From 933e84bf13b7a33050510b0d3ab2d2b83948ce52 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 1 Aug 2025 19:54:58 +0800 Subject: [PATCH] =?UTF-8?q?=E5=8F=91=E7=89=88=E6=9E=84=E5=BB=BA=20(#71)?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang Co-authored-by: Guangxin Zhang Co-authored-by: qxw138 * Device visualization (#39) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad764263366f6d6207e0722fbc7a909a8. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae8125a7b24506bb681e3baaf69f2ebf6b. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220afa8546b84f1763730818d6360c26251, reversing changes made to 498c997ad764263366f6d6207e0722fbc7a909a8. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f55d1339d54d9725ffe3c8cca7cbb73a. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3b43bc8af048b9e2c4af210ec16d446. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e58d9f33818f21232c3fdcc30a4f766c. * Reapply "change to debug level" This reverts commit 2487bb6ffc6590b2da13a3dd5226825e0a164993. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- Co-authored-by: Harvey Que Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang Co-authored-by: Guangxin Zhang Co-authored-by: qxw138 * Device visualization (#41) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad764263366f6d6207e0722fbc7a909a8. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae8125a7b24506bb681e3baaf69f2ebf6b. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220afa8546b84f1763730818d6360c26251, reversing changes made to 498c997ad764263366f6d6207e0722fbc7a909a8. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f55d1339d54d9725ffe3c8cca7cbb73a. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3b43bc8af048b9e2c4af210ec16d446. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e58d9f33818f21232c3fdcc30a4f766c. * Reapply "change to debug level" This reverts commit 2487bb6ffc6590b2da13a3dd5226825e0a164993. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang Co-authored-by: Guangxin Zhang Co-authored-by: qxw138 * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持 调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad764263366f6d6207e0722fbc7a909a8. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae8125a7b24506bb681e3baaf69f2ebf6b. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220afa8546b84f1763730818d6360c26251, reversing changes made to 498c997ad764263366f6d6207e0722fbc7a909a8. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f55d1339d54d9725ffe3c8cca7cbb73a. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3b43bc8af048b9e2c4af210ec16d446. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e58d9f33818f21232c3fdcc30a4f766c. * Reapply "change to debug level" This reverts commit 2487bb6ffc6590b2da13a3dd5226825e0a164993. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * bump version & protocol fix * hotfix: Add macos_sdk_config (#46) Co-authored-by: quehh * include device_mesh when pip install * 测试自动构建 * try build fix * try build * test artifacts * hotfix: Add .certs in .gitignore * create container * container 添加和更新完成 * Device registry port (#49) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * unify liquid_handler definition * Update virtual_device.yaml * 更正了stir和heater的连接方式 * 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动 * 修改了add protocol * 修复了阀门更新版的bug * 修复了添加protocol前缀导致的不能启动的bug * Fix handles * bump version to 0.9.6 * add resource edge upload * update container registry and handles * add virtual_separator virtual_rotavap fix transfer_pump * fix container value add parent_name to edge device id * 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表 * default resource upload mode is false * 添加了icon的文件名在注册表里面 * 修改了json图中link的格式 * fix resource and edge upload * fix device ports * Fix edge id * 移除device的父节点关联 * separate registry sync and resource_add * 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数 * 完善tip * protocol node不再嵌套显示 * bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配 * protocol node 执行action不应携带自身device id * 添加了一套简易双八通阀工作站JSON，亲测能跑 * 修复了很多protocol，亲测能跑 * 添加了run column和filter through的protocol，亲测能跑 * fix mock_reactor * 修改了大图和小图的json，但是在前端上没看到改变 --------- Co-authored-by: Harvey Que Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang * 更新workstation注册表 * 添加了两个protocol的检索功能 (#51) * 添加了两个protocol的检索liquid type功能 * fix workstation registry * 修复了没连接的几个仪器的link，添加了container的icon * 修改了json和注册表，现在大图全部的device都链接上了 * 修复了小图的json图，线全部连上了 * add work_station protocol handles (ports) * fix workstation action handle --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang * 新增注册表补全功能，修复Protocol执行失败 * 支持通过导入方式补全注册表，新增工作流unilabos_device_id字段 * 修复不启用注册表补充就无法启动的bug * 修复部分识别error * 修复静态方法识别get status，注册表支持python类型 * status types对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换 * 支持通过list[int]，list[float]进行Int64MultiArray，Float64MultiArray的替换 * 成功动态导入的不再需要使用静态导入 * Fix handle names (#55) * fix handle names * improve evacuateAndRefill gas source finding * add camera and dependency (#56) * 修复auto-的Action在protocol node下错误注册 * 匹配init param schema格式 * Add channel_sources config in conda_build_config.yaml (#58) * 修复任务执行传参 * Create 5 new protocols & bump version 0.9.8 (#59) * 添加了5个缺失的protocol，验证了可以运行 * bump version to 0.9.8 * 修复新增的Action的字段缺失 --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 转换到ros消息时，要进行基础类型转换 * Update work_station.yaml (#60) * Update work_station.yaml * Checklist里面有XDL跟protocol之间没对齐的问题，工作量有点大找时间写完 * Create prcxi.py * Update prcxi.py * Update Prcxi * 更新中析仪器，以及启动示例 * 修改moveit_interface，并在mqtt上报时发送一个时间戳，方便网页端对数据的筛选 (#62) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad764263366f6d6207e0722fbc7a909a8. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae8125a7b24506bb681e3baaf69f2ebf6b. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220afa8546b84f1763730818d6360c26251, reversing changes made to 498c997ad764263366f6d6207e0722fbc7a909a8. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f55d1339d54d9725ffe3c8cca7cbb73a. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3b43bc8af048b9e2c4af210ec16d446. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e58d9f33818f21232c3fdcc30a4f766c. * Reapply "change to debug level" This reverts commit 2487bb6ffc6590b2da13a3dd5226825e0a164993. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface，并在mqtt上报时发送一个时间戳 --------- Co-authored-by: Harvey Que Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang * 更新实例 * 更新实例 * 更新实例 * 修正prcxi启动 * 更新PRCXI配置，修改主机地址和设置状态，并添加示例用法 * add pickup tips for prcxi * 任意执行错误都应该返回failed * 任意执行错误都应该返回failed * Add plateT6 to PRCXI configuration and enhance error handling in liquid handling * prcxi blending * assert blending_times > 0 * update prcxi * update prcxi registry * Update prcxi.py to fit the function in unilabos. * 不生成已配置action的动作，增加prcxi的debug模式 * 增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成 * 增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成 * Update prcxi.py * 修复了部分的protocol因为XDL更新导致的问题 (#61) * 修复了部分的protocol因为XDL更新导致的问题 但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器 * 补充了四个action * 添加了固体加样器，丰富了json，修改了add protocol * bump version to 0.9.9 * fix bugs from new actions * protocol完整修复版本& bump version to 0.9.10 * 修补了一些单位处理，bump version to 0.9.11 * 优化了全protocol的运行时间，除了pumptransfer相关的还没 * 补充了剩下的几个protocol --------- Co-authored-by: Junhan Chang Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 修复action移除时的报错，更新注册表 * Update prcxi.py * Update prcxi.py * 新增simulator * Update prcxi.py * Update trash * Update prcxi.py * Update prcxi.py * Update for discard tips * Update prcxi.py * Update PRCXI * 更新axis等参数 * Update 9320 * get_well_container&get_tip_rack * update * Update 9320 * update * deck * 更新注册表&增加资源，parent应为resources字段 * Update 9320 * update * 新增set liquid方法 * 新增set liquid方法 * action to resource & 0.9.12 (#64) * action to resource & 0.9.12 * stir和adjustph的中的bug修不好 * modify prcxi * 0.9.12 update registry * update * update * registry upadte * Update * update * container_for_nothing * mix * registry fix * registry fix * registry fix * Update * Update prcxi.py * SET TIP RACK * bump version * update registry version & category * update set tip rack * yaml dump支持ordered dict，支持config_info * fix devices * fix resource check serialize * fix: Protocol node resource run (#65) * stir和adjustph的中的bug修不好 * fix sub-resource query in protocol node compiling * add resource placeholder to vessels * add the rest yaml * Update work_station.yaml --------- Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn> * 采用http报送resource * 采用http报送resource * update * Update .gitignore * bump version to 0.10.0 * default param simulator * slim * Update * Update for prcxi * Update * Update * Refactor PRCXI9300Deck initialization and update plate configurations - Changed deck name from "PRCXI_Deck" to "PRCXI_Deck_9300". - Updated plate4 initialization to use get_well_container instead of get_tip_rack. - Modified plate4 material details with new UUID, code, and name. - Renamed output JSON file to "deck_9300_new.json". - Uncommented and adjusted liquid handling operations for clarity and future use. * test * update * Update prcxi_9300.json This one is good * update * fix protocol_node communication transfer * 修复注册表handles类型错误的问题 * 物料添加失败应该直接raise ValueError，不要等待 * 更正注册表中的数字类型 * Delete unnecessary files. * 新增lab_id直接传入 * fix vessel_id param passing in protocols * 新增dll预载，保证部分设备可正常使用unilabos_msgs * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 更新版本到0.10.1 修复Upload Registry镜像不匹配 * 新增用户引导 * Device visualization (#67) * Update README and MQTTClient for installation instructions and code improvements * feat: 支持local_config启动 add: 增加对crt path的说明，为传入config.py的相对路径 move: web component * add: registry description * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * feat: node_info_update srv fix: OTDeck cant create * close #12 feat: slave node registry * feat: show machine name fix: host node registry not uploaded * feat: add hplc registry * feat: add hplc registry * fix: hplc status typo * fix: devices/ * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * fix: device.class possible null * fix: HPLC additions with online service * fix: slave mode spin not working * fix: slave mode spin not working * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * feat: 多ProtocolNode 允许子设备ID相同 feat: 上报发现的ActionClient feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报 * feat: 支持env设置config * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * Device visualization (#14) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: missing hostname in devices_names fix: upload_file for model file * fix: missing paho-mqtt package bump version to 0.9.0 * fix startup add ResourceCreateFromOuter.action * fix type hint * update actions * update actions * host node add_resource_from_outer fix cmake list * pass device config to device class * add: bind_parent_ids to resource create action fix: message convert string * fix: host node should not be re_discovered * feat: resource tracker support dict * feat: add more necessary params * feat: fix boolean null in registry action data * feat: add outer resource * 编写mesh添加action * feat: append resource * add action * feat: vis 2d for plr * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate * Device visualization (#22) * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * add 3d visualization * 完成在main中启动设备可视化 完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model 添加物料模型管理类，遍历物料与resource_model，完成TF数据收集 * 完成TF发布 * 修改模型方向，在yaml中添加变换属性 * 添加物料tf变化时，发送topic到前端 另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题 * 添加关节发布节点与物料可视化节点进入unilab * 使用json启动plr与3D模型仿真 * 完成启动OT并联动rviz * 修复rviz位置问题, 修复rviz位置问题, 在无tf变动时减缓发送频率 在backend中添加物料跟随方法 * fix: running logic * fix: running logic * fix: missing ot * 在main中直接初始化republisher和物料的mesh节点 * 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中 * 编写mesh添加action * add action * fix * fix: browser on rviz * fix: cloud bridge error fallback to local * fix: salve auto run rviz * 初始化两个plate --------- Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> * fix: multi channel * fix: aspirate * fix: aspirate * fix: aspirate * fix: aspirate * 提交 * fix: jobadd * fix: jobadd * fix: msg converter * tijiao * add resource creat easy action * identify debug msg * mq client id * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit 498c997ad764263366f6d6207e0722fbc7a909a8. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit 3a60d2ae8125a7b24506bb681e3baaf69f2ebf6b. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commit fa727220afa8546b84f1763730818d6360c26251, reversing changes made to 498c997ad764263366f6d6207e0722fbc7a909a8. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 56d45b94f55d1339d54d9725ffe3c8cca7cbb73a. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit 07d9db20c3b43bc8af048b9e2c4af210ec16d446. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit 5d9953c3e58d9f33818f21232c3fdcc30a4f766c. * Reapply "change to debug level" This reverts commit 2487bb6ffc6590b2da13a3dd5226825e0a164993. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface，并在mqtt上报时发送一个时间戳 * 添加机械臂和移液站 * 添加 * 添加硬件 * update * 添加 --------- Co-authored-by: Harvey Que Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: Junhan Chang * 更新注册表 * fix build * 更新启动逻辑 * 更新环境变量级别 * 使用rattler-build进行构建测试 * 使用rattler-build进行构建测试 2 * 使用rattler-build进行构建测试 3 * 使用rattler-build进行构建测试 4 * 使用rattler-build进行构建测试 5 * 更新MANIFEST.in文件，调整静态文件和模板的路径，从unilabos/app更改为unilabos/web/app * 修复linux构建 * 修正recipe.yaml文件中的macOS部署目标语法 * 更新GitHub Actions工作流，修改临时目录路径并调整Anaconda上传条件，移除与标签相关的发布步骤 * 四平台构建测试 * 更正发布源 * 移除旧的recipe_new.yaml文件，更新recipe.yaml以包含新的构建步骤和依赖项，同时添加GitHub Actions工作流以支持Conda构建和上传到Anaconda.org。 * 更新recipe.yaml文件，将paho-mqtt和opentrons_shared_data的安装步骤分开，以提高构建的可读性和可维护性。 * test unilabos submit * 修复web无资源的问题 * 测试conda构建 --------- Co-authored-by: Junhan Chang Co-authored-by: Guangxin Zhang Co-authored-by: qxw138 Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn> Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: quehh Co-authored-by: Harvey Que Co-authored-by: Junhan Chang Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> --- .conda/recipe.yaml | 123 ++++++----- .conda/recipe_new.yaml | 23 -- .github/workflows/multi-platform-build.yml | 201 +++++++++--------- .github/workflows/unilabos-conda-build.yml | 94 ++++++++ MANIFEST.in | 4 +- .../bld_ament_cmake.bat | 7 +- .../build_ament_cmake.sh | 4 +- recipes/msgs/recipe.yaml | 76 +++++++ recipes/ros-humble-unilabos-msgs/recipe.yaml | 61 ------ unilabos/utils/log.py | 26 ++- unilabos_msgs/package.xml | 2 +- 11 files changed, 377 insertions(+), 244 deletions(-) delete mode 100644 .conda/recipe_new.yaml create mode 100644 .github/workflows/unilabos-conda-build.yml rename recipes/{ros-humble-unilabos-msgs => msgs}/bld_ament_cmake.bat (90%) rename recipes/{ros-humble-unilabos-msgs => msgs}/build_ament_cmake.sh (95%) create mode 100644 recipes/msgs/recipe.yaml delete mode 100644 recipes/ros-humble-unilabos-msgs/recipe.yaml diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml index 7bc17da0..0783f994 100644 --- a/.conda/recipe.yaml +++ b/.conda/recipe.yaml @@ -2,66 +2,83 @@ package: name: unilabos version: 0.10.1 +source: + path: ../unilabos + target_directory: unilabos + build: noarch: python - number: 0 script: - - python -m pip install paho-mqtt opentrons_shared_data - - python -m pip install git+https://github.com/Xuwznln/pylabrobot.git + - set PIP_NO_INDEX= +# - python -m pip install paho-mqtt opentrons_shared_data +# - python -m pip install git+https://github.com/Xuwznln/pylabrobot.git + - if: win + then: + - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR% + - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR% + - copy %RECIPE_DIR%\..\setup.py %SRC_DIR% + - python -m pip install %SRC_DIR% + - if: unix + then: + - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR + - cp $RECIPE_DIR/../setup.cfg $SRC_DIR + - cp $RECIPE_DIR/../setup.py $SRC_DIR + - python -m pip install $SRC_DIR + requirements: host: - - python >=3.11 - - pip - - setuptools + - python ==3.11.11 + - pip + - setuptools run: - - conda-forge::python =3.11.11 - - compilers - - cmake - - make - - ninja - - sphinx - - sphinx_rtd_theme - - numpy - - scipy - - pandas - - networkx - - matplotlib - - pint - - pyserial - - pyusb - - pylibftdi - - pymodbus - - python-can - - pyvisa - - opencv - - pydantic - - fastapi - - uvicorn - - gradio - - flask - - websocket - - ipython - - jupyter - - jupyros - - colcon-common-extensions - - robostack-staging::ros-humble-desktop-full - - robostack-staging::ros-humble-control-msgs - - robostack-staging::ros-humble-sensor-msgs - - robostack-staging::ros-humble-trajectory-msgs - - ros-humble-navigation2 - - ros-humble-ros2-control - - ros-humble-robot-state-publisher - - ros-humble-joint-state-publisher - - ros-humble-rosbridge-server - - ros-humble-cv-bridge - - ros-humble-tf2 - - ros-humble-moveit - - ros-humble-moveit-servo - - ros-humble-simulation - - ros-humble-tf-transformations - - transforms3d - - uni-lab::ros-humble-unilabos-msgs + - conda-forge::python ==3.11.11 + - compilers + - cmake + - make + - ninja + - sphinx + - sphinx_rtd_theme + - numpy + - scipy + - pandas + - networkx + - matplotlib + - pint + - pyserial + - pyusb + - pylibftdi + - pymodbus + - python-can + - pyvisa + - opencv + - pydantic + - fastapi + - uvicorn + - gradio + - flask + - websocket + - ipython + - jupyter + - jupyros + - colcon-common-extensions + - robostack-staging::ros-humble-desktop-full + - robostack-staging::ros-humble-control-msgs + - robostack-staging::ros-humble-sensor-msgs + - robostack-staging::ros-humble-trajectory-msgs + - ros-humble-navigation2 + - ros-humble-ros2-control + - ros-humble-robot-state-publisher + - ros-humble-joint-state-publisher + - ros-humble-rosbridge-server + - ros-humble-cv-bridge + - ros-humble-tf2 + - ros-humble-moveit + - ros-humble-moveit-servo + - ros-humble-simulation + - ros-humble-tf-transformations + - transforms3d + - uni-lab::ros-humble-unilabos-msgs about: repository: https://github.com/dptech-corp/Uni-Lab-OS diff --git a/.conda/recipe_new.yaml b/.conda/recipe_new.yaml deleted file mode 100644 index 0a2c7780..00000000 --- a/.conda/recipe_new.yaml +++ /dev/null @@ -1,23 +0,0 @@ -package: - name: unilabos - version: "0.10.1" - -source: - path: ../.. - -build: - noarch: python - script: | - {{ PYTHON }} -m pip install . --no-deps --ignore-installed -vv -# {{ PYTHON }} clean_build_dir.py - -requirements: - host: - - python - - pip - run: - - python - -test: - imports: - - unilabos diff --git a/.github/workflows/multi-platform-build.yml b/.github/workflows/multi-platform-build.yml index 72dafa57..7b703c7b 100644 --- a/.github/workflows/multi-platform-build.yml +++ b/.github/workflows/multi-platform-build.yml @@ -2,16 +2,21 @@ name: Multi-Platform Conda Build on: push: - branches: [ main, dev ] - tags: [ 'v*' ] + branches: [main, dev] + tags: ['v*'] pull_request: - branches: [ main, dev ] + branches: [main, dev] workflow_dispatch: inputs: platforms: description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64' required: false default: 'osx-arm64' + upload_to_anaconda: + description: '是否上传到Anaconda.org' + required: false + default: false + type: boolean jobs: build: @@ -19,18 +24,18 @@ jobs: fail-fast: false matrix: include: - - os: ubuntu-latest - platform: linux-64 - env_file: unilabos-linux-64.yaml - - os: macos-13 # Intel - platform: osx-64 - env_file: unilabos-osx-64.yaml - - os: macos-latest # ARM64 - platform: osx-arm64 - env_file: unilabos-osx-arm64.yaml - - os: windows-latest - platform: win-64 - env_file: unilabos-win64.yaml + - os: ubuntu-latest + platform: linux-64 + env_file: unilabos-linux-64.yaml + - os: macos-13 # Intel + platform: osx-64 + env_file: unilabos-osx-64.yaml + - os: macos-latest # ARM64 + platform: osx-arm64 + env_file: unilabos-osx-arm64.yaml + - os: windows-latest + platform: win-64 + env_file: unilabos-win64.yaml runs-on: ${{ matrix.os }} @@ -39,94 +44,98 @@ jobs: shell: bash -l {0} steps: - - uses: actions/checkout@v4 - with: - fetch-depth: 0 + - uses: actions/checkout@v4 + with: + fetch-depth: 0 - - name: Check if platform should be built - id: should_build - run: | - if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then - echo "should_build=true" >> $GITHUB_OUTPUT - elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then - echo "should_build=true" >> $GITHUB_OUTPUT - elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then - echo "should_build=true" >> $GITHUB_OUTPUT - else - echo "should_build=false" >> $GITHUB_OUTPUT - fi + - name: Check if platform should be built + id: should_build + run: | + if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then + echo "should_build=true" >> $GITHUB_OUTPUT + elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then + echo "should_build=true" >> $GITHUB_OUTPUT + elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then + echo "should_build=true" >> $GITHUB_OUTPUT + else + echo "should_build=false" >> $GITHUB_OUTPUT + fi - - name: Setup Miniconda - if: steps.should_build.outputs.should_build == 'true' - uses: conda-incubator/setup-miniconda@v3 - with: - miniconda-version: "latest" - channels: conda-forge,robostack-staging,defaults - channel-priority: strict - activate-environment: build-env - auto-activate-base: false - auto-update-conda: false - show-channel-urls: true + - name: Setup Miniconda + if: steps.should_build.outputs.should_build == 'true' + uses: conda-incubator/setup-miniconda@v3 + with: + miniconda-version: 'latest' + channels: conda-forge,robostack-staging,defaults + channel-priority: strict + activate-environment: build-env + auto-activate-base: false + auto-update-conda: false + show-channel-urls: true - - name: Install boa and build tools - if: steps.should_build.outputs.should_build == 'true' - run: | - conda install -c conda-forge boa conda-build + - name: Install rattler-build and anaconda-client + if: steps.should_build.outputs.should_build == 'true' + run: | + conda install -c conda-forge rattler-build anaconda-client - - name: Show environment info - if: steps.should_build.outputs.should_build == 'true' - run: | - conda info - conda list | grep -E "(boa|conda-build)" - echo "Platform: ${{ matrix.platform }}" - echo "OS: ${{ matrix.os }}" + - name: Show environment info + if: steps.should_build.outputs.should_build == 'true' + run: | + conda info + conda list | grep -E "(rattler-build|anaconda-client)" + echo "Platform: ${{ matrix.platform }}" + echo "OS: ${{ matrix.os }}" - - name: Build conda package - if: steps.should_build.outputs.should_build == 'true' - run: | - if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then - boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs - else - boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs - fi + - name: Build conda package + if: steps.should_build.outputs.should_build == 'true' + run: | + if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then + rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge + else + rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge + fi - - name: List built packages - if: steps.should_build.outputs.should_build == 'true' - run: | - echo "Built packages in conda-bld:" - find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10 - ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found" - ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found" - echo "CONDA_PREFIX: $CONDA_PREFIX" - echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2" + - name: List built packages + if: steps.should_build.outputs.should_build == 'true' + run: | + echo "Built packages in output directory:" + find ./output -name "*.conda" | head -10 + ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found" + ls -la ./output/noarch/ || echo "noarch directory not found" + echo "Output directory structure:" + find ./output -type f -name "*.conda" - - name: Prepare artifacts for upload - if: steps.should_build.outputs.should_build == 'true' - run: | - mkdir -p ${{ runner.temp }}/conda-packages - find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \; - echo "Copied files to temp directory:" - ls -la ${{ runner.temp }}/conda-packages/ + - name: Prepare artifacts for upload + if: steps.should_build.outputs.should_build == 'true' + run: | + mkdir -p conda-packages-temp + find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \; + echo "Copied files to temp directory:" + ls -la conda-packages-temp/ - - name: Upload conda package artifacts - if: steps.should_build.outputs.should_build == 'true' - uses: actions/upload-artifact@v4 - with: - name: conda-package-${{ matrix.platform }} - path: ${{ runner.temp }}/conda-packages - if-no-files-found: warn - retention-days: 30 + - name: Upload conda package artifacts + if: steps.should_build.outputs.should_build == 'true' + uses: actions/upload-artifact@v4 + with: + name: conda-package-${{ matrix.platform }} + path: conda-packages-temp + if-no-files-found: warn + retention-days: 30 - - name: Create release assets (on tags) - if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/') - run: | - mkdir -p release-assets - find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \; + - name: Login to Anaconda with API token + if: steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request')) + run: | + anaconda login --token ${{ secrets.ANACONDA_API_TOKEN }} - - name: Upload to release - if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/') - uses: softprops/action-gh-release@v1 - with: - files: release-assets/* - draft: false - prerelease: false + - name: Upload to Anaconda.org (unilab organization) + if: steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request')) + run: | + for package in $(find ./output -name "*.conda"); do + echo "Uploading $package to unilab organization..." + anaconda upload --user uni-lab --force "$package" + done + + - name: Logout from Anaconda + if: always() && steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request')) + run: | + anaconda logout || true diff --git a/.github/workflows/unilabos-conda-build.yml b/.github/workflows/unilabos-conda-build.yml new file mode 100644 index 00000000..9b5fbfb2 --- /dev/null +++ b/.github/workflows/unilabos-conda-build.yml @@ -0,0 +1,94 @@ +name: UniLabOS Conda Build + +on: + push: + branches: [main, dev] + tags: ['v*'] + pull_request: + branches: [main, dev] + workflow_dispatch: + inputs: + upload_to_anaconda: + description: '是否上传到Anaconda.org' + required: false + default: false + type: boolean + +jobs: + build: + runs-on: ubuntu-latest + + defaults: + run: + shell: bash -l {0} + + steps: + - uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: Setup Miniconda + uses: conda-incubator/setup-miniconda@v3 + with: + miniconda-version: 'latest' + channels: conda-forge,robostack-staging,uni-lab,defaults + channel-priority: strict + activate-environment: build-env + auto-activate-base: false + auto-update-conda: false + show-channel-urls: true + + - name: Install rattler-build and anaconda-client + run: | + conda install -c conda-forge rattler-build anaconda-client + + - name: Show environment info + run: | + conda info + conda list | grep -E "(rattler-build|anaconda-client)" + echo "Building UniLabOS package" + + - name: Build conda package + run: | + rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge + + - name: List built packages + run: | + echo "Built packages in output directory:" + find ./output -name "*.conda" | head -10 + ls -la ./output/noarch/ || echo "noarch directory not found" + echo "Output directory structure:" + find ./output -type f -name "*.conda" + + - name: Prepare artifacts for upload + run: | + mkdir -p conda-packages-temp + find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \; + echo "Copied files to temp directory:" + ls -la conda-packages-temp/ + + - name: Upload conda package artifacts + uses: actions/upload-artifact@v4 + with: + name: conda-package-unilabos + path: conda-packages-temp + if-no-files-found: warn + retention-days: 30 + + - name: Login to Anaconda with API token + if: github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request') + run: | + anaconda login --token ${{ secrets.ANACONDA_API_TOKEN }} + + - name: Upload to Anaconda.org (uni-lab organization) + if: github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request') + run: | + for package in $(find ./output -name "*.conda"); do + echo "Uploading $package to uni-lab organization..." + anaconda upload --user uni-lab --force "$package" + done + + - name: Logout from Anaconda + if: always() && (github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request')) + run: | + anaconda logout || true diff --git a/MANIFEST.in b/MANIFEST.in index 4c1e88b8..aa1a5d87 100644 --- a/MANIFEST.in +++ b/MANIFEST.in @@ -1,5 +1,5 @@ recursive-include unilabos/registry *.yaml -recursive-include unilabos/app/static * -recursive-include unilabos/app/templates * +recursive-include unilabos/app/web/static * +recursive-include unilabos/app/web/templates * recursive-include unilabos/device_mesh/devices * recursive-include unilabos/device_mesh/resources * diff --git a/recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat b/recipes/msgs/bld_ament_cmake.bat similarity index 90% rename from recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat rename to recipes/msgs/bld_ament_cmake.bat index 9bf01552..10bdee94 100644 --- a/recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat +++ b/recipes/msgs/bld_ament_cmake.bat @@ -1,4 +1,4 @@ -:: Generated by vinca http://github.com/RoboStack/vinca. +::Generated by vinca http://github.com/RoboStack/vinca. :: DO NOT EDIT! setlocal EnableDelayedExpansion @@ -19,6 +19,7 @@ set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%" set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%" set PYTHON="%PREFIX%\python.exe" +set PYTHON=%PYTHON:\=\\% cmake ^ -G "%CMAKE_GENERATOR%" ^ @@ -34,8 +35,10 @@ cmake ^ -DCMAKE_OBJECT_PATH_MAX=255 ^ -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^ --compile-no-warning-as-error ^ - %SRC_DIR%\%PKG_NAME%\src\work + %SRC_DIR%\src + if errorlevel 1 exit 1 cmake --build . --config Release --target install + if errorlevel 1 exit 1 diff --git a/recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh b/recipes/msgs/build_ament_cmake.sh similarity index 95% rename from recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh rename to recipes/msgs/build_ament_cmake.sh index 52baa99c..91c9f0fe 100644 --- a/recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh +++ b/recipes/msgs/build_ament_cmake.sh @@ -24,7 +24,7 @@ echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}" export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"` echo "Using Python ${ROS_PYTHON_VERSION}" # Fix up SP_DIR which for some reason might contain a path to a wrong Python version -FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/") +FIXED_SP_DIR=$($PYTHON_EXECUTABLE -c "import site; print(site.getsitepackages()[0])") echo "Using site-package dir ${FIXED_SP_DIR}" # see https://github.com/conda-forge/cross-python-feedstock/issues/24 @@ -66,6 +66,6 @@ cmake \ -DBUILD_TESTING=OFF \ -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \ --compile-no-warning-as-error \ - $SRC_DIR/$PKG_NAME/src/work + $SRC_DIR/src cmake --build . --config Release --target install diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml new file mode 100644 index 00000000..3909ee44 --- /dev/null +++ b/recipes/msgs/recipe.yaml @@ -0,0 +1,76 @@ +package: + name: ros-humble-unilabos-msgs + version: 0.10.1 +source: + path: ../../unilabos_msgs + target_directory: src + +build: + script: + - if: win + then: + - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR% + - call %SRC_DIR%\bld_ament_cmake.bat + - if: unix + then: + - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR + - bash $SRC_DIR/build_ament_cmake.sh + +about: + repository: https://github.com/dptech-corp/Uni-Lab-OS + license: BSD-3-Clause + description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS." + +requirements: + build: + - if: build_platform != target_platform + then: + - pkg-config + - python ==3.11.11 + - cross-python_${{ target_platform }} + - numpy + - ${{ compiler('cxx') }} + - ${{ compiler('c') }} + - if: linux and x86_64 + then: + - sysroot_linux-64 ==2.17 + - ninja + - setuptools + - cython + - cmake + - if: unix + then: + - make + - coreutils + - if: osx + then: + - tapi + - if: win + then: + - vs2022_win-64 + host: + - numpy + - pip + - if: build_platform == target_platform + then: + - pkg-config + - robostack-staging::ros-humble-action-msgs + - robostack-staging::ros-humble-ament-cmake + - robostack-staging::ros-humble-ament-lint-auto + - robostack-staging::ros-humble-ament-lint-common + - robostack-staging::ros-humble-ros-environment + - robostack-staging::ros-humble-ros-workspace + - robostack-staging::ros-humble-rosidl-default-generators + - robostack-staging::ros-humble-std-msgs + - robostack-staging::ros-humble-geometry-msgs + - robostack-staging::ros2-distro-mutex=0.6 + run: + - robostack-staging::ros-humble-action-msgs + - robostack-staging::ros-humble-ros-workspace + - robostack-staging::ros-humble-rosidl-default-runtime + - robostack-staging::ros-humble-std-msgs + - robostack-staging::ros-humble-geometry-msgs + - robostack-staging::ros2-distro-mutex=0.6 + - if: osx and x86_64 + then: + - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/recipes/ros-humble-unilabos-msgs/recipe.yaml b/recipes/ros-humble-unilabos-msgs/recipe.yaml deleted file mode 100644 index 258047cb..00000000 --- a/recipes/ros-humble-unilabos-msgs/recipe.yaml +++ /dev/null @@ -1,61 +0,0 @@ -package: - name: ros-humble-unilabos-msgs - version: 0.10.1 -source: - path: ../../unilabos_msgs - folder: ros-humble-unilabos-msgs/src/work - -build: - script: - sel(win): bld_ament_cmake.bat - sel(unix): build_ament_cmake.sh - number: 5 -about: - home: https://www.ros.org/ - license: BSD-3-Clause - summary: | - Robot Operating System - -extra: - recipe-maintainers: - - ros-forge - -requirements: - build: - - "{{ compiler('cxx') }}" - - "{{ compiler('c') }}" - - sel(linux64): sysroot_linux-64 2.17 - - ninja - - setuptools - - sel(unix): make - - sel(unix): coreutils - - sel(osx): tapi - - sel(build_platform != target_platform): pkg-config - - cmake - - cython - - sel(win): vs2022_win-64 - - sel(build_platform != target_platform): python - - sel(build_platform != target_platform): cross-python_{{ target_platform }} - - sel(build_platform != target_platform): numpy - host: - - numpy - - pip - - sel(build_platform == target_platform): pkg-config - - robostack-staging::ros-humble-action-msgs - - robostack-staging::ros-humble-ament-cmake - - robostack-staging::ros-humble-ament-lint-auto - - robostack-staging::ros-humble-ament-lint-common - - robostack-staging::ros-humble-ros-environment - - robostack-staging::ros-humble-ros-workspace - - robostack-staging::ros-humble-rosidl-default-generators - - robostack-staging::ros-humble-std-msgs - - robostack-staging::ros-humble-geometry-msgs - - robostack-staging::ros2-distro-mutex=0.6.* - run: - - robostack-staging::ros-humble-action-msgs - - robostack-staging::ros-humble-ros-workspace - - robostack-staging::ros-humble-rosidl-default-runtime - - robostack-staging::ros-humble-std-msgs - - robostack-staging::ros-humble-geometry-msgs -# - robostack-staging::ros2-distro-mutex=0.6.* - - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }} diff --git a/unilabos/utils/log.py b/unilabos/utils/log.py index 61c95a14..a6801018 100644 --- a/unilabos/utils/log.py +++ b/unilabos/utils/log.py @@ -144,11 +144,29 @@ class ColoredFormatter(logging.Formatter): # 配置日志处理器 -def configure_logger(): - """配置日志记录器""" +def configure_logger(loglevel=None): + """配置日志记录器 + + Args: + loglevel: 日志级别，可以是字符串（'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'） + 或logging模块的常量（如logging.DEBUG） + """ # 获取根日志记录器 root_logger = logging.getLogger() - root_logger.setLevel(logging.DEBUG) # 修改为DEBUG以显示所有级别 + + # 设置日志级别 + if loglevel is not None: + if isinstance(loglevel, str): + # 将字符串转换为logging级别 + numeric_level = getattr(logging, loglevel.upper(), None) + if not isinstance(numeric_level, int): + print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG") + numeric_level = logging.DEBUG + else: + numeric_level = loglevel + root_logger.setLevel(numeric_level) + else: + root_logger.setLevel(logging.DEBUG) # 默认级别 # 移除已存在的处理器 for handler in root_logger.handlers[:]: @@ -156,7 +174,7 @@ def configure_logger(): # 创建控制台处理器 console_handler = logging.StreamHandler() - console_handler.setLevel(logging.DEBUG) # 修改为DEBUG以显示所有级别 + console_handler.setLevel(root_logger.level) # 使用与根记录器相同的级别 # 使用自定义的颜色格式化器 color_formatter = ColoredFormatter() diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index 4ccb3a9d..819cc8c9 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.0.5 + 0.10.1 ROS2 Messages package for unilabos devices Junhan Chang MIT