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Ready for open source (#47)
* Create app/main API * create example device * create ROS backend and example device SDK Wrapper * Add ROS host and host starting from app.py * Add gripper device and mock implementation * add "status_types" & "action_types" to ROS device decorator * add ActionServer debug example * [bugfix] complete mock gripper example * ROS Backend Host for Device action calling and Resource management * add conda/mamba ENV file * add host_node communication with app/main.py * add action message value mappings and converters * Update ilabos.yaml * Update issue templates * example devices.json and resources.json * Fix Device wrapper to use async property and actions (#7) * Fix Device wrapper to use async property and actions * Resolve #1 : support async get methods and actions. Give new examples. * add both sync/async GRBL controller SDK * 2 call device actions from appmainpy api to ros hostpy (#8) * feature: add job * fix:node start * feature:add get job status * fix:get device * clean * Resolve #5 device connection diagram and workflow compilation support (#9) * add syringe pump device and its compilation using device connection diagram * add RunzeSyringePump real device with ROS2 example * Prototype machine with 1 pump and 1 CNC * add ROS2ProtocolNode and related functions * add ilabos_msgs (to use PumpTransfer action) * add example device connection graph * refactor protocol_node code into separate file * add ROS2SerialNode * add SerialCommand srv in ilabos_msgs * add pump_protocol example, and fix bugs * [fix] serial service: avoid async service deadlock by directly call serial `send_command` * use SendCmd instead of SingleJointPosition for valve control * initialize device connection graph when server starts * Fix #5: async workflow execution (#16) * add rclpyx and protocol example for async-native workflow * use async in ROS2ProtocolNode, and host initialization * add examples of "ros-async" protocol implementation, and `run_in_event_loop` for using native async functions * use "ros-async" in protocols and device nodes * fix pump_protocol: push to 0.0 μL * Envs, docs, and conda recipes (#19) * update ENV: use python 3.11 and deprecate ros-humble-gazebo-ros * add ilabos-msgs conda recipe * Update ilabos.yaml * fix recipe and env yaml * Add sphinx docs * add aichemeco * add bioyong * add bioyong * Support XDL devices & protocols (#20) * [Feature] support multiple protocols in a single ProtocolNode * add Junjie's code * Support "Clean" protocol * Update Grignard_flow_batchreact_single_pumpvalve.json * test_grignard_add * add stir device node and example * Update device_node.py add print_publish flag to control the node's log output * NH4Cl_add * add "HeaterStirrer" device and "HeatChill" action * add wait time after each pump action for equilibration * fix stir * add Separate protocol * Refactor Separator device and Stir action * add rotavap_node * fix stir * add chiller node * Move rinsings into PumpTransfer * Fix SeparateProtocol under refactored Separator device and Stir action * Supports automatically add new protocol action_types * fix PumpTransfer protocol because of rinsing * Add Rotavap and Chiller devices * fix SeparateProtocol * add EvaporateProtocol * add rotavap devices config * fix HeaterStirrer and SeparatorController IO * Fix automatically add new protocol action_types * Add HeaterStirrer and SeparatorController device config * fix pump protocols * Fix Evaporate action * Update evaporate_protocol.py * add temp_sensor node and add function remap * update docs --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: q434343 <554662886@qq.com> * fix aichemeco * [Bugfix] fix Windows conda packaging * add file upload api * update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64 * update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64 * Create aichemeco_simple.py * fix * update * add aichemeco file * MQTT [1/2]: action start (#25) * add mq * fix * clean * add class * fix excel * update bioyong * add api * fix --------- Co-authored-by: caok@dp.tech <xiaoyeqiannian@163.com> * motor & grasp * Add Grasp motor support and enhance EleGripper class - Introduced a new motor configuration for Grasp in sjtu.json. - Updated EleGripper class to inherit from UniversalDriver and added status property. - Implemented move_and_rotate method for coordinated movement. - Adjusted threading logic in EleGripper initialization. - Registered Grasp motor in ROS2 device node configuration. This commit enhances the motor control capabilities by integrating the Grasp motor and improving the existing EleGripper functionality. * fix read data lenth * Update Grasp.py * MQTT (2/2): publish Device Status, Action Feedback & Results (#27) * Add bridges in HostNode for device_status publishing * Add "bridges" selection (fastapi & mqtt) when app start * add MQ feedback & result publisher, and fix message converter * fix UUID converting between ROS and MQ * lint api model.py * Continuous controllers: PID, MPC, custom controllers etc. (#23) * add controller config & wrapper * add controller setup at app.main * control loop example * fix com port * add agv , ur_arm and raman * MQTT (3/4): Unified Resources and Sync when starting the server (#28) * update http upload api * generate uuid when init device * example resource json * fix * add new example full-content json (device, resource, graph) * fix full-content json and related reading code * fix * add json_schema when initialize resources * fix * update schema * refactor heaterstirrer.dalong * fix * fix refactor heaterstirrer.dalong * refactor syringepump.runze: use ml instead of μL * Update ilabos/ros/host.py Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> * Distributed initialization with self-organizing network (#29) * add distributed launching option "--without_host" * fix --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> * Refactor Workstation: Add resource service and tracking (#30) * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * Create HT_hiwo.json * add children in resources * bugfixes * fix rpc * add Revvity winprep --------- Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com> * Distributed launch (2/2): distributed resource create (#32) * add resource_add request to host for slave mode * add AGV * fix protocol resources * optimize host callbacks * bugfixes * add revvity registry --------- Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> * Refactor Driver Files Structure (#33) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> * add: NMR LH and RU device control (#34) * Add Registry for device drivers and Support GraphML (#35) * read chemputer graphml * read graphml in app/main * add devices in ros/devices * add schema for devices * read registry directory and initialize when entry from main * Delete devices.py * Update add_protocol.md * delete unecessary files * feat: 2278 devices registry yaml (#36) * read chemputer graphml * read graphml in app/main * add devices in ros/devices * add schema for devices * read registry directory and initialize when entry from main * Delete devices.py * add: NMR LH and RU device control * fix: modify jiageng devices registry --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * Device/Resource Registry and GraphML support (#37) * add resource type conversion to PLR * add resource registry and test * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml --------- Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> * Uni-Lab Doc v0.2 (#39) * add Uni-Lab docs * change doc name * Dev (#41) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev * add HPLC registry and json * 升级 ros2-distro-mutex 依赖版本至 0.6 * 修改 ros2-distro-mutex 依赖版本为通配符匹配 * 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间 * add resource type conversion to PLR * add resource registry and test * feat: 更新oss上传 * fix device id * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * use robostack-staging * rclpy version test * lower rclpy * ensure 0.6* env * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml * Feature/device node later init (#40) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> * Dev (#45) * Integration with pywinauto & recorder Added execute run and initialize procdure * 酶标仪状态检测、使用示例，整体流程待测试 * nivo ready version * Add HPLC driver and example script - Introduced HPLCDriver class for managing HPLC device status and operations. - Implemented device status monitoring and command execution via ROS2 actions. - Added example script (hplc.py) demonstrating how to run commands on the HPLC device. - Created PlayerUtil and UniversalDriver classes for shared functionality across devices. - Refactored NivoDriver to utilize the new UniversalDriver structure. - Enhanced error handling and process management in the NivoDriver. * 修复start的错误定位 * hplc tested ok * relative path to build msgs * template_driver & jiageng devices * fetch correct status type and action type * fix mtype fetch * gpc bus integration * ilab build * remove chs * recipe rename * modbus update 1 * json available * hplc & modbus rewrite * Update AgilentHPLC.py hplc datafile reader * move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices * modbus分设备 * gpc * gpc 2 * fix address * default register node * fix MainScreenGPC * add Resource srv and message_converter * move graphio to ilabos/resources * refactor resources type conversion * add resource clients in device_node * add mock resources service * pass Gripper1 resource test * update http resource services * add AGV compile function * add AGV transfer protocol * update recipe.yaml * update full mock_gripper edit_id example * update full mock_gripper edit_id example * get and update resource also in protocol_node * mock resource update in AichemecoHiwo * feat: add other jiageng PLC device code * ilabos compile * correct format * correct recipe format * correct setup.py format * remove unnecessary files * remove unnecessary files * Create HT_hiwo.json * add children in resources * hplc support sample_id * correct hplc sample_id * correct hplc sample_id * hplc upload * fix type hint * oss upload tested ver * recipe yaml fix for linux * update installation yaml * refactor: moved all driver files according to its feat * merge main to dev * add HPLC registry and json * 升级 ros2-distro-mutex 依赖版本至 0.6 * 修改 ros2-distro-mutex 依赖版本为通配符匹配 * 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间 * add resource type conversion to PLR * add resource registry and test * feat: 更新oss上传 * fix device id * add docs * fix registry * add solenoid_valve_mock, its registry and test * fix registry for directly using examples * add EvacuateAndRefillProtocol and testcases * allow function sequence call in ACTION * add read & write & extra_info for hardware_interface * Update device_node.py * add solenoid valve * add doc developer guide yaml * use robostack-staging * rclpy version test * lower rclpy * ensure 0.6* env * fixes for starting IK station * add graphml grouping parser * fix graphml grouping parser * add communication edge parser * fix io solenoid valve * Update .gitignore * Update plates.yaml * Feature/device node later init (#40) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * Feature/device node later init (#42) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * Feature/device node later init (#43) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * plr * action * plr reg fix * Feature/device node later init (#44) * 修改config路径，方便后续打包 增加device_node打印 * 支持plr序列化/init创建 * 统一命名 * import mgr logger optimize banner print * 日志OK * fix unicorn frame * banner print * correct import format * file path changes * 取消后补全，在加载设备的时候直接替换 * converter update * web page update * 在线device更新，node继承替换 * 修复动作、状态的类型缺失 和 命令提示 * web功能实现结束 * host节点更改完成 新增status时间戳管理 新增每10s动态发现其他node * ros2类型的节点也应该被包一次 * 修复类型提示 * websocket 动态显示状态 * add workflow & book theme for docs * add workflow & book theme for docs * fix workflow build * fix workflow build * 理清启动关系 * stm32 example * mac . name * device_instance device_cls * 新增config添加方式 更新mqtt提示 * plr test * 移动is_host_mode 新增slave_no_host * 确保config优先修改生效 * fix graph io * 支持带参数传入 * 支持物料解析 * 支持物料解析 * device为空的时候不进行绑定或初始化 * protocol node new * protocol node runnable * protocol node runnable * action * plr suc * plr suc!! * plr suc!! * plr suc!! * plr msgs * plr * fix convert error fix async logic error added async error print * new device test * test resource add * test resource add * test resource add * test resource add * local env setup * node type fix temp fix root_node error fix convert res from type error * resource tracker * fix bug from qhh * fix bug from qhh * fix bug from qhh * fix bug from qhh * refactor MQTT client logging and connection handling; update group ID in config * driver_params allow empty * allow other init param * fix driver param and enhance type hint * refactor MQConfig to use double quotes for string literals * fix wrong function calling * fix wrong function calling * fix log for mac * fix networkx compatibility * add mqtt loggers * add action to jsonschema converter * random client id * type converter & registry * correct conversion * fix action publish only from discovered devices * add "Bio" tag for action doc generation * 改进module提示 * Fix doc * mqtt不连接也可用 性价样例提示 * add docs * 更新plr test案例 * Update intro.md * 更新有机案例 * skip --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Junhan Chang <1700011741@pku.edu.cn> --------- Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Junhan Chang <1700011741@pku.edu.cn> * Canonicalize before Open Source (#46) * big big refactor try01 * refactor 02 --------- Co-authored-by: ck <xiaoyeqiannian@163.com> Co-authored-by: 王俊杰 <1800011822@pku.edu.cn> Co-authored-by: q434343 <554662886@qq.com> Co-authored-by: Xuwznln <xuwznln@gmail.com> Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com> Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com> Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com> Co-authored-by: Xuwznln <1023025701@qq.com> Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn> Co-authored-by: jiawei <miaojiawei@dp.tech> Co-authored-by: Jiawei <91898272+jiawei723@users.noreply.github.com> Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn> Co-authored-by: Harvey Que <Q-Query@outlook.com>
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# 设备 Driver 开发
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我们对设备 Driver 的定义，是一个 Python/C++/C# 类，类的方法可以用于获取传感器数据、执行设备动作、更新物料信息。它们经过 Uni-Lab 的通信中间件包装，就能成为高效分布式通信的设备节点。
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因此，若已有设备的 SDK (Driver)，可以直接 [添加进 Uni-Lab](add_device.md)。仅当没有 SDK (Driver) 时，请参考本章作开发。
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## 有串口字符串指令集文档的设备：Python 串口通信（常见 RS485, RS232, USB）
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开发方式：对照厂家给出的指令集文档，实现相应发送指令字符串的 python 函数。可参考 [注射泵串口驱动样例](https://github.com/TablewareBox/runze-syringe-pump)
|
||||
|
||||
## 常见工业通信协议：Modbus（RTU, TCP）
|
||||
|
||||
Modbus 与 RS485、RS232 不一样的地方在于，会有更多直接寄存器的读写，以及涉及字节序转换（Big Endian, Little Endian）。
|
||||
|
||||
Uni-Lab 开发团队在仓库中提供了3个样例：
|
||||
|
||||
* 单一机械设备**电夹爪**，通讯协议可见 [增广夹爪通讯协议](https://doc.rmaxis.com/docs/communication/fieldbus/)，驱动代码位于 `unilabos/devices/gripper/rmaxis_v4.py`
|
||||
* 单一通信设备**IO板卡**，驱动代码位于 `unilabos/device_comms/gripper/SRND_16_IO.py`
|
||||
* 执行多设备复杂任务逻辑的**PLC**，Uni-Lab 提供了基于地址表的接入方式和点动工作流编写，测试代码位于 `unilabos/device_comms/modbus_plc/test/test_workflow.py`
|
||||
|
||||
****
|
||||
|
||||
## 其他工业通信协议：CANopen, Ethernet, OPCUA...
|
||||
|
||||
【敬请期待】
|
||||
|
||||
## 没有接口的老设备老软件：使用 PyWinAuto
|
||||
|
||||
**pywinauto**是一个 Python 库，用于自动化Windows GUI操作。它可以模拟用户的鼠标点击、键盘输入、窗口操作等，广泛应用于自动化测试、GUI自动化等场景。它支持通过两个后端进行操作：
|
||||
|
||||
* **win32**后端：适用于大多数Windows应用程序，使用native Win32 API。（pywinauto_recorder默认使用win32后端）
|
||||
* **uia**后端：基于Microsoft UI Automation，适用于较新的应用程序，特别是基于WPF或UWP的应用程序。（在win10上，会有更全的目录，有的窗口win32会识别不到）
|
||||
|
||||
### windows平台安装pywinauto和pywinauto_recorder
|
||||
|
||||
直接安装会造成环境崩溃，需要下载并解压已经修改好的文件。
|
||||
|
||||
cd到对应目录，执行安装
|
||||
|
||||
`pip install . -i ``https://pypi.tuna.tsinghua.edu.cn/simple`
|
||||
|
||||
|
||||
|
||||
windows平台测试 python pywinauto_recorder.py，退出使用两次ctrl+alt+r取消选中，关闭命令提示符。
|
||||
|
||||
### 计算器例子
|
||||
|
||||
你可以先打开windows的计算器，然后在ilab的环境中运行下面的代码片段，可观察到得到结果，通过这一案例，你需要掌握的pywinauto用法：
|
||||
|
||||
* 连接到指定进程
|
||||
* 利用dump_tree查找需要的窗口
|
||||
* 获取某个位置的信息
|
||||
* 模拟点击
|
||||
* 模拟输入
|
||||
|
||||
#### 代码学习
|
||||
|
||||
```Python
|
||||
from pywinauto import Application
|
||||
import time
|
||||
|
||||
from pywinauto.findwindows import ElementAmbiguousError
|
||||
|
||||
# 启动计算器应用
|
||||
app = Application(backend='uia').connect(title="计算器")
|
||||
|
||||
# 连接到计算器窗口
|
||||
window = app["计算器Dialog0"]
|
||||
|
||||
# 打印窗口控件树结构，帮助定位控件
|
||||
window.dump_tree(depth=3)
|
||||
# 详细输出
|
||||
"""
|
||||
Dialog - '计算器' (L-419, T773, R-73, B1287)
|
||||
['计算器Dialog', 'Dialog', '计算器', '计算器Dialog0', '计算器Dialog1', 'Dialog0', 'Dialog1', '计算器0', '计算器1']
|
||||
child_window(title="计算器", control_type="Window")
|
||||
|
|
||||
| Dialog - '计算器' (L-269, T774, R-81, B806)
|
||||
| ['计算器Dialog2', 'Dialog2', '计算器2']
|
||||
| child_window(title="计算器", auto_id="TitleBar", control_type="Window")
|
||||
| |
|
||||
| | Menu - '系统' (L0, T0, R0, B0)
|
||||
| | ['Menu', '系统', '系统Menu', '系统0', '系统1']
|
||||
| | child_window(title="系统", auto_id="SystemMenuBar", control_type="MenuBar")
|
||||
| |
|
||||
| | Button - '最小化 计算器' (L-219, T774, R-173, B806)
|
||||
| | ['Button', '最小化 计算器Button', '最小化 计算器', 'Button0', 'Button1']
|
||||
| | child_window(title="最小化 计算器", auto_id="Minimize", control_type="Button")
|
||||
| |
|
||||
| | Button - '使 计算器 最大化' (L-173, T774, R-127, B806)
|
||||
| | ['Button2', '使 计算器 最大化', '使 计算器 最大化Button']
|
||||
| | child_window(title="使 计算器 最大化", auto_id="Maximize", control_type="Button")
|
||||
| |
|
||||
| | Button - '关闭 计算器' (L-127, T774, R-81, B806)
|
||||
| | ['Button3', '关闭 计算器Button', '关闭 计算器']
|
||||
| | child_window(title="关闭 计算器", auto_id="Close", control_type="Button")
|
||||
|
|
||||
| Dialog - '计算器' (L-411, T774, R-81, B1279)
|
||||
| ['计算器Dialog3', 'Dialog3', '计算器3']
|
||||
| child_window(title="计算器", control_type="Window")
|
||||
| |
|
||||
| | Static - '计算器' (L-363, T782, R-327, B798)
|
||||
| | ['计算器Static', 'Static', '计算器4', 'Static0', 'Static1']
|
||||
| | child_window(title="计算器", auto_id="AppName", control_type="Text")
|
||||
| |
|
||||
| | Custom - '' (L-411, T806, R-81, B1279)
|
||||
| | ['Custom', '计算器Custom']
|
||||
| | child_window(auto_id="NavView", control_type="Custom")
|
||||
|
|
||||
| Pane - '' (L-411, T806, R-81, B1279)
|
||||
| ['Pane', '计算器Pane']
|
||||
"""
|
||||
|
||||
# 通过控件路径（可参考下一小节路径）可以发现，本文档第48-50行是我们需要定位的控件
|
||||
# 本文档第16-18行为其自身，即depth=1，我们要定位的第48-50行是depth=3的控件，从树来一级一级定位即可
|
||||
# PyWinAuto为我们提供了非常便捷的取窗口方式，在每3行dump的内容中，第三行就是从上一级取出当前窗口的方式，直接复制即可
|
||||
# 这里注意到，使用title="计算器", control_type="Window"进行匹配，会出现两个，因此指定found_index=1
|
||||
sub_window = window.child_window(title="计算器", control_type="Window", found_index=1)
|
||||
target_window = sub_window.child_window(auto_id="NavView", control_type="Custom")
|
||||
target_window.dump_tree(depth=3)
|
||||
"""
|
||||
Custom - '' (L-411, T806, R-81, B1279)
|
||||
['标准Custom', 'Custom']
|
||||
child_window(auto_id="NavView", control_type="Custom")
|
||||
|
|
||||
| Button - '打开导航' (L-407, T812, R-367, B848)
|
||||
| ['打开导航Button', '打开导航', 'Button', 'Button0', 'Button1']
|
||||
| child_window(title="打开导航", auto_id="TogglePaneButton", control_type="Button")
|
||||
| |
|
||||
| | Static - '' (L0, T0, R0, B0)
|
||||
| | ['Static', 'Static0', 'Static1']
|
||||
| | child_window(auto_id="PaneTitleTextBlock", control_type="Text")
|
||||
|
|
||||
| GroupBox - '' (L-411, T814, R-81, B1275)
|
||||
| ['标准GroupBox', 'GroupBox', 'GroupBox0', 'GroupBox1']
|
||||
| |
|
||||
| | Static - '表达式为 ' (L0, T0, R0, B0)
|
||||
| | ['表达式为 ', 'Static2', '表达式为 Static']
|
||||
| | child_window(title="表达式为 ", auto_id="CalculatorExpression", control_type="Text")
|
||||
| |
|
||||
| | Static - '显示为 0' (L-411, T875, R-81, B947)
|
||||
| | ['显示为 0Static', '显示为 0', 'Static3']
|
||||
| | child_window(title="显示为 0", auto_id="CalculatorResults", control_type="Text")
|
||||
| |
|
||||
| | Button - '打开历史记录浮出控件' (L-121, T814, R-89, B846)
|
||||
| | ['打开历史记录浮出控件', '打开历史记录浮出控件Button', 'Button2']
|
||||
| | child_window(title="打开历史记录浮出控件", auto_id="HistoryButton", control_type="Button")
|
||||
| |
|
||||
| | GroupBox - '记忆控件' (L-407, T948, R-85, B976)
|
||||
| | ['记忆控件', '记忆控件GroupBox', 'GroupBox2']
|
||||
| | child_window(title="记忆控件", auto_id="MemoryPanel", control_type="Group")
|
||||
| |
|
||||
| | GroupBox - '显示控件' (L-407, T978, R-85, B1026)
|
||||
| | ['显示控件', 'GroupBox3', '显示控件GroupBox']
|
||||
| | child_window(title="显示控件", auto_id="DisplayControls", control_type="Group")
|
||||
| |
|
||||
| | GroupBox - '标准函数' (L-407, T1028, R-166, B1076)
|
||||
| | ['标准函数', '标准函数GroupBox', 'GroupBox4']
|
||||
| | child_window(title="标准函数", auto_id="StandardFunctions", control_type="Group")
|
||||
| |
|
||||
| | GroupBox - '标准运算符' (L-164, T1028, R-85, B1275)
|
||||
| | ['标准运算符', '标准运算符GroupBox', 'GroupBox5']
|
||||
| | child_window(title="标准运算符", auto_id="StandardOperators", control_type="Group")
|
||||
| |
|
||||
| | GroupBox - '数字键盘' (L-407, T1078, R-166, B1275)
|
||||
| | ['GroupBox6', '数字键盘', '数字键盘GroupBox']
|
||||
| | child_window(title="数字键盘", auto_id="NumberPad", control_type="Group")
|
||||
| |
|
||||
| | Button - '正负' (L-407, T1228, R-328, B1275)
|
||||
| | ['Button32', '正负Button', '正负']
|
||||
| | child_window(title="正负", auto_id="negateButton", control_type="Button")
|
||||
|
|
||||
| Static - '标准' (L-363, T815, R-322, B842)
|
||||
| ['标准', '标准Static', 'Static4']
|
||||
| child_window(title="标准", auto_id="Header", control_type="Text")
|
||||
|
|
||||
| Button - '始终置顶' (L-312, T814, R-280, B846)
|
||||
| ['始终置顶Button', '始终置顶', 'Button33']
|
||||
| child_window(title="始终置顶", auto_id="NormalAlwaysOnTopButton", control_type="Button")
|
||||
"""
|
||||
# 观察到GroupBox控件并没有提供默认的child_window，而list中的identifier均可作为best_match来索引
|
||||
# ['标准GroupBox', 'GroupBox', 'GroupBox0', 'GroupBox1'] 这里选用第0项
|
||||
group_box = target_window.child_window(best_match="标准GroupBox")
|
||||
numpad = group_box.child_window(title="数字键盘", auto_id="NumberPad", control_type="Group")
|
||||
numpad.dump_tree(depth=2)
|
||||
"""
|
||||
GroupBox - '数字键盘' (L-334, T1350, R-93, B1547)
|
||||
['GroupBox', '数字键盘', '数字键盘GroupBox']
|
||||
child_window(title="数字键盘", auto_id="NumberPad", control_type="Group")
|
||||
|
|
||||
| Button - '零' (L-253, T1500, R-174, B1547)
|
||||
| ['零Button', 'Button', '零', 'Button0', 'Button1']
|
||||
| child_window(title="零", auto_id="num0Button", control_type="Button")
|
||||
|
|
||||
| Button - '一' (L-334, T1450, R-255, B1498)
|
||||
| ['一Button', 'Button2', '一']
|
||||
| child_window(title="一", auto_id="num1Button", control_type="Button")
|
||||
|
|
||||
| Button - '二' (L-253, T1450, R-174, B1498)
|
||||
| ['Button3', '二', '二Button']
|
||||
| child_window(title="二", auto_id="num2Button", control_type="Button")
|
||||
|
|
||||
| Button - '三' (L-172, T1450, R-93, B1498)
|
||||
| ['Button4', '三', '三Button']
|
||||
| child_window(title="三", auto_id="num3Button", control_type="Button")
|
||||
|
|
||||
| Button - '四' (L-334, T1400, R-255, B1448)
|
||||
| ['四', 'Button5', '四Button']
|
||||
| child_window(title="四", auto_id="num4Button", control_type="Button")
|
||||
|
|
||||
| Button - '五' (L-253, T1400, R-174, B1448)
|
||||
| ['Button6', '五Button', '五']
|
||||
| child_window(title="五", auto_id="num5Button", control_type="Button")
|
||||
|
|
||||
| Button - '六' (L-172, T1400, R-93, B1448)
|
||||
| ['六Button', 'Button7', '六']
|
||||
| child_window(title="六", auto_id="num6Button", control_type="Button")
|
||||
|
|
||||
| Button - '七' (L-334, T1350, R-255, B1398)
|
||||
| ['Button8', '七Button', '七']
|
||||
| child_window(title="七", auto_id="num7Button", control_type="Button")
|
||||
|
|
||||
| Button - '八' (L-253, T1350, R-174, B1398)
|
||||
| ['八', 'Button9', '八Button']
|
||||
| child_window(title="八", auto_id="num8Button", control_type="Button")
|
||||
|
|
||||
| Button - '九' (L-172, T1350, R-93, B1398)
|
||||
| ['Button10', '九', '九Button']
|
||||
| child_window(title="九", auto_id="num9Button", control_type="Button")
|
||||
|
|
||||
| Button - '十进制分隔符' (L-172, T1500, R-93, B1547)
|
||||
| ['十进制分隔符Button', 'Button11', '十进制分隔符']
|
||||
| child_window(title="十进制分隔符", auto_id="decimalSeparatorButton", control_type="Button")
|
||||
"""
|
||||
# 获取按钮 '9'
|
||||
button_9 = numpad.child_window(title="九", auto_id="num9Button", control_type="Button")
|
||||
# 利用相同的办法，我们也可以找到增加和等于号的控件
|
||||
std_calc_panel = group_box.child_window(title="标准运算符", auto_id="StandardOperators", control_type="Group")
|
||||
equal_operation = std_calc_panel.child_window(title="等于", auto_id="equalButton", control_type="Button")
|
||||
|
||||
# 模拟点击按钮 '9'
|
||||
button_9.click_input()
|
||||
# 键入：https://github.com/pywinauto/pywinauto/blob/atspi/pywinauto/windows/keyboard.py
|
||||
# 模拟输入 '加号' 和 数字9
|
||||
window.type_keys("{VK_ADD}9")
|
||||
# 等于
|
||||
equal_operation.click_input()
|
||||
# 获取计算结果文本（显示在计算器窗口的文本框中）
|
||||
result = group_box.child_window(auto_id="CalculatorResults", control_type="Text").window_text()
|
||||
print(f"计算结果：{result[4:]}") # 应当得到结果18
|
||||
```
|
||||
|
||||
#### 依据像素判定状态
|
||||
|
||||
```Python
|
||||
# 有时，你需要根据窗口的颜色判断是否可用，是否正在运行，可以使用pyautogui来实现这一功能
|
||||
# pyautogui需要对应在环境中进行安装
|
||||
point_x = int(control_view.rectangle().left + control_view.rectangle().width() * 0.15)
|
||||
point_y = 15 + control_view.rectangle().top
|
||||
r, g, b = pyautogui.pixel(point_x, point_y)
|
||||
```
|
||||
|
||||
### pywinauto_recorder
|
||||
|
||||
pywinauto_recorder是一个配合 pywinauto 使用的工具，用于录制用户的操作，并生成相应的 pywinauto 脚本。这对于一些暂时无法直接调用DLL的函数并且需要模拟用户操作的场景非常有用。同时，可以省去仅用pywinauto的一些查找UI步骤。
|
||||
|
||||
#### 运行尝试
|
||||
|
||||
请参照 上手尝试-环境创建-3 开启pywinauto_recorder
|
||||
|
||||
例如我们这里先启动一个windows自带的计算器软件
|
||||
|
||||
|
||||
|
||||
在录制状态下点击数字键盘的“9”，随后退出录制，得到下图运行的文件。
|
||||
|
||||
|
||||
|
||||
```Python
|
||||
# encoding: utf-8
|
||||
|
||||
from pywinauto_recorder.player import *
|
||||
|
||||
with UIPath(u"计算器||Window"):
|
||||
with UIPath(u"计算器||Window->||Custom->||Group->数字键盘||Group"):
|
||||
click(u"九||Button")
|
||||
```
|
||||
|
||||
执行该python脚本，可以观察到新开启的计算器被点击了数字9
|
||||
|
||||
|
||||
|
||||
### `dump_tree`详解
|
||||
|
||||
`dump_tree`方法用于打印控件树结构，帮助我们快速了解应用程序窗口中的控件层级，尤其是在自动化测试或脚本开发中，识别控件非常重要。
|
||||
|
||||
```Python
|
||||
window.dump_tree(depth=[int类型数字], filename=None)
|
||||
# 打印当前窗口及其子控件的树结构
|
||||
# 在debug的过程中，如果需要查找某一控件，可以通过depth指定为4~5，利用搜索查看是哪个独立控件
|
||||
# 指定filename后将保存到对应目录文件中
|
||||
```
|
||||
|
||||
输出会列出窗口的各个控件及其子控件，显示每个控件的属性（如标题、类型等）。
|
||||
|
||||
```Python
|
||||
"""
|
||||
GroupBox - '数字键盘' (L-334, T1350, R-93, B1547)
|
||||
['GroupBox', '数字键盘', '数字键盘GroupBox']
|
||||
child_window(title="数字键盘", auto_id="NumberPad", control_type="Group")
|
||||
|
|
||||
| Button - '零' (L-253, T1500, R-174, B1547)
|
||||
| ['零Button', 'Button', '零', 'Button0', 'Button1']
|
||||
| child_window(title="零", auto_id="num0Button", control_type="Button")
|
||||
"""
|
||||
```
|
||||
|
||||
这里以上面计算器的例子对dump_tree进行解读
|
||||
|
||||
2~4行为当前对象的窗口
|
||||
|
||||
* 第2行分别是窗体的类型 `GroupBox`，窗体的题目 `数字键盘`，窗体的矩形区域坐标，对应的是屏幕上的位置（左、上、右、下）
|
||||
* 第3行是 `['GroupBox', '数字键盘', '数字键盘GroupBox']`，为控件的标识符列表，可以选择任意一个，使用 `child_window(best_match="标识符")`来获取该窗口
|
||||
* 第4行是获取该控件的方法，请注意该方法不能保证获取唯一，`title`如果是变化的，也需要删除 `title`参数
|
||||
|
||||
6~8行为当前对象窗口所包含的子窗口信息，信息类型对应2~4行
|
||||
|
||||
### 窗口获取注意事项
|
||||
|
||||
1. 在 `child_window`的时候，并不会立刻报错，只有在执行窗口的信息获取时才会调用，查询窗口是否存在，因此要想确定 `child_window`是否正确，可以调用子窗口对象的属性 `element_info`，来保证窗口存在
|
||||
Reference in New Issue
Block a user