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no opcua installation on macos

Browse Source 
fix possible crash

fix deck & host_node

set liquid with tube

add test_resource_schema

fix test resource schema

registry update & workflow update

add test mode

support description & tags upload

fix config load

fix log

add registry name & add always free

correct config organic synthesis

Adapt to new scheduler, sampels, and edge upload format (#230)

* add sample_material

* adapt to new samples sys

* fix pump transfer. fix resource update when protocol & ros callback

* Adapt to new scheduler.

Feat/samples (#229)

* add sample_material

* adapt to new samples sys

adapt to new samples sys

adapt to new edge format

workflow upload & prcxi transfer liquid

lh liquid

speed up registry load

workflow upload & set liquid fix & add set liquid with plate

fix upload workflow json
This commit is contained in:
Xuwznln
2026-02-02 17:18:45 +08:00
parent 5179a7e48e
commit b551e69f64
41 changed files with 2671 additions and 747 deletions
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309
unilabos/registry/devices/liquid_handler.yaml
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@@ -638,7 +638,7 @@ liquid_handler:
placeholder_keys: {}
result: {}
schema:
description: 吸头迭代函数。用于自动管理和切换吸头架中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
description: 吸头迭代函数。用于自动管理和切换枪头盒中的吸头，实现批量实验中的吸头自动分配和追踪。该函数监控吸头使用状态，自动切换到下一个可用吸头位置，确保实验流程的连续性。适用于高通量实验、批量处理、自动化流水线等需要大量吸头管理的应用场景。
properties:
feedback: {}
goal:
@@ -712,6 +712,43 @@ liquid_handler:
title: set_group参数
type: object
type: UniLabJsonCommand
auto-set_liquid_from_plate:
feedback: {}
goal: {}
goal_default:
liquid_names: null
plate: null
volumes: null
well_names: null
handles: {}
placeholder_keys: {}
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
liquid_names:
type: string
plate:
type: string
volumes:
type: string
well_names:
type: string
required:
- plate
- well_names
- liquid_names
- volumes
type: object
result: {}
required:
- goal
title: set_liquid_from_plate参数
type: object
type: UniLabJsonCommand
auto-set_tiprack:
feedback: {}
goal: {}
@@ -721,7 +758,7 @@ liquid_handler:
placeholder_keys: {}
result: {}
schema:
description: 吸头架设置函数。用于配置和初始化液体处理系统的吸头架信息，包括吸头架位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、吸头架更换、实验配置等需要吸头资源管理的操作场景。
description: 枪头盒设置函数。用于配置和初始化液体处理系统的枪头盒信息，包括枪头盒位置、类型、容量等参数。该函数建立吸头资源管理系统，为后续的吸头选择和使用提供基础配置。适用于系统初始化、枪头盒更换、实验配置等需要吸头资源管理的操作场景。
properties:
feedback: {}
goal:
@@ -4093,32 +4130,32 @@ liquid_handler:
- 0
handles:
input:
- data_key: liquid
- data_key: sources
data_source: handle
data_type: resource
handler_key: sources
label: sources
- data_key: liquid
data_source: executor
data_type: resource
handler_key: targets
label: targets
- data_key: liquid
data_source: executor
data_type: resource
handler_key: tip_rack
label: tip_rack
output:
- data_key: liquid
label: 待移动液体
- data_key: targets
data_source: handle
data_type: resource
handler_key: targets
label: 转移目标
- data_key: tip_racks
data_source: handle
data_type: resource
handler_key: tip_rack
label: 枪头盒
output:
- data_key: sources.@flatten
data_source: executor
data_type: resource
handler_key: sources_out
label: sources
- data_key: liquid
label: 移液后源孔
- data_key: targets.@flatten
data_source: executor
data_type: resource
handler_key: targets_out
label: targets
label: 移液后目标孔
placeholder_keys:
sources: unilabos_resources
targets: unilabos_resources
@@ -5114,19 +5151,34 @@ liquid_handler.biomek:
- 0
handles:
input:
- data_key: liquid
- data_key: sources
data_source: handle
data_type: resource
handler_key: liquid-input
handler_key: sources
io_type: target
label: Liquid Input
label: 待移动液体
- data_key: targets
data_source: handle
data_type: resource
handler_key: targets
label: 转移目标
- data_key: tip_racks
data_source: handle
data_type: resource
handler_key: tip_rack
label: 枪头盒
output:
- data_key: liquid
- data_key: sources.@flatten
data_source: executor
data_type: resource
handler_key: liquid-output
handler_key: sources_out
io_type: source
label: Liquid Output
label: 移液后源孔
- data_key: targets.@flatten
data_source: executor
data_type: resource
handler_key: targets_out
label: 移液后目标孔
placeholder_keys:
sources: unilabos_resources
targets: unilabos_resources
@@ -9416,7 +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
@@ -9538,9 +9590,195 @@ 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:
@@ -9549,7 +9787,10 @@ liquid_handler.prcxi:
title: Volumes
type: array
wells:
items: {}
items:
items:
$ref: '#/$defs/ResourceDict'
type: array
title: Wells
type: array
required:
@@ -9922,18 +10163,18 @@ liquid_handler.prcxi:
data_source: handle
data_type: resource
handler_key: tip_rack_identifier
label: 墙头盒
label: 枪头盒
output:
- data_key: liquid
data_source: handle
- data_key: sources.@flatten
data_source: executor
data_type: resource
handler_key: sources_out
label: sources
- data_key: liquid
label: 移液后源孔
- data_key: targets.@flatten
data_source: executor
data_type: resource
handler_key: targets_out
label: targets
label: 移液后目标孔
placeholder_keys:
sources: unilabos_resources
targets: unilabos_resources