mirror of
https://github.com/deepmodeling/Uni-Lab-OS
synced 2026-03-27 22:03:06 +00:00
Merge branch 'dev' into feature/organic-extraction
This commit is contained in:
ZiWei
@@ -96,10 +96,13 @@ serial:
|
||||
type: string
|
||||
port:
|
||||
type: string
|
||||
registry_name:
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: object
|
||||
required:
|
||||
- device_id
|
||||
- registry_name
|
||||
- port
|
||||
type: object
|
||||
data:
|
||||
|
||||
@@ -67,6 +67,9 @@ camera:
|
||||
period:
|
||||
default: 0.1
|
||||
type: number
|
||||
registry_name:
|
||||
default: ''
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: object
|
||||
required: []
|
||||
|
||||
@@ -9468,7 +9468,7 @@ liquid_handler.prcxi:
|
||||
well_names: null
|
||||
handles:
|
||||
input:
|
||||
- data_key: plate
|
||||
- data_key: '@this.0@@@plate'
|
||||
data_source: handle
|
||||
data_type: resource
|
||||
handler_key: input_plate
|
||||
@@ -9503,81 +9503,78 @@ liquid_handler.prcxi:
|
||||
type: string
|
||||
type: array
|
||||
plate:
|
||||
items:
|
||||
properties:
|
||||
category:
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
children:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: plate
|
||||
type: object
|
||||
type: array
|
||||
config:
|
||||
type: string
|
||||
data:
|
||||
type: string
|
||||
id:
|
||||
type: string
|
||||
name:
|
||||
type: string
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
properties:
|
||||
orientation:
|
||||
properties:
|
||||
w:
|
||||
type: number
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
x:
|
||||
type: number
|
||||
y:
|
||||
type: number
|
||||
z:
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
type:
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- name
|
||||
- sample_id
|
||||
- children
|
||||
- parent
|
||||
- type
|
||||
- category
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: plate
|
||||
type: array
|
||||
type: object
|
||||
volumes:
|
||||
items:
|
||||
type: number
|
||||
@@ -9593,17 +9590,207 @@ liquid_handler.prcxi:
|
||||
- volumes
|
||||
type: object
|
||||
result:
|
||||
$defs:
|
||||
ResourceDict:
|
||||
properties:
|
||||
class:
|
||||
description: Resource class name
|
||||
title: Class
|
||||
type: string
|
||||
config:
|
||||
additionalProperties: true
|
||||
description: Resource configuration
|
||||
title: Config
|
||||
type: object
|
||||
data:
|
||||
additionalProperties: true
|
||||
description: 'Resource data, eg: container liquid data'
|
||||
title: Data
|
||||
type: object
|
||||
description:
|
||||
default: ''
|
||||
description: Resource description
|
||||
title: Description
|
||||
type: string
|
||||
extra:
|
||||
additionalProperties: true
|
||||
description: 'Extra data, eg: slot index'
|
||||
title: Extra
|
||||
type: object
|
||||
icon:
|
||||
default: ''
|
||||
description: Resource icon
|
||||
title: Icon
|
||||
type: string
|
||||
id:
|
||||
description: Resource ID
|
||||
title: Id
|
||||
type: string
|
||||
model:
|
||||
additionalProperties: true
|
||||
description: Resource model
|
||||
title: Model
|
||||
type: object
|
||||
name:
|
||||
description: Resource name
|
||||
title: Name
|
||||
type: string
|
||||
parent:
|
||||
anyOf:
|
||||
- $ref: '#/$defs/ResourceDict'
|
||||
- type: 'null'
|
||||
default: null
|
||||
description: Parent resource object
|
||||
parent_uuid:
|
||||
anyOf:
|
||||
- type: string
|
||||
- type: 'null'
|
||||
default: null
|
||||
description: Parent resource uuid
|
||||
title: Parent Uuid
|
||||
pose:
|
||||
$ref: '#/$defs/ResourceDictPosition'
|
||||
description: Resource position
|
||||
schema:
|
||||
additionalProperties: true
|
||||
description: Resource schema
|
||||
title: Schema
|
||||
type: object
|
||||
type:
|
||||
anyOf:
|
||||
- const: device
|
||||
type: string
|
||||
- type: string
|
||||
description: Resource type
|
||||
title: Type
|
||||
uuid:
|
||||
description: Resource UUID
|
||||
title: Uuid
|
||||
type: string
|
||||
required:
|
||||
- id
|
||||
- uuid
|
||||
- name
|
||||
- type
|
||||
- class
|
||||
- config
|
||||
- data
|
||||
- extra
|
||||
title: ResourceDict
|
||||
type: object
|
||||
ResourceDictPosition:
|
||||
properties:
|
||||
cross_section_type:
|
||||
default: rectangle
|
||||
description: Cross section type
|
||||
enum:
|
||||
- rectangle
|
||||
- circle
|
||||
- rounded_rectangle
|
||||
title: Cross Section Type
|
||||
type: string
|
||||
layout:
|
||||
default: x-y
|
||||
description: Resource layout
|
||||
enum:
|
||||
- 2d
|
||||
- x-y
|
||||
- z-y
|
||||
- x-z
|
||||
title: Layout
|
||||
type: string
|
||||
position:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource position
|
||||
position3d:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource position in 3D space
|
||||
rotation:
|
||||
$ref: '#/$defs/ResourceDictPositionObject'
|
||||
description: Resource rotation
|
||||
scale:
|
||||
$ref: '#/$defs/ResourceDictPositionScale'
|
||||
description: Resource scale
|
||||
size:
|
||||
$ref: '#/$defs/ResourceDictPositionSize'
|
||||
description: Resource size
|
||||
title: ResourceDictPosition
|
||||
type: object
|
||||
ResourceDictPositionObject:
|
||||
properties:
|
||||
x:
|
||||
default: 0.0
|
||||
description: X coordinate
|
||||
title: X
|
||||
type: number
|
||||
y:
|
||||
default: 0.0
|
||||
description: Y coordinate
|
||||
title: Y
|
||||
type: number
|
||||
z:
|
||||
default: 0.0
|
||||
description: Z coordinate
|
||||
title: Z
|
||||
type: number
|
||||
title: ResourceDictPositionObject
|
||||
type: object
|
||||
ResourceDictPositionScale:
|
||||
properties:
|
||||
x:
|
||||
default: 0.0
|
||||
description: x scale
|
||||
title: X
|
||||
type: number
|
||||
y:
|
||||
default: 0.0
|
||||
description: y scale
|
||||
title: Y
|
||||
type: number
|
||||
z:
|
||||
default: 0.0
|
||||
description: z scale
|
||||
title: Z
|
||||
type: number
|
||||
title: ResourceDictPositionScale
|
||||
type: object
|
||||
ResourceDictPositionSize:
|
||||
properties:
|
||||
depth:
|
||||
default: 0.0
|
||||
description: Depth
|
||||
title: Depth
|
||||
type: number
|
||||
height:
|
||||
default: 0.0
|
||||
description: Height
|
||||
title: Height
|
||||
type: number
|
||||
width:
|
||||
default: 0.0
|
||||
description: Width
|
||||
title: Width
|
||||
type: number
|
||||
title: ResourceDictPositionSize
|
||||
type: object
|
||||
properties:
|
||||
plate:
|
||||
items: {}
|
||||
items:
|
||||
items:
|
||||
$ref: '#/$defs/ResourceDict'
|
||||
type: array
|
||||
title: Plate
|
||||
type: array
|
||||
volumes:
|
||||
items: {}
|
||||
items:
|
||||
type: number
|
||||
title: Volumes
|
||||
type: array
|
||||
wells:
|
||||
items: {}
|
||||
items:
|
||||
items:
|
||||
$ref: '#/$defs/ResourceDict'
|
||||
type: array
|
||||
title: Wells
|
||||
type: array
|
||||
required:
|
||||
|
||||
@@ -5835,6 +5835,25 @@ virtual_workbench:
|
||||
- material_number
|
||||
type: object
|
||||
result:
|
||||
$defs:
|
||||
LabSample:
|
||||
properties:
|
||||
extra:
|
||||
additionalProperties: true
|
||||
title: Extra
|
||||
type: object
|
||||
oss_path:
|
||||
title: Oss Path
|
||||
type: string
|
||||
sample_uuid:
|
||||
title: Sample Uuid
|
||||
type: string
|
||||
required:
|
||||
- sample_uuid
|
||||
- oss_path
|
||||
- extra
|
||||
title: LabSample
|
||||
type: object
|
||||
description: move_to_heating_station 返回类型
|
||||
properties:
|
||||
material_id:
|
||||
@@ -5853,12 +5872,18 @@ virtual_workbench:
|
||||
success:
|
||||
title: Success
|
||||
type: boolean
|
||||
unilabos_samples:
|
||||
items:
|
||||
$ref: '#/$defs/LabSample'
|
||||
title: Unilabos Samples
|
||||
type: array
|
||||
required:
|
||||
- success
|
||||
- station_id
|
||||
- material_id
|
||||
- material_number
|
||||
- message
|
||||
- unilabos_samples
|
||||
title: MoveToHeatingStationResult
|
||||
type: object
|
||||
required:
|
||||
@@ -5903,6 +5928,25 @@ virtual_workbench:
|
||||
- material_number
|
||||
type: object
|
||||
result:
|
||||
$defs:
|
||||
LabSample:
|
||||
properties:
|
||||
extra:
|
||||
additionalProperties: true
|
||||
title: Extra
|
||||
type: object
|
||||
oss_path:
|
||||
title: Oss Path
|
||||
type: string
|
||||
sample_uuid:
|
||||
title: Sample Uuid
|
||||
type: string
|
||||
required:
|
||||
- sample_uuid
|
||||
- oss_path
|
||||
- extra
|
||||
title: LabSample
|
||||
type: object
|
||||
description: move_to_output 返回类型
|
||||
properties:
|
||||
material_id:
|
||||
@@ -5914,10 +5958,16 @@ virtual_workbench:
|
||||
success:
|
||||
title: Success
|
||||
type: boolean
|
||||
unilabos_samples:
|
||||
items:
|
||||
$ref: '#/$defs/LabSample'
|
||||
title: Unilabos Samples
|
||||
type: array
|
||||
required:
|
||||
- success
|
||||
- station_id
|
||||
- material_id
|
||||
- unilabos_samples
|
||||
title: MoveToOutputResult
|
||||
type: object
|
||||
required:
|
||||
@@ -5972,6 +6022,25 @@ virtual_workbench:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
$defs:
|
||||
LabSample:
|
||||
properties:
|
||||
extra:
|
||||
additionalProperties: true
|
||||
title: Extra
|
||||
type: object
|
||||
oss_path:
|
||||
title: Oss Path
|
||||
type: string
|
||||
sample_uuid:
|
||||
title: Sample Uuid
|
||||
type: string
|
||||
required:
|
||||
- sample_uuid
|
||||
- oss_path
|
||||
- extra
|
||||
title: LabSample
|
||||
type: object
|
||||
description: prepare_materials 返回类型 - 批量准备物料
|
||||
properties:
|
||||
count:
|
||||
@@ -5998,6 +6067,11 @@ virtual_workbench:
|
||||
success:
|
||||
title: Success
|
||||
type: boolean
|
||||
unilabos_samples:
|
||||
items:
|
||||
$ref: '#/$defs/LabSample'
|
||||
title: Unilabos Samples
|
||||
type: array
|
||||
required:
|
||||
- success
|
||||
- count
|
||||
@@ -6007,6 +6081,7 @@ virtual_workbench:
|
||||
- material_4
|
||||
- material_5
|
||||
- message
|
||||
- unilabos_samples
|
||||
title: PrepareMaterialsResult
|
||||
type: object
|
||||
required:
|
||||
@@ -6015,6 +6090,7 @@ virtual_workbench:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_heating:
|
||||
always_free: true
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
@@ -6062,6 +6138,25 @@ virtual_workbench:
|
||||
- material_number
|
||||
type: object
|
||||
result:
|
||||
$defs:
|
||||
LabSample:
|
||||
properties:
|
||||
extra:
|
||||
additionalProperties: true
|
||||
title: Extra
|
||||
type: object
|
||||
oss_path:
|
||||
title: Oss Path
|
||||
type: string
|
||||
sample_uuid:
|
||||
title: Sample Uuid
|
||||
type: string
|
||||
required:
|
||||
- sample_uuid
|
||||
- oss_path
|
||||
- extra
|
||||
title: LabSample
|
||||
type: object
|
||||
description: start_heating 返回类型
|
||||
properties:
|
||||
material_id:
|
||||
@@ -6079,12 +6174,18 @@ virtual_workbench:
|
||||
success:
|
||||
title: Success
|
||||
type: boolean
|
||||
unilabos_samples:
|
||||
items:
|
||||
$ref: '#/$defs/LabSample'
|
||||
title: Unilabos Samples
|
||||
type: array
|
||||
required:
|
||||
- success
|
||||
- station_id
|
||||
- material_id
|
||||
- material_number
|
||||
- message
|
||||
- unilabos_samples
|
||||
title: StartHeatingResult
|
||||
type: object
|
||||
required:
|
||||
|
||||
@@ -5,6 +5,7 @@ import sys
|
||||
import inspect
|
||||
import importlib
|
||||
import threading
|
||||
import traceback
|
||||
from concurrent.futures import ThreadPoolExecutor, as_completed
|
||||
from pathlib import Path
|
||||
from typing import Any, Dict, List, Union, Tuple
|
||||
@@ -88,6 +89,14 @@ class Registry:
|
||||
)
|
||||
test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
|
||||
|
||||
test_resource_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_resource", {})
|
||||
test_resource_schema = self._generate_unilab_json_command_schema(
|
||||
test_resource_method_info.get("args", []),
|
||||
"test_resource",
|
||||
test_resource_method_info.get("return_annotation"),
|
||||
)
|
||||
test_resource_schema["description"] = "用于测试物料、设备和样本。"
|
||||
|
||||
self.device_type_registry.update(
|
||||
{
|
||||
"host_node": {
|
||||
@@ -189,32 +198,7 @@ class Registry:
|
||||
"goal": {},
|
||||
"feedback": {},
|
||||
"result": {},
|
||||
"schema": {
|
||||
"description": "",
|
||||
"properties": {
|
||||
"feedback": {},
|
||||
"goal": {
|
||||
"properties": {
|
||||
"resource": ros_message_to_json_schema(Resource, "resource"),
|
||||
"resources": {
|
||||
"items": {
|
||||
"properties": ros_message_to_json_schema(
|
||||
Resource, "resources"
|
||||
),
|
||||
"type": "object",
|
||||
},
|
||||
"type": "array",
|
||||
},
|
||||
"device": {"type": "string"},
|
||||
"devices": {"items": {"type": "string"}, "type": "array"},
|
||||
},
|
||||
"type": "object",
|
||||
},
|
||||
"result": {},
|
||||
},
|
||||
"title": "test_resource",
|
||||
"type": "object",
|
||||
},
|
||||
"schema": test_resource_schema,
|
||||
"placeholder_keys": {
|
||||
"device": "unilabos_devices",
|
||||
"devices": "unilabos_devices",
|
||||
@@ -838,6 +822,7 @@ class Registry:
|
||||
("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"]
|
||||
@@ -943,6 +928,7 @@ class Registry:
|
||||
if is_valid:
|
||||
results.append((file, data, device_ids))
|
||||
except Exception as e:
|
||||
traceback.print_exc()
|
||||
logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
|
||||
|
||||
# 线程安全地更新注册表
|
||||
|
||||
Reference in New Issue
Block a user