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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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52
unilabos/resources/graphio.py
View File

@@ -151,12 +151,40 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
"""
# 构建 id 到 uuid 的映射
id_to_uuid: Dict[str, str] = {}
uuid_to_id: Dict[str, str] = {}
for node in resource_tree_set.all_nodes:
id_to_uuid[node.res_content.id] = node.res_content.uuid
uuid_to_id[node.res_content.uuid] = node.res_content.id
# 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
for link in links:
source_id = link.get("source")
target_id = link.get("target")
# 添加 source_uuid
if source_id and source_id in id_to_uuid:
link["source_uuid"] = id_to_uuid[source_id]
# 添加 target_uuid
if target_id and target_id in id_to_uuid:
link["target_uuid"] = id_to_uuid[target_id]
source_uuid = link.get("source_uuid")
target_uuid = link.get("target_uuid")
# 添加 source_uuid
if source_uuid and source_uuid in uuid_to_id:
link["source"] = uuid_to_id[source_uuid]
# 添加 target_uuid
if target_uuid and target_uuid in uuid_to_id:
link["target"] = uuid_to_id[target_uuid]
# 第一遍处理：将字符串类型的port转换为字典格式
for link in links:
port = link.get("port")
if port is None:
continue
if link.get("type", "physical") == "physical":
link["type"] = "fluid"
if isinstance(port, int):
@@ -179,13 +207,15 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
link["port"] = {link["source"]: None, link["target"]: None}
# 构建边字典，键为(source节点, target节点)，值为对应的port信息
edges = {(link["source"], link["target"]): link["port"] for link in links}
edges = {(link["source"], link["target"]): link["port"] for link in links if link.get("port")}
# 第二遍处理：填充反向边的dest信息
delete_reverses = []
for i, link in enumerate(links):
s, t = link["source"], link["target"]
current_port = link["port"]
current_port = link.get("port")
if current_port is None:
continue
if current_port.get(t) is None:
reverse_key = (t, s)
reverse_port = edges.get(reverse_key)
@@ -200,20 +230,6 @@ def canonicalize_links_ports(links: List[Dict[str, Any]], resource_tree_set: Res
current_port[t] = current_port[s]
# 删除已被使用反向端口信息的反向边
standardized_links = [link for i, link in enumerate(links) if i not in delete_reverses]
# 第三遍处理：为每个 link 添加 source_uuid 和 target_uuid
for link in standardized_links:
source_id = link.get("source")
target_id = link.get("target")
# 添加 source_uuid
if source_id and source_id in id_to_uuid:
link["source_uuid"] = id_to_uuid[source_id]
# 添加 target_uuid
if target_id and target_id in id_to_uuid:
link["target_uuid"] = id_to_uuid[target_id]
return standardized_links
@@ -284,6 +300,8 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
edge["sourceHandle"] = port[source]
elif "source_port" in edge:
edge["sourceHandle"] = edge.pop("source_port")
elif "source_handle" in edge:
edge["sourceHandle"] = edge.pop("source_handle")
else:
typ = edge.get("type")
if typ == "communication":
@@ -292,6 +310,8 @@ def modify_to_backend_format(data: list[dict[str, Any]]) -> list[dict[str, Any]]
edge["targetHandle"] = port[target]
elif "target_port" in edge:
edge["targetHandle"] = edge.pop("target_port")
elif "target_handle" in edge:
edge["targetHandle"] = edge.pop("target_handle")
else:
typ = edge.get("type")
if typ == "communication":

69
unilabos/resources/resource_tracker.py
View File

@@ -5,6 +5,8 @@ from pydantic import BaseModel, field_serializer, field_validator, ValidationErr
from pydantic import Field
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
from typing_extensions import TypedDict
from unilabos.resources.plr_additional_res_reg import register
from unilabos.utils.log import logger
@@ -14,6 +16,32 @@ if TYPE_CHECKING:
EXTRA_CLASS = "unilabos_resource_class"
EXTRA_SAMPLE_UUID = "sample_uuid"
EXTRA_UNILABOS_SAMPLE_UUID = "unilabos_sample_uuid"
# 函数参数名常量 - 用于自动注入 sample_uuids 列表
PARAM_SAMPLE_UUIDS = "sample_uuids"
# JSON Command 中的系统参数字段名
JSON_UNILABOS_PARAM = "unilabos_param"
# 返回值中的 samples 字段名
RETURN_UNILABOS_SAMPLES = "unilabos_samples"
# sample_uuids 参数类型 (用于 virtual bench 等设备添加 sample_uuids 参数)
SampleUUIDsType = Dict[str, Optional["PLRResource"]]
class LabSample(TypedDict):
sample_uuid: str
oss_path: str
extra: Dict[str, Any]
class ResourceDictPositionSizeType(TypedDict):
depth: float
width: float
height: float
class ResourceDictPositionSize(BaseModel):
@@ -22,18 +50,40 @@ class ResourceDictPositionSize(BaseModel):
height: float = Field(description="Height", default=0.0) # y
class ResourceDictPositionScaleType(TypedDict):
x: float
y: float
z: float
class ResourceDictPositionScale(BaseModel):
x: float = Field(description="x scale", default=0.0)
y: float = Field(description="y scale", default=0.0)
z: float = Field(description="z scale", default=0.0)
class ResourceDictPositionObjectType(TypedDict):
x: float
y: float
z: float
class ResourceDictPositionObject(BaseModel):
x: float = Field(description="X coordinate", default=0.0)
y: float = Field(description="Y coordinate", default=0.0)
z: float = Field(description="Z coordinate", default=0.0)
class ResourceDictPositionType(TypedDict):
size: ResourceDictPositionSizeType
scale: ResourceDictPositionScaleType
layout: Literal["2d", "x-y", "z-y", "x-z"]
position: ResourceDictPositionObjectType
position3d: ResourceDictPositionObjectType
rotation: ResourceDictPositionObjectType
cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"]
class ResourceDictPosition(BaseModel):
size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
@@ -52,6 +102,24 @@ class ResourceDictPosition(BaseModel):
)
class ResourceDictType(TypedDict):
id: str
uuid: str
name: str
description: str
resource_schema: Dict[str, Any]
model: Dict[str, Any]
icon: str
parent_uuid: Optional[str]
parent: Optional["ResourceDictType"]
type: Union[Literal["device"], str]
klass: str
pose: ResourceDictPositionType
config: Dict[str, Any]
data: Dict[str, Any]
extra: Dict[str, Any]
# 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
class ResourceDict(BaseModel):
id: str = Field(description="Resource ID")
@@ -529,6 +597,7 @@ class ResourceTreeSet(object):
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
from pylabrobot.resources import Coordinate
from pylabrobot.serializer import deserialize
location = cast(Coordinate, deserialize(plr_dict["location"]))
plr_resource.location = location
plr_resource.load_all_state(all_states)