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https://github.com/deepmodeling/Uni-Lab-OS
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v0.9.5
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7db3123547 | ||
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6da7a20a7a |
132
.github/workflows/multi-platform-build.yml
vendored
132
.github/workflows/multi-platform-build.yml
vendored
@@ -1,132 +0,0 @@
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name: Multi-Platform Conda Build
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on:
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push:
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branches: [ main, dev ]
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tags: [ 'v*' ]
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pull_request:
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branches: [ main, dev ]
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workflow_dispatch:
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inputs:
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platforms:
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description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
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required: false
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default: 'osx-arm64'
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jobs:
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build:
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strategy:
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fail-fast: false
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matrix:
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include:
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- os: ubuntu-latest
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platform: linux-64
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env_file: unilabos-linux-64.yaml
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- os: macos-13 # Intel
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platform: osx-64
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env_file: unilabos-osx-64.yaml
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- os: macos-latest # ARM64
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platform: osx-arm64
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env_file: unilabos-osx-arm64.yaml
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- os: windows-latest
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platform: win-64
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env_file: unilabos-win64.yaml
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runs-on: ${{ matrix.os }}
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defaults:
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run:
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shell: bash -l {0}
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steps:
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- uses: actions/checkout@v4
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with:
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fetch-depth: 0
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- name: Check if platform should be built
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id: should_build
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run: |
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if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
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echo "should_build=true" >> $GITHUB_OUTPUT
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elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
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echo "should_build=true" >> $GITHUB_OUTPUT
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elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
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echo "should_build=true" >> $GITHUB_OUTPUT
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else
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echo "should_build=false" >> $GITHUB_OUTPUT
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fi
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- name: Setup Miniconda
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if: steps.should_build.outputs.should_build == 'true'
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uses: conda-incubator/setup-miniconda@v3
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with:
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miniconda-version: "latest"
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channels: conda-forge,robostack-staging,defaults
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channel-priority: strict
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activate-environment: build-env
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auto-activate-base: false
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auto-update-conda: false
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show-channel-urls: true
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- name: Install boa and build tools
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if: steps.should_build.outputs.should_build == 'true'
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run: |
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conda install -c conda-forge boa conda-build
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- name: Show environment info
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if: steps.should_build.outputs.should_build == 'true'
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run: |
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conda info
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conda list | grep -E "(boa|conda-build)"
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echo "Platform: ${{ matrix.platform }}"
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echo "OS: ${{ matrix.os }}"
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- name: Build conda package
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if: steps.should_build.outputs.should_build == 'true'
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run: |
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if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
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boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
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else
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boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
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fi
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- name: List built packages
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if: steps.should_build.outputs.should_build == 'true'
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run: |
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echo "Built packages in conda-bld:"
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find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
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ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
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ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
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echo "CONDA_PREFIX: $CONDA_PREFIX"
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echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"
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- name: Prepare artifacts for upload
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if: steps.should_build.outputs.should_build == 'true'
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run: |
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mkdir -p ${{ runner.temp }}/conda-packages
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find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
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echo "Copied files to temp directory:"
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ls -la ${{ runner.temp }}/conda-packages/
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- name: Upload conda package artifacts
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if: steps.should_build.outputs.should_build == 'true'
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uses: actions/upload-artifact@v4
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with:
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name: conda-package-${{ matrix.platform }}
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path: ${{ runner.temp }}/conda-packages
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if-no-files-found: warn
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retention-days: 30
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- name: Create release assets (on tags)
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if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
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run: |
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mkdir -p release-assets
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find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;
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- name: Upload to release
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if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
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uses: softprops/action-gh-release@v1
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with:
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files: release-assets/*
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draft: false
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prerelease: false
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4
.gitignore
vendored
4
.gitignore
vendored
@@ -234,7 +234,3 @@ CATKIN_IGNORE
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*.graphml
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unilabos/device_mesh/view_robot.rviz
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# Certs
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**/.certs
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@@ -2,10 +2,4 @@
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```bash
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ros2 action send_goal /devices/host_node/create_resource_detailed unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
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```
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使用mock_all.json启动，重新捕获MockContainerForChiller1
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```bash
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ros2 action send_goal /devices/host_node/create_resource unilabos_msgs/action/_resource_create_from_outer_easy/ResourceCreateFromOuterEasy "{ 'res_id': 'MockContainerForChiller1', 'device_id': 'MockChiller1', 'class_name': 'container', 'parent': 'MockChiller1', 'bind_locations': { 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'liquid_input_slot': [ -1 ], 'liquid_type': [ 'CuCl2' ], 'liquid_volume': [ 100.0 ], 'slot_on_deck': '' }"
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```
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@@ -3,9 +3,7 @@
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{
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"id": "MockChiller1",
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"name": "模拟冷却器",
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"children": [
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],
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"children": [],
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"parent": null,
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"type": "device",
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"class": "mock_chiller",
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@@ -27,22 +25,6 @@
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"purpose": ""
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}
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},
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{
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"id": "MockContainerForChiller1",
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"name": "模拟容器",
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"type": "container",
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"parent": "MockChiller1",
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"position": {
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"x": 5,
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"y": 0,
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"z": 0
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},
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"data": {
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"liquid_type": "CuCl2",
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"liquid_volume": "100"
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},
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"children": []
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},
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{
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"id": "MockFilter1",
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"name": "模拟过滤器",
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@@ -1,5 +0,0 @@
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container:
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description: regular organic container
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class:
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module: unilabos.resources.container:RegularContainer
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type: unilabos
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@@ -1,61 +0,0 @@
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import json
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from unilabos_msgs.msg import Resource
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from unilabos.ros.msgs.message_converter import convert_from_ros_msg
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class RegularContainer(object):
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# 第一个参数必须是id传入
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# noinspection PyShadowingBuiltins
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def __init__(self, id: str, data: dict = None):
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self.id = id
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self.ulr_resource = Resource()
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self.ulr_resource_data = data
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@property
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def ulr_resource_data(self):
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return json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
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@ulr_resource_data.setter
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def ulr_resource_data(self, value: dict):
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self.ulr_resource.data = json.dumps(value)
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@property
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def liquid_type(self):
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return self.ulr_resource_data.get("liquid_type", None)
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@liquid_type.setter
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def liquid_type(self, value: str):
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if value is not None:
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self.ulr_resource_data["liquid_type"] = value
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else:
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self.ulr_resource_data.pop("liquid_type", None)
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@property
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def liquid_volume(self):
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return self.ulr_resource_data.get("liquid_volume", None)
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@liquid_volume.setter
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def liquid_volume(self, value: float):
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if value is not None:
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self.ulr_resource_data["liquid_volume"] = value
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else:
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self.ulr_resource_data.pop("liquid_volume", None)
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def get_ulr_resource(self) -> Resource:
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"""
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获取UlrResource对象
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:return: UlrResource对象
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"""
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return self.ulr_resource
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def get_ulr_resource_as_dict(self) -> Resource:
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"""
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获取UlrResource对象
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:return: UlrResource对象
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"""
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return convert_from_ros_msg(self.ulr_resource)
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def __str__(self):
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return f"{self.id}"
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@@ -5,8 +5,6 @@ from typing import Union
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import numpy as np
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import networkx as nx
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from unilabos.resources.container import RegularContainer
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try:
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from pylabrobot.resources.resource import Resource as ResourcePLR
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except ImportError:
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@@ -468,9 +466,6 @@ def initialize_resource(resource_config: dict) -> list[dict]:
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if resource_config.get("position") is not None:
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r["position"] = resource_config["position"]
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r = tree_to_list([r])
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elif resource_class_config["type"] == "unilabos":
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res_instance: RegularContainer = RESOURCE(id=resource_config["name"], data=resource_config.get("data", {}))
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r = [res_instance.get_ulr_resource_as_dict()]
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elif isinstance(RESOURCE, dict):
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r = [RESOURCE.copy()]
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@@ -343,8 +343,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
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LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
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LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
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if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
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print("create container")
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slot = other_calling_param.pop("slot", "-1")
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if slot != "-1": # slot为负数的时候采用assign方法
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other_calling_param["slot"] = slot
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@@ -383,24 +383,18 @@ class HostNode(BaseROS2DeviceNode):
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liquid_volume: list[int],
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slot_on_deck: str,
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):
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res_creation_input = {
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"name": res_id,
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"class": class_name,
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"parent": parent,
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"position": {
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"x": bind_locations.x,
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"y": bind_locations.y,
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"z": bind_locations.z,
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},
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}
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if len(liquid_input_slot) and liquid_input_slot[0] == -1: # 目前container只逐个创建
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res_creation_input.update({
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"data": {
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"liquid_type": liquid_type[0] if liquid_type else None,
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"liquid_volume": liquid_volume[0] if liquid_volume else None,
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}
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})
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init_new_res = initialize_resource(res_creation_input) # flatten的格式
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init_new_res = initialize_resource(
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{
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"name": res_id,
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"class": class_name,
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"parent": parent,
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"position": {
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"x": bind_locations.x,
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"y": bind_locations.y,
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"z": bind_locations.z,
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},
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}
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) # flatten的格式
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resources = init_new_res # initialize_resource已经返回list[dict]
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device_ids = [device_id]
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bind_parent_id = [parent]
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