB_20ml_fenyeping:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_5ml_fenyeping:
category:
@@ -22,7 +21,6 @@ YB_5ml_fenyeping:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_jia_yang_tou_da:
category:
@@ -35,7 +33,6 @@ YB_jia_yang_tou_da:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_pei_ye_da_Bottle:
category:
@@ -48,7 +45,6 @@ YB_pei_ye_da_Bottle:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_pei_ye_xiao_Bottle:
category:
@@ -61,7 +57,6 @@ YB_pei_ye_xiao_Bottle:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_qiang_tou:
category:
@@ -74,7 +69,6 @@ YB_qiang_tou:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_ye_Bottle:
category:
@@ -88,5 +82,4 @@ YB_ye_Bottle:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

14
unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml
View File

@@ -9,7 +9,6 @@ YB_100ml_yeti:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_20ml_fenyepingban:
category:
@@ -22,7 +21,6 @@ YB_20ml_fenyepingban:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_5ml_fenyepingban:
category:
@@ -35,7 +33,6 @@ YB_5ml_fenyepingban:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_6StockCarrier:
category:
@@ -48,7 +45,6 @@ YB_6StockCarrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_6VialCarrier:
category:
@@ -61,7 +57,6 @@ YB_6VialCarrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_gao_nian_ye_Bottle:
category:
@@ -74,7 +69,6 @@ YB_gao_nian_ye_Bottle:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_gaonianye:
category:
@@ -87,7 +81,6 @@ YB_gaonianye:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_jia_yang_tou_da_Carrier:
category:
@@ -100,7 +93,6 @@ YB_jia_yang_tou_da_Carrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_peiyepingdaban:
category:
@@ -113,7 +105,6 @@ YB_peiyepingdaban:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_peiyepingxiaoban:
category:
@@ -126,7 +117,6 @@ YB_peiyepingxiaoban:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_qiang_tou_he:
category:
@@ -139,7 +129,6 @@ YB_qiang_tou_he:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_shi_pei_qi_kuai:
category:
@@ -152,7 +141,6 @@ YB_shi_pei_qi_kuai:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_ye:
category:
@@ -165,7 +153,6 @@ YB_ye:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
YB_ye_100ml_Bottle:
category:
@@ -178,5 +165,4 @@ YB_ye_100ml_Bottle:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

4
unilabos/registry/resources/bioyond/bottle_carriers.yaml
View File

@@ -8,7 +8,6 @@ BIOYOND_PolymerStation_1BottleCarrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
BIOYOND_PolymerStation_1FlaskCarrier:
category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerStation_1FlaskCarrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
BIOYOND_PolymerStation_6StockCarrier:
category:
@@ -32,7 +30,6 @@ BIOYOND_PolymerStation_6StockCarrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
BIOYOND_PolymerStation_8StockCarrier:
category:
@@ -44,5 +41,4 @@ BIOYOND_PolymerStation_8StockCarrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

4
unilabos/registry/resources/bioyond/deck.yaml
View File

@@ -8,7 +8,6 @@ BIOYOND_PolymerPreparationStation_Deck:
handles: []
icon: 配液站.webp
init_param_schema: {}
registry_type: resource
version: 1.0.0
BIOYOND_PolymerReactionStation_Deck:
category:
@@ -20,7 +19,6 @@ BIOYOND_PolymerReactionStation_Deck:
handles: []
icon: 反应站.webp
init_param_schema: {}
registry_type: resource
version: 1.0.0
BIOYOND_YB_Deck:
category:
@@ -32,7 +30,6 @@ BIOYOND_YB_Deck:
handles: []
icon: 配液站.webp
init_param_schema: {}
registry_type: resource
version: 1.0.0
CoincellDeck:
category:
@@ -44,5 +41,4 @@ CoincellDeck:
handles: []
icon: koudian.webp
init_param_schema: {}
registry_type: resource
version: 1.0.0

5
unilabos/registry/resources/common/resource_container.yaml
View File

@@ -19,7 +19,6 @@ hplc_plate:
- 3.1416
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
type: resource
registry_type: resource
version: 1.0.0
plate_96:
category:
@@ -42,7 +41,6 @@ plate_96:
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
type: resource
registry_type: resource
version: 1.0.0
plate_96_high:
category:
@@ -65,7 +63,6 @@ plate_96_high:
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
type: resource
registry_type: resource
version: 1.0.0
tiprack_96_high:
category:
@@ -97,7 +94,6 @@ tiprack_96_high:
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
type: resource
registry_type: resource
version: 1.0.0
tiprack_box:
category:
@@ -129,5 +125,4 @@ tiprack_box:
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
type: resource
registry_type: resource
version: 1.0.0

2
unilabos/registry/resources/laiyu/container.yaml
View File

@@ -29,7 +29,6 @@ bottle_container:
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
type: resource
registry_type: resource
version: 1.0.0
tube_container:
category:
@@ -62,5 +61,4 @@ tube_container:
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
type: resource
registry_type: resource
version: 1.0.0

1
unilabos/registry/resources/laiyu/deck.yaml
View File

@@ -12,5 +12,4 @@ TransformXYZDeck:
mesh: liquid_transform_xyz
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
type: device
registry_type: resource
version: 1.0.0

2
unilabos/registry/resources/opentrons/deck.yaml
View File

@@ -12,7 +12,6 @@ OTDeck:
mesh: opentrons_liquid_handler
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
type: device
registry_type: resource
version: 1.0.0
hplc_station:
category:
@@ -28,5 +27,4 @@ hplc_station:
mesh: hplc_station
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
type: device
registry_type: resource
version: 1.0.0

1
unilabos/registry/resources/opentrons/plate_adapters.yaml
View File

@@ -8,5 +8,4 @@ Opentrons_96_adapter_Vb:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

15
unilabos/registry/resources/opentrons/plates.yaml
View File

@@ -8,7 +8,6 @@ appliedbiosystemsmicroamp_384_wellplate_40ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
biorad_384_wellplate_50ul:
category:
@@ -20,7 +19,6 @@ biorad_384_wellplate_50ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
biorad_96_wellplate_200ul_pcr:
category:
@@ -32,7 +30,6 @@ biorad_96_wellplate_200ul_pcr:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
corning_12_wellplate_6point9ml_flat:
category:
@@ -44,7 +41,6 @@ corning_12_wellplate_6point9ml_flat:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
corning_24_wellplate_3point4ml_flat:
category:
@@ -56,7 +52,6 @@ corning_24_wellplate_3point4ml_flat:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
corning_384_wellplate_112ul_flat:
category:
@@ -68,7 +63,6 @@ corning_384_wellplate_112ul_flat:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
corning_48_wellplate_1point6ml_flat:
category:
@@ -80,7 +74,6 @@ corning_48_wellplate_1point6ml_flat:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
corning_6_wellplate_16point8ml_flat:
category:
@@ -92,7 +85,6 @@ corning_6_wellplate_16point8ml_flat:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
corning_96_wellplate_360ul_flat:
category:
@@ -104,7 +96,6 @@ corning_96_wellplate_360ul_flat:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
nest_96_wellplate_100ul_pcr_full_skirt:
category:
@@ -136,7 +127,6 @@ nest_96_wellplate_100ul_pcr_full_skirt:
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
registry_type: resource
version: 1.0.0
nest_96_wellplate_200ul_flat:
category:
@@ -148,7 +138,6 @@ nest_96_wellplate_200ul_flat:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
nest_96_wellplate_2ml_deep:
category:
@@ -171,7 +160,6 @@ nest_96_wellplate_2ml_deep:
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
registry_type: resource
version: 1.0.0
thermoscientificnunc_96_wellplate_1300ul:
category:
@@ -183,7 +171,6 @@ thermoscientificnunc_96_wellplate_1300ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
thermoscientificnunc_96_wellplate_2000ul:
category:
@@ -195,7 +182,6 @@ thermoscientificnunc_96_wellplate_2000ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
usascientific_96_wellplate_2point4ml_deep:
category:
@@ -207,5 +193,4 @@ usascientific_96_wellplate_2point4ml_deep:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

6
unilabos/registry/resources/opentrons/reservoirs.yaml
View File

@@ -8,7 +8,6 @@ agilent_1_reservoir_290ml:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
axygen_1_reservoir_90ml:
category:
@@ -20,7 +19,6 @@ axygen_1_reservoir_90ml:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
nest_12_reservoir_15ml:
category:
@@ -32,7 +30,6 @@ nest_12_reservoir_15ml:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
nest_1_reservoir_195ml:
category:
@@ -44,7 +41,6 @@ nest_1_reservoir_195ml:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
nest_1_reservoir_290ml:
category:
@@ -56,7 +52,6 @@ nest_1_reservoir_290ml:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
usascientific_12_reservoir_22ml:
category:
@@ -68,5 +63,4 @@ usascientific_12_reservoir_22ml:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

11
unilabos/registry/resources/opentrons/tip_racks.yaml
View File

@@ -8,7 +8,6 @@ eppendorf_96_tiprack_1000ul_eptips:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
eppendorf_96_tiprack_10ul_eptips:
category:
@@ -20,7 +19,6 @@ eppendorf_96_tiprack_10ul_eptips:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
geb_96_tiprack_1000ul:
category:
@@ -32,7 +30,6 @@ geb_96_tiprack_1000ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
geb_96_tiprack_10ul:
category:
@@ -44,7 +41,6 @@ geb_96_tiprack_10ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_96_filtertiprack_1000ul:
category:
@@ -75,7 +71,6 @@ opentrons_96_filtertiprack_1000ul:
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
registry_type: resource
version: 1.0.0
opentrons_96_filtertiprack_10ul:
category:
@@ -87,7 +82,6 @@ opentrons_96_filtertiprack_10ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_96_filtertiprack_200ul:
category:
@@ -99,7 +93,6 @@ opentrons_96_filtertiprack_200ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_96_filtertiprack_20ul:
category:
@@ -111,7 +104,6 @@ opentrons_96_filtertiprack_20ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_96_tiprack_1000ul:
category:
@@ -123,7 +115,6 @@ opentrons_96_tiprack_1000ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_96_tiprack_10ul:
category:
@@ -135,7 +126,6 @@ opentrons_96_tiprack_10ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_96_tiprack_20ul:
category:
@@ -147,7 +137,6 @@ opentrons_96_tiprack_20ul:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_96_tiprack_300ul:
category:

20
unilabos/registry/resources/opentrons/tube_racks.yaml
View File

@@ -8,7 +8,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
category:
@@ -20,7 +19,6 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
category:
@@ -32,7 +30,6 @@ opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_15_tuberack_falcon_15ml_conical:
category:
@@ -44,7 +41,6 @@ opentrons_15_tuberack_falcon_15ml_conical:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_15_tuberack_nest_15ml_conical:
category:
@@ -56,7 +52,6 @@ opentrons_15_tuberack_nest_15ml_conical:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_aluminumblock_generic_2ml_screwcap:
category:
@@ -68,7 +63,6 @@ opentrons_24_aluminumblock_generic_2ml_screwcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_aluminumblock_nest_1point5ml_snapcap:
category:
@@ -80,7 +74,6 @@ opentrons_24_aluminumblock_nest_1point5ml_snapcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
category:
@@ -92,7 +85,6 @@ opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
category:
@@ -104,7 +96,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
category:
@@ -116,7 +107,6 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
category:
@@ -128,7 +118,6 @@ opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_generic_2ml_screwcap:
category:
@@ -140,7 +129,6 @@ opentrons_24_tuberack_generic_2ml_screwcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_nest_0point5ml_screwcap:
category:
@@ -152,7 +140,6 @@ opentrons_24_tuberack_nest_0point5ml_screwcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_nest_1point5ml_screwcap:
category:
@@ -164,7 +151,6 @@ opentrons_24_tuberack_nest_1point5ml_screwcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_nest_1point5ml_snapcap:
category:
@@ -176,7 +162,6 @@ opentrons_24_tuberack_nest_1point5ml_snapcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_nest_2ml_screwcap:
category:
@@ -188,7 +173,6 @@ opentrons_24_tuberack_nest_2ml_screwcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_24_tuberack_nest_2ml_snapcap:
category:
@@ -200,7 +184,6 @@ opentrons_24_tuberack_nest_2ml_snapcap:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_6_tuberack_falcon_50ml_conical:
category:
@@ -212,7 +195,6 @@ opentrons_6_tuberack_falcon_50ml_conical:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_6_tuberack_nest_50ml_conical:
category:
@@ -224,7 +206,6 @@ opentrons_6_tuberack_nest_50ml_conical:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
opentrons_96_well_aluminum_block:
category:
@@ -236,5 +217,4 @@ opentrons_96_well_aluminum_block:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

1
unilabos/registry/resources/organic/container.yaml
View File

@@ -29,5 +29,4 @@ container:
side: WEST
icon: Flask.webp
init_param_schema: {}
registry_type: resource
version: 1.0.0

2
unilabos/registry/resources/post_process/bottle_carriers.yaml
View File

@@ -8,7 +8,6 @@ POST_PROCESS_Raw_1BottleCarrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
POST_PROCESS_Reaction_1BottleCarrier:
category:
@@ -20,5 +19,4 @@ POST_PROCESS_Reaction_1BottleCarrier:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

1
unilabos/registry/resources/post_process/deck.yaml
View File

@@ -9,5 +9,4 @@ post_process_deck:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

9
unilabos/registry/resources/prcxi/plate_adapters.yaml
View File

@@ -9,7 +9,6 @@ PRCXI_30mm_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_Adapter:
category:
@@ -22,7 +21,6 @@ PRCXI_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_Deep10_Adapter:
category:
@@ -35,7 +33,6 @@ PRCXI_Deep10_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_Deep300_Adapter:
category:
@@ -48,7 +45,6 @@ PRCXI_Deep300_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_PCR_Adapter:
category:
@@ -61,7 +57,6 @@ PRCXI_PCR_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_Reservoir_Adapter:
category:
@@ -74,7 +69,6 @@ PRCXI_Reservoir_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_Tip10_Adapter:
category:
@@ -87,7 +81,6 @@ PRCXI_Tip10_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_Tip1250_Adapter:
category:
@@ -100,7 +93,6 @@ PRCXI_Tip1250_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_Tip300_Adapter:
category:
@@ -113,5 +105,4 @@ PRCXI_Tip300_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

11
unilabos/registry/resources/prcxi/plates.yaml
View File

@@ -9,7 +9,6 @@ PRCXI_48_DeepWell:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_96_DeepWell:
category:
@@ -22,7 +21,6 @@ PRCXI_96_DeepWell:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_AGenBio_4_troughplate:
category:
@@ -35,7 +33,6 @@ PRCXI_AGenBio_4_troughplate:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_BioER_96_wellplate:
category:
@@ -48,7 +45,6 @@ PRCXI_BioER_96_wellplate:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_BioRad_384_wellplate:
category:
@@ -61,7 +57,6 @@ PRCXI_BioRad_384_wellplate:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_CellTreat_96_wellplate:
category:
@@ -74,7 +69,6 @@ PRCXI_CellTreat_96_wellplate:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_PCR_Plate_200uL_nonskirted:
category:
@@ -87,7 +81,6 @@ PRCXI_PCR_Plate_200uL_nonskirted:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_PCR_Plate_200uL_semiskirted:
category:
@@ -100,7 +93,6 @@ PRCXI_PCR_Plate_200uL_semiskirted:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_PCR_Plate_200uL_skirted:
category:
@@ -113,7 +105,6 @@ PRCXI_PCR_Plate_200uL_skirted:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_nest_12_troughplate:
category:
@@ -126,7 +117,6 @@ PRCXI_nest_12_troughplate:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_nest_1_troughplate:
category:
@@ -139,5 +129,4 @@ PRCXI_nest_1_troughplate:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

6
unilabos/registry/resources/prcxi/tip_racks.yaml
View File

@@ -9,7 +9,6 @@ PRCXI_1000uL_Tips:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_10uL_Tips:
category:
@@ -22,7 +21,6 @@ PRCXI_10uL_Tips:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_10ul_eTips:
category:
@@ -35,7 +33,6 @@ PRCXI_10ul_eTips:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_1250uL_Tips:
category:
@@ -48,7 +45,6 @@ PRCXI_1250uL_Tips:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_200uL_Tips:
category:
@@ -61,7 +57,6 @@ PRCXI_200uL_Tips:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0
PRCXI_300ul_Tips:
category:
@@ -74,5 +69,4 @@ PRCXI_300ul_Tips:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

1
unilabos/registry/resources/prcxi/trash.yaml
View File

@@ -9,5 +9,4 @@ PRCXI_trash:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

1
unilabos/registry/resources/prcxi/tube_racks.yaml
View File

@@ -9,5 +9,4 @@ PRCXI_EP_Adapter:
handles: []
icon: ''
init_param_schema: {}
registry_type: resource
version: 1.0.0

31
unilabos/registry/utils.py
View File

@@ -599,14 +599,39 @@ def wrap_action_schema(
def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
"""保留之前 schema 中的 field descriptions"""
"""递归保留之前 schema 中各字段的 description / title。
覆盖顶层以及嵌套 properties（如 goal.properties.xxx.description）。
"""
if not prev_schema or not new_schema:
return
prev_props = prev_schema.get("properties", {})
new_props = new_schema.get("properties", {})
for field_name, prev_field in prev_props.items():
if field_name in new_props and "title" in prev_field:
new_props[field_name].setdefault("title", prev_field["title"])
if field_name not in new_props:
continue
new_field = new_props[field_name]
if not isinstance(prev_field, dict) or not isinstance(new_field, dict):
continue
if "title" in prev_field:
new_field.setdefault("title", prev_field["title"])
if "description" in prev_field:
new_field.setdefault("description", prev_field["description"])
if "properties" in prev_field and "properties" in new_field:
preserve_field_descriptions(new_field, prev_field)
def strip_ros_descriptions(schema: Any):
"""递归清除 ROS schema 中自动生成的无意义 description（含 rosidl_parser 内存地址）。"""
if isinstance(schema, dict):
desc = schema.get("description", "")
if isinstance(desc, str) and "rosidl_parser" in desc:
del schema["description"]
for v in schema.values():
strip_ros_descriptions(v)
elif isinstance(schema, list):
for item in schema:
strip_ros_descriptions(item)
# ---------------------------------------------------------------------------

2
unilabos/utils/environment_check.py
View File

@@ -33,7 +33,7 @@ class EnvironmentChecker:
# 包版本要求（包名: 最低版本）
self.version_requirements = {
"msgcenterpy": "0.1.7", # msgcenterpy 最低版本要求
"msgcenterpy": "0.1.8", # msgcenterpy 最低版本要求
}
self.missing_packages = []

562
unilabos/utils/import_manager.py
View File

@@ -21,15 +21,11 @@ __all__ = [
"get_class",
"get_module",
"init_from_list",
"get_class_info_static",
"get_registry_class_info",
"get_enhanced_class_info",
]
from ast import Constant
from unilabos.resources.resource_tracker import PARAM_SAMPLE_UUIDS
from unilabos.utils import logger
from unilabos.registry.decorators import is_not_action, is_always_free
class ImportManager:
@@ -184,168 +180,87 @@ class ImportManager:
return None
def get_enhanced_class_info(self, module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
"""
获取增强的类信息，支持动态导入和静态分析
def get_enhanced_class_info(self, module_path: str, **_kwargs) -> Dict[str, Any]:
"""通过 AST 分析获取类的增强信息。
复用 ``ast_registry_scanner`` 的 ``_collect_imports`` / ``_extract_class_body``，
与 AST 扫描注册表完全一致。
Args:
module_path: 模块路径，格式为 "module.path" 或 "module.path:ClassName"
use_dynamic: 是否优先使用动态导入
module_path: 格式 ``"module.path:ClassName"``
Returns:
包含详细类信息的字典
``{"module_path", "ast_analysis_success", "import_map",
"init_params", "status_methods", "action_methods"}``
"""
result = {
from unilabos.registry.ast_registry_scanner import (
_collect_imports,
_extract_class_body,
_filepath_to_module,
)
result: Dict[str, Any] = {
"module_path": module_path,
"dynamic_import_success": False,
"static_analysis_success": False,
"init_params": {},
"status_methods": {}, # get_ 开头和 @property 方法
"action_methods": {}, # set_ 开头和其他非_开头方法
}
# 尝试动态导入
dynamic_info = None
static_info = None
if use_dynamic:
try:
dynamic_info = self._get_dynamic_class_info(module_path)
result["dynamic_import_success"] = True
logger.debug(f"[ImportManager] 动态导入类 {module_path} 成功")
except Exception as e:
logger.warning(
f"[UniLab Registry] 在补充注册表时，动态导入类 "
f"{module_path} 失败（将使用静态分析，"
f"建议修复导入错误，以实现更好的注册表识别效果！）: {e}"
)
use_dynamic = False
if not use_dynamic:
# 尝试静态分析
try:
static_info = self._get_static_class_info(module_path)
result["static_analysis_success"] = True
logger.debug(f"[ImportManager] 静态分析类 {module_path} 成功")
except Exception as e:
logger.warning(f"[ImportManager] 静态分析类 {module_path} 失败: {e}")
# 合并信息（优先使用动态导入的信息）
if dynamic_info:
result.update(dynamic_info)
elif static_info:
result.update(static_info)
return result
def _get_dynamic_class_info(self, class_path: str) -> Dict[str, Any]:
"""使用inspect模块动态获取类信息"""
cls = get_class(class_path)
class_name = cls.__name__
result = {
"class_name": class_name,
"init_params": self._analyze_method_signature(cls.__init__)["args"],
"ast_analysis_success": False,
"import_map": {},
"init_params": [],
"status_methods": {},
"action_methods": {},
}
# 分析类的所有成员
for name, method in cls.__dict__.items():
if name.startswith("_"):
continue
# 检查是否是property
if isinstance(method, property):
# @property 装饰的方法
# noinspection PyTypeChecker
return_type = self._get_return_type_from_method(method.fget) if method.fget else "Any"
prop_info = {
"name": name,
"return_type": return_type,
}
result["status_methods"][name] = prop_info
# 检查是否有对应的setter
if method.fset:
setter_info = self._analyze_method_signature(method.fset)
result["action_methods"][name] = setter_info
elif inspect.ismethod(method) or inspect.isfunction(method):
if name.startswith("get_"):
actual_name = name[4:] # 去掉get_前缀
if actual_name in result["status_methods"]:
continue
# get_ 开头的方法归类为status
method_info = self._analyze_method_signature(method)
result["status_methods"][actual_name] = method_info
elif not name.startswith("_"):
# 检查是否被 @not_action 装饰器标记
if is_not_action(method):
continue
# 其他非_开头的方法归类为action
method_info = self._analyze_method_signature(method)
# 检查是否被 @always_free 装饰器标记
if is_always_free(method):
method_info["always_free"] = True
result["action_methods"][name] = method_info
return result
def _get_static_class_info(self, module_path: str) -> Dict[str, Any]:
"""使用AST静态分析获取类信息"""
module_name, class_name = module_path.rsplit(":", 1)
# 将模块路径转换为文件路径
file_path = self._module_path_to_file_path(module_name)
if not file_path or not os.path.exists(file_path):
raise FileNotFoundError(f"找不到模块文件: {module_name} -> {file_path}")
logger.warning(f"[ImportManager] 找不到模块文件: {module_name} -> {file_path}")
return result
with open(file_path, "r", encoding="utf-8") as f:
source_code = f.read()
try:
with open(file_path, "r", encoding="utf-8") as f:
tree = ast.parse(f.read(), filename=file_path)
except Exception as e:
logger.warning(f"[ImportManager] 解析文件 {file_path} 失败: {e}")
return result
tree = ast.parse(source_code)
# 推导 module dotted path → 构建 import_map
python_path = Path(file_path)
for sp in sorted(sys.path, key=len, reverse=True):
try:
Path(file_path).relative_to(sp)
python_path = Path(sp)
break
except ValueError:
continue
module_dotted = _filepath_to_module(Path(file_path), python_path)
import_map = _collect_imports(tree, module_dotted)
result["import_map"] = import_map
# 查找目标类
# 定位目标类 AST 节点
target_class = None
for node in ast.walk(tree):
if isinstance(node, ast.ClassDef):
if node.name == class_name:
target_class = node
break
if isinstance(node, ast.ClassDef) and node.name == class_name:
target_class = node
break
if target_class is None:
raise AttributeError(f"在文件 {file_path} 中找不到类 {class_name}")
logger.warning(f"[ImportManager] 在文件 {file_path} 中找不到类 {class_name}")
return result
result = {
"class_name": class_name,
"init_params": {},
"status_methods": {},
"action_methods": {},
body = _extract_class_body(target_class, import_map)
# 映射到统一字段名（与 registry.py complete_registry 消费端一致）
result["init_params"] = body.get("init_params", [])
result["status_methods"] = body.get("status_properties", {})
result["action_methods"] = {
k: {
"args": v.get("params", []),
"return_type": v.get("return_type", ""),
"is_async": v.get("is_async", False),
"always_free": v.get("always_free", False),
"docstring": v.get("docstring"),
}
for k, v in body.get("auto_methods", {}).items()
}
# 分析类的方法
for node in target_class.body:
if isinstance(node, ast.FunctionDef):
method_info = self._analyze_method_node(node)
method_name = node.name
if method_name == "__init__":
result["init_params"] = method_info["args"]
elif method_name.startswith("_"):
continue
elif self._is_property_method(node):
# @property 装饰的方法
result["status_methods"][method_name] = method_info
elif method_name.startswith("get_"):
# get_ 开头的方法归类为status
actual_name = method_name[4:] # 去掉get_前缀
if actual_name not in result["status_methods"]:
result["status_methods"][actual_name] = method_info
else:
# 检查是否被 @not_action 装饰器标记
if self._is_not_action_method(node):
continue
# 其他非_开头的方法归类为action
# 检查是否被 @always_free 装饰器标记
if self._is_always_free_method(node):
method_info["always_free"] = True
result["action_methods"][method_name] = method_info
result["ast_analysis_success"] = True
return result
def _analyze_method_signature(self, method, skip_unilabos_params: bool = True) -> Dict[str, Any]:
@@ -401,23 +316,25 @@ class ImportManager:
"name": method.__name__,
"args": args,
"return_type": self._get_type_string(signature.return_annotation),
"return_annotation": signature.return_annotation, # 保留原始类型注解，用于TypedDict等特殊处理
"is_async": inspect.iscoroutinefunction(method),
}
def _get_return_type_from_method(self, method) -> str:
def _get_return_type_from_method(self, method) -> Union[str, Tuple[str, Any]]:
"""从方法中获取返回类型"""
signature = inspect.signature(method)
return self._get_type_string(signature.return_annotation)
def _get_type_string(self, annotation) -> Union[str, Tuple[str, Any]]:
"""将类型注解转换为Class Library中可搜索的类名"""
"""将类型注解转换为短类名（与 AST _get_annotation_str 对齐）。
自定义类只返回短名（如 ``"SetLiquidReturn"``），完整路径由
``import_map`` 负责解析，保持与 AST 分析一致。
"""
if annotation == inspect.Parameter.empty:
return "Any" # 如果没有注解，返回Any
return "Any"
if annotation is None:
return "None" # 明确的None类型
return "None"
if hasattr(annotation, "__origin__"):
# 处理typing模块的类型
origin = annotation.__origin__
if origin in (list, set, tuple):
if hasattr(annotation, "__args__") and annotation.__args__:
@@ -432,132 +349,23 @@ class ImportManager:
return "dict"
elif origin is Optional:
return "Unknown"
return f"Unknown"
return "Unknown"
annotation_str = str(annotation)
# 处理typing模块的复杂类型
if "typing." in annotation_str:
# 简化typing类型显示
return (
annotation_str.replace("typing.", "")
if getattr(annotation, "_name", None) is None
else annotation._name.lower()
)
# 如果是类型对象
if hasattr(annotation, "__name__"):
# 如果是内置类型
if annotation.__module__ == "builtins":
return annotation.__name__
else:
# 如果是自定义类，返回完整路径
return f"{annotation.__module__}:{annotation.__name__}"
# 如果是typing模块的类型
return annotation.__name__
elif hasattr(annotation, "_name"):
return annotation._name
# 如果是字符串形式的类型注解
elif isinstance(annotation, str):
return annotation
else:
return annotation_str
def _is_property_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@property装饰的方法"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Name) and decorator.id == "property":
return True
return False
def _is_setter_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@xxx.setter装饰的方法"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
return True
return False
def _is_not_action_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@not_action装饰的方法"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Name) and decorator.id == "not_action":
return True
return False
def _is_always_free_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@always_free装饰的方法，或 @action(always_free=True) 装饰的方法"""
for decorator in node.decorator_list:
# 检查 @action(always_free=True)
if isinstance(decorator, ast.Call):
func = decorator.func
if isinstance(func, ast.Name) and func.id == "action":
for keyword in decorator.keywords:
if keyword.arg == "always_free":
if isinstance(keyword.value, Constant) and keyword.value.value is True:
return True
return False
def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
"""从setter装饰器中获取属性名"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
if isinstance(decorator.value, ast.Name):
return decorator.value.id
return node.name
def get_class_info_static(self, module_class_path: str) -> Dict[str, Any]:
"""
静态分析获取类的方法信息，不需要实际导入模块
Args:
module_class_path: 格式为 "module.path:ClassName" 的字符串
Returns:
包含类方法信息的字典
"""
try:
if ":" not in module_class_path:
raise ValueError("module_class_path必须是 'module.path:ClassName' 格式")
module_path, class_name = module_class_path.rsplit(":", 1)
# 将模块路径转换为文件路径
file_path = self._module_path_to_file_path(module_path)
if not file_path or not os.path.exists(file_path):
logger.warning(f"找不到模块文件: {module_path} -> {file_path}")
return {}
# 解析源码
with open(file_path, "r", encoding="utf-8") as f:
source_code = f.read()
tree = ast.parse(source_code)
# 查找目标类
class_node = None
for node in ast.walk(tree):
if isinstance(node, ast.ClassDef) and node.name == class_name:
class_node = node
break
if not class_node:
logger.warning(f"在模块 {module_path} 中找不到类 {class_name}")
return {}
# 分析类的方法
methods_info = {}
for node in class_node.body:
if isinstance(node, ast.FunctionDef):
method_info = self._analyze_method_node(node)
methods_info[node.name] = method_info
return {
"class_name": class_name,
"module_path": module_path,
"file_path": file_path,
"methods": methods_info,
}
except Exception as e:
logger.error(f"静态分析类 {module_class_path} 时出错: {str(e)}")
return {}
def _module_path_to_file_path(self, module_path: str) -> Optional[str]:
for path in sys.path:
potential_path = Path(path) / module_path.replace(".", "/")
@@ -572,222 +380,6 @@ class ImportManager:
return None
def _analyze_method_node(self, node: ast.FunctionDef) -> Dict[str, Any]:
"""分析方法节点，提取参数和返回类型信息"""
method_info = {
"name": node.name,
"args": [],
"return_type": None,
"is_async": isinstance(node, ast.AsyncFunctionDef),
}
# 获取默认值列表
defaults = node.args.defaults
num_defaults = len(defaults)
# 计算必需参数数量
total_args = len(node.args.args)
num_required = total_args - num_defaults
# 提取参数信息
for i, arg in enumerate(node.args.args):
if arg.arg == "self":
continue
# 跳过 sample_uuids 参数（由系统自动注入）
if arg.arg == PARAM_SAMPLE_UUIDS:
continue
arg_info = {
"name": arg.arg,
"type": None,
"default": None,
"required": i < num_required,
}
# 提取类型注解
if arg.annotation:
arg_info["type"] = ast.unparse(arg.annotation) if hasattr(ast, "unparse") else str(arg.annotation)
# 提取默认值并推断类型
if i >= num_required:
default_index = i - num_required
if default_index < len(defaults):
default_value: Constant = defaults[default_index] # type: ignore
assert isinstance(default_value, Constant), "暂不支持对非常量类型进行推断，可反馈开源仓库"
arg_info["default"] = default_value.value
# 如果没有类型注解，尝试从默认值推断类型
if not arg_info["type"]:
arg_info["type"] = self._get_type_string(type(arg_info["default"]))
method_info["args"].append(arg_info)
# 提取返回类型
if node.returns:
method_info["return_type"] = ast.unparse(node.returns) if hasattr(ast, "unparse") else str(node.returns)
return method_info
def _infer_type_from_default(self, node: ast.AST) -> Optional[str]:
"""从默认值推断参数类型"""
if isinstance(node, ast.Constant):
value = node.value
if isinstance(value, bool):
return "bool"
elif isinstance(value, int):
return "int"
elif isinstance(value, float):
return "float"
elif isinstance(value, str):
return "str"
elif value is None:
return "Optional[Any]"
elif isinstance(node, ast.List):
return "List"
elif isinstance(node, ast.Dict):
return "Dict"
elif isinstance(node, ast.Tuple):
return "Tuple"
elif isinstance(node, ast.Set):
return "Set"
elif isinstance(node, ast.Name):
# 常见的默认值模式
if node.id in ["None"]:
return "Optional[Any]"
elif node.id in ["True", "False"]:
return "bool"
return None
def _infer_types_from_docstring(self, method_info: Dict[str, Any]) -> None:
"""从docstring中推断参数类型"""
docstring = method_info.get("docstring", "")
if not docstring:
return
lines = docstring.split("\n")
in_args_section = False
for line in lines:
line = line.strip()
# 检测Args或Arguments段落
if line.lower().startswith(("args:", "arguments:")):
in_args_section = True
continue
elif line.startswith(("returns:", "return:", "yields:", "raises:")):
in_args_section = False
continue
elif not line or not in_args_section:
continue
# 解析参数行，格式通常是: param_name (type): description 或 param_name: description
if ":" in line:
parts = line.split(":", 1)
param_part = parts[0].strip()
# 提取参数名和类型
param_name = None
param_type = None
if "(" in param_part and ")" in param_part:
# 格式: param_name (type)
param_name = param_part.split("(")[0].strip()
type_part = param_part.split("(")[1].split(")")[0].strip()
param_type = type_part
else:
# 格式: param_name
param_name = param_part
# 更新对应参数的类型信息
if param_name:
for arg_info in method_info["args"]:
if arg_info["name"] == param_name and not arg_info["type"]:
if param_type:
arg_info["inferred_type"] = param_type
elif not arg_info["inferred_type"]:
# 从描述中推断类型
description = parts[1].strip().lower()
if any(word in description for word in ["path", "file", "directory", "filename"]):
arg_info["inferred_type"] = "str"
elif any(
word in description for word in ["port", "number", "count", "size", "length"]
):
arg_info["inferred_type"] = "int"
elif any(
word in description for word in ["rate", "ratio", "percentage", "temperature"]
):
arg_info["inferred_type"] = "float"
elif any(word in description for word in ["flag", "enable", "disable", "option"]):
arg_info["inferred_type"] = "bool"
def get_registry_class_info(self, module_class_path: str) -> Dict[str, Any]:
"""
获取适用于注册表的类信息，包含完整的类型推断
Args:
module_class_path: 格式为 "module.path:ClassName" 的字符串
Returns:
适用于注册表的类信息字典
"""
class_info = self.get_class_info_static(module_class_path)
if not class_info:
return {}
registry_info = {
"class_name": class_info["class_name"],
"module_path": class_info["module_path"],
"file_path": class_info["file_path"],
"methods": {},
"properties": [],
"init_params": {},
"action_methods": {},
}
for method_name, method_info in class_info["methods"].items():
# 分类处理不同类型的方法
if method_info["is_property"]:
registry_info["properties"].append(
{
"name": method_name,
"return_type": method_info.get("return_type"),
"docstring": method_info.get("docstring"),
}
)
elif method_name == "__init__":
# 处理初始化参数
init_params = {}
for arg in method_info["args"]:
if arg["name"] != "self":
param_info = {
"name": arg["name"],
"type": arg.get("type") or arg.get("inferred_type"),
"required": arg.get("is_required", True),
"default": arg.get("default"),
}
init_params[arg["name"]] = param_info
registry_info["init_params"] = init_params
elif not method_name.startswith("_"):
# 处理公共方法（可能的action方法）
action_info = {
"name": method_name,
"params": {},
"return_type": method_info.get("return_type"),
"docstring": method_info.get("docstring"),
"num_required": method_info.get("num_required", 0) - 1, # 减去self
"num_defaults": method_info.get("num_defaults", 0),
}
for arg in method_info["args"]:
if arg["name"] != "self":
param_info = {
"name": arg["name"],
"type": arg.get("type") or arg.get("inferred_type"),
"required": arg.get("is_required", True),
"default": arg.get("default"),
}
action_info["params"][arg["name"]] = param_info
registry_info["action_methods"][method_name] = action_info
return registry_info
# 全局实例，便于直接使用
@@ -815,16 +407,6 @@ def init_from_list(module_list: List[str]) -> None:
default_manager = ImportManager(module_list)
def get_class_info_static(module_class_path: str) -> Dict[str, Any]:
"""静态分析获取类信息的便捷函数"""
return default_manager.get_class_info_static(module_class_path)
def get_registry_class_info(module_class_path: str) -> Dict[str, Any]:
"""获取适用于注册表的类信息的便捷函数"""
return default_manager.get_registry_class_info(module_class_path)
def get_enhanced_class_info(module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
def get_enhanced_class_info(module_path: str, **kwargs) -> Dict[str, Any]:
"""获取增强的类信息的便捷函数"""
return default_manager.get_enhanced_class_info(module_path, use_dynamic)
return default_manager.get_enhanced_class_info(module_path, **kwargs)

2
unilabos/utils/requirements.txt
View File

@@ -1,7 +1,7 @@
networkx
typing_extensions
websockets
msgcenterpy>=0.1.7
msgcenterpy>=0.1.8
orjson>=3.11
opentrons_shared_data
pint

37
unilabos/utils/tools.py
View File

@@ -1,4 +1,39 @@
import json
from unilabos.utils.type_check import TypeEncoder, json_default
try:
import orjson
def fast_dumps(obj, **kwargs) -> bytes:
"""JSON 序列化为 bytes，优先使用 orjson。"""
return orjson.dumps(obj, option=orjson.OPT_NON_STR_KEYS, default=json_default)
def fast_dumps_pretty(obj, **kwargs) -> bytes:
"""JSON 序列化为 bytes（带缩进），优先使用 orjson。"""
return orjson.dumps(
obj,
option=orjson.OPT_NON_STR_KEYS | orjson.OPT_INDENT_2,
default=json_default,
)
def normalize_json(info: dict) -> dict:
"""经 JSON 序列化/反序列化一轮来清理非标准类型。"""
return orjson.loads(orjson.dumps(info, default=json_default))
except ImportError:
def fast_dumps(obj, **kwargs) -> bytes: # type: ignore[misc]
return json.dumps(obj, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
def fast_dumps_pretty(obj, **kwargs) -> bytes: # type: ignore[misc]
return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
def normalize_json(info: dict) -> dict: # type: ignore[misc]
return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))
# 辅助函数：将UUID数组转换为字符串
def uuid_to_str(uuid_array) -> str:
"""将UUID字节数组转换为十六进制字符串"""
return "".join(format(byte, "02x") for byte in uuid_array)
return "".join(format(byte, "02x") for byte in uuid_array)

22
unilabos/utils/type_check.py
View File

@@ -15,14 +15,21 @@ def get_type_class(type_hint):
return final_type
def json_default(obj):
"""将 type 对象序列化为类名，其余 fallback 到 str()。"""
if isinstance(obj, type):
return str(obj)[8:-2]
return str(obj)
class TypeEncoder(json.JSONEncoder):
"""自定义JSON编码器处理特殊类型"""
def default(self, obj):
# 优先处理类型对象
if isinstance(obj, type):
return str(obj)[8:-2]
return super().default(obj)
try:
return json_default(obj)
except Exception:
return super().default(obj)
class NoAliasDumper(yaml.SafeDumper):
@@ -43,13 +50,10 @@ class ResultInfoEncoder(json.JSONEncoder):
"""专门用于处理任务执行结果信息的JSON编码器"""
def default(self, obj):
# 优先处理类型对象
if isinstance(obj, type):
return str(obj)[8:-2]
return json_default(obj)
# 对于无法序列化的对象，统一转换为字符串
try:
# 尝试调用 __dict__ 或者其他序列化方法
if hasattr(obj, "__dict__"):
return obj.__dict__
elif hasattr(obj, "_asdict"): # namedtuple
@@ -59,10 +63,8 @@ class ResultInfoEncoder(json.JSONEncoder):
elif hasattr(obj, "dict"):
return obj.dict()
else:
# 如果都不行，转换为字符串
return str(obj)
except Exception:
# 如果转换失败，直接返回字符串表示
return str(obj)