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@@ -3,7 +3,7 @@
|
||||
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.19
|
||||
version: 0.10.18
|
||||
|
||||
source:
|
||||
path: ../../unilabos
|
||||
@@ -54,7 +54,7 @@ requirements:
|
||||
- pymodbus
|
||||
- matplotlib
|
||||
- pylibftdi
|
||||
- uni-lab::unilabos-env ==0.10.19
|
||||
- uni-lab::unilabos-env ==0.10.18
|
||||
|
||||
about:
|
||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
|
||||
package:
|
||||
name: unilabos-env
|
||||
version: 0.10.19
|
||||
version: 0.10.18
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
|
||||
@@ -3,7 +3,7 @@
|
||||
|
||||
package:
|
||||
name: unilabos-full
|
||||
version: 0.10.19
|
||||
version: 0.10.18
|
||||
|
||||
build:
|
||||
noarch: generic
|
||||
@@ -11,7 +11,7 @@ build:
|
||||
requirements:
|
||||
run:
|
||||
# Base unilabos package (includes unilabos-env)
|
||||
- uni-lab::unilabos ==0.10.19
|
||||
- uni-lab::unilabos ==0.10.18
|
||||
# Documentation tools
|
||||
- sphinx
|
||||
- sphinx_rtd_theme
|
||||
|
||||
@@ -1,160 +0,0 @@
|
||||
---
|
||||
name: add-device
|
||||
description: Guide for adding new devices to Uni-Lab-OS (接入新设备). Uses @device decorator + AST auto-scanning instead of manual YAML. Walks through device category, communication protocol, driver creation with decorators, and graph file setup. Use when the user wants to add/integrate a new device, create a device driver, write a device class, or mentions 接入设备/添加设备/设备驱动/物模型.
|
||||
---
|
||||
|
||||
# 添加新设备到 Uni-Lab-OS
|
||||
|
||||
**第一步：** 使用 Read 工具读取 `docs/ai_guides/add_device.md`，获取完整的设备接入指南。
|
||||
|
||||
该指南包含设备类别（物模型）列表、通信协议模板、常见错误检查清单等。搜索 `unilabos/devices/` 获取已有设备的实现参考。
|
||||
|
||||
---
|
||||
|
||||
## 装饰器参考
|
||||
|
||||
### @device — 设备类装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
# 单设备
|
||||
@device(
|
||||
id="my_device.vendor", # 注册表唯一标识（必填）
|
||||
category=["temperature"], # 分类标签列表（必填）
|
||||
description="设备描述", # 设备描述
|
||||
display_name="显示名称", # UI 显示名称（默认用 id）
|
||||
icon="DeviceIcon.webp", # 图标文件名
|
||||
version="1.0.0", # 版本号
|
||||
device_type="python", # "python" 或 "ros2"
|
||||
handles=[...], # 端口列表（InputHandle / OutputHandle）
|
||||
model={...}, # 3D 模型配置
|
||||
hardware_interface=HardwareInterface(...), # 硬件通信接口
|
||||
)
|
||||
|
||||
# 多设备（同一个类注册多个设备 ID，各自有不同的 handles 等配置）
|
||||
@device(
|
||||
ids=["pump.vendor.model_A", "pump.vendor.model_B"],
|
||||
id_meta={
|
||||
"pump.vendor.model_A": {"handles": [...], "description": "型号 A"},
|
||||
"pump.vendor.model_B": {"handles": [...], "description": "型号 B"},
|
||||
},
|
||||
category=["pump_and_valve"],
|
||||
)
|
||||
```
|
||||
|
||||
### @action — 动作方法装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import action
|
||||
|
||||
@action # 无参：注册为 UniLabJsonCommand 动作
|
||||
@action() # 同上
|
||||
@action(description="执行操作") # 带描述
|
||||
@action(
|
||||
action_type=HeatChill, # 指定 ROS Action 消息类型
|
||||
goal={"temperature": "temp"}, # Goal 字段映射
|
||||
feedback={}, # Feedback 字段映射
|
||||
result={}, # Result 字段映射
|
||||
handles=[...], # 动作级别端口
|
||||
goal_default={"temp": 25.0}, # Goal 默认值
|
||||
placeholder_keys={...}, # 参数占位符
|
||||
always_free=True, # 不受排队限制
|
||||
auto_prefix=True, # 强制使用 auto- 前缀
|
||||
parent=True, # 从父类 MRO 获取参数签名
|
||||
)
|
||||
```
|
||||
|
||||
**自动识别规则：**
|
||||
- 带 `@action` 的公开方法 → 注册为动作（方法名即动作名）
|
||||
- **不带 `@action` 的公开方法** → 自动注册为 `auto-{方法名}` 动作
|
||||
- `_` 开头的方法 → 不扫描
|
||||
- `@not_action` 标记的方法 → 排除
|
||||
|
||||
### @topic_config — 状态属性配置
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config(
|
||||
period=5.0, # 发布周期（秒），默认 5.0
|
||||
print_publish=False, # 是否打印发布日志
|
||||
qos=10, # QoS 深度，默认 10
|
||||
name="custom_name", # 自定义发布名称（默认用属性名）
|
||||
)
|
||||
def temperature(self) -> float:
|
||||
return self.data.get("temperature", 0.0)
|
||||
```
|
||||
|
||||
### 辅助装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import not_action, always_free
|
||||
|
||||
@not_action # 标记为非动作（post_init、辅助方法等）
|
||||
@always_free # 标记为不受排队限制（查询类操作）
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 设备模板
|
||||
|
||||
```python
|
||||
import logging
|
||||
from typing import Any, Dict, Optional
|
||||
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.registry.decorators import device, action, topic_config, not_action
|
||||
|
||||
@device(id="my_device", category=["my_category"], description="设备描述")
|
||||
class MyDevice:
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
self.device_id = device_id or "my_device"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"MyDevice.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {"status": "Idle"}
|
||||
|
||||
@not_action
|
||||
def post_init(self, ros_node: BaseROS2DeviceNode) -> None:
|
||||
self._ros_node = ros_node
|
||||
|
||||
@action
|
||||
async def initialize(self) -> bool:
|
||||
self.data["status"] = "Ready"
|
||||
return True
|
||||
|
||||
@action
|
||||
async def cleanup(self) -> bool:
|
||||
self.data["status"] = "Offline"
|
||||
return True
|
||||
|
||||
@action(description="执行操作")
|
||||
def my_action(self, param: float = 0.0, name: str = "") -> Dict[str, Any]:
|
||||
"""带 @action 装饰器 → 注册为 'my_action' 动作"""
|
||||
return {"success": True}
|
||||
|
||||
def get_info(self) -> Dict[str, Any]:
|
||||
"""无 @action → 自动注册为 'auto-get_info' 动作"""
|
||||
return {"device_id": self.device_id}
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self.data.get("temperature", 0.0)
|
||||
```
|
||||
|
||||
### 要点
|
||||
|
||||
- `_ros_node: BaseROS2DeviceNode` 类型标注放在类体顶部
|
||||
- `__init__` 签名固定为 `(self, device_id=None, config=None, **kwargs)`
|
||||
- `post_init` 用 `@not_action` 标记，参数类型标注为 `BaseROS2DeviceNode`
|
||||
- 运行时状态存储在 `self.data` 字典中
|
||||
- 设备文件放在 `unilabos/devices/<category>/` 目录下
|
||||
@@ -1,351 +0,0 @@
|
||||
---
|
||||
name: add-resource
|
||||
description: Guide for adding new resources (materials, bottles, carriers, decks, warehouses) to Uni-Lab-OS (添加新物料/资源). Uses @resource decorator for AST auto-scanning. Covers Bottle, Carrier, Deck, WareHouse definitions. Use when the user wants to add resources, define materials, create a deck layout, add bottles/carriers/plates, or mentions 物料/资源/resource/bottle/carrier/deck/plate/warehouse.
|
||||
---
|
||||
|
||||
# 添加新物料资源
|
||||
|
||||
Uni-Lab-OS 的资源体系基于 PyLabRobot，通过扩展实现 Bottle、Carrier、WareHouse、Deck 等实验室物料管理。使用 `@resource` 装饰器注册，AST 自动扫描生成注册表条目。
|
||||
|
||||
---
|
||||
|
||||
## 资源类型
|
||||
|
||||
| 类型 | 基类 | 用途 | 示例 |
|
||||
|------|------|------|------|
|
||||
| **Bottle** | `Well` (PyLabRobot) | 单个容器（瓶、小瓶、烧杯、反应器） | 试剂瓶、粉末瓶 |
|
||||
| **BottleCarrier** | `ItemizedCarrier` | 多槽位载架（放多个 Bottle） | 6 位试剂架、枪头盒 |
|
||||
| **WareHouse** | `ItemizedCarrier` | 堆栈/仓库（放多个 Carrier） | 4x4 堆栈 |
|
||||
| **Deck** | `Deck` (PyLabRobot) | 工作站台面（放多个 WareHouse） | 反应站 Deck |
|
||||
|
||||
**层级关系：** `Deck` → `WareHouse` → `BottleCarrier` → `Bottle`
|
||||
|
||||
WareHouse 本质上和 Site 是同一概念 — 都是定义一组固定的放置位（slot），只不过 WareHouse 多嵌套了一层 Deck。两者都需要开发者根据实际物理尺寸自行计算各 slot 的偏移坐标。
|
||||
|
||||
---
|
||||
|
||||
## @resource 装饰器
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
@resource(
|
||||
id="my_resource_id", # 注册表唯一标识（必填）
|
||||
category=["bottles"], # 分类标签列表（必填）
|
||||
description="资源描述",
|
||||
icon="", # 图标
|
||||
version="1.0.0",
|
||||
handles=[...], # 端口列表（InputHandle / OutputHandle）
|
||||
model={...}, # 3D 模型配置
|
||||
class_type="pylabrobot", # "python" / "pylabrobot" / "unilabos"
|
||||
)
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 创建规范
|
||||
|
||||
### 命名规则
|
||||
|
||||
1. **`name` 参数作为前缀**：所有工厂函数必须接受 `name: str` 参数，创建子物料时以 `name` 作为前缀，确保实例名在运行时全局唯一
|
||||
2. **Bottle 命名约定**：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
3. **函数名 = `@resource(id=...)`**：工厂函数名与注册表 id 保持一致
|
||||
|
||||
### 子物料命名示例
|
||||
|
||||
```python
|
||||
# Carrier 内部的 sites 用 name 前缀
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}" # "堆栈1左_A01", "堆栈1左_B02" ...
|
||||
|
||||
# Carrier 中放置 Bottle 时用 name 前缀
|
||||
carrier[0] = My_Reagent_Bottle(f"{name}_flask_1") # "堆栈1左_flask_1"
|
||||
carrier[i] = My_Solid_Vial(f"{name}_vial_{ordering[i]}") # "堆栈1左_vial_A1"
|
||||
|
||||
# create_homogeneous_resources 使用 name_prefix
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[...],
|
||||
name_prefix=name, # 自动生成 "{name}_0", "{name}_1" ...
|
||||
)
|
||||
|
||||
# Deck setup 中用仓库名称作为 name 传入
|
||||
self.warehouses = {
|
||||
"堆栈1左": my_warehouse_4x4("堆栈1左"), # WareHouse.name = "堆栈1左"
|
||||
"试剂堆栈": my_reagent_stack("试剂堆栈"), # WareHouse.name = "试剂堆栈"
|
||||
}
|
||||
```
|
||||
|
||||
### 其他规范
|
||||
|
||||
- **max_volume 单位为 μL**：500mL = 500000
|
||||
- **尺寸单位为 mm**：`diameter`, `height`, `size_x/y/z`, `dx/dy/dz`
|
||||
- **BottleCarrier 必须设置 `num_items_x/y/z`**：用于前端渲染布局
|
||||
- **Deck 的 `__init__` 必须接受 `setup=False`**：图文件中 `config.setup=true` 触发 `setup()`
|
||||
- **按项目分组文件**：同一工作站的资源放在 `unilabos/resources/<project>/` 下
|
||||
- **`__init__` 必须接受 `serialize()` 输出的所有字段**：`serialize()` 输出会作为 `config` 回传到 `__init__`，因此必须通过显式参数或 `**kwargs` 接受，否则反序列化会报错
|
||||
- **持久化运行时状态用 `serialize_state()`**：通过 `_unilabos_state` 字典存储可变信息（如物料内容、液体量），只存 JSON 可序列化的基本类型
|
||||
|
||||
---
|
||||
|
||||
## 资源模板
|
||||
|
||||
### Bottle
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import resource
|
||||
from unilabos.resources.itemized_carrier import Bottle
|
||||
|
||||
|
||||
@resource(id="My_Reagent_Bottle", category=["bottles"], description="我的试剂瓶")
|
||||
def My_Reagent_Bottle(
|
||||
name: str,
|
||||
diameter: float = 70.0,
|
||||
height: float = 120.0,
|
||||
max_volume: float = 500000.0,
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="My_Reagent_Bottle",
|
||||
)
|
||||
```
|
||||
|
||||
**Bottle 参数：**
|
||||
- `name`: 实例名称（运行时唯一，由上层 Carrier 以前缀方式传入）
|
||||
- `diameter`: 瓶体直径 (mm)
|
||||
- `height`: 瓶体高度 (mm)
|
||||
- `max_volume`: 最大容积（**μL**，500mL = 500000）
|
||||
- `barcode`: 条形码（可选）
|
||||
|
||||
### BottleCarrier
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import ResourceHolder
|
||||
from pylabrobot.resources.carrier import create_ordered_items_2d
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="My_6SlotCarrier", category=["bottle_carriers"], description="六槽位载架")
|
||||
def My_6SlotCarrier(name: str) -> BottleCarrier:
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3, num_items_y=2,
|
||||
dx=10.0, dy=10.0, dz=5.0,
|
||||
item_dx=42.0, item_dy=35.0,
|
||||
size_x=20.0, size_y=20.0, size_z=50.0,
|
||||
)
|
||||
# 子 site 用 name 作为前缀
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name, size_x=146.0, size_y=80.0, size_z=55.0,
|
||||
sites=sites, model="My_6SlotCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
|
||||
# 放置 Bottle 时用 name 作为前缀
|
||||
ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
|
||||
for i in range(6):
|
||||
carrier[i] = My_Reagent_Bottle(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
```
|
||||
|
||||
### WareHouse / Deck 放置位
|
||||
|
||||
WareHouse 和 Site 本质上是同一概念：都是定义一组固定放置位（slot），根据物理尺寸自行批量计算偏移坐标。WareHouse 只是多嵌套了一层 Deck 而已。推荐开发者直接根据实物测量数据计算各 slot 偏移量。
|
||||
|
||||
#### WareHouse（使用 warehouse_factory）
|
||||
|
||||
```python
|
||||
from unilabos.resources.warehouse import warehouse_factory
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="my_warehouse_4x4", category=["warehouse"], description="4x4 堆栈仓库")
|
||||
def my_warehouse_4x4(name: str) -> "WareHouse":
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0, # 第一个 slot 的起始偏移
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0, # slot 间距
|
||||
resource_size_x=127.0, resource_size_y=85.0, resource_size_z=100.0, # slot 尺寸
|
||||
model="my_warehouse_4x4",
|
||||
col_offset=0, # 列标签起始偏移（0 → A01, 4 → A05）
|
||||
layout="row-major", # "row-major" 行优先 / "col-major" 列优先 / "vertical-col-major" 竖向
|
||||
)
|
||||
```
|
||||
|
||||
`warehouse_factory` 参数说明：
|
||||
- `dx/dy/dz`：第一个 slot 相对 WareHouse 原点的偏移（mm）
|
||||
- `item_dx/item_dy/item_dz`：相邻 slot 间距（mm），需根据实际物理间距测量
|
||||
- `resource_size_x/y/z`：每个 slot 的可放置区域尺寸
|
||||
- `layout`：影响 slot 标签和坐标映射
|
||||
- `"row-major"`：A01,A02,...,B01,B02,...（行优先，适合横向排列）
|
||||
- `"col-major"`：A01,B01,...,A02,B02,...（列优先）
|
||||
- `"vertical-col-major"`：竖向排列，y 坐标反向
|
||||
|
||||
#### Deck 组装 WareHouse
|
||||
|
||||
Deck 通过 `setup()` 将多个 WareHouse 放置到指定坐标：
|
||||
|
||||
```python
|
||||
from pylabrobot.resources import Deck, Coordinate
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="MyStation_Deck", category=["deck"], description="我的工作站 Deck")
|
||||
class MyStation_Deck(Deck):
|
||||
def __init__(self, name="MyStation_Deck", size_x=2700.0, size_y=1080.0, size_z=1500.0,
|
||||
category="deck", setup=False, **kwargs) -> None:
|
||||
super().__init__(name=name, size_x=size_x, size_y=size_y, size_z=size_z)
|
||||
if setup:
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
self.warehouses = {
|
||||
"堆栈1左": my_warehouse_4x4("堆栈1左"),
|
||||
"堆栈1右": my_warehouse_4x4("堆栈1右"),
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"堆栈1左": Coordinate(-200.0, 400.0, 0.0), # 自行测量计算
|
||||
"堆栈1右": Coordinate(2350.0, 400.0, 0.0),
|
||||
}
|
||||
for wh_name, wh in self.warehouses.items():
|
||||
self.assign_child_resource(wh, location=self.warehouse_locations[wh_name])
|
||||
```
|
||||
|
||||
#### Site 模式（前端定向放置）
|
||||
|
||||
适用于有固定孔位/槽位的设备（如移液站 PRCXI 9300），Deck 通过 `sites` 列表定义前端展示的放置位，前端据此渲染可拖拽的孔位布局：
|
||||
|
||||
```python
|
||||
import collections
|
||||
from typing import Any, Dict, List, Optional
|
||||
from pylabrobot.resources import Deck, Resource, Coordinate
|
||||
from unilabos.registry.decorators import resource
|
||||
|
||||
|
||||
@resource(id="MyLabDeck", category=["deck"], description="带 Site 定向放置的 Deck")
|
||||
class MyLabDeck(Deck):
|
||||
# 根据设备台面实测批量计算各 slot 坐标偏移
|
||||
_DEFAULT_SITE_POSITIONS = [
|
||||
(0, 0, 0), (138, 0, 0), (276, 0, 0), (414, 0, 0), # T1-T4
|
||||
(0, 96, 0), (138, 96, 0), (276, 96, 0), (414, 96, 0), # T5-T8
|
||||
]
|
||||
_DEFAULT_SITE_SIZE = {"width": 128.0, "height": 86.0, "depth": 0}
|
||||
_DEFAULT_CONTENT_TYPE = ["plate", "tip_rack", "tube_rack", "adaptor"]
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
if sites is not None:
|
||||
self.sites = [dict(s) for s in sites]
|
||||
else:
|
||||
self.sites = []
|
||||
for i, (x, y, z) in enumerate(self._DEFAULT_SITE_POSITIONS):
|
||||
self.sites.append({
|
||||
"label": f"T{i + 1}", # 前端显示的槽位标签
|
||||
"visible": True, # 是否在前端可见
|
||||
"position": {"x": x, "y": y, "z": z}, # 槽位物理坐标
|
||||
"size": dict(self._DEFAULT_SITE_SIZE), # 槽位尺寸
|
||||
"content_type": list(self._DEFAULT_CONTENT_TYPE), # 允许放入的物料类型
|
||||
})
|
||||
self._ordering = collections.OrderedDict(
|
||||
(site["label"], None) for site in self.sites
|
||||
)
|
||||
|
||||
def assign_child_resource(self, resource: Resource,
|
||||
location: Optional[Coordinate] = None,
|
||||
reassign: bool = True,
|
||||
spot: Optional[int] = None):
|
||||
idx = spot
|
||||
if spot is None:
|
||||
for i, site in enumerate(self.sites):
|
||||
if site.get("label") == resource.name:
|
||||
idx = i
|
||||
break
|
||||
if idx is None:
|
||||
for i in range(len(self.sites)):
|
||||
if self._get_site_resource(i) is None:
|
||||
idx = i
|
||||
break
|
||||
if idx is None:
|
||||
raise ValueError(f"No available site for '{resource.name}'")
|
||||
loc = Coordinate(**self.sites[idx]["position"])
|
||||
super().assign_child_resource(resource, location=loc, reassign=reassign)
|
||||
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
sites_out = []
|
||||
for i, site in enumerate(self.sites):
|
||||
occupied = self._get_site_resource(i)
|
||||
sites_out.append({
|
||||
"label": site["label"],
|
||||
"visible": site.get("visible", True),
|
||||
"occupied_by": occupied.name if occupied else None,
|
||||
"position": site["position"],
|
||||
"size": site["size"],
|
||||
"content_type": site["content_type"],
|
||||
})
|
||||
data["sites"] = sites_out
|
||||
return data
|
||||
```
|
||||
|
||||
**Site 字段说明：**
|
||||
|
||||
| 字段 | 类型 | 说明 |
|
||||
|------|------|------|
|
||||
| `label` | str | 槽位标签（如 `"T1"`），前端显示名称，也用于匹配 resource.name |
|
||||
| `visible` | bool | 是否在前端可见 |
|
||||
| `position` | dict | 物理坐标 `{x, y, z}`（mm），需自行测量计算偏移 |
|
||||
| `size` | dict | 槽位尺寸 `{width, height, depth}`（mm） |
|
||||
| `content_type` | list | 允许放入的物料类型，如 `["plate", "tip_rack", "tube_rack", "adaptor"]` |
|
||||
|
||||
**参考实现：** `unilabos/devices/liquid_handling/prcxi/prcxi.py` 中的 `PRCXI9300Deck`（4x4 共 16 个 site）。
|
||||
|
||||
---
|
||||
|
||||
## 文件位置
|
||||
|
||||
```
|
||||
unilabos/resources/
|
||||
├── <project>/ # 按项目分组
|
||||
│ ├── bottles.py # Bottle 工厂函数
|
||||
│ ├── bottle_carriers.py # Carrier 工厂函数
|
||||
│ ├── warehouses.py # WareHouse 工厂函数
|
||||
│ └── decks.py # Deck 类定义
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 验证
|
||||
|
||||
```bash
|
||||
# 资源可导入
|
||||
python -c "from unilabos.resources.my_project.bottles import My_Reagent_Bottle; print(My_Reagent_Bottle('test'))"
|
||||
|
||||
# 启动测试（AST 自动扫描）
|
||||
unilab -g <graph>.json
|
||||
```
|
||||
|
||||
仅在以下情况仍需 YAML：第三方库资源（如 pylabrobot 内置资源，无 `@resource` 装饰器）。
|
||||
|
||||
---
|
||||
|
||||
## 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 基类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
| 装饰器定义 | `unilabos/registry/decorators.py` |
|
||||
@@ -1,292 +0,0 @@
|
||||
# 资源高级参考
|
||||
|
||||
本文件是 SKILL.md 的补充，包含类继承体系、序列化/反序列化、Bioyond 物料同步、非瓶类资源和仓库工厂模式。Agent 在需要实现这些功能时按需阅读。
|
||||
|
||||
---
|
||||
|
||||
## 1. 类继承体系
|
||||
|
||||
```
|
||||
PyLabRobot
|
||||
├── Resource (PLR 基类)
|
||||
│ ├── Well
|
||||
│ │ └── Bottle (unilabos) → 瓶/小瓶/烧杯/反应器
|
||||
│ ├── Deck
|
||||
│ │ └── 自定义 Deck 类 (unilabos) → 工作站台面
|
||||
│ ├── ResourceHolder → 槽位占位符
|
||||
│ └── Container
|
||||
│ └── Battery (unilabos) → 组装好的电池
|
||||
│
|
||||
├── ItemizedCarrier (unilabos, 继承 Resource)
|
||||
│ ├── BottleCarrier (unilabos) → 瓶载架
|
||||
│ └── WareHouse (unilabos) → 堆栈仓库
|
||||
│
|
||||
├── ItemizedResource (PLR)
|
||||
│ └── MagazineHolder (unilabos) → 子弹夹载架
|
||||
│
|
||||
└── ResourceStack (PLR)
|
||||
└── Magazine (unilabos) → 子弹夹洞位
|
||||
```
|
||||
|
||||
### Bottle 类细节
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def __init__(self, name, diameter, height, max_volume,
|
||||
size_x=0.0, size_y=0.0, size_z=0.0,
|
||||
barcode=None, category="container", model=None, **kwargs):
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=diameter, # PLR 用 diameter 作为 size_x/size_y
|
||||
size_y=diameter,
|
||||
size_z=height, # PLR 用 height 作为 size_z
|
||||
max_volume=max_volume,
|
||||
category=category,
|
||||
model=model,
|
||||
bottom_type="flat",
|
||||
cross_section_type="circle"
|
||||
)
|
||||
```
|
||||
|
||||
注意 `size_x = size_y = diameter`，`size_z = height`。
|
||||
|
||||
### ItemizedCarrier 核心方法
|
||||
|
||||
| 方法 | 说明 |
|
||||
|------|------|
|
||||
| `__getitem__(identifier)` | 通过索引或 Excel 标识（如 `"A01"`）访问槽位 |
|
||||
| `__setitem__(identifier, resource)` | 向槽位放入资源 |
|
||||
| `get_child_identifier(child)` | 获取子资源的标识符 |
|
||||
| `capacity` | 总槽位数 |
|
||||
| `sites` | 所有槽位字典 |
|
||||
|
||||
---
|
||||
|
||||
## 2. 序列化与反序列化
|
||||
|
||||
### PLR ↔ UniLab 转换
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `ResourceTreeSet.from_plr_resources(resources)` | `resource_tracker.py` | PLR → UniLab |
|
||||
| `ResourceTreeSet.to_plr_resources()` | `resource_tracker.py` | UniLab → PLR |
|
||||
|
||||
### `from_plr_resources` 流程
|
||||
|
||||
```
|
||||
PLR Resource
|
||||
↓ build_uuid_mapping (递归生成 UUID)
|
||||
↓ resource.serialize() → dict
|
||||
↓ resource.serialize_all_state() → states
|
||||
↓ resource_plr_inner (递归构建 ResourceDictInstance)
|
||||
ResourceTreeSet
|
||||
```
|
||||
|
||||
关键：每个 PLR 资源通过 `unilabos_uuid` 属性携带 UUID，`unilabos_extra` 携带扩展数据（如 `class` 名）。
|
||||
|
||||
### `to_plr_resources` 流程
|
||||
|
||||
```
|
||||
ResourceTreeSet
|
||||
↓ collect_node_data (收集 UUID、状态、扩展数据)
|
||||
↓ node_to_plr_dict (转为 PLR 字典格式)
|
||||
↓ find_subclass(type_name, PLRResource) (查找 PLR 子类)
|
||||
↓ sub_cls.deserialize(plr_dict) (反序列化)
|
||||
↓ loop_set_uuid, loop_set_extra (递归设置 UUID 和扩展)
|
||||
PLR Resource
|
||||
```
|
||||
|
||||
### Bottle 序列化
|
||||
|
||||
```python
|
||||
class Bottle(Well):
|
||||
def serialize(self) -> dict:
|
||||
data = super().serialize()
|
||||
return {**data, "diameter": self.diameter, "height": self.height}
|
||||
|
||||
@classmethod
|
||||
def deserialize(cls, data: dict, allow_marshal=False):
|
||||
barcode_data = data.pop("barcode", None)
|
||||
instance = super().deserialize(data, allow_marshal=allow_marshal)
|
||||
if barcode_data and isinstance(barcode_data, str):
|
||||
instance.barcode = barcode_data
|
||||
return instance
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 3. Bioyond 物料同步
|
||||
|
||||
### 双向转换函数
|
||||
|
||||
| 函数 | 位置 | 方向 |
|
||||
|------|------|------|
|
||||
| `resource_bioyond_to_plr(materials, type_mapping, deck)` | `graphio.py` | Bioyond → PLR |
|
||||
| `resource_plr_to_bioyond(resources, type_mapping, warehouse_mapping)` | `graphio.py` | PLR → Bioyond |
|
||||
|
||||
### `resource_bioyond_to_plr` 流程
|
||||
|
||||
```
|
||||
Bioyond 物料列表
|
||||
↓ reverse_type_mapping: {typeName → (model, UUID)}
|
||||
↓ 对每个物料:
|
||||
typeName → 查映射 → model (如 "BIOYOND_PolymerStation_Reactor")
|
||||
initialize_resource({"name": unique_name, "class": model})
|
||||
↓ 设置 unilabos_extra (material_bioyond_id, material_bioyond_name 等)
|
||||
↓ 处理 detail (子物料/坐标)
|
||||
↓ 按 locationName 放入 deck.warehouses 对应槽位
|
||||
PLR 资源列表
|
||||
```
|
||||
|
||||
### `resource_plr_to_bioyond` 流程
|
||||
|
||||
```
|
||||
PLR 资源列表
|
||||
↓ 遍历每个资源:
|
||||
载架(capacity > 1): 生成 details 子物料 + 坐标
|
||||
单瓶: 直接映射
|
||||
↓ type_mapping 查找 typeId
|
||||
↓ warehouse_mapping 查找位置 UUID
|
||||
↓ 组装 Bioyond 格式 (name, typeName, typeId, quantity, Parameters, locations)
|
||||
Bioyond 物料列表
|
||||
```
|
||||
|
||||
### BioyondResourceSynchronizer
|
||||
|
||||
工作站通过 `ResourceSynchronizer` 自动同步物料：
|
||||
|
||||
```python
|
||||
class BioyondResourceSynchronizer(ResourceSynchronizer):
|
||||
def sync_from_external(self) -> bool:
|
||||
all_data = []
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 0}')) # 耗材
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 1}')) # 样品
|
||||
all_data.extend(api_client.stock_material('{"typeMode": 2}')) # 试剂
|
||||
unilab_resources = resource_bioyond_to_plr(
|
||||
all_data,
|
||||
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
|
||||
deck=self.workstation.deck
|
||||
)
|
||||
# 更新 deck 上的资源
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 4. 非瓶类资源
|
||||
|
||||
### ElectrodeSheet（极片）
|
||||
|
||||
路径：`unilabos/resources/battery/electrode_sheet.py`
|
||||
|
||||
```python
|
||||
class ElectrodeSheet(ResourcePLR):
|
||||
"""片状材料（极片、隔膜、弹片、垫片等）"""
|
||||
_unilabos_state = {
|
||||
"diameter": 0.0,
|
||||
"thickness": 0.0,
|
||||
"mass": 0.0,
|
||||
"material_type": "",
|
||||
"color": "",
|
||||
"info": "",
|
||||
}
|
||||
```
|
||||
|
||||
工厂函数：`PositiveCan`, `PositiveElectrode`, `NegativeCan`, `NegativeElectrode`, `SpringWasher`, `FlatWasher`, `AluminumFoil`
|
||||
|
||||
### Battery（电池）
|
||||
|
||||
```python
|
||||
class Battery(Container):
|
||||
"""组装好的电池"""
|
||||
_unilabos_state = {
|
||||
"color": "",
|
||||
"electrolyte_name": "",
|
||||
"open_circuit_voltage": 0.0,
|
||||
}
|
||||
```
|
||||
|
||||
### Magazine / MagazineHolder（子弹夹）
|
||||
|
||||
```python
|
||||
class Magazine(ResourceStack):
|
||||
"""子弹夹洞位，可堆叠 ElectrodeSheet"""
|
||||
# direction, max_sheets
|
||||
|
||||
class MagazineHolder(ItemizedResource):
|
||||
"""多洞位子弹夹"""
|
||||
# hole_diameter, hole_depth, max_sheets_per_hole
|
||||
```
|
||||
|
||||
工厂函数 `magazine_factory()` 用 `create_homogeneous_resources` 生成洞位，可选预填 `ElectrodeSheet` 或 `Battery`。
|
||||
|
||||
---
|
||||
|
||||
## 5. 仓库工厂模式参考
|
||||
|
||||
### 实际 warehouse 工厂函数示例
|
||||
|
||||
```python
|
||||
# 行优先 4x4 仓库
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
layout="row-major", # A01,A02,A03,A04, B01,...
|
||||
)
|
||||
|
||||
# 右侧 4x4 仓库（列名偏移）
|
||||
def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, num_items_y=4, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
col_offset=4, # A05,A06,A07,A08
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
# 竖向仓库（站内试剂存放）
|
||||
def bioyond_warehouse_reagent_storage(name: str) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1, num_items_y=2, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=147.0, item_dy=106.0, item_dz=130.0,
|
||||
layout="vertical-col-major",
|
||||
)
|
||||
|
||||
# 行偏移（F 行开始）
|
||||
def bioyond_warehouse_5x3x1(name: str, row_offset: int = 0) -> WareHouse:
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=3, num_items_y=5, num_items_z=1,
|
||||
dx=10.0, dy=10.0, dz=10.0,
|
||||
item_dx=159.0, item_dy=183.0, item_dz=130.0,
|
||||
row_offset=row_offset, # 0→A行起，5→F行起
|
||||
layout="row-major",
|
||||
)
|
||||
```
|
||||
|
||||
### layout 类型说明
|
||||
|
||||
| layout | 命名顺序 | 适用场景 |
|
||||
|--------|---------|---------|
|
||||
| `col-major` (默认) | A01,B01,C01,D01, A02,B02,... | 列优先，标准堆栈 |
|
||||
| `row-major` | A01,A02,A03,A04, B01,B02,... | 行优先，Bioyond 前端展示 |
|
||||
| `vertical-col-major` | 竖向排列，标签从底部开始 | 竖向仓库（试剂存放、测密度） |
|
||||
|
||||
---
|
||||
|
||||
## 6. 关键路径
|
||||
|
||||
| 内容 | 路径 |
|
||||
|------|------|
|
||||
| Bottle/Carrier 基类 | `unilabos/resources/itemized_carrier.py` |
|
||||
| WareHouse 类 + 工厂 | `unilabos/resources/warehouse.py` |
|
||||
| ResourceTreeSet 转换 | `unilabos/resources/resource_tracker.py` |
|
||||
| Bioyond 物料转换 | `unilabos/resources/graphio.py` |
|
||||
| Bioyond 仓库定义 | `unilabos/resources/bioyond/warehouses.py` |
|
||||
| 电池资源 | `unilabos/resources/battery/` |
|
||||
| PLR 注册 | `unilabos/resources/plr_additional_res_reg.py` |
|
||||
@@ -1,328 +0,0 @@
|
||||
---
|
||||
name: create-device-skill
|
||||
description: Create a skill for any Uni-Lab device by extracting action schemas from the device registry. Use when the user wants to create a new device skill, add device API documentation, or set up action schemas for a device.
|
||||
---
|
||||
|
||||
# 创建设备 Skill 指南
|
||||
|
||||
本 meta-skill 教你如何为任意 Uni-Lab-OS 设备创建完整的 API 操作技能（参考 `unilab-device-api` 的成功案例）。
|
||||
|
||||
## 数据源
|
||||
|
||||
- **设备注册表**: `unilabos_data/req_device_registry_upload.json`
|
||||
- **结构**: `{ "resources": [{ "id": "<device_id>", "class": { "module": "<python_module:ClassName>", "action_value_mappings": { ... } } }] }`
|
||||
- **生成时机**: `unilab` 启动并完成注册表上传后自动生成
|
||||
- **module 字段**: 格式 `unilabos.devices.xxx.yyy:ClassName`，可转为源码路径 `unilabos/devices/xxx/yyy.py`，阅读源码可了解参数含义和设备行为
|
||||
|
||||
## 创建流程
|
||||
|
||||
### Step 0 — 收集必备信息（缺一不可，否则询问后终止）
|
||||
|
||||
开始前**必须**确认以下 4 项信息全部就绪。如果用户未提供任何一项，**立即询问并终止当前流程**，等用户补齐后再继续。
|
||||
|
||||
向用户提问：「请提供你的 unilab 启动参数，我需要以下信息：」
|
||||
|
||||
#### 必备项 ①：ak / sk（认证凭据）
|
||||
|
||||
来源：启动命令的 `--ak` `--sk` 参数，或 config.py 中的 `ak = "..."` `sk = "..."`。
|
||||
|
||||
获取后立即生成 AUTH token：
|
||||
|
||||
```bash
|
||||
python ./scripts/gen_auth.py <ak> <sk>
|
||||
# 或从 config.py 提取
|
||||
python ./scripts/gen_auth.py --config <config.py>
|
||||
```
|
||||
|
||||
认证算法：`base64(ak:sk)` → `Authorization: Lab <token>`
|
||||
|
||||
#### 必备项 ②：--addr（目标环境）
|
||||
|
||||
决定 API 请求发往哪个服务器。从启动命令的 `--addr` 参数获取：
|
||||
|
||||
| `--addr` 值 | BASE URL |
|
||||
|-------------|----------|
|
||||
| `test` | `https://uni-lab.test.bohrium.com` |
|
||||
| `uat` | `https://uni-lab.uat.bohrium.com` |
|
||||
| `local` | `http://127.0.0.1:48197` |
|
||||
| 不传（默认） | `https://uni-lab.bohrium.com` |
|
||||
| 其他自定义 URL | 直接使用该 URL |
|
||||
|
||||
#### 必备项 ③：req_device_registry_upload.json（设备注册表）
|
||||
|
||||
数据文件由 `unilab` 启动时自动生成，需要定位它：
|
||||
|
||||
**推断 working_dir**（即 `unilabos_data` 所在目录）：
|
||||
|
||||
| 条件 | working_dir 取值 |
|
||||
|------|------------------|
|
||||
| 传了 `--working_dir` | `<working_dir>/unilabos_data/`（若子目录已存在则直接用） |
|
||||
| 仅传了 `--config` | `<config 文件所在目录>/unilabos_data/` |
|
||||
| 都没传 | `<当前工作目录>/unilabos_data/` |
|
||||
|
||||
**按优先级搜索文件**：
|
||||
|
||||
```
|
||||
<推断的 working_dir>/unilabos_data/req_device_registry_upload.json
|
||||
<推断的 working_dir>/req_device_registry_upload.json
|
||||
<workspace 根目录>/unilabos_data/req_device_registry_upload.json
|
||||
```
|
||||
|
||||
也可以直接 Glob 搜索：`**/req_device_registry_upload.json`
|
||||
|
||||
找到后**必须检查文件修改时间**并告知用户：「找到注册表文件 `<路径>`，生成于 `<时间>`。请确认这是最近一次启动生成的。」超过 1 天提醒用户是否需要重新启动 `unilab`。
|
||||
|
||||
**如果文件不存在** → 告知用户先运行 `unilab` 启动命令，等日志出现 `注册表响应数据已保存` 后再执行本流程。**终止。**
|
||||
|
||||
#### 必备项 ④：目标设备
|
||||
|
||||
用户需要明确要为哪个设备创建 skill。可以是设备名称（如「PRCXI 移液站」）或 device_id（如 `liquid_handler.prcxi`）。
|
||||
|
||||
如果用户不确定，运行提取脚本列出所有设备供选择：
|
||||
|
||||
```bash
|
||||
python ./scripts/extract_device_actions.py --registry <找到的文件路径>
|
||||
```
|
||||
|
||||
#### 完整示例
|
||||
|
||||
用户提供：
|
||||
|
||||
```
|
||||
--ak a1fd9d4e-xxxx-xxxx-xxxx-d9a69c09f0fd
|
||||
--sk 136ff5c6-xxxx-xxxx-xxxx-a03e301f827b
|
||||
--addr test
|
||||
--port 8003
|
||||
--disable_browser
|
||||
```
|
||||
|
||||
从中提取：
|
||||
- ✅ ak/sk → 运行 `gen_auth.py` 得到 `AUTH="Authorization: Lab YTFmZDlk..."`
|
||||
- ✅ addr=test → `BASE=https://uni-lab.test.bohrium.com`
|
||||
- ✅ 搜索 `unilabos_data/req_device_registry_upload.json` → 找到并确认时间
|
||||
- ✅ 用户指明目标设备 → 如 `liquid_handler.prcxi`
|
||||
|
||||
**四项全部就绪后才进入 Step 1。**
|
||||
|
||||
### Step 1 — 列出可用设备
|
||||
|
||||
运行提取脚本，列出所有设备及 action 数量和 Python 源码路径，让用户选择：
|
||||
|
||||
```bash
|
||||
# 自动搜索（默认在 unilabos_data/ 和当前目录查找）
|
||||
python ./scripts/extract_device_actions.py
|
||||
|
||||
# 指定注册表文件路径
|
||||
python ./scripts/extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
|
||||
```
|
||||
|
||||
脚本输出包含每个设备的 **Python 源码路径**（从 `class.module` 转换），可用于后续阅读源码理解参数含义。
|
||||
|
||||
### Step 2 — 提取 Action Schema
|
||||
|
||||
用户选择设备后，运行提取脚本：
|
||||
|
||||
```bash
|
||||
python ./scripts/extract_device_actions.py [--registry <path>] <device_id> ./skills/<skill-name>/actions/
|
||||
```
|
||||
|
||||
脚本会显示设备的 Python 源码路径和类名，方便阅读源码了解参数含义。
|
||||
|
||||
每个 action 生成一个 JSON 文件，包含：
|
||||
- `type` — 作为 API 调用的 `action_type`
|
||||
- `schema` — 完整 JSON Schema（含 `properties.goal.properties` 参数定义）
|
||||
- `goal` — goal 字段映射（含占位符 `$placeholder`）
|
||||
- `goal_default` — 默认值
|
||||
|
||||
### Step 3 — 写 action-index.md
|
||||
|
||||
按模板为每个 action 写条目：
|
||||
|
||||
```markdown
|
||||
### `<action_name>`
|
||||
|
||||
<用途描述（一句话）>
|
||||
|
||||
- **Schema**: [`actions/<filename>.json`](actions/<filename>.json)
|
||||
- **核心参数**: `param1`, `param2`（从 schema.required 获取）
|
||||
- **可选参数**: `param3`, `param4`
|
||||
- **占位符字段**: `field`（需填入物料信息，值以 `$` 开头）
|
||||
```
|
||||
|
||||
描述规则：
|
||||
- 从 `schema.properties` 读参数列表（schema 已提升为 goal 内容）
|
||||
- 从 `schema.required` 区分核心/可选参数
|
||||
- 按功能分类（移液、枪头、外设等）
|
||||
- 标注 `placeholder_keys` 中的字段类型：
|
||||
- `unilabos_resources` → **ResourceSlot**，填入 `{id, name, uuid}`（id 是路径格式，从资源树取物料节点）
|
||||
- `unilabos_devices` → **DeviceSlot**，填入路径字符串如 `"/host_node"`（从资源树筛选 type=device）
|
||||
- `unilabos_nodes` → **NodeSlot**，填入路径字符串如 `"/PRCXI/PRCXI_Deck"`（资源树中任意节点）
|
||||
- `unilabos_class` → **ClassSlot**，填入类名字符串如 `"container"`（从注册表查找）
|
||||
- array 类型字段 → `[{id, name, uuid}, ...]`
|
||||
- 特殊：`create_resource` 的 `res_id`（ResourceSlot）可填不存在的路径
|
||||
|
||||
### Step 4 — 写 SKILL.md
|
||||
|
||||
直接复用 `unilab-device-api` 的 API 模板（10 个 endpoint），修改：
|
||||
- 设备名称
|
||||
- Action 数量
|
||||
- 目录列表
|
||||
- Session state 中的 `device_name`
|
||||
- **AUTH 头** — 使用 Step 0 中 `gen_auth.py` 生成的 `Authorization: Lab <token>`（不要硬编码 `Api` 类型的 key）
|
||||
- **Python 源码路径** — 在 SKILL.md 开头注明设备对应的源码文件，方便参考参数含义
|
||||
- **Slot 字段表** — 列出本设备哪些 action 的哪些字段需要填入 Slot（物料/设备/节点/类名）
|
||||
|
||||
API 模板结构：
|
||||
|
||||
```markdown
|
||||
## 设备信息
|
||||
- device_id, Python 源码路径, 设备类名
|
||||
|
||||
## 前置条件（缺一不可）
|
||||
- ak/sk → AUTH, --addr → BASE URL
|
||||
|
||||
## Session State
|
||||
- lab_uuid（通过 API #1 自动匹配，不要问用户）, device_name
|
||||
|
||||
## API Endpoints (10 个)
|
||||
# 注意：
|
||||
# - #1 获取 lab 列表 + 自动匹配 lab_uuid（遍历 is_admin 的 lab，
|
||||
# 调用 /lab/info/{uuid} 比对 access_key == ak）
|
||||
# - #2 创建工作流用 POST /lab/workflow
|
||||
# - #10 获取资源树路径含 lab_uuid: /lab/material/download/{lab_uuid}
|
||||
|
||||
## Placeholder Slot 填写规则
|
||||
- unilabos_resources → ResourceSlot → {"id":"/path/name","name":"name","uuid":"xxx"}
|
||||
- unilabos_devices → DeviceSlot → "/parent/device" 路径字符串
|
||||
- unilabos_nodes → NodeSlot → "/parent/node" 路径字符串
|
||||
- unilabos_class → ClassSlot → "class_name" 字符串
|
||||
- 特例：create_resource 的 res_id 允许填不存在的路径
|
||||
- 列出本设备所有 Slot 字段、类型及含义
|
||||
|
||||
## 渐进加载策略
|
||||
## 完整工作流 Checklist
|
||||
```
|
||||
|
||||
### Step 5 — 验证
|
||||
|
||||
检查文件完整性：
|
||||
- [ ] `SKILL.md` 包含 10 个 API endpoint
|
||||
- [ ] `SKILL.md` 包含 Placeholder Slot 填写规则（ResourceSlot / DeviceSlot / NodeSlot / ClassSlot + create_resource 特例）和本设备的 Slot 字段表
|
||||
- [ ] `action-index.md` 列出所有 action 并有描述
|
||||
- [ ] `actions/` 目录中每个 action 有对应 JSON 文件
|
||||
- [ ] JSON 文件包含 `type`, `schema`（已提升为 goal 内容）, `goal`, `goal_default`, `placeholder_keys` 字段
|
||||
- [ ] 描述能让 agent 判断该用哪个 action
|
||||
|
||||
## Action JSON 文件结构
|
||||
|
||||
```json
|
||||
{
|
||||
"type": "LiquidHandlerTransfer", // → API 的 action_type
|
||||
"goal": { // goal 字段映射
|
||||
"sources": "sources",
|
||||
"targets": "targets",
|
||||
"tip_racks": "tip_racks",
|
||||
"asp_vols": "asp_vols"
|
||||
},
|
||||
"schema": { // ← 直接是 goal 的 schema（已提升）
|
||||
"type": "object",
|
||||
"properties": { // 参数定义（即请求中 goal 的字段）
|
||||
"sources": { "type": "array", "items": { "type": "object" } },
|
||||
"targets": { "type": "array", "items": { "type": "object" } },
|
||||
"asp_vols": { "type": "array", "items": { "type": "number" } }
|
||||
},
|
||||
"required": [...],
|
||||
"_unilabos_placeholder_info": { // ← Slot 类型标记
|
||||
"sources": "unilabos_resources",
|
||||
"targets": "unilabos_resources",
|
||||
"tip_racks": "unilabos_resources"
|
||||
}
|
||||
},
|
||||
"goal_default": { ... }, // 默认值
|
||||
"placeholder_keys": { // ← 汇总所有 Slot 字段
|
||||
"sources": "unilabos_resources", // ResourceSlot
|
||||
"targets": "unilabos_resources",
|
||||
"tip_racks": "unilabos_resources",
|
||||
"target_device_id": "unilabos_devices" // DeviceSlot
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
> **注意**：`schema` 已由脚本从原始 `schema.properties.goal` 提升为顶层，直接包含参数定义。
|
||||
> `schema.properties` 中的字段即为 API 请求 `param.goal` 中的字段。
|
||||
|
||||
## Placeholder Slot 类型体系
|
||||
|
||||
`placeholder_keys` / `_unilabos_placeholder_info` 中有 4 种值，对应不同的填写方式：
|
||||
|
||||
| placeholder 值 | Slot 类型 | 填写格式 | 选取范围 |
|
||||
|---------------|-----------|---------|---------|
|
||||
| `unilabos_resources` | ResourceSlot | `{"id": "/path/name", "name": "name", "uuid": "xxx"}` | 仅**物料**节点（不含设备） |
|
||||
| `unilabos_devices` | DeviceSlot | `"/parent/device_name"` | 仅**设备**节点（type=device），路径字符串 |
|
||||
| `unilabos_nodes` | NodeSlot | `"/parent/node_name"` | **设备 + 物料**，即所有节点，路径字符串 |
|
||||
| `unilabos_class` | ClassSlot | `"class_name"` | 注册表中已上报的资源类 name |
|
||||
|
||||
### ResourceSlot（`unilabos_resources`）
|
||||
|
||||
最常见的类型。从资源树中选取**物料**节点（孔板、枪头盒、试剂槽等）：
|
||||
|
||||
```json
|
||||
{"id": "/workstation/container1", "name": "container1", "uuid": "ff149a9a-2cb8-419d-8db5-d3ba056fb3c2"}
|
||||
```
|
||||
|
||||
- 单个（schema type=object）：`{"id": "/path/name", "name": "name", "uuid": "xxx"}`
|
||||
- 数组（schema type=array）：`[{"id": "/path/a", "name": "a", "uuid": "xxx"}, ...]`
|
||||
- `id` 本身是从 parent 计算的路径格式
|
||||
- 根据 action 语义选择正确的物料（如 `sources` = 液体来源，`targets` = 目标位置）
|
||||
|
||||
> **特例**：`create_resource` 的 `res_id` 字段，目标物料可能**尚不存在**，此时直接填写期望的路径（如 `"/workstation/container1"`），不需要 uuid。
|
||||
|
||||
### DeviceSlot（`unilabos_devices`）
|
||||
|
||||
填写**设备路径字符串**。从资源树中筛选 type=device 的节点，从 parent 计算路径：
|
||||
|
||||
```
|
||||
"/host_node"
|
||||
"/bioyond_cell/reaction_station"
|
||||
```
|
||||
|
||||
- 只填路径字符串，不需要 `{id, uuid}` 对象
|
||||
- 根据 action 语义选择正确的设备（如 `target_device_id` = 目标设备）
|
||||
|
||||
### NodeSlot（`unilabos_nodes`）
|
||||
|
||||
范围 = 设备 + 物料。即资源树中**所有节点**都可以选，填写**路径字符串**：
|
||||
|
||||
```
|
||||
"/PRCXI/PRCXI_Deck"
|
||||
```
|
||||
|
||||
- 使用场景：当参数既可能指向物料也可能指向设备时（如 `PumpTransferProtocol` 的 `from_vessel`/`to_vessel`，`create_resource` 的 `parent`）
|
||||
|
||||
### ClassSlot（`unilabos_class`）
|
||||
|
||||
填写注册表中已上报的**资源类 name**。从本地 `req_resource_registry_upload.json` 中查找：
|
||||
|
||||
```
|
||||
"container"
|
||||
```
|
||||
|
||||
### 通过 API #10 获取资源树
|
||||
|
||||
```bash
|
||||
curl -s -X GET "$BASE/api/v1/lab/material/download/$lab_uuid" -H "$AUTH"
|
||||
```
|
||||
|
||||
注意 `lab_uuid` 在路径中（不是查询参数）。资源树返回所有节点，每个节点包含 `id`（路径格式）、`name`、`uuid`、`type`、`parent` 等字段。填写 Slot 时需根据 placeholder 类型筛选正确的节点。
|
||||
|
||||
## 最终目录结构
|
||||
|
||||
```
|
||||
./<skill-name>/
|
||||
├── SKILL.md # API 端点 + 渐进加载指引
|
||||
├── action-index.md # 动作索引：描述/用途/核心参数
|
||||
└── actions/ # 每个 action 的完整 JSON Schema
|
||||
├── action1.json
|
||||
├── action2.json
|
||||
└── ...
|
||||
```
|
||||
@@ -1,200 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 req_device_registry_upload.json 中提取指定设备的 action schema。
|
||||
|
||||
用法:
|
||||
# 列出所有设备及 action 数量（自动搜索注册表文件）
|
||||
python extract_device_actions.py
|
||||
|
||||
# 指定注册表文件路径
|
||||
python extract_device_actions.py --registry <path/to/req_device_registry_upload.json>
|
||||
|
||||
# 提取指定设备的 action 到目录
|
||||
python extract_device_actions.py <device_id> <output_dir>
|
||||
python extract_device_actions.py --registry <path> <device_id> <output_dir>
|
||||
|
||||
示例:
|
||||
python extract_device_actions.py --registry unilabos_data/req_device_registry_upload.json
|
||||
python extract_device_actions.py liquid_handler.prcxi .cursor/skills/unilab-device-api/actions/
|
||||
"""
|
||||
import json
|
||||
import os
|
||||
import sys
|
||||
from datetime import datetime
|
||||
|
||||
REGISTRY_FILENAME = "req_device_registry_upload.json"
|
||||
|
||||
def find_registry(explicit_path=None):
|
||||
"""
|
||||
查找 req_device_registry_upload.json 文件。
|
||||
|
||||
搜索优先级：
|
||||
1. 用户通过 --registry 显式指定的路径
|
||||
2. <cwd>/unilabos_data/req_device_registry_upload.json
|
||||
3. <cwd>/req_device_registry_upload.json
|
||||
4. <script所在目录>/../../.. (workspace根) 下的 unilabos_data/
|
||||
5. 向上逐级搜索父目录（最多 5 层）
|
||||
"""
|
||||
if explicit_path:
|
||||
if os.path.isfile(explicit_path):
|
||||
return explicit_path
|
||||
if os.path.isdir(explicit_path):
|
||||
fp = os.path.join(explicit_path, REGISTRY_FILENAME)
|
||||
if os.path.isfile(fp):
|
||||
return fp
|
||||
print(f"警告: 指定的路径不存在: {explicit_path}")
|
||||
return None
|
||||
|
||||
candidates = [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
]
|
||||
|
||||
for c in candidates:
|
||||
if os.path.isfile(c):
|
||||
return c
|
||||
|
||||
script_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
workspace_root = os.path.normpath(os.path.join(script_dir, "..", "..", ".."))
|
||||
for c in candidates:
|
||||
path = os.path.join(workspace_root, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
cwd = os.getcwd()
|
||||
for _ in range(5):
|
||||
parent = os.path.dirname(cwd)
|
||||
if parent == cwd:
|
||||
break
|
||||
cwd = parent
|
||||
for c in candidates:
|
||||
path = os.path.join(cwd, c)
|
||||
if os.path.isfile(path):
|
||||
return path
|
||||
|
||||
return None
|
||||
|
||||
def load_registry(path):
|
||||
with open(path, 'r', encoding='utf-8') as f:
|
||||
return json.load(f)
|
||||
|
||||
def list_devices(data):
|
||||
"""列出所有包含 action_value_mappings 的设备，同时返回 module 路径"""
|
||||
resources = data.get('resources', [])
|
||||
devices = []
|
||||
for res in resources:
|
||||
rid = res.get('id', '')
|
||||
cls = res.get('class', {})
|
||||
avm = cls.get('action_value_mappings', {})
|
||||
module = cls.get('module', '')
|
||||
if avm:
|
||||
devices.append((rid, len(avm), module))
|
||||
return devices
|
||||
|
||||
def flatten_schema_to_goal(action_data):
|
||||
"""将 schema 中嵌套的 goal 内容提升为顶层 schema，去掉 feedback/result 包装"""
|
||||
schema = action_data.get('schema', {})
|
||||
goal_schema = schema.get('properties', {}).get('goal', {})
|
||||
if goal_schema:
|
||||
action_data = dict(action_data)
|
||||
action_data['schema'] = goal_schema
|
||||
return action_data
|
||||
|
||||
|
||||
def extract_actions(data, device_id, output_dir):
|
||||
"""提取指定设备的 action schema 到独立 JSON 文件"""
|
||||
resources = data.get('resources', [])
|
||||
for res in resources:
|
||||
if res.get('id') == device_id:
|
||||
cls = res.get('class', {})
|
||||
module = cls.get('module', '')
|
||||
avm = cls.get('action_value_mappings', {})
|
||||
if not avm:
|
||||
print(f"设备 {device_id} 没有 action_value_mappings")
|
||||
return []
|
||||
|
||||
if module:
|
||||
py_path = module.split(":")[0].replace(".", "/") + ".py"
|
||||
class_name = module.split(":")[-1] if ":" in module else ""
|
||||
print(f"Python 源码: {py_path}")
|
||||
if class_name:
|
||||
print(f"设备类: {class_name}")
|
||||
|
||||
os.makedirs(output_dir, exist_ok=True)
|
||||
written = []
|
||||
for action_name in sorted(avm.keys()):
|
||||
action_data = flatten_schema_to_goal(avm[action_name])
|
||||
filename = action_name.replace('-', '_') + '.json'
|
||||
filepath = os.path.join(output_dir, filename)
|
||||
with open(filepath, 'w', encoding='utf-8') as f:
|
||||
json.dump(action_data, f, indent=2, ensure_ascii=False)
|
||||
written.append(filename)
|
||||
print(f" {filepath}")
|
||||
return written
|
||||
|
||||
print(f"设备 {device_id} 未找到")
|
||||
return []
|
||||
|
||||
def main():
|
||||
args = sys.argv[1:]
|
||||
explicit_registry = None
|
||||
|
||||
if "--registry" in args:
|
||||
idx = args.index("--registry")
|
||||
if idx + 1 < len(args):
|
||||
explicit_registry = args[idx + 1]
|
||||
args = args[:idx] + args[idx + 2:]
|
||||
else:
|
||||
print("错误: --registry 需要指定路径")
|
||||
sys.exit(1)
|
||||
|
||||
registry_path = find_registry(explicit_registry)
|
||||
if not registry_path:
|
||||
print(f"错误: 找不到 {REGISTRY_FILENAME}")
|
||||
print()
|
||||
print("解决方法:")
|
||||
print(" 1. 先运行 unilab 启动命令，等待注册表生成")
|
||||
print(" 2. 用 --registry 指定文件路径:")
|
||||
print(f" python {sys.argv[0]} --registry <path/to/{REGISTRY_FILENAME}>")
|
||||
print()
|
||||
print("搜索过的路径:")
|
||||
for p in [
|
||||
os.path.join("unilabos_data", REGISTRY_FILENAME),
|
||||
REGISTRY_FILENAME,
|
||||
os.path.join("<workspace_root>", "unilabos_data", REGISTRY_FILENAME),
|
||||
]:
|
||||
print(f" - {p}")
|
||||
sys.exit(1)
|
||||
|
||||
print(f"注册表: {registry_path}")
|
||||
mtime = os.path.getmtime(registry_path)
|
||||
gen_time = datetime.fromtimestamp(mtime).strftime("%Y-%m-%d %H:%M:%S")
|
||||
size_mb = os.path.getsize(registry_path) / (1024 * 1024)
|
||||
print(f"生成时间: {gen_time} (文件大小: {size_mb:.1f} MB)")
|
||||
data = load_registry(registry_path)
|
||||
|
||||
if len(args) == 0:
|
||||
devices = list_devices(data)
|
||||
print(f"\n找到 {len(devices)} 个设备:")
|
||||
print(f"{'设备 ID':<50} {'Actions':>7} {'Python 模块'}")
|
||||
print("-" * 120)
|
||||
for did, count, module in sorted(devices, key=lambda x: x[0]):
|
||||
py_path = module.split(":")[0].replace(".", "/") + ".py" if module else ""
|
||||
print(f"{did:<50} {count:>7} {py_path}")
|
||||
|
||||
elif len(args) == 2:
|
||||
device_id = args[0]
|
||||
output_dir = args[1]
|
||||
print(f"\n提取 {device_id} 的 actions 到 {output_dir}/")
|
||||
written = extract_actions(data, device_id, output_dir)
|
||||
if written:
|
||||
print(f"\n共写入 {len(written)} 个 action 文件")
|
||||
|
||||
else:
|
||||
print("用法:")
|
||||
print(" python extract_device_actions.py [--registry <path>] # 列出设备")
|
||||
print(" python extract_device_actions.py [--registry <path>] <device_id> <dir> # 提取 actions")
|
||||
sys.exit(1)
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
@@ -1,69 +0,0 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
从 ak/sk 生成 UniLab API Authorization header。
|
||||
|
||||
算法: base64(ak:sk) → "Authorization: Lab <token>"
|
||||
|
||||
用法:
|
||||
python gen_auth.py <ak> <sk>
|
||||
python gen_auth.py --config <config.py>
|
||||
|
||||
示例:
|
||||
python gen_auth.py myak mysk
|
||||
python gen_auth.py --config experiments/config.py
|
||||
"""
|
||||
import base64
|
||||
import re
|
||||
import sys
|
||||
|
||||
|
||||
def gen_auth(ak: str, sk: str) -> str:
|
||||
token = base64.b64encode(f"{ak}:{sk}".encode("utf-8")).decode("utf-8")
|
||||
return token
|
||||
|
||||
|
||||
def extract_from_config(config_path: str) -> tuple:
|
||||
"""从 config.py 中提取 ak 和 sk"""
|
||||
with open(config_path, "r", encoding="utf-8") as f:
|
||||
content = f.read()
|
||||
ak_match = re.search(r'''ak\s*=\s*["']([^"']+)["']''', content)
|
||||
sk_match = re.search(r'''sk\s*=\s*["']([^"']+)["']''', content)
|
||||
if not ak_match or not sk_match:
|
||||
return None, None
|
||||
return ak_match.group(1), sk_match.group(1)
|
||||
|
||||
|
||||
def main():
|
||||
args = sys.argv[1:]
|
||||
|
||||
if len(args) == 2 and args[0] == "--config":
|
||||
ak, sk = extract_from_config(args[1])
|
||||
if not ak or not sk:
|
||||
print(f"错误: 在 {args[1]} 中未找到 ak/sk 配置")
|
||||
print("期望格式: ak = \"xxx\" sk = \"xxx\"")
|
||||
sys.exit(1)
|
||||
print(f"配置文件: {args[1]}")
|
||||
elif len(args) == 2:
|
||||
ak, sk = args
|
||||
else:
|
||||
print("用法:")
|
||||
print(" python gen_auth.py <ak> <sk>")
|
||||
print(" python gen_auth.py --config <config.py>")
|
||||
sys.exit(1)
|
||||
|
||||
token = gen_auth(ak, sk)
|
||||
print(f"ak: {ak}")
|
||||
print(f"sk: {sk}")
|
||||
print()
|
||||
print(f"Authorization header:")
|
||||
print(f" Authorization: Lab {token}")
|
||||
print()
|
||||
print(f"curl 用法:")
|
||||
print(f' curl -H "Authorization: Lab {token}" ...')
|
||||
print()
|
||||
print(f"Shell 变量:")
|
||||
print(f' AUTH="Authorization: Lab {token}"')
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
2
.github/workflows/ci-check.yml
vendored
2
.github/workflows/ci-check.yml
vendored
@@ -49,7 +49,7 @@ jobs:
|
||||
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
||||
uv pip install .
|
||||
|
||||
- name: Run check mode (AST registry validation)
|
||||
- name: Run check mode (complete_registry)
|
||||
run: |
|
||||
call conda activate check-env
|
||||
echo Running check mode...
|
||||
|
||||
1
.gitignore
vendored
1
.gitignore
vendored
@@ -5,7 +5,6 @@ output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
.cursorignore
|
||||
device_package*/
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
|
||||
87
AGENTS.md
87
AGENTS.md
@@ -1,87 +0,0 @@
|
||||
# AGENTS.md
|
||||
|
||||
This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
|
||||
|
||||
Also follow the monorepo-level rules in `../AGENTS.md`.
|
||||
|
||||
## Build & Development
|
||||
|
||||
```bash
|
||||
# Install in editable mode (requires mamba env with python 3.11)
|
||||
pip install -e .
|
||||
uv pip install -r unilabos/utils/requirements.txt
|
||||
|
||||
# Run with a device graph
|
||||
unilab --graph <graph.json> --config <config.py> --backend ros
|
||||
unilab --graph <graph.json> --config <config.py> --backend simple # no ROS2 needed
|
||||
|
||||
# Common CLI flags
|
||||
unilab --app_bridges websocket fastapi # communication bridges
|
||||
unilab --test_mode # simulate hardware, no real execution
|
||||
unilab --check_mode # CI validation of registry imports
|
||||
unilab --skip_env_check # skip auto-install of dependencies
|
||||
unilab --visual rviz|web|disable # visualization mode
|
||||
unilab --is_slave # run as slave node
|
||||
|
||||
# Workflow upload subcommand
|
||||
unilab workflow_upload -f <workflow.json> -n <name> --tags tag1 tag2
|
||||
|
||||
# Tests
|
||||
pytest tests/ # all tests
|
||||
pytest tests/resources/test_resourcetreeset.py # single test file
|
||||
pytest tests/resources/test_resourcetreeset.py::TestClassName::test_method # single test
|
||||
```
|
||||
|
||||
## Architecture
|
||||
|
||||
### Startup Flow
|
||||
|
||||
`unilab` CLI → `unilabos/app/main.py:main()` → loads config → builds registry → reads device graph (JSON/GraphML) → starts backend thread (ROS2/simple) → starts FastAPI web server + WebSocket client.
|
||||
|
||||
### Core Layers
|
||||
|
||||
**Registry** (`unilabos/registry/`): Singleton `Registry` class discovers and catalogs all device types, resource types, and communication devices from YAML definitions. Device types live in `registry/devices/*.yaml`, resources in `registry/resources/`, comms in `registry/device_comms/`. The registry resolves class paths to actual Python classes via `utils/import_manager.py`.
|
||||
|
||||
**Resource Tracking** (`unilabos/resources/resource_tracker.py`): Pydantic-based `ResourceDict` → `ResourceDictInstance` → `ResourceTreeSet` hierarchy. `ResourceTreeSet` is the canonical in-memory representation of all devices and resources, used throughout the system. Graph I/O is in `resources/graphio.py` (reads JSON/GraphML device topology files into `nx.Graph` + `ResourceTreeSet`).
|
||||
|
||||
**Device Drivers** (`unilabos/devices/`): 30+ hardware drivers organized by device type (liquid_handling, hplc, balance, arm, etc.). Each driver is a Python class that gets wrapped by `ros/device_node_wrapper.py:ros2_device_node()` to become a ROS2 node with publishers, subscribers, and action servers.
|
||||
|
||||
**ROS2 Layer** (`unilabos/ros/`): `device_node_wrapper.py` dynamically wraps any device class into `ROS2DeviceNode` (defined in `ros/nodes/base_device_node.py`). Preset node types in `ros/nodes/presets/` include `host_node`, `controller_node`, `workstation`, `serial_node`, `camera`. Messages use custom `unilabos_msgs` (pre-built, distributed via releases).
|
||||
|
||||
**Protocol Compilation** (`unilabos/compile/`): 20+ protocol compilers (add, centrifuge, dissolve, filter, heatchill, stir, pump, etc.) that transform YAML protocol definitions into executable sequences.
|
||||
|
||||
**Communication** (`unilabos/device_comms/`): Hardware communication adapters — OPC-UA client, Modbus PLC, RPC, and a universal driver. `app/communication.py` provides a factory pattern for WebSocket client connections to the cloud.
|
||||
|
||||
**Web/API** (`unilabos/app/web/`): FastAPI server with REST API (`api.py`), Jinja2 template pages (`pages.py`), and HTTP client for cloud communication (`client.py`). Runs on port 8002 by default.
|
||||
|
||||
### Configuration System
|
||||
|
||||
- **Config classes** in `unilabos/config/config.py`: `BasicConfig`, `WSConfig`, `HTTPConfig`, `ROSConfig` — all class-level attributes, loaded from Python config files
|
||||
- Config files are `.py` files with matching class names (see `config/example_config.py`)
|
||||
- Environment variables override with prefix `UNILABOS_` (e.g., `UNILABOS_BASICCONFIG_PORT=9000`)
|
||||
- Device topology defined in graph files (JSON with node-link format, or GraphML)
|
||||
|
||||
### Key Data Flow
|
||||
|
||||
1. Graph file → `graphio.read_node_link_json()` → `(nx.Graph, ResourceTreeSet, resource_links)`
|
||||
2. `ResourceTreeSet` + `Registry` → `initialize_device.initialize_device_from_dict()` → `ROS2DeviceNode` instances
|
||||
3. Device nodes communicate via ROS2 topics/actions or direct Python calls (simple backend)
|
||||
4. Cloud sync via WebSocket (`app/ws_client.py`) and HTTP (`app/web/client.py`)
|
||||
|
||||
### Test Data
|
||||
|
||||
Example device graphs and experiment configs are in `unilabos/test/experiments/` (not `tests/`). Registry test fixtures in `unilabos/test/registry/`.
|
||||
|
||||
## Code Conventions
|
||||
|
||||
- Code comments and log messages in simplified Chinese
|
||||
- Python 3.11+, type hints expected
|
||||
- Pydantic models for data validation (`resource_tracker.py`)
|
||||
- Singleton pattern via `@singleton` decorator (`utils/decorator.py`)
|
||||
- Dynamic class loading via `utils/import_manager.py` — device classes resolved at runtime from registry YAML paths
|
||||
- CLI argument dashes auto-converted to underscores for consistency
|
||||
|
||||
## Licensing
|
||||
|
||||
- Framework code: GPL-3.0
|
||||
- Device drivers (`unilabos/devices/`): DP Technology Proprietary License — do not redistribute
|
||||
@@ -15,9 +15,6 @@ Python 类设备驱动在完成注册表后可以直接在 Uni-Lab 中使用，
|
||||
**示例：**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="mock_gripper", category=["gripper"], description="Mock Gripper")
|
||||
class MockGripper:
|
||||
def __init__(self):
|
||||
self._position: float = 0.0
|
||||
@@ -26,23 +23,19 @@ class MockGripper:
|
||||
self._status = "Idle"
|
||||
|
||||
@property
|
||||
@topic_config() # 添加 @topic_config 才会定时广播
|
||||
def position(self) -> float:
|
||||
return self._position
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def velocity(self) -> float:
|
||||
return self._velocity
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def torque(self) -> float:
|
||||
return self._torque
|
||||
|
||||
# 使用 @topic_config 装饰的属性，接入 Uni-Lab 时会定时对外广播
|
||||
# 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -156,7 +149,7 @@ my_device: # 设备唯一标识符
|
||||
|
||||
系统会自动分析您的 Python 驱动类并生成：
|
||||
|
||||
- `status_types`：从 `@topic_config` 装饰的 `@property` 或方法自动识别状态属性
|
||||
- `status_types`：从 `@property` 装饰的方法自动识别状态属性
|
||||
- `action_value_mappings`：从类方法自动生成动作映射
|
||||
- `init_param_schema`：从 `__init__` 方法分析初始化参数
|
||||
- `schema`：前端显示用的属性类型定义
|
||||
@@ -186,9 +179,7 @@ Uni-Lab 设备驱动是一个 Python 类，需要遵循以下结构：
|
||||
|
||||
```python
|
||||
from typing import Dict, Any
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
|
||||
@device(id="my_device", category=["general"], description="My Device")
|
||||
class MyDevice:
|
||||
"""设备类文档字符串
|
||||
|
||||
@@ -207,9 +198,8 @@ class MyDevice:
|
||||
# 初始化硬件连接
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加 @topic_config 才会广播
|
||||
def status(self) -> str:
|
||||
"""设备状态（通过 @topic_config 广播）"""
|
||||
"""设备状态（会自动广播）"""
|
||||
return self._status
|
||||
|
||||
def my_action(self, param: float) -> Dict[str, Any]:
|
||||
@@ -227,61 +217,34 @@ class MyDevice:
|
||||
|
||||
## 状态属性 vs 动作方法
|
||||
|
||||
### 状态属性（@property + @topic_config）
|
||||
### 状态属性（@property）
|
||||
|
||||
状态属性需要同时使用 `@property` 和 `@topic_config` 装饰器才会被识别并定期广播：
|
||||
状态属性会被自动识别并定期广播：
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
@property
|
||||
@topic_config() # 必须添加，否则不会广播
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._read_temperature()
|
||||
|
||||
@property
|
||||
@topic_config(period=2.0) # 可自定义发布周期（秒）
|
||||
def status(self) -> str:
|
||||
"""设备状态: idle, running, error"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config(name="ready") # 可自定义发布名称
|
||||
def is_ready(self) -> bool:
|
||||
"""设备是否就绪"""
|
||||
return self._status == "idle"
|
||||
```
|
||||
|
||||
也可以使用普通方法（非 @property）配合 `@topic_config`：
|
||||
|
||||
```python
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
"""获取传感器数据（get_ 前缀会自动去除，发布名为 sensor_data）"""
|
||||
return {"temp": self._temp, "humidity": self._humidity}
|
||||
```
|
||||
|
||||
**`@topic_config` 参数**:
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
|------|------|--------|------|
|
||||
| `period` | float | 5.0 | 发布周期（秒） |
|
||||
| `print_publish` | bool | 节点默认 | 是否打印发布日志 |
|
||||
| `qos` | int | 10 | QoS 深度 |
|
||||
| `name` | str | None | 自定义发布名称 |
|
||||
|
||||
**发布名称优先级**：`@topic_config(name=...)` > `get_` 前缀去除 > 方法名
|
||||
|
||||
**特点**:
|
||||
|
||||
- 必须使用 `@topic_config` 装饰器
|
||||
- 支持 `@property` 和普通方法
|
||||
- 添加到注册表的 `status_types`
|
||||
- 使用`@property`装饰器
|
||||
- 只读，不能有参数
|
||||
- 自动添加到注册表的`status_types`
|
||||
- 定期发布到 ROS2 topic
|
||||
|
||||
> **⚠️ 重要：** 仅有 `@property` 装饰器而没有 `@topic_config` 的属性**不会**被广播。这是一个 Breaking Change。
|
||||
|
||||
### 动作方法
|
||||
|
||||
动作方法是设备可以执行的操作：
|
||||
@@ -534,7 +497,6 @@ class LiquidHandler:
|
||||
self._status = "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
@@ -924,52 +886,7 @@ class MyDevice:
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 1. 使用 `@device` 装饰器标识设备类
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Heating Device", icon="heater.webp")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
- `id`：设备唯一标识符，用于注册表匹配
|
||||
- `category`：分类列表，前端用于分组显示
|
||||
- `description`：设备描述
|
||||
- `icon`：图标文件名（可选）
|
||||
|
||||
### 2. 使用 `@topic_config` 声明需要广播的状态
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ @property + @topic_config → 会广播
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✓ 普通方法 + @topic_config → 会广播（get_ 前缀自动去除）
|
||||
@topic_config(period=10.0)
|
||||
def get_sensor_data(self) -> Dict[str, float]:
|
||||
return {"temp": self._temp}
|
||||
|
||||
# ✓ 使用 name 参数自定义发布名称
|
||||
@property
|
||||
@topic_config(name="ready")
|
||||
def is_ready(self) -> bool:
|
||||
return self._status == "idle"
|
||||
|
||||
# ✗ 仅有 @property，没有 @topic_config → 不会广播
|
||||
@property
|
||||
def internal_state(self) -> str:
|
||||
return self._state
|
||||
```
|
||||
|
||||
> **注意：** 与 `@property` 连用时，`@topic_config` 必须放在 `@property` 下面。
|
||||
|
||||
### 3. 类型注解
|
||||
### 1. 类型注解
|
||||
|
||||
```python
|
||||
from typing import Dict, Any, Optional, List
|
||||
@@ -984,7 +901,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
### 4. 文档字符串
|
||||
### 2. 文档字符串
|
||||
|
||||
```python
|
||||
def method(self, param: float) -> Dict[str, Any]:
|
||||
@@ -1006,7 +923,7 @@ def method(self, param: float) -> Dict[str, Any]:
|
||||
pass
|
||||
```
|
||||
|
||||
### 5. 配置验证
|
||||
### 3. 配置验证
|
||||
|
||||
```python
|
||||
def __init__(self, config: Dict[str, Any]):
|
||||
@@ -1020,7 +937,7 @@ def __init__(self, config: Dict[str, Any]):
|
||||
self.baudrate = config['baudrate']
|
||||
```
|
||||
|
||||
### 6. 资源清理
|
||||
### 4. 资源清理
|
||||
|
||||
```python
|
||||
def __del__(self):
|
||||
@@ -1029,7 +946,7 @@ def __del__(self):
|
||||
self.connection.close()
|
||||
```
|
||||
|
||||
### 7. 设计前端友好的返回值
|
||||
### 5. 设计前端友好的返回值
|
||||
|
||||
**记住：返回值会直接显示在 Web 界面**
|
||||
|
||||
|
||||
@@ -422,20 +422,18 @@ placeholder_keys:
|
||||
|
||||
### status_types
|
||||
|
||||
系统会扫描你的 Python 类，从带有 `@topic_config` 装饰器的 `@property` 或方法自动生成这部分：
|
||||
系统会扫描你的 Python 类，从状态方法（property 或 get\_方法）自动生成这部分：
|
||||
|
||||
```yaml
|
||||
status_types:
|
||||
current_temperature: float # 从 @topic_config 装饰的 @property 或方法
|
||||
is_heating: bool
|
||||
status: str
|
||||
current_temperature: float # 从 get_current_temperature() 或 @property current_temperature
|
||||
is_heating: bool # 从 get_is_heating() 或 @property is_heating
|
||||
status: str # 从 get_status() 或 @property status
|
||||
```
|
||||
|
||||
**注意事项**：
|
||||
|
||||
- 仅有带 `@topic_config` 装饰器的 `@property` 或方法才会被识别为状态属性
|
||||
- 没有 `@topic_config` 的 `@property` 不会生成 status_types，也不会广播
|
||||
- `get_` 前缀的方法名会自动去除前缀（如 `get_temperature` → `temperature`）
|
||||
- 系统会查找所有 `get_` 开头的方法和 `@property` 装饰的属性
|
||||
- 类型会自动转成相应的类型（如 `str`、`float`、`bool`）
|
||||
- 如果类型是 `Any`、`None` 或未知的，默认使用 `String`
|
||||
|
||||
@@ -539,13 +537,11 @@ class AdvancedLiquidHandler:
|
||||
self._temperature = 25.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
"""设备状态"""
|
||||
return self._status
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self) -> float:
|
||||
"""当前温度"""
|
||||
return self._temperature
|
||||
@@ -813,23 +809,21 @@ my_temperature_controller:
|
||||
你的设备类需要符合以下要求：
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device, topic_config
|
||||
from unilabos.common.device_base import DeviceBase
|
||||
|
||||
@device(id="my_device", category=["temperature"], description="My Device")
|
||||
class MyDevice:
|
||||
class MyDevice(DeviceBase):
|
||||
def __init__(self, config):
|
||||
"""初始化，参数会自动分析到 init_param_schema.config"""
|
||||
super().__init__(config)
|
||||
self.port = config.get('port', '/dev/ttyUSB0')
|
||||
|
||||
# 状态方法（必须添加 @topic_config 才会生成到 status_types 并广播）
|
||||
# 状态方法（会自动生成到 status_types）
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self):
|
||||
"""返回设备状态"""
|
||||
return "idle"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def temperature(self):
|
||||
"""返回当前温度"""
|
||||
return 25.0
|
||||
@@ -1045,34 +1039,7 @@ resource.type # "resource"
|
||||
|
||||
### 代码规范
|
||||
|
||||
1. **使用 `@device` 装饰器标识设备类**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
@device(id="my_device", category=["heating"], description="My Device")
|
||||
class MyDevice:
|
||||
...
|
||||
```
|
||||
|
||||
2. **使用 `@topic_config` 声明广播属性**
|
||||
|
||||
```python
|
||||
from unilabos.registry.decorators import topic_config
|
||||
|
||||
# ✓ 需要广播的状态属性
|
||||
@property
|
||||
@topic_config(period=2.0)
|
||||
def temperature(self) -> float:
|
||||
return self._temp
|
||||
|
||||
# ✗ 仅有 @property 不会广播
|
||||
@property
|
||||
def internal_counter(self) -> int:
|
||||
return self._counter
|
||||
```
|
||||
|
||||
3. **始终使用类型注解**
|
||||
1. **始终使用类型注解**
|
||||
|
||||
```python
|
||||
# ✓ 好
|
||||
@@ -1084,7 +1051,7 @@ def method(self, resource, device):
|
||||
pass
|
||||
```
|
||||
|
||||
4. **提供有意义的参数名**
|
||||
2. **提供有意义的参数名**
|
||||
|
||||
```python
|
||||
# ✓ 好 - 清晰的参数名
|
||||
@@ -1096,7 +1063,7 @@ def transfer(self, r1: ResourceSlot, r2: ResourceSlot):
|
||||
pass
|
||||
```
|
||||
|
||||
5. **使用 Optional 表示可选参数**
|
||||
3. **使用 Optional 表示可选参数**
|
||||
|
||||
```python
|
||||
from typing import Optional
|
||||
@@ -1109,7 +1076,7 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
6. **添加详细的文档字符串**
|
||||
4. **添加详细的文档字符串**
|
||||
|
||||
```python
|
||||
def method(
|
||||
@@ -1129,13 +1096,13 @@ def method(
|
||||
pass
|
||||
```
|
||||
|
||||
7. **方法命名规范**
|
||||
5. **方法命名规范**
|
||||
|
||||
- 状态方法使用 `@property` + `@topic_config` 装饰器，或普通方法 + `@topic_config`
|
||||
- 状态方法使用 `@property` 装饰器或 `get_` 前缀
|
||||
- 动作方法使用动词开头
|
||||
- 保持命名清晰、一致
|
||||
|
||||
8. **完善的错误处理**
|
||||
6. **完善的错误处理**
|
||||
- 实现完善的错误处理
|
||||
- 添加日志记录
|
||||
- 提供有意义的错误信息
|
||||
|
||||
@@ -221,10 +221,10 @@ Laboratory A Laboratory B
|
||||
|
||||
```bash
|
||||
# 实验室A
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
|
||||
# 实验室B
|
||||
unilab --ak your_ak --sk your_sk --upload_registry
|
||||
unilab --ak your_ak --sk your_sk --upload_registry --use_remote_resource
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
@@ -22,6 +22,7 @@ options:
|
||||
--is_slave Run the backend as slave node (without host privileges).
|
||||
--slave_no_host Skip waiting for host service in slave mode
|
||||
--upload_registry Upload registry information when starting unilab
|
||||
--use_remote_resource Use remote resources when starting unilab
|
||||
--config CONFIG Configuration file path, supports .py format Python config files
|
||||
--port PORT Port for web service information page
|
||||
--disable_browser Disable opening information page on startup
|
||||
@@ -84,7 +85,7 @@ Uni-Lab 的启动过程分为以下几个阶段：
|
||||
支持两种方式：
|
||||
|
||||
- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
|
||||
- **远程资源**：不指定本地文件即可
|
||||
- **远程资源**：使用 `--use_remote_resource` 从云端获取
|
||||
|
||||
### 7. 注册表构建
|
||||
|
||||
@@ -195,7 +196,7 @@ unilab --config path/to/your/config.py
|
||||
unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
|
||||
|
||||
# 使用远程资源启动
|
||||
unilab --ak your_ak --sk your_sk
|
||||
unilab --ak your_ak --sk your_sk --use_remote_resource
|
||||
|
||||
# 更新注册表
|
||||
unilab --ak your_ak --sk your_sk --complete_registry
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.19
|
||||
version: 0.10.18
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.19"
|
||||
version: "0.10.18"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.19',
|
||||
version='0.10.18',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
|
||||
@@ -1,939 +0,0 @@
|
||||
"""
|
||||
P1 关节数据 & 资源跟随桥接测试 — 全面覆盖 HostNode 关节回调 + resource_pose 回调的边缘 case。
|
||||
|
||||
不依赖 ROS2 运行时，通过 mock 模拟 msg 和 bridge。
|
||||
|
||||
测试分组:
|
||||
E1: JointRepublisher JSON 输出格式 (已修复 str→json.dumps)
|
||||
E2: 关节状态回调 — 从 /joint_states (JointState msg) 直接读取 name/position
|
||||
E3: 资源跟随 (resource_pose) — 夹爪抓取/释放/多资源
|
||||
E4: 联合流程 — 关节 + 资源一并通过 bridge 发送
|
||||
E5: Bridge 调用验证
|
||||
E6: 同类型设备多实例 — 重复关节名场景
|
||||
E7: 吞吐优化 — 死区过滤、抑频、增量 resource_poses
|
||||
"""
|
||||
|
||||
import json
|
||||
import time
|
||||
import pytest
|
||||
from unittest.mock import MagicMock
|
||||
from types import SimpleNamespace
|
||||
from typing import Dict, Optional
|
||||
|
||||
|
||||
# ==================== 辅助: 模拟 JointState msg ====================
|
||||
|
||||
|
||||
def _make_joint_state_msg(names: list, positions: list, velocities=None, efforts=None):
|
||||
"""构造模拟的 sensor_msgs/JointState 消息（不依赖 ROS2）"""
|
||||
msg = SimpleNamespace()
|
||||
msg.name = names
|
||||
msg.position = positions
|
||||
msg.velocity = velocities or [0.0] * len(names)
|
||||
msg.effort = efforts or [0.0] * len(names)
|
||||
return msg
|
||||
|
||||
|
||||
def _make_string_msg(data: str):
|
||||
"""构造模拟的 std_msgs/String 消息"""
|
||||
msg = SimpleNamespace()
|
||||
msg.data = data
|
||||
return msg
|
||||
|
||||
|
||||
# ==================== 辅助: 提取 HostNode 核心逻辑用于隔离测试 ====================
|
||||
|
||||
|
||||
class JointBridgeSimulator:
|
||||
"""
|
||||
模拟 HostNode 的关节桥接核心逻辑（提取自 host_node.py），
|
||||
不依赖 ROS2 Node、subscription 等基础设施。
|
||||
|
||||
包含吞吐优化逻辑:
|
||||
- 死区过滤 (dead band): 关节变化 < 阈值时不发送
|
||||
- 抑频 (throttle): 限制最大发送频率
|
||||
- 增量 resource_poses: 仅在变化时附带
|
||||
"""
|
||||
|
||||
JOINT_DEAD_BAND: float = 1e-4
|
||||
JOINT_MIN_INTERVAL: float = 0.05 # 秒
|
||||
|
||||
def __init__(self, device_uuid_map: Dict[str, str],
|
||||
dead_band: Optional[float] = None,
|
||||
min_interval: Optional[float] = None):
|
||||
self.device_uuid_map = device_uuid_map
|
||||
self._device_ids_sorted = sorted(device_uuid_map.keys(), key=len, reverse=True)
|
||||
self._resource_poses: Dict[str, str] = {}
|
||||
self._resource_poses_dirty: bool = False
|
||||
self._last_joint_values: Dict[str, float] = {}
|
||||
self._last_send_time: float = -float("inf") # 确保首条消息总是通过
|
||||
# 允许测试覆盖优化参数
|
||||
if dead_band is not None:
|
||||
self.JOINT_DEAD_BAND = dead_band
|
||||
if min_interval is not None:
|
||||
self.JOINT_MIN_INTERVAL = min_interval
|
||||
|
||||
def resource_pose_callback(self, msg) -> None:
|
||||
"""模拟 HostNode._resource_pose_callback（含变化检测）"""
|
||||
try:
|
||||
data = json.loads(msg.data)
|
||||
except (json.JSONDecodeError, ValueError):
|
||||
return
|
||||
if not isinstance(data, dict) or not data:
|
||||
return
|
||||
has_change = False
|
||||
for k, v in data.items():
|
||||
if self._resource_poses.get(k) != v:
|
||||
has_change = True
|
||||
break
|
||||
if has_change:
|
||||
self._resource_poses.update(data)
|
||||
self._resource_poses_dirty = True
|
||||
|
||||
def joint_state_callback(self, msg, now: Optional[float] = None) -> dict:
|
||||
"""
|
||||
模拟 HostNode._joint_state_callback 核心逻辑（含优化）。
|
||||
now 参数允许测试控制时间。
|
||||
返回 {device_id: {"node_uuid": ..., "joint_states": {...}, "resource_poses": {...}}}。
|
||||
返回 {} 表示被优化过滤。
|
||||
"""
|
||||
names = list(msg.name)
|
||||
positions = list(msg.position)
|
||||
if not names or len(names) != len(positions):
|
||||
return {}
|
||||
|
||||
if now is None:
|
||||
now = time.time()
|
||||
resource_dirty = self._resource_poses_dirty
|
||||
|
||||
# 抑频检查
|
||||
if not resource_dirty and (now - self._last_send_time) < self.JOINT_MIN_INTERVAL:
|
||||
return {}
|
||||
|
||||
# 死区过滤
|
||||
has_significant_change = False
|
||||
for name, pos in zip(names, positions):
|
||||
last_val = self._last_joint_values.get(name)
|
||||
if last_val is None or abs(float(pos) - last_val) >= self.JOINT_DEAD_BAND:
|
||||
has_significant_change = True
|
||||
break
|
||||
|
||||
if not has_significant_change and not resource_dirty:
|
||||
return {}
|
||||
|
||||
# 更新状态
|
||||
for name, pos in zip(names, positions):
|
||||
self._last_joint_values[name] = float(pos)
|
||||
self._last_send_time = now
|
||||
|
||||
# 按设备 ID 分组关节数据
|
||||
device_joints: Dict[str, Dict[str, float]] = {}
|
||||
for name, pos in zip(names, positions):
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
if matched_device:
|
||||
if matched_device not in device_joints:
|
||||
device_joints[matched_device] = {}
|
||||
device_joints[matched_device][name] = float(pos)
|
||||
elif len(self.device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_joints:
|
||||
device_joints[fallback_id] = {}
|
||||
device_joints[fallback_id][name] = float(pos)
|
||||
|
||||
# 构建设备级 resource_poses（仅 dirty 时附带）
|
||||
device_resource_poses: Dict[str, Dict[str, str]] = {}
|
||||
if resource_dirty:
|
||||
for resource_id, link_name in self._resource_poses.items():
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if link_name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
if matched_device:
|
||||
if matched_device not in device_resource_poses:
|
||||
device_resource_poses[matched_device] = {}
|
||||
device_resource_poses[matched_device][resource_id] = link_name
|
||||
elif len(self.device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_resource_poses:
|
||||
device_resource_poses[fallback_id] = {}
|
||||
device_resource_poses[fallback_id][resource_id] = link_name
|
||||
self._resource_poses_dirty = False
|
||||
|
||||
result = {}
|
||||
for device_id, joint_states in device_joints.items():
|
||||
node_uuid = self.device_uuid_map.get(device_id)
|
||||
if not node_uuid:
|
||||
continue
|
||||
result[device_id] = {
|
||||
"node_uuid": node_uuid,
|
||||
"joint_states": joint_states,
|
||||
"resource_poses": device_resource_poses.get(device_id, {}),
|
||||
}
|
||||
return result
|
||||
|
||||
|
||||
# 功能测试中禁用优化（dead_band=0, min_interval=0），确保逻辑正确性
|
||||
def _make_sim(device_uuid_map: Dict[str, str]) -> JointBridgeSimulator:
|
||||
"""创建禁用吞吐优化的模拟器（用于功能正确性测试）"""
|
||||
return JointBridgeSimulator(device_uuid_map, dead_band=0.0, min_interval=0.0)
|
||||
|
||||
|
||||
# ==================== E1: JointRepublisher JSON 输出 ====================
|
||||
|
||||
|
||||
class TestJointRepublisherFormat:
|
||||
"""验证 JointRepublisher 输出标准 JSON（双引号）而非 Python repr（单引号）"""
|
||||
|
||||
def test_output_is_valid_json(self):
|
||||
"""str() 产生单引号，json.dumps() 产生双引号"""
|
||||
joint_dict = {
|
||||
"name": ["joint1", "joint2"],
|
||||
"position": [0.1, 0.2],
|
||||
"velocity": [0.0, 0.0],
|
||||
"effort": [0.0, 0.0],
|
||||
}
|
||||
result = json.dumps(joint_dict)
|
||||
parsed = json.loads(result)
|
||||
assert parsed["name"] == ["joint1", "joint2"]
|
||||
assert parsed["position"] == [0.1, 0.2]
|
||||
assert "'" not in result
|
||||
|
||||
def test_str_produces_invalid_json(self):
|
||||
"""对比: str() 不是合法 JSON"""
|
||||
joint_dict = {"name": ["joint1"], "position": [0.1]}
|
||||
result = str(joint_dict)
|
||||
with pytest.raises(json.JSONDecodeError):
|
||||
json.loads(result)
|
||||
|
||||
|
||||
# ==================== E2: 关节状态回调（JointState msg 直接读取）====================
|
||||
|
||||
|
||||
class TestJointStateCallback:
|
||||
"""测试从 JointState msg 直接读取 name/position 的分组逻辑"""
|
||||
|
||||
def test_single_device_simple(self):
|
||||
"""单设备，关节名有设备前缀"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_joint1", "panda_joint2"], [0.5, 1.0]
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert "panda" in result
|
||||
assert result["panda"]["joint_states"]["panda_joint1"] == 0.5
|
||||
assert result["panda"]["joint_states"]["panda_joint2"] == 1.0
|
||||
|
||||
def test_single_device_no_prefix_fallback(self):
|
||||
"""单设备，关节名无设备前缀 → 应归入唯一设备"""
|
||||
sim = _make_sim({"robot1": "uuid-r1"})
|
||||
msg = _make_joint_state_msg(["joint_a", "joint_b"], [1.0, 2.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert "robot1" in result
|
||||
assert result["robot1"]["joint_states"]["joint_a"] == 1.0
|
||||
assert result["robot1"]["joint_states"]["joint_b"] == 2.0
|
||||
|
||||
def test_multi_device_distinct_prefixes(self):
|
||||
"""多设备，不同前缀，正确分组"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm1_j2", "arm2_j1", "arm2_j2"],
|
||||
[0.1, 0.2, 0.3, 0.4],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
|
||||
assert result["arm1"]["joint_states"]["arm1_j2"] == 0.2
|
||||
assert result["arm2"]["joint_states"]["arm2_j1"] == 0.3
|
||||
assert result["arm2"]["joint_states"]["arm2_j2"] == 0.4
|
||||
|
||||
def test_ambiguous_prefix_longest_wins(self):
|
||||
"""前缀歧义: arm 和 arm_left — 最长前缀优先"""
|
||||
sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm_j1", "arm_left_j1", "arm_left_j2"],
|
||||
[0.1, 0.2, 0.3],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == 0.1
|
||||
assert result["arm_left"]["joint_states"]["arm_left_j1"] == 0.2
|
||||
assert result["arm_left"]["joint_states"]["arm_left_j2"] == 0.3
|
||||
|
||||
def test_multi_device_unmatched_joints_dropped(self):
|
||||
"""多设备时，无法匹配前缀的关节应被丢弃（不 fallback）"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "unknown_j1"],
|
||||
[0.1, 0.9],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["joint_states"]["arm1_j1"] == 0.1
|
||||
for device_id, data in result.items():
|
||||
assert "unknown_j1" not in data["joint_states"]
|
||||
|
||||
def test_empty_names(self):
|
||||
"""空 name 列表"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg([], [])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_mismatched_lengths(self):
|
||||
"""name 和 position 长度不一致"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg(["j1", "j2"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_no_devices(self):
|
||||
"""无设备 UUID 映射"""
|
||||
sim = _make_sim({})
|
||||
msg = _make_joint_state_msg(["j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_numeric_prefix_device_ids(self):
|
||||
"""数字化设备 ID (如 deck1, deck12) — deck12_slot1 不应匹配 deck1"""
|
||||
sim = _make_sim({"deck1": "uuid-d1", "deck12": "uuid-d12"})
|
||||
msg = _make_joint_state_msg(
|
||||
["deck1_slot1", "deck12_slot1"],
|
||||
[1.0, 2.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["deck1"]["joint_states"]["deck1_slot1"] == 1.0
|
||||
assert result["deck12"]["joint_states"]["deck12_slot1"] == 2.0
|
||||
|
||||
def test_position_float_conversion(self):
|
||||
"""position 值应强制转为 float（即使输入为 int）"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
msg = _make_joint_state_msg(["arm_j1"], [1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == 1.0
|
||||
assert isinstance(result["arm"]["joint_states"]["arm_j1"], float)
|
||||
|
||||
def test_node_uuid_in_result(self):
|
||||
"""结果中应携带正确的 node_uuid"""
|
||||
sim = _make_sim({"panda": "uuid-panda-123"})
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["node_uuid"] == "uuid-panda-123"
|
||||
|
||||
def test_device_with_no_uuid_skipped(self):
|
||||
"""device_uuid_map 中存在映射但值为空 → 跳过"""
|
||||
sim = _make_sim({"arm": ""})
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result == {}
|
||||
|
||||
def test_many_joints_single_device(self):
|
||||
"""单设备大量关节（如 7-DOF arm）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
names = [f"panda_joint{i}" for i in range(1, 8)]
|
||||
positions = [float(i) * 0.1 for i in range(1, 8)]
|
||||
msg = _make_joint_state_msg(names, positions)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["panda"]["joint_states"]) == 7
|
||||
assert result["panda"]["joint_states"]["panda_joint7"] == pytest.approx(0.7)
|
||||
|
||||
def test_duplicate_joint_names_last_wins(self):
|
||||
"""同类型设备多个实例时，如果关节名完全重复（bug 场景），后出现的值覆盖前者"""
|
||||
sim = _make_sim({"dev": "uuid-dev"})
|
||||
msg = _make_joint_state_msg(["dev_j1", "dev_j1"], [1.0, 2.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["dev"]["joint_states"]["dev_j1"] == 2.0
|
||||
|
||||
def test_negative_positions(self):
|
||||
"""关节角度为负数"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
msg = _make_joint_state_msg(["arm_j1", "arm_j2"], [-1.57, -3.14])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["joint_states"]["arm_j1"] == pytest.approx(-1.57)
|
||||
assert result["arm"]["joint_states"]["arm_j2"] == pytest.approx(-3.14)
|
||||
|
||||
|
||||
# ==================== E3: 资源跟随 (resource_pose) ====================
|
||||
|
||||
|
||||
class TestResourcePoseCallback:
|
||||
"""测试 resource_pose 回调 — 夹爪抓取/释放/多资源"""
|
||||
|
||||
def test_single_resource_attach(self):
|
||||
"""单个资源挂载到夹爪 link"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_string_msg(json.dumps({"plate_1": "panda_gripper_link"}))
|
||||
sim.resource_pose_callback(msg)
|
||||
assert sim._resource_poses == {"plate_1": "panda_gripper_link"}
|
||||
assert sim._resource_poses_dirty is True
|
||||
|
||||
def test_multiple_resource_attach(self):
|
||||
"""多个资源同时挂载到不同 link"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
"tip_rack": "panda_deck_link",
|
||||
}))
|
||||
sim.resource_pose_callback(msg)
|
||||
assert sim._resource_poses["plate_1"] == "panda_gripper_link"
|
||||
assert sim._resource_poses["tip_rack"] == "panda_deck_link"
|
||||
|
||||
def test_incremental_update(self):
|
||||
"""增量更新：新消息合并到已有状态"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_2": "panda_gripper_link"})))
|
||||
assert len(sim._resource_poses) == 2
|
||||
assert sim._resource_poses["plate_1"] == "panda_deck_link"
|
||||
assert sim._resource_poses["plate_2"] == "panda_gripper_link"
|
||||
|
||||
def test_resource_reattach(self):
|
||||
"""资源从 deck 移动到 gripper（抓取操作）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_deck_link"})))
|
||||
assert sim._resource_poses["plate_1"] == "panda_deck_link"
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
|
||||
assert sim._resource_poses["plate_1"] == "panda_gripper_link"
|
||||
|
||||
def test_resource_release_back_to_world(self):
|
||||
"""释放资源回到 world"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_gripper_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "world"})))
|
||||
assert sim._resource_poses["plate_1"] == "world"
|
||||
|
||||
def test_empty_dict_heartbeat_no_dirty(self):
|
||||
"""空 dict（心跳包）不标记 dirty"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim._resource_poses_dirty = False # 重置
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({})))
|
||||
assert sim._resource_poses_dirty is False # 空 dict 不应标记 dirty
|
||||
|
||||
def test_same_value_no_dirty(self):
|
||||
"""重复发送相同值不应标记 dirty"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim._resource_poses_dirty = False
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
def test_invalid_json_ignored(self):
|
||||
"""非法 JSON 消息不影响状态"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate_1": "panda_link"})))
|
||||
sim.resource_pose_callback(_make_string_msg("not valid json {{{"))
|
||||
assert sim._resource_poses["plate_1"] == "panda_link"
|
||||
|
||||
def test_non_dict_json_ignored(self):
|
||||
"""JSON 但不是 dict（如 list）应被忽略"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps(["not", "a", "dict"])))
|
||||
assert sim._resource_poses == {}
|
||||
|
||||
def test_python_repr_ignored(self):
|
||||
"""Python repr 格式（单引号）应被忽略"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg("{'plate_1': 'panda_link'}"))
|
||||
assert sim._resource_poses == {}
|
||||
|
||||
def test_multi_device_resource_attach(self):
|
||||
"""多设备场景：不同设备的 link 挂载不同资源"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"plate_B": "arm2_gripper_link",
|
||||
})))
|
||||
assert sim._resource_poses["plate_A"] == "arm1_gripper_link"
|
||||
assert sim._resource_poses["plate_B"] == "arm2_gripper_link"
|
||||
|
||||
|
||||
# ==================== E4: 联合流程 — 关节 + 资源一并通过 bridge ====================
|
||||
|
||||
|
||||
class TestJointWithResourcePoses:
|
||||
"""测试关节状态回调时，resource_poses 被正确按设备分组并包含在结果中"""
|
||||
|
||||
def test_single_device_joint_with_resource(self):
|
||||
"""单设备：关节更新时携带已挂载的资源"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1", "panda_j2"], [0.5, 1.0])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {"plate_1": "panda_gripper_link"}
|
||||
|
||||
def test_single_device_no_resource(self):
|
||||
"""单设备：无资源挂载时 resource_poses 为空 dict"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {}
|
||||
|
||||
def test_multi_device_resource_routing(self):
|
||||
"""多设备：资源按 link 前缀路由到正确设备"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"plate_B": "arm2_gripper_link",
|
||||
"tube_1": "arm1_tool_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm2_j1"],
|
||||
[0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["resource_poses"] == {
|
||||
"plate_A": "arm1_gripper_link",
|
||||
"tube_1": "arm1_tool_link",
|
||||
}
|
||||
assert result["arm2"]["resource_poses"] == {"plate_B": "arm2_gripper_link"}
|
||||
|
||||
def test_resource_on_world_frame_not_routed(self):
|
||||
"""资源挂在 world frame（已释放）— 多设备时无法匹配任何设备前缀"""
|
||||
sim = _make_sim({"arm1": "uuid-arm1", "arm2": "uuid-arm2"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "world",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["arm1_j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm1"]["resource_poses"] == {}
|
||||
|
||||
def test_resource_world_frame_single_device_fallback(self):
|
||||
"""单设备时 world frame 的资源走 fallback"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "world",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.1])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"] == {"plate_A": "world"}
|
||||
|
||||
def test_grab_and_move_sequence(self):
|
||||
"""完整夹取序列: 资源在 deck → gripper 抓取 → arm 移动 → 放下"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
|
||||
# 初始: plate 在 deck
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_deck_third_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[0.0, -0.5, 1.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_third_link"
|
||||
|
||||
# 抓取: plate 从 deck → gripper
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[1.57, 0.0, -0.5],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_gripper_link"
|
||||
assert result["panda"]["joint_states"]["panda_j1"] == pytest.approx(1.57)
|
||||
|
||||
# 放下: plate 从 gripper → 目标 deck
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_deck_first_link",
|
||||
})))
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["panda_j1", "panda_j2", "panda_j3"],
|
||||
[0.0, 0.0, 0.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["panda"]["resource_poses"]["plate_1"] == "panda_deck_first_link"
|
||||
|
||||
def test_simultaneous_grab_multiple_resources(self):
|
||||
"""同时持有多个资源（如双夹爪）"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_left_gripper",
|
||||
"plate_2": "panda_right_gripper",
|
||||
"tip_rack": "panda_deck_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["panda"]["resource_poses"]) == 3
|
||||
|
||||
def test_resource_with_ambiguous_link_prefix(self):
|
||||
"""link 前缀歧义: arm_left_gripper 应匹配 arm_left 而非 arm"""
|
||||
sim = _make_sim({"arm": "uuid-arm", "arm_left": "uuid-arm-left"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "arm_gripper_link",
|
||||
"plate_B": "arm_left_gripper_link",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["arm_j1", "arm_left_j1"],
|
||||
[0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["arm"]["resource_poses"] == {"plate_A": "arm_gripper_link"}
|
||||
assert result["arm_left"]["resource_poses"] == {"plate_B": "arm_left_gripper_link"}
|
||||
|
||||
|
||||
# ==================== E5: Bridge 调用验证 ====================
|
||||
|
||||
|
||||
class TestBridgeCalls:
|
||||
"""验证完整桥接流: callback → bridge.publish_joint_state 调用"""
|
||||
|
||||
def test_bridge_called_per_device(self):
|
||||
"""每个设备调用一次 publish_joint_state"""
|
||||
device_uuid_map = {"arm1": "uuid-111", "arm2": "uuid-222"}
|
||||
sim = _make_sim(device_uuid_map)
|
||||
bridge = MagicMock()
|
||||
bridge.publish_joint_state = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg(
|
||||
["arm1_j1", "arm2_j1"],
|
||||
[1.0, 2.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
assert bridge.publish_joint_state.call_count == 2
|
||||
call_uuids = {c[0][0] for c in bridge.publish_joint_state.call_args_list}
|
||||
assert call_uuids == {"uuid-111", "uuid-222"}
|
||||
|
||||
def test_bridge_called_with_resource_poses(self):
|
||||
"""bridge 调用时携带 resource_poses"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_1": "panda_gripper_link",
|
||||
})))
|
||||
|
||||
bridge = MagicMock()
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_called_once_with(
|
||||
"uuid-panda",
|
||||
{"panda_j1": 0.5},
|
||||
{"plate_1": "panda_gripper_link"},
|
||||
)
|
||||
|
||||
def test_bridge_no_call_for_empty_joints(self):
|
||||
"""无关节数据时不调用 bridge"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
bridge = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg([], [])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_not_called()
|
||||
|
||||
def test_bridge_resource_poses_empty_when_no_resources(self):
|
||||
"""无资源挂载时，resource_poses 参数为空 dict"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
bridge = MagicMock()
|
||||
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
bridge.publish_joint_state.assert_called_once_with(
|
||||
"uuid-panda",
|
||||
{"panda_j1": 0.5},
|
||||
{},
|
||||
)
|
||||
|
||||
def test_multi_bridge_all_called(self):
|
||||
"""多个 bridge 都应被调用"""
|
||||
sim = _make_sim({"arm": "uuid-arm"})
|
||||
bridges = [MagicMock(), MagicMock()]
|
||||
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.5])
|
||||
result = sim.joint_state_callback(msg)
|
||||
|
||||
for device_id, data in result.items():
|
||||
for bridge in bridges:
|
||||
bridge.publish_joint_state(
|
||||
data["node_uuid"], data["joint_states"], data["resource_poses"]
|
||||
)
|
||||
|
||||
for bridge in bridges:
|
||||
bridge.publish_joint_state.assert_called_once()
|
||||
|
||||
|
||||
# ==================== E6: 同类型设备多个实例 — 重复关节名场景 ====================
|
||||
|
||||
|
||||
class TestDuplicateDeviceTypes:
|
||||
"""
|
||||
多个同类型设备（如 2 个 OT-2 移液器），关节名格式为 {device_id}_{joint_name}。
|
||||
设备 ID 不同（如 ot2_left, ot2_right），但底层关节名相同（如 pipette_j1）。
|
||||
"""
|
||||
|
||||
def test_same_type_different_id(self):
|
||||
"""同类型设备不同 ID"""
|
||||
sim = _make_sim({
|
||||
"ot2_left": "uuid-ot2-left",
|
||||
"ot2_right": "uuid-ot2-right",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["ot2_left_pipette_j1", "ot2_left_pipette_j2",
|
||||
"ot2_right_pipette_j1", "ot2_right_pipette_j2"],
|
||||
[0.1, 0.2, 0.3, 0.4],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j1"] == 0.1
|
||||
assert result["ot2_left"]["joint_states"]["ot2_left_pipette_j2"] == 0.2
|
||||
assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j1"] == 0.3
|
||||
assert result["ot2_right"]["joint_states"]["ot2_right_pipette_j2"] == 0.4
|
||||
|
||||
def test_same_type_with_resources_routed_correctly(self):
|
||||
"""同类型设备各自抓取资源，按 link 前缀正确路由"""
|
||||
sim = _make_sim({
|
||||
"ot2_left": "uuid-ot2-left",
|
||||
"ot2_right": "uuid-ot2-right",
|
||||
})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({
|
||||
"plate_A": "ot2_left_gripper",
|
||||
"plate_B": "ot2_right_gripper",
|
||||
})))
|
||||
msg = _make_joint_state_msg(
|
||||
["ot2_left_j1", "ot2_right_j1"],
|
||||
[0.5, 0.6],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["ot2_left"]["resource_poses"] == {"plate_A": "ot2_left_gripper"}
|
||||
assert result["ot2_right"]["resource_poses"] == {"plate_B": "ot2_right_gripper"}
|
||||
|
||||
def test_numbered_devices_no_confusion(self):
|
||||
"""编号设备: robot1 不应匹配 robot10 的关节"""
|
||||
sim = _make_sim({
|
||||
"robot1": "uuid-r1",
|
||||
"robot10": "uuid-r10",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["robot1_j1", "robot10_j1"],
|
||||
[1.0, 10.0],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert result["robot1"]["joint_states"]["robot1_j1"] == 1.0
|
||||
assert result["robot10"]["joint_states"]["robot10_j1"] == 10.0
|
||||
|
||||
def test_three_same_type_devices(self):
|
||||
"""三个同类型设备"""
|
||||
sim = _make_sim({
|
||||
"pump_a": "uuid-pa",
|
||||
"pump_b": "uuid-pb",
|
||||
"pump_c": "uuid-pc",
|
||||
})
|
||||
msg = _make_joint_state_msg(
|
||||
["pump_a_flow", "pump_b_flow", "pump_c_flow",
|
||||
"pump_a_pressure", "pump_b_pressure"],
|
||||
[1.0, 2.0, 3.0, 0.1, 0.2],
|
||||
)
|
||||
result = sim.joint_state_callback(msg)
|
||||
assert len(result["pump_a"]["joint_states"]) == 2
|
||||
assert len(result["pump_b"]["joint_states"]) == 2
|
||||
assert len(result["pump_c"]["joint_states"]) == 1
|
||||
|
||||
|
||||
# ==================== E7: 吞吐优化测试 ====================
|
||||
|
||||
|
||||
class TestThroughputOptimizations:
|
||||
"""测试死区过滤、抑频、增量 resource_poses 等优化行为"""
|
||||
|
||||
# --- 死区过滤 (Dead Band) ---
|
||||
|
||||
def test_dead_band_filters_tiny_change(self):
|
||||
"""关节变化小于死区阈值 → 被过滤"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result1 = sim.joint_state_callback(msg1, now=0.0)
|
||||
assert "arm" in result1
|
||||
|
||||
# 微小变化 (0.001 < 0.01 死区)
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert result2 == {}
|
||||
|
||||
def test_dead_band_passes_significant_change(self):
|
||||
"""关节变化大于死区阈值 → 通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.05])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.05)
|
||||
|
||||
def test_dead_band_first_message_always_passes(self):
|
||||
"""首次消息总是通过（无历史值）"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=1000.0, min_interval=0.0)
|
||||
msg = _make_joint_state_msg(["arm_j1"], [0.001])
|
||||
result = sim.joint_state_callback(msg, now=0.0)
|
||||
assert "arm" in result
|
||||
|
||||
def test_dead_band_any_joint_change_triggers(self):
|
||||
"""多关节中只要有一个超过死区就全部发送"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.0, 2.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
# j1 微变化，j2 大变化
|
||||
msg2 = _make_joint_state_msg(["arm_j1", "arm_j2"], [1.001, 2.5])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
# 两个关节的值都应包含在结果中
|
||||
assert result2["arm"]["joint_states"]["arm_j1"] == pytest.approx(1.001)
|
||||
assert result2["arm"]["joint_states"]["arm_j2"] == pytest.approx(2.5)
|
||||
|
||||
# --- 抑频 (Throttle) ---
|
||||
|
||||
def test_throttle_filters_rapid_messages(self):
|
||||
"""发送间隔内的消息被过滤"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result1 = sim.joint_state_callback(msg1, now=0.0)
|
||||
assert "arm" in result1
|
||||
|
||||
# 0.05s < 0.1s 间隔
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.05)
|
||||
assert result2 == {}
|
||||
|
||||
def test_throttle_passes_after_interval(self):
|
||||
"""超过发送间隔后消息通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=0.1)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [2.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.15)
|
||||
assert "arm" in result2
|
||||
|
||||
def test_throttle_bypassed_by_resource_change(self):
|
||||
"""resource_pose 变化时忽略抑频限制"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.0, min_interval=1.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
# 资源变化 → 强制发送
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=0.01) # 远小于 1.0 间隔
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
|
||||
|
||||
# --- 增量 resource_poses ---
|
||||
|
||||
def test_resource_poses_only_sent_when_dirty(self):
|
||||
"""resource_poses 仅在 dirty 时附带，否则为空"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
|
||||
|
||||
# 第一次发送：dirty → 携带 resource_poses
|
||||
msg1 = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
result1 = sim.joint_state_callback(msg1)
|
||||
assert result1["panda"]["resource_poses"] == {"plate": "panda_gripper"}
|
||||
|
||||
# dirty 已清除
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
# 第二次发送：not dirty → resource_poses 为空
|
||||
msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2)
|
||||
assert result2["panda"]["resource_poses"] == {}
|
||||
|
||||
def test_resource_change_resets_dirty_after_send(self):
|
||||
"""dirty 在发送后被重置，再次 resource_pose 变化后重新标记"""
|
||||
sim = _make_sim({"panda": "uuid-panda"})
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_deck"})))
|
||||
|
||||
msg = _make_joint_state_msg(["panda_j1"], [0.5])
|
||||
sim.joint_state_callback(msg)
|
||||
assert sim._resource_poses_dirty is False
|
||||
|
||||
# 再次资源变化
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "panda_gripper"})))
|
||||
assert sim._resource_poses_dirty is True
|
||||
|
||||
msg2 = _make_joint_state_msg(["panda_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2)
|
||||
assert result2["panda"]["resource_poses"] == {"plate": "panda_gripper"}
|
||||
|
||||
# --- 组合场景 ---
|
||||
|
||||
def test_dead_band_bypassed_by_resource_dirty(self):
|
||||
"""关节无变化但 resource_pose 有变化 → 仍然发送"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
sim.joint_state_callback(msg1, now=0.0)
|
||||
|
||||
sim.resource_pose_callback(_make_string_msg(json.dumps({"plate": "arm_gripper"})))
|
||||
# 关节值完全不变
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
result2 = sim.joint_state_callback(msg2, now=1.0)
|
||||
assert "arm" in result2
|
||||
assert result2["arm"]["resource_poses"] == {"plate": "arm_gripper"}
|
||||
|
||||
def test_high_frequency_stream_only_significant_pass(self):
|
||||
"""模拟高频流: 只有显著变化的消息通过"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.0)
|
||||
t = 0.0
|
||||
passed_count = 0
|
||||
|
||||
# 100 条消息，每条微小递增 0.001
|
||||
for i in range(100):
|
||||
t += 0.1
|
||||
val = 1.0 + i * 0.001
|
||||
msg = _make_joint_state_msg(["arm_j1"], [val])
|
||||
result = sim.joint_state_callback(msg, now=t)
|
||||
if result:
|
||||
passed_count += 1
|
||||
|
||||
# 首次总通过 + 每 10 条左右（累计 0.01 变化）通过一次
|
||||
assert passed_count < 20 # 远少于 100
|
||||
assert passed_count >= 5 # 但不应为 0
|
||||
|
||||
def test_throttle_and_dead_band_combined(self):
|
||||
"""同时受抑频和死区影响"""
|
||||
sim = JointBridgeSimulator({"arm": "uuid-arm"}, dead_band=0.01, min_interval=0.5)
|
||||
|
||||
# 首条通过
|
||||
msg1 = _make_joint_state_msg(["arm_j1"], [1.0])
|
||||
assert sim.joint_state_callback(msg1, now=0.0) != {}
|
||||
|
||||
# 时间不够 + 变化不够 → 过滤
|
||||
msg2 = _make_joint_state_msg(["arm_j1"], [1.001])
|
||||
assert sim.joint_state_callback(msg2, now=0.1) == {}
|
||||
|
||||
# 时间够但变化不够 → 过滤
|
||||
msg3 = _make_joint_state_msg(["arm_j1"], [1.002])
|
||||
assert sim.joint_state_callback(msg3, now=1.0) == {}
|
||||
|
||||
# 时间够且变化够 → 通过
|
||||
msg4 = _make_joint_state_msg(["arm_j1"], [1.05])
|
||||
assert sim.joint_state_callback(msg4, now=1.5) != {}
|
||||
@@ -1 +1 @@
|
||||
__version__ = "0.10.19"
|
||||
__version__ = "0.10.18"
|
||||
|
||||
@@ -50,17 +50,6 @@ class BaseCommunicationClient(ABC):
|
||||
"""
|
||||
pass
|
||||
|
||||
def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
|
||||
"""
|
||||
发布高频关节状态数据（push_joint_state action，不写 DB）
|
||||
|
||||
Args:
|
||||
node_uuid: 设备节点的云端 UUID
|
||||
joint_states: 关节名 → 角度/位置 的映射
|
||||
resource_poses: 物料附着映射（可选）
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None
|
||||
|
||||
@@ -4,7 +4,6 @@ import os
|
||||
import platform
|
||||
import shutil
|
||||
import signal
|
||||
import subprocess
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
@@ -26,84 +25,6 @@ from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
_restart_requested: bool = False
|
||||
_restart_reason: str = ""
|
||||
|
||||
RESTART_EXIT_CODE = 42
|
||||
|
||||
|
||||
def _build_child_argv():
|
||||
"""Build sys.argv for child process, stripping supervisor-only arguments."""
|
||||
result = []
|
||||
skip_next = False
|
||||
for arg in sys.argv:
|
||||
if skip_next:
|
||||
skip_next = False
|
||||
continue
|
||||
if arg in ("--restart_mode", "--restart-mode"):
|
||||
continue
|
||||
if arg in ("--auto_restart_count", "--auto-restart-count"):
|
||||
skip_next = True
|
||||
continue
|
||||
if arg.startswith("--auto_restart_count=") or arg.startswith("--auto-restart-count="):
|
||||
continue
|
||||
result.append(arg)
|
||||
return result
|
||||
|
||||
|
||||
def _run_as_supervisor(max_restarts: int):
|
||||
"""
|
||||
Supervisor process that spawns and monitors child processes.
|
||||
|
||||
Similar to Uvicorn's --reload: the supervisor itself does no heavy work,
|
||||
it only launches the real process as a child and restarts it when the child
|
||||
exits with RESTART_EXIT_CODE.
|
||||
"""
|
||||
child_argv = [sys.executable] + _build_child_argv()
|
||||
restart_count = 0
|
||||
|
||||
print_status(
|
||||
f"[Supervisor] Restart mode enabled (max restarts: {max_restarts}), "
|
||||
f"child command: {' '.join(child_argv)}",
|
||||
"info",
|
||||
)
|
||||
|
||||
while True:
|
||||
print_status(
|
||||
f"[Supervisor] Launching process (restart {restart_count}/{max_restarts})...",
|
||||
"info",
|
||||
)
|
||||
|
||||
try:
|
||||
process = subprocess.Popen(child_argv)
|
||||
exit_code = process.wait()
|
||||
except KeyboardInterrupt:
|
||||
print_status("[Supervisor] Interrupted, terminating child process...", "info")
|
||||
process.terminate()
|
||||
try:
|
||||
process.wait(timeout=10)
|
||||
except subprocess.TimeoutExpired:
|
||||
process.kill()
|
||||
process.wait()
|
||||
sys.exit(1)
|
||||
|
||||
if exit_code == RESTART_EXIT_CODE:
|
||||
restart_count += 1
|
||||
if restart_count > max_restarts:
|
||||
print_status(
|
||||
f"[Supervisor] Maximum restart count ({max_restarts}) reached, exiting",
|
||||
"warning",
|
||||
)
|
||||
sys.exit(1)
|
||||
print_status(
|
||||
f"[Supervisor] Child requested restart ({restart_count}/{max_restarts}), restarting in 2s...",
|
||||
"info",
|
||||
)
|
||||
time.sleep(2)
|
||||
else:
|
||||
if exit_code != 0:
|
||||
print_status(f"[Supervisor] Child exited with code {exit_code}", "warning")
|
||||
else:
|
||||
print_status("[Supervisor] Child exited normally", "info")
|
||||
sys.exit(exit_code)
|
||||
|
||||
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
@@ -145,13 +66,6 @@ def parse_args():
|
||||
action="append",
|
||||
help="Path to the registry directory",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--devices",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="Path to Python code directory for AST-based device/resource scanning",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--working_dir",
|
||||
type=str,
|
||||
@@ -241,18 +155,18 @@ def parse_args():
|
||||
action="store_true",
|
||||
help="Skip environment dependency check on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Complete registry information",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--check_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Run in check mode for CI: validates registry imports and ensures no file changes",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Complete and rewrite YAML registry files using AST analysis results",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--no_update_feedback",
|
||||
action="store_true",
|
||||
@@ -264,30 +178,6 @@ def parse_args():
|
||||
default=False,
|
||||
help="Test mode: all actions simulate execution and return mock results without running real hardware",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--external_devices_only",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--extra_resource",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Load extra lab_ prefixed labware resources (529 auto-generated definitions from lab_resources.py)",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--restart_mode",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Enable supervisor mode: automatically restart the process when triggered via WebSocket",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--auto_restart_count",
|
||||
type=int,
|
||||
default=500,
|
||||
help="Maximum number of automatic restarts in restart mode (default: 500)",
|
||||
)
|
||||
# workflow upload subcommand
|
||||
workflow_parser = subparsers.add_parser(
|
||||
"workflow_upload",
|
||||
@@ -338,28 +228,16 @@ def main():
|
||||
args = parser.parse_args()
|
||||
args_dict = vars(args)
|
||||
|
||||
# Supervisor mode: spawn child processes and monitor for restart
|
||||
if args_dict.get("restart_mode", False):
|
||||
_run_as_supervisor(args_dict.get("auto_restart_count", 5))
|
||||
return
|
||||
|
||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||
skip_env_check = args_dict.get("skip_env_check", False)
|
||||
check_mode = args_dict.get("check_mode", False)
|
||||
|
||||
if not skip_env_check:
|
||||
from unilabos.utils.environment_check import check_environment, check_device_package_requirements
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
|
||||
if not check_environment(auto_install=True):
|
||||
print_status("环境检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
|
||||
# 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
|
||||
devices_dirs_for_req = args_dict.get("devices", None)
|
||||
if devices_dirs_for_req:
|
||||
if not check_device_package_requirements(devices_dirs_for_req):
|
||||
print_status("设备包依赖检查失败，程序退出", "error")
|
||||
os._exit(1)
|
||||
else:
|
||||
print_status("跳过环境依赖检查", "warning")
|
||||
|
||||
@@ -480,9 +358,6 @@ def main():
|
||||
BasicConfig.test_mode = args_dict.get("test_mode", False)
|
||||
if BasicConfig.test_mode:
|
||||
print_status("启用测试模式：所有动作将模拟执行，不调用真实硬件", "warning")
|
||||
BasicConfig.extra_resource = args_dict.get("extra_resource", False)
|
||||
if BasicConfig.extra_resource:
|
||||
print_status("启用额外资源加载：将加载lab_开头的labware资源定义", "info")
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = platform.node()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
@@ -490,53 +365,39 @@ def main():
|
||||
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
||||
BasicConfig.check_mode = check_mode
|
||||
|
||||
from unilabos.registry.registry import build_registry
|
||||
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# Step 0: AST 分析优先 + YAML 注册表加载
|
||||
# check_mode 和 upload_registry 都会执行实际 import 验证
|
||||
devices_dirs = args_dict.get("devices", None)
|
||||
complete_registry = args_dict.get("complete_registry", False) or check_mode
|
||||
external_only = args_dict.get("external_devices_only", False)
|
||||
lab_registry = build_registry(
|
||||
registry_paths=args_dict["registry_path"],
|
||||
devices_dirs=devices_dirs,
|
||||
upload_registry=BasicConfig.upload_registry,
|
||||
check_mode=check_mode,
|
||||
complete_registry=complete_registry,
|
||||
external_only=external_only,
|
||||
)
|
||||
|
||||
# Check mode: 注册表验证完成后直接退出
|
||||
if check_mode:
|
||||
device_count = len(lab_registry.device_type_registry)
|
||||
resource_count = len(lab_registry.resource_type_registry)
|
||||
print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
|
||||
os._exit(0)
|
||||
|
||||
# 以下导入依赖 ROS2 环境，check_mode 已退出不需要
|
||||
from unilabos.resources.graphio import (
|
||||
read_node_link_json,
|
||||
read_graphml,
|
||||
dict_from_graph,
|
||||
modify_to_backend_format,
|
||||
)
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.registry.registry import build_registry
|
||||
from unilabos.app.backend import start_backend
|
||||
from unilabos.app.web import http_client
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表 - check_mode 时强制启用 complete_registry
|
||||
complete_registry = args_dict.get("complete_registry", False) or check_mode
|
||||
lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
|
||||
|
||||
# Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
|
||||
if check_mode:
|
||||
print_status("Check mode: complete_registry 完成，退出", "info")
|
||||
os._exit(0)
|
||||
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if BasicConfig.ak and BasicConfig.sk:
|
||||
# print_status("开始注册设备到服务端...", "info")
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
# print_status("设备注册完成", "info")
|
||||
print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
@@ -621,16 +482,12 @@ def main():
|
||||
continue
|
||||
|
||||
# 如果从远端获取了物料信息，则与本地物料进行同步
|
||||
if file_path is not None and request_startup_json and "nodes" in request_startup_json:
|
||||
if request_startup_json and "nodes" in request_startup_json:
|
||||
print_status("开始同步远端物料到本地...", "info")
|
||||
remote_tree_set = ResourceTreeSet.from_raw_dict_list(request_startup_json["nodes"])
|
||||
resource_tree_set.merge_remote_resources(remote_tree_set)
|
||||
print_status("远端物料同步完成", "info")
|
||||
|
||||
# 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
|
||||
# TODO: 当 community device package 功能上线后，在这里调用
|
||||
# install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
|
||||
|
||||
# 使用 ResourceTreeSet 代替 list
|
||||
args_dict["resources_config"] = resource_tree_set
|
||||
args_dict["devices_config"] = resource_tree_set
|
||||
@@ -722,10 +579,6 @@ def main():
|
||||
open_browser=not args_dict["disable_browser"],
|
||||
port=BasicConfig.port,
|
||||
)
|
||||
if restart_requested:
|
||||
print_status("[Main] Restart requested, cleaning up...", "info")
|
||||
cleanup_for_restart()
|
||||
os._exit(RESTART_EXIT_CODE)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
||||
@@ -1,8 +1,9 @@
|
||||
import json
|
||||
import time
|
||||
from typing import Any, Dict, Optional, Tuple
|
||||
from typing import Optional, Tuple, Dict, Any
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.tools import normalize_json as _normalize_device
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
|
||||
def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
|
||||
@@ -10,63 +11,50 @@ def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
|
||||
# 注册资源信息 - 使用HTTP方式
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = _normalize_device(device_info)
|
||||
logger.trace(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
devices_to_register[device_info["id"]] = json.loads(
|
||||
json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.trace(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
if gather_only:
|
||||
return devices_to_register, resources_to_register
|
||||
|
||||
# 注册设备
|
||||
if devices_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(devices_to_register.values())},
|
||||
tag="device_registry",
|
||||
)
|
||||
response = http_client.resource_registry({"resources": list(devices_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 设备注册跳过（内容未变化）"
|
||||
f" {len(devices_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time:.3f}s")
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}s")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}s")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 设备注册异常: {e}")
|
||||
|
||||
# 注册资源
|
||||
if resources_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry(
|
||||
{"resources": list(resources_to_register.values())},
|
||||
tag="resource_registry",
|
||||
)
|
||||
response = http_client.resource_registry({"resources": list(resources_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
res_data = response.json() if response.status_code == 200 else {}
|
||||
skipped = res_data.get("data", {}).get("skipped", False)
|
||||
if skipped:
|
||||
logger.info(
|
||||
f"[UniLab Register] 资源注册跳过（内容未变化）"
|
||||
f" {len(resources_to_register)} 个 {cost_time:.3f}s"
|
||||
)
|
||||
elif response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time:.3f}s")
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}s")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time:.3f}s")
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}s")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 资源注册异常: {e}")
|
||||
|
||||
logger.info("[UniLab Register] 设备和资源注册完成.")
|
||||
|
||||
@@ -1052,7 +1052,7 @@ async def handle_file_import(websocket: WebSocket, request_data: dict):
|
||||
"result": {},
|
||||
"schema": lab_registry._generate_unilab_json_command_schema(v["args"], k),
|
||||
"goal_default": {i["name"]: i["default"] for i in v["args"]},
|
||||
"handles": {},
|
||||
"handles": [],
|
||||
}
|
||||
# 不生成已配置action的动作
|
||||
for k, v in enhanced_info["action_methods"].items()
|
||||
@@ -1340,5 +1340,5 @@ def setup_api_routes(app):
|
||||
# 启动广播任务
|
||||
@app.on_event("startup")
|
||||
async def startup_event():
|
||||
asyncio.create_task(broadcast_device_status(), name="web-api-startup-device")
|
||||
asyncio.create_task(broadcast_status_page_data(), name="web-api-startup-status")
|
||||
asyncio.create_task(broadcast_device_status())
|
||||
asyncio.create_task(broadcast_status_page_data())
|
||||
|
||||
@@ -3,13 +3,11 @@ HTTP客户端模块
|
||||
|
||||
提供与远程服务器通信的客户端功能，只有host需要用
|
||||
"""
|
||||
import gzip
|
||||
|
||||
import json
|
||||
import os
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
from unilabos.utils.tools import fast_dumps as _fast_dumps, fast_dumps_pretty as _fast_dumps_pretty
|
||||
|
||||
import requests
|
||||
from unilabos.resources.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils.log import info
|
||||
@@ -282,54 +280,22 @@ class HTTPClient:
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_registry(
|
||||
self, registry_data: Dict[str, Any] | List[Dict[str, Any]], tag: str = "registry",
|
||||
) -> requests.Response:
|
||||
def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
注册资源到服务器，同步保存请求/响应到 unilabos_data
|
||||
注册资源到服务器
|
||||
|
||||
Args:
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
|
||||
tag: 保存文件的标签后缀 (如 "device_registry" / "resource_registry")
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
# 序列化一次，同时用于保存和发送
|
||||
json_bytes = _fast_dumps(registry_data)
|
||||
|
||||
# 保存请求数据到 unilabos_data
|
||||
req_path = os.path.join(BasicConfig.working_dir, f"req_{tag}_upload.json")
|
||||
try:
|
||||
os.makedirs(BasicConfig.working_dir, exist_ok=True)
|
||||
with open(req_path, "wb") as f:
|
||||
f.write(_fast_dumps_pretty(registry_data))
|
||||
logger.trace(f"注册表请求数据已保存: {req_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表请求数据失败: {e}")
|
||||
|
||||
compressed_body = gzip.compress(json_bytes)
|
||||
headers = {
|
||||
"Authorization": f"Lab {self.auth}",
|
||||
"Content-Type": "application/json",
|
||||
"Content-Encoding": "gzip",
|
||||
}
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
data=compressed_body,
|
||||
headers=headers,
|
||||
json=registry_data,
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
|
||||
# 保存响应数据到 unilabos_data
|
||||
res_path = os.path.join(BasicConfig.working_dir, f"res_{tag}_upload.json")
|
||||
try:
|
||||
with open(res_path, "w", encoding="utf-8") as f:
|
||||
f.write(f"{response.status_code}\n{response.text}")
|
||||
logger.trace(f"注册表响应数据已保存: {res_path}")
|
||||
except Exception as e:
|
||||
logger.warning(f"保存注册表响应数据失败: {e}")
|
||||
|
||||
if response.status_code not in [200, 201]:
|
||||
logger.error(f"注册资源失败: {response.status_code}, {response.text}")
|
||||
if response.status_code == 200:
|
||||
|
||||
@@ -86,7 +86,7 @@ def setup_server() -> FastAPI:
|
||||
# 设置页面路由
|
||||
try:
|
||||
setup_web_pages(pages)
|
||||
# info("[Web] 已加载Web UI模块")
|
||||
info("[Web] 已加载Web UI模块")
|
||||
except ImportError as e:
|
||||
info(f"[Web] 未找到Web页面模块: {str(e)}")
|
||||
except Exception as e:
|
||||
@@ -138,7 +138,7 @@ def start_server(host: str = "0.0.0.0", port: int = 8002, open_browser: bool = T
|
||||
server_thread = threading.Thread(target=server.run, daemon=True, name="uvicorn_server")
|
||||
server_thread.start()
|
||||
|
||||
# info("[Web] Server started, monitoring for restart requests...")
|
||||
info("[Web] Server started, monitoring for restart requests...")
|
||||
|
||||
# 监控重启标志
|
||||
import unilabos.app.main as main_module
|
||||
|
||||
@@ -26,7 +26,6 @@ from enum import Enum
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.resources.resource_tracker import ResourceDictType
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
from unilabos.utils.type_check import serialize_result_info
|
||||
from unilabos.app.communication import BaseCommunicationClient
|
||||
@@ -409,7 +408,6 @@ class MessageProcessor:
|
||||
# 线程控制
|
||||
self.is_running = False
|
||||
self.thread = None
|
||||
self._loop = None # asyncio event loop引用，用于外部关闭websocket
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] Initialized for URL: {websocket_url}")
|
||||
@@ -436,31 +434,22 @@ class MessageProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止消息处理线程"""
|
||||
self.is_running = False
|
||||
# 主动关闭websocket以快速中断消息接收循环
|
||||
ws = self.websocket
|
||||
loop = self._loop
|
||||
if ws and loop and loop.is_running():
|
||||
try:
|
||||
asyncio.run_coroutine_threadsafe(ws.close(), loop)
|
||||
except Exception:
|
||||
pass
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[MessageProcessor] Stopped")
|
||||
|
||||
def _run(self):
|
||||
"""运行消息处理主循环"""
|
||||
self._loop = asyncio.new_event_loop()
|
||||
loop = asyncio.new_event_loop()
|
||||
try:
|
||||
asyncio.set_event_loop(self._loop)
|
||||
self._loop.run_until_complete(self._connection_handler())
|
||||
asyncio.set_event_loop(loop)
|
||||
loop.run_until_complete(self._connection_handler())
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Thread error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
finally:
|
||||
if self._loop:
|
||||
self._loop.close()
|
||||
self._loop = None
|
||||
if loop:
|
||||
loop.close()
|
||||
|
||||
async def _connection_handler(self):
|
||||
"""处理WebSocket连接和重连逻辑"""
|
||||
@@ -477,10 +466,8 @@ class MessageProcessor:
|
||||
async with websockets.connect(
|
||||
self.websocket_url,
|
||||
ssl=ssl_context,
|
||||
open_timeout=20,
|
||||
ping_interval=WSConfig.ping_interval,
|
||||
ping_timeout=10,
|
||||
close_timeout=5,
|
||||
additional_headers={
|
||||
"Authorization": f"Lab {BasicConfig.auth_secret()}",
|
||||
"EdgeSession": f"{self.session_id}",
|
||||
@@ -491,94 +478,81 @@ class MessageProcessor:
|
||||
self.connected = True
|
||||
self.reconnect_count = 0
|
||||
|
||||
logger.info(f"[MessageProcessor] 已连接到 {self.websocket_url}")
|
||||
logger.trace(f"[MessageProcessor] Connected to {self.websocket_url}")
|
||||
|
||||
# 启动发送协程
|
||||
send_task = asyncio.create_task(self._send_handler(), name="websocket-send_task")
|
||||
|
||||
# 每次连接（含重连）后重新向服务端注册，
|
||||
# 否则服务端不知道客户端已上线，不会推送消息。
|
||||
if self.websocket_client:
|
||||
self.websocket_client.publish_host_ready()
|
||||
send_task = asyncio.create_task(self._send_handler())
|
||||
|
||||
try:
|
||||
# 接收消息循环
|
||||
await self._message_handler()
|
||||
finally:
|
||||
# 必须在 async with __aexit__ 之前停止 send_task，
|
||||
# 否则 send_task 会在关闭握手期间继续发送数据，
|
||||
# 干扰 websockets 库的内部清理，导致 task 泄漏。
|
||||
self.connected = False
|
||||
send_task.cancel()
|
||||
try:
|
||||
await send_task
|
||||
except asyncio.CancelledError:
|
||||
pass
|
||||
self.connected = False
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.warning("[MessageProcessor] 与服务端连接中断")
|
||||
except TimeoutError:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] 与服务端连接通信超时 (已尝试 {self.reconnect_count + 1} 次)，请检查您的网络状况"
|
||||
)
|
||||
except websockets.exceptions.InvalidStatus as e:
|
||||
logger.warning(
|
||||
f"[MessageProcessor] 收到服务端注册码 {e.response.status_code}, 上一进程可能还未退出"
|
||||
)
|
||||
except Exception as e:
|
||||
logger.error(traceback.format_exc())
|
||||
logger.error(f"[MessageProcessor] 尝试重连时出错 {str(e)}")
|
||||
finally:
|
||||
logger.warning("[MessageProcessor] Connection closed")
|
||||
self.connected = False
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Connection error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
self.connected = False
|
||||
finally:
|
||||
self.websocket = None
|
||||
|
||||
# 重连逻辑
|
||||
if not self.is_running:
|
||||
break
|
||||
if self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
if self.is_running and self.reconnect_count < WSConfig.max_reconnect_attempts:
|
||||
self.reconnect_count += 1
|
||||
backoff = WSConfig.reconnect_interval
|
||||
logger.info(
|
||||
f"[MessageProcessor] 即将在 {backoff} 秒后重连 (已尝试 {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
f"[MessageProcessor] Reconnecting in {WSConfig.reconnect_interval}s "
|
||||
f"(attempt {self.reconnect_count}/{WSConfig.max_reconnect_attempts})"
|
||||
)
|
||||
await asyncio.sleep(backoff)
|
||||
else:
|
||||
await asyncio.sleep(WSConfig.reconnect_interval)
|
||||
elif self.reconnect_count >= WSConfig.max_reconnect_attempts:
|
||||
logger.error("[MessageProcessor] Max reconnection attempts reached")
|
||||
break
|
||||
else:
|
||||
self.reconnect_count -= 1
|
||||
|
||||
async def _message_handler(self):
|
||||
"""处理接收到的消息。
|
||||
|
||||
ConnectionClosed 不在此处捕获，让其向上传播到 _connection_handler，
|
||||
以便 async with websockets.connect() 的 __aexit__ 能感知连接已断，
|
||||
正确清理内部 task，避免 task 泄漏。
|
||||
"""
|
||||
"""处理接收到的消息"""
|
||||
if not self.websocket:
|
||||
logger.error("[MessageProcessor] WebSocket connection is None")
|
||||
return
|
||||
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(
|
||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
||||
)
|
||||
logger.debug(
|
||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
||||
)
|
||||
else:
|
||||
try:
|
||||
async for message in self.websocket:
|
||||
try:
|
||||
data = json.loads(message)
|
||||
message_type = data.get("action", "")
|
||||
message_data = data.get("data")
|
||||
if self.session_id and self.session_id == data.get("edge_session"):
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
else:
|
||||
if message_type.endswith("_material"):
|
||||
logger.trace(
|
||||
f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}"
|
||||
)
|
||||
logger.debug(
|
||||
f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}"
|
||||
)
|
||||
else:
|
||||
await self._process_message(message_type, message_data)
|
||||
except json.JSONDecodeError:
|
||||
logger.error(f"[MessageProcessor] Invalid JSON received: {message}")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Error processing message: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
except websockets.exceptions.ConnectionClosed:
|
||||
logger.info("[MessageProcessor] Message handler stopped - connection closed")
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Message handler error: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
async def _send_handler(self):
|
||||
"""处理发送队列中的消息"""
|
||||
@@ -627,7 +601,6 @@ class MessageProcessor:
|
||||
|
||||
except asyncio.CancelledError:
|
||||
logger.debug("[MessageProcessor] Send handler cancelled")
|
||||
raise
|
||||
except Exception as e:
|
||||
logger.error(f"[MessageProcessor] Fatal error in send handler: {str(e)}")
|
||||
logger.error(traceback.format_exc())
|
||||
@@ -659,10 +632,6 @@ class MessageProcessor:
|
||||
# elif message_type == "session_id":
|
||||
# self.session_id = message_data.get("session_id")
|
||||
# logger.info(f"[MessageProcessor] Session ID: {self.session_id}")
|
||||
elif message_type == "add_device":
|
||||
await self._handle_device_manage(message_data, "add")
|
||||
elif message_type == "remove_device":
|
||||
await self._handle_device_manage(message_data, "remove")
|
||||
elif message_type == "request_restart":
|
||||
await self._handle_request_restart(message_data)
|
||||
else:
|
||||
@@ -999,37 +968,6 @@ class MessageProcessor:
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_device_manage(self, device_list: list[ResourceDictType], action: str):
|
||||
"""Handle add_device / remove_device from LabGo server."""
|
||||
if not device_list:
|
||||
return
|
||||
|
||||
for item in device_list:
|
||||
target_node_id = item.get("target_node_id", "host_node")
|
||||
|
||||
def _notify(target_id: str, act: str, cfg: ResourceDictType):
|
||||
try:
|
||||
host_node = HostNode.get_instance(timeout=5)
|
||||
if not host_node:
|
||||
logger.error(f"[DeviceManage] HostNode not available for {act}_device")
|
||||
return
|
||||
success = host_node.notify_device_manage(target_id, act, cfg)
|
||||
if success:
|
||||
logger.info(f"[DeviceManage] {act}_device completed on {target_id}")
|
||||
else:
|
||||
logger.warning(f"[DeviceManage] {act}_device failed on {target_id}")
|
||||
except Exception as e:
|
||||
logger.error(f"[DeviceManage] Error in {act}_device: {e}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
thread = threading.Thread(
|
||||
target=_notify,
|
||||
args=(target_node_id, action, item),
|
||||
daemon=True,
|
||||
name=f"DeviceManage-{action}-{item.get('id', '')}",
|
||||
)
|
||||
thread.start()
|
||||
|
||||
async def _handle_request_restart(self, data: Dict[str, Any]):
|
||||
"""
|
||||
处理重启请求
|
||||
@@ -1041,9 +979,10 @@ class MessageProcessor:
|
||||
logger.info(f"[MessageProcessor] Received restart request, reason: {reason}, delay: {delay}s")
|
||||
|
||||
# 发送确认消息
|
||||
self.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
if self.websocket_client:
|
||||
await self.websocket_client.send_message(
|
||||
{"action": "restart_acknowledged", "data": {"reason": reason, "delay": delay}}
|
||||
)
|
||||
|
||||
# 设置全局重启标志
|
||||
import unilabos.app.main as main_module
|
||||
@@ -1145,7 +1084,6 @@ class QueueProcessor:
|
||||
def stop(self) -> None:
|
||||
"""停止队列处理线程"""
|
||||
self.is_running = False
|
||||
self.queue_update_event.set() # 立即唤醒等待中的线程
|
||||
if self.thread and self.thread.is_alive():
|
||||
self.thread.join(timeout=2)
|
||||
logger.info("[QueueProcessor] Stopped")
|
||||
@@ -1399,8 +1337,8 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
message = {"action": "normal_exit", "data": {"session_id": session_id}}
|
||||
self.message_processor.send_message(message)
|
||||
logger.info(f"[WebSocketClient] Sent normal_exit message with session_id: {session_id}")
|
||||
# send_handler 每100ms检查一次队列，等300ms足以让消息发出
|
||||
time.sleep(0.3)
|
||||
# 给一点时间让消息发送出去
|
||||
time.sleep(1)
|
||||
except Exception as e:
|
||||
logger.warning(f"[WebSocketClient] Failed to send normal_exit message: {str(e)}")
|
||||
|
||||
@@ -1434,21 +1372,6 @@ class WebSocketClient(BaseCommunicationClient):
|
||||
self.message_processor.send_message(message)
|
||||
# logger.trace(f"[WebSocketClient] Device status published: {device_id}.{property_name}")
|
||||
|
||||
def publish_joint_state(self, node_uuid: str, joint_states: dict, resource_poses: dict = None) -> None:
|
||||
"""发布高频关节状态（push_joint_state，不写 DB）"""
|
||||
if self.is_disabled or not self.is_connected():
|
||||
return
|
||||
|
||||
message = {
|
||||
"action": "push_joint_state",
|
||||
"data": {
|
||||
"node_uuid": node_uuid,
|
||||
"joint_states": joint_states or {},
|
||||
"resource_poses": resource_poses or {},
|
||||
},
|
||||
}
|
||||
self.message_processor.send_message(message)
|
||||
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, item: QueueItem, status: str, return_info: Optional[dict] = None
|
||||
) -> None:
|
||||
|
||||
@@ -24,7 +24,6 @@ class BasicConfig:
|
||||
port = 8002 # 本地HTTP服务
|
||||
check_mode = False # CI 检查模式，用于验证 registry 导入和文件一致性
|
||||
test_mode = False # 测试模式，所有动作不实际执行，返回模拟结果
|
||||
extra_resource = False # 是否加载lab_开头的额外资源
|
||||
# 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'
|
||||
log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG"
|
||||
|
||||
@@ -41,7 +40,7 @@ class BasicConfig:
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 20 # ping间隔（秒）
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
|
||||
|
||||
# HTTP配置
|
||||
|
||||
@@ -1,3 +1,4 @@
|
||||
|
||||
from abc import abstractmethod
|
||||
from functools import wraps
|
||||
import inspect
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -103,7 +103,7 @@ class PRCXI9300Deck(Deck):
|
||||
|
||||
def __init__(self, name: str, size_x: float, size_y: float, size_z: float,
|
||||
sites: Optional[List[Dict[str, Any]]] = None, **kwargs):
|
||||
super().__init__(size_x, size_y, size_z, name)
|
||||
super().__init__(name, size_x, size_y, size_z)
|
||||
if sites is not None:
|
||||
self.sites: List[Dict[str, Any]] = [dict(s) for s in sites]
|
||||
else:
|
||||
@@ -120,6 +120,7 @@ class PRCXI9300Deck(Deck):
|
||||
self._ordering = collections.OrderedDict(
|
||||
(site["label"], None) for site in self.sites
|
||||
)
|
||||
self.root = self.get_root()
|
||||
|
||||
def _get_site_location(self, idx: int) -> Coordinate:
|
||||
pos = self.sites[idx]["position"]
|
||||
@@ -162,7 +163,10 @@ class PRCXI9300Deck(Deck):
|
||||
raise ValueError(f"No available site on deck '{self.name}' for resource '{resource.name}'")
|
||||
|
||||
if not reassign and self._get_site_resource(idx) is not None:
|
||||
raise ValueError(f"Site {idx} ('{self.sites[idx]['label']}') is already occupied")
|
||||
existing = self.root.get_resource(resource.name)
|
||||
if existing is not resource and existing.parent is not None:
|
||||
existing.parent.unassign_child_resource(existing)
|
||||
|
||||
|
||||
loc = self._get_site_location(idx)
|
||||
super().assign_child_resource(resource, location=loc, reassign=reassign)
|
||||
@@ -634,7 +638,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
deck: PRCXI9300Deck,
|
||||
deck: Deck,
|
||||
host: str,
|
||||
port: int,
|
||||
timeout: float,
|
||||
@@ -648,11 +652,11 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
is_9320=False,
|
||||
):
|
||||
tablets_info = []
|
||||
for site_id in range(len(deck.sites)):
|
||||
child = deck._get_site_resource(site_id)
|
||||
count = 0
|
||||
for child in deck.children:
|
||||
# 如果放其他类型的物料，是不可以的
|
||||
if hasattr(child, "_unilabos_state") and "Material" in child._unilabos_state:
|
||||
number = site_id + 1
|
||||
number = int(child.name.replace("T", ""))
|
||||
tablets_info.append(
|
||||
WorkTablets(
|
||||
Number=number, Code=f"T{number}", Material=child._unilabos_state["Material"]
|
||||
@@ -794,6 +798,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
touch_tip: bool = False,
|
||||
liquid_height: Optional[List[Optional[float]]] = None,
|
||||
blow_out_air_volume: Optional[List[Optional[float]]] = None,
|
||||
blow_out_air_volume_before: Optional[List[Optional[float]]] = None,
|
||||
spread: Literal["wide", "tight", "custom"] = "wide",
|
||||
is_96_well: bool = False,
|
||||
mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
|
||||
@@ -804,7 +809,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
delays: Optional[List[int]] = None,
|
||||
none_keys: List[str] = [],
|
||||
) -> TransferLiquidReturn:
|
||||
return await super().transfer_liquid(
|
||||
if self.step_mode:
|
||||
await self.create_protocol(f"transfer_liquid{time.time()}")
|
||||
res = await super().transfer_liquid(
|
||||
sources,
|
||||
targets,
|
||||
tip_racks,
|
||||
@@ -817,6 +824,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
touch_tip=touch_tip,
|
||||
liquid_height=liquid_height,
|
||||
blow_out_air_volume=blow_out_air_volume,
|
||||
blow_out_air_volume_before=blow_out_air_volume_before,
|
||||
spread=spread,
|
||||
is_96_well=is_96_well,
|
||||
mix_stage=mix_stage,
|
||||
@@ -827,6 +835,9 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
delays=delays,
|
||||
none_keys=none_keys,
|
||||
)
|
||||
if self.step_mode:
|
||||
await self.run_protocol()
|
||||
return res
|
||||
|
||||
async def custom_delay(self, seconds=0, msg=None):
|
||||
return await super().custom_delay(seconds, msg)
|
||||
@@ -843,9 +854,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
|
||||
offsets: Optional[Coordinate] = None,
|
||||
mix_rate: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
use_channels: Optional[List[int]] = [0],
|
||||
):
|
||||
return await self._unilabos_backend.mix(
|
||||
targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys
|
||||
targets, mix_time, mix_vol, height_to_bottom, offsets, mix_rate, none_keys, use_channels
|
||||
)
|
||||
|
||||
def iter_tips(self, tip_racks: Sequence[TipRack]) -> Iterator[Resource]:
|
||||
@@ -1274,9 +1286,15 @@ class PRCXI9300Backend(LiquidHandlerBackend):
|
||||
offsets: Optional[Coordinate] = None,
|
||||
mix_rate: Optional[float] = None,
|
||||
none_keys: List[str] = [],
|
||||
use_channels: Optional[List[int]] = [0],
|
||||
):
|
||||
"""Mix liquid in the specified resources."""
|
||||
|
||||
if use_channels == [0]:
|
||||
axis = "Left"
|
||||
elif use_channels == [1]:
|
||||
axis = "Right"
|
||||
else:
|
||||
raise ValueError("Invalid use channels: " + str(use_channels))
|
||||
plate_indexes = []
|
||||
for op in targets:
|
||||
deck = op.parent.parent.parent
|
||||
|
||||
@@ -1,88 +0,0 @@
|
||||
"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
|
||||
|
||||
import asyncio
|
||||
import logging
|
||||
import random
|
||||
import time
|
||||
from typing import Any, Dict, List, Optional
|
||||
|
||||
|
||||
class VirtualSampleDemo:
|
||||
"""虚拟样品追踪演示设备，提供两种典型返回模式：
|
||||
- measure_samples: 等长输入输出 (前端按 index 自动对齐)
|
||||
- split_and_measure: 输出比输入长，附带 samples 列标注归属
|
||||
"""
|
||||
|
||||
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
|
||||
if device_id is None and "id" in kwargs:
|
||||
device_id = kwargs.pop("id")
|
||||
if config is None and "config" in kwargs:
|
||||
config = kwargs.pop("config")
|
||||
|
||||
self.device_id = device_id or "unknown_sample_demo"
|
||||
self.config = config or {}
|
||||
self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
|
||||
self.data: Dict[str, Any] = {"status": "Idle"}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 1: 等长输入输出，无 samples 列
|
||||
# ------------------------------------------------------------------
|
||||
async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
|
||||
"""模拟光度测量。absorbance = concentration * 0.05 + noise
|
||||
|
||||
入参和出参 list 长度相等，前端按 index 自动对齐。
|
||||
"""
|
||||
self.logger.info(f"measure_samples: concentrations={concentrations}")
|
||||
absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
|
||||
return {"concentrations": concentrations, "absorbance": absorbance}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 2: 输出比输入长，带 samples 列
|
||||
# ------------------------------------------------------------------
|
||||
async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
|
||||
"""将每个样品均分为 split_count 份后逐份测量。
|
||||
|
||||
返回的 list 长度 = len(volumes) * split_count，
|
||||
附带 samples 列标注每行属于第几个输入样品 (0-based index)。
|
||||
"""
|
||||
self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
|
||||
out_volumes: List[float] = []
|
||||
readings: List[float] = []
|
||||
samples: List[int] = []
|
||||
|
||||
for idx, vol in enumerate(volumes):
|
||||
split_vol = round(vol / split_count, 2)
|
||||
for _ in range(split_count):
|
||||
out_volumes.append(split_vol)
|
||||
readings.append(round(random.uniform(0.1, 1.0), 4))
|
||||
samples.append(idx)
|
||||
|
||||
return {"volumes": out_volumes, "readings": readings, "samples": samples}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Action 3: 入参和出参都带 samples 列（不等长）
|
||||
# ------------------------------------------------------------------
|
||||
async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
|
||||
"""对 split_and_measure 的输出做二次分析。
|
||||
|
||||
入参 readings/samples 长度相同但 > 原始样品数，
|
||||
出参同样带 samples 列，长度与入参一致。
|
||||
"""
|
||||
self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
|
||||
scores: List[float] = []
|
||||
passed: List[bool] = []
|
||||
threshold = 0.4
|
||||
|
||||
for r in readings:
|
||||
score = round(r * 100 + random.gauss(0, 2), 2)
|
||||
scores.append(score)
|
||||
passed.append(r >= threshold)
|
||||
|
||||
return {"scores": scores, "passed": passed, "samples": samples}
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# 状态属性
|
||||
# ------------------------------------------------------------------
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Idle")
|
||||
@@ -1,15 +1,15 @@
|
||||
"""
|
||||
Virtual Workbench Device - 模拟工作台设备
|
||||
包含:
|
||||
包含：
|
||||
- 1个机械臂 (每次操作3s, 独占锁)
|
||||
- 3个加热台 (每次加热10s, 可并行)
|
||||
|
||||
工作流程:
|
||||
1. A1-A5 物料同时启动, 竞争机械臂
|
||||
工作流程：
|
||||
1. A1-A5 物料同时启动，竞争机械臂
|
||||
2. 机械臂将物料移动到空闲加热台
|
||||
3. 加热完成后, 机械臂将物料移动到C1-C5
|
||||
3. 加热完成后，机械臂将物料移动到C1-C5
|
||||
|
||||
注意: 调用来自线程池, 使用 threading.Lock 进行同步
|
||||
注意：调用来自线程池，使用 threading.Lock 进行同步
|
||||
"""
|
||||
|
||||
import logging
|
||||
@@ -21,11 +21,9 @@ from threading import Lock, RLock
|
||||
|
||||
from typing_extensions import TypedDict
|
||||
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
|
||||
)
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
|
||||
from unilabos.utils.decorator import not_action, always_free
|
||||
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
|
||||
|
||||
|
||||
# ============ TypedDict 返回类型定义 ============
|
||||
@@ -59,8 +57,6 @@ class MoveToOutputResult(TypedDict):
|
||||
success: bool
|
||||
station_id: int
|
||||
material_id: str
|
||||
output_position: str
|
||||
message: str
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
@@ -85,9 +81,9 @@ class HeatingStationState(Enum):
|
||||
"""加热台状态枚举"""
|
||||
|
||||
IDLE = "idle" # 空闲
|
||||
OCCUPIED = "occupied" # 已放置物料, 等待加热
|
||||
OCCUPIED = "occupied" # 已放置物料，等待加热
|
||||
HEATING = "heating" # 加热中
|
||||
COMPLETED = "completed" # 加热完成, 等待取走
|
||||
COMPLETED = "completed" # 加热完成，等待取走
|
||||
|
||||
|
||||
class ArmState(Enum):
|
||||
@@ -109,24 +105,19 @@ class HeatingStation:
|
||||
heating_progress: float = 0.0
|
||||
|
||||
|
||||
@device(
|
||||
id="virtual_workbench",
|
||||
category=["virtual_device"],
|
||||
description="Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent material processing",
|
||||
)
|
||||
class VirtualWorkbench:
|
||||
"""
|
||||
Virtual Workbench Device - 虚拟工作台设备
|
||||
|
||||
模拟一个包含1个机械臂和3个加热台的工作站
|
||||
- 机械臂操作耗时3秒, 同一时间只能执行一个操作
|
||||
- 加热台加热耗时10秒, 3个加热台可并行工作
|
||||
- 机械臂操作耗时3秒，同一时间只能执行一个操作
|
||||
- 加热台加热耗时10秒，3个加热台可并行工作
|
||||
|
||||
工作流:
|
||||
1. 物料A1-A5并发启动(线程池), 竞争机械臂使用权
|
||||
2. 获取机械臂后, 查找空闲加热台
|
||||
3. 机械臂将物料放入加热台, 开始加热
|
||||
4. 加热完成后, 机械臂将物料移动到目标位置Cn
|
||||
1. 物料A1-A5并发启动（线程池），竞争机械臂使用权
|
||||
2. 获取机械臂后，查找空闲加热台
|
||||
3. 机械臂将物料放入加热台，开始加热
|
||||
4. 加热完成后，机械臂将物料移动到目标位置Cn
|
||||
"""
|
||||
|
||||
_ros_node: BaseROS2DeviceNode
|
||||
@@ -154,19 +145,19 @@ class VirtualWorkbench:
|
||||
self.HEATING_TIME = float(self.config.get("heating_time", self.HEATING_TIME))
|
||||
self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", self.NUM_HEATING_STATIONS))
|
||||
|
||||
# 机械臂状态和锁
|
||||
# 机械臂状态和锁 (使用threading.Lock)
|
||||
self._arm_lock = Lock()
|
||||
self._arm_state = ArmState.IDLE
|
||||
self._arm_current_task: Optional[str] = None
|
||||
|
||||
# 加热台状态
|
||||
# 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
|
||||
self._heating_stations: Dict[int, HeatingStation] = {
|
||||
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
|
||||
}
|
||||
self._stations_lock = RLock()
|
||||
self._stations_lock = RLock() # 可重入锁，保护加热台状态
|
||||
|
||||
# 任务追踪
|
||||
self._active_tasks: Dict[str, Dict[str, Any]] = {}
|
||||
self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info
|
||||
self._tasks_lock = Lock()
|
||||
|
||||
# 处理其他kwargs参数
|
||||
@@ -192,6 +183,7 @@ class VirtualWorkbench:
|
||||
"""初始化虚拟工作台"""
|
||||
self.logger.info(f"初始化虚拟工作台 {self.device_id}")
|
||||
|
||||
# 重置加热台状态 (已在__init__中创建，这里重置为初始状态)
|
||||
with self._stations_lock:
|
||||
for station in self._heating_stations.values():
|
||||
station.state = HeatingStationState.IDLE
|
||||
@@ -199,6 +191,7 @@ class VirtualWorkbench:
|
||||
station.material_number = None
|
||||
station.heating_progress = 0.0
|
||||
|
||||
# 初始化状态
|
||||
self.data.update(
|
||||
{
|
||||
"status": "Ready",
|
||||
@@ -264,7 +257,11 @@ class VirtualWorkbench:
|
||||
self.data["message"] = message
|
||||
|
||||
def _find_available_heating_station(self) -> Optional[int]:
|
||||
"""查找空闲的加热台"""
|
||||
"""查找空闲的加热台
|
||||
|
||||
Returns:
|
||||
空闲加热台ID，如果没有则返回None
|
||||
"""
|
||||
with self._stations_lock:
|
||||
for station_id, station in self._heating_stations.items():
|
||||
if station.state == HeatingStationState.IDLE:
|
||||
@@ -272,12 +269,23 @@ class VirtualWorkbench:
|
||||
return None
|
||||
|
||||
def _acquire_arm(self, task_description: str) -> bool:
|
||||
"""获取机械臂使用权(阻塞直到获取)"""
|
||||
"""获取机械臂使用权（阻塞直到获取）
|
||||
|
||||
Args:
|
||||
task_description: 任务描述，用于日志
|
||||
|
||||
Returns:
|
||||
是否成功获取
|
||||
"""
|
||||
self.logger.info(f"[{task_description}] 等待获取机械臂...")
|
||||
|
||||
# 阻塞等待获取锁
|
||||
self._arm_lock.acquire()
|
||||
|
||||
self._arm_state = ArmState.BUSY
|
||||
self._arm_current_task = task_description
|
||||
self._update_data_status(f"机械臂执行: {task_description}")
|
||||
|
||||
self.logger.info(f"[{task_description}] 成功获取机械臂使用权")
|
||||
return True
|
||||
|
||||
@@ -290,22 +298,6 @@ class VirtualWorkbench:
|
||||
self._update_data_status(f"机械臂已释放 (完成: {task})")
|
||||
self.logger.info(f"机械臂已释放 (完成: {task})")
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",
|
||||
handles=[
|
||||
ActionOutputHandle(key="channel_1", data_type="workbench_material",
|
||||
label="实验1", data_key="material_1", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_2", data_type="workbench_material",
|
||||
label="实验2", data_key="material_2", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_3", data_type="workbench_material",
|
||||
label="实验3", data_key="material_3", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_4", data_type="workbench_material",
|
||||
label="实验4", data_key="material_4", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="channel_5", data_type="workbench_material",
|
||||
label="实验5", data_key="material_5", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def prepare_materials(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
@@ -314,14 +306,19 @@ class VirtualWorkbench:
|
||||
"""
|
||||
批量准备物料 - 虚拟起始节点
|
||||
|
||||
作为工作流的起始节点, 生成指定数量的物料编号供后续节点使用。
|
||||
输出5个handle (material_1 ~ material_5), 分别对应实验1~5。
|
||||
作为工作流的起始节点，生成指定数量的物料编号供后续节点使用。
|
||||
输出5个handle (material_1 ~ material_5)，分别对应实验1~5。
|
||||
|
||||
Args:
|
||||
count: 待生成的物料数量，默认5 (生成 A1-A5)
|
||||
|
||||
Returns:
|
||||
PrepareMaterialsResult: 包含 material_1 ~ material_5 用于传递给 move_to_heating_station
|
||||
"""
|
||||
# 生成物料列表 A1 - A{count}
|
||||
materials = [i for i in range(1, count + 1)]
|
||||
|
||||
self.logger.info(
|
||||
f"[准备物料] 生成 {count} 个物料: A1-A{count} -> material_1~material_{count}"
|
||||
)
|
||||
self.logger.info(f"[准备物料] 生成 {count} 个物料: " f"A1-A{count} -> material_1~material_{count}")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
@@ -332,28 +329,9 @@ class VirtualWorkbench:
|
||||
"material_4": materials[3] if len(materials) > 3 else 0,
|
||||
"material_5": materials[4] if len(materials) > 4 else 0,
|
||||
"message": f"已准备 {count} 个物料: A1-A{count}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra={"material_uuid": content} if isinstance(content, str) else (content.serialize() if content else {}),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
"unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="将物料从An位置移动到空闲加热台, 返回分配的加热台ID",
|
||||
handles=[
|
||||
ActionInputHandle(key="material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_station_output", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="material_number_output", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
def move_to_heating_station(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
@@ -362,12 +340,20 @@ class VirtualWorkbench:
|
||||
"""
|
||||
将物料从An位置移动到加热台
|
||||
|
||||
多线程并发调用时, 会竞争机械臂使用权, 并自动查找空闲加热台
|
||||
多线程并发调用时，会竞争机械臂使用权，并自动查找空闲加热台
|
||||
|
||||
Args:
|
||||
material_number: 物料编号 (1-5)
|
||||
|
||||
Returns:
|
||||
MoveToHeatingStationResult: 包含 station_id, material_number 等用于传递给下一个节点
|
||||
"""
|
||||
# 根据物料编号生成物料ID
|
||||
material_id = f"A{material_number}"
|
||||
task_desc = f"移动{material_id}到加热台"
|
||||
self.logger.info(f"[任务] {task_desc} - 开始执行")
|
||||
|
||||
# 记录任务
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id] = {
|
||||
"status": "waiting_for_arm",
|
||||
@@ -375,27 +361,33 @@ class VirtualWorkbench:
|
||||
}
|
||||
|
||||
try:
|
||||
# 步骤1: 等待获取机械臂使用权(竞争)
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm"
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 步骤2: 查找空闲加热台
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "finding_station"
|
||||
station_id = None
|
||||
|
||||
# 循环等待直到找到空闲加热台
|
||||
while station_id is None:
|
||||
station_id = self._find_available_heating_station()
|
||||
if station_id is None:
|
||||
self.logger.info(f"[{material_id}] 没有空闲加热台, 等待中...")
|
||||
self.logger.info(f"[{material_id}] 没有空闲加热台，等待中...")
|
||||
# 释放机械臂，等待后重试
|
||||
self._release_arm()
|
||||
time.sleep(0.5)
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
# 步骤3: 占用加热台 - 立即标记为OCCUPIED，防止其他任务选择同一加热台
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.OCCUPIED
|
||||
self._heating_stations[station_id].current_material = material_id
|
||||
self._heating_stations[station_id].material_number = material_number
|
||||
|
||||
# 步骤4: 模拟机械臂移动操作 (3秒)
|
||||
with self._tasks_lock:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving"
|
||||
self._active_tasks[material_id]["assigned_station"] = station_id
|
||||
@@ -403,11 +395,11 @@ class VirtualWorkbench:
|
||||
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
# 步骤5: 放入加热台完成
|
||||
self._update_data_status(f"{material_id}已放入加热台{station_id}")
|
||||
self.logger.info(
|
||||
f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)"
|
||||
)
|
||||
self.logger.info(f"[{material_id}] 已放入加热台{station_id} (用时{self.ARM_OPERATION_TIME}s)")
|
||||
|
||||
# 释放机械臂
|
||||
self._release_arm()
|
||||
|
||||
with self._tasks_lock:
|
||||
@@ -420,16 +412,8 @@ class VirtualWorkbench:
|
||||
"material_number": material_number,
|
||||
"message": f"{material_id}已成功移动到加热台{station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
@@ -443,33 +427,11 @@ class VirtualWorkbench:
|
||||
"material_number": material_number,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
always_free=True,
|
||||
description="启动指定加热台的加热程序",
|
||||
handles=[
|
||||
ActionInputHandle(key="station_id_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="material_number_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
ActionOutputHandle(key="heating_done_station", data_type="workbench_station",
|
||||
label="加热完成-加热台ID", data_key="station_id", data_source=DataSource.EXECUTOR),
|
||||
ActionOutputHandle(key="heating_done_material", data_type="workbench_material",
|
||||
label="加热完成-物料编号", data_key="material_number", data_source=DataSource.EXECUTOR),
|
||||
],
|
||||
)
|
||||
@always_free
|
||||
def start_heating(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
@@ -478,6 +440,13 @@ class VirtualWorkbench:
|
||||
) -> StartHeatingResult:
|
||||
"""
|
||||
启动指定加热台的加热程序
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (1-3)，从 move_to_heating_station 的 handle 传入
|
||||
material_number: 物料编号，从 move_to_heating_station 的 handle 传入
|
||||
|
||||
Returns:
|
||||
StartHeatingResult: 包含 station_id, material_number 等用于传递给下一个节点
|
||||
"""
|
||||
self.logger.info(f"[加热台{station_id}] 开始加热")
|
||||
|
||||
@@ -489,16 +458,8 @@ class VirtualWorkbench:
|
||||
"material_number": material_number,
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
@@ -512,16 +473,8 @@ class VirtualWorkbench:
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
if station.state == HeatingStationState.HEATING:
|
||||
@@ -532,20 +485,13 @@ class VirtualWorkbench:
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}已经在加热中",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
material_id = station.current_material
|
||||
|
||||
# 开始加热
|
||||
station.state = HeatingStationState.HEATING
|
||||
station.heating_start_time = time.time()
|
||||
station.heating_progress = 0.0
|
||||
@@ -556,6 +502,7 @@ class VirtualWorkbench:
|
||||
|
||||
self._update_data_status(f"加热台{station_id}开始加热{material_id}")
|
||||
|
||||
# 打印当前所有正在加热的台位
|
||||
with self._stations_lock:
|
||||
heating_list = [
|
||||
f"加热台{sid}:{s.current_material}"
|
||||
@@ -564,6 +511,7 @@ class VirtualWorkbench:
|
||||
]
|
||||
self.logger.info(f"[并行加热] 当前同时加热中: {', '.join(heating_list)}")
|
||||
|
||||
# 模拟加热过程
|
||||
start_time = time.time()
|
||||
last_countdown_log = start_time
|
||||
while True:
|
||||
@@ -576,6 +524,7 @@ class VirtualWorkbench:
|
||||
|
||||
self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%")
|
||||
|
||||
# 每5秒打印一次倒计时
|
||||
if time.time() - last_countdown_log >= 5.0:
|
||||
self.logger.info(f"[加热台{station_id}] {material_id} 剩余 {remaining:.1f}s")
|
||||
last_countdown_log = time.time()
|
||||
@@ -585,6 +534,7 @@ class VirtualWorkbench:
|
||||
|
||||
time.sleep(1.0)
|
||||
|
||||
# 加热完成
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.COMPLETED
|
||||
self._heating_stations[station_id].heating_progress = 100.0
|
||||
@@ -603,28 +553,10 @@ class VirtualWorkbench:
|
||||
"material_number": material_number,
|
||||
"message": f"加热台{station_id}加热完成",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
@action(
|
||||
auto_prefix=True,
|
||||
description="将物料从加热台移动到输出位置Cn",
|
||||
handles=[
|
||||
ActionInputHandle(key="output_station_input", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source=DataSource.HANDLE),
|
||||
ActionInputHandle(key="output_material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source=DataSource.HANDLE),
|
||||
],
|
||||
)
|
||||
def move_to_output(
|
||||
self,
|
||||
sample_uuids: SampleUUIDsType,
|
||||
@@ -633,8 +565,15 @@ class VirtualWorkbench:
|
||||
) -> MoveToOutputResult:
|
||||
"""
|
||||
将物料从加热台移动到输出位置Cn
|
||||
|
||||
Args:
|
||||
station_id: 加热台ID (1-3)，从 start_heating 的 handle 传入
|
||||
material_number: 物料编号，从 start_heating 的 handle 传入，用于确定输出位置 Cn
|
||||
|
||||
Returns:
|
||||
MoveToOutputResult: 包含执行结果
|
||||
"""
|
||||
output_number = material_number
|
||||
output_number = material_number # 物料编号决定输出位置
|
||||
|
||||
if station_id not in self._heating_stations:
|
||||
return {
|
||||
@@ -644,16 +583,8 @@ class VirtualWorkbench:
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"无效的加热台ID: {station_id}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
with self._stations_lock:
|
||||
@@ -668,16 +599,8 @@ class VirtualWorkbench:
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}上没有物料",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
if station.state != HeatingStationState.COMPLETED:
|
||||
@@ -688,16 +611,8 @@ class VirtualWorkbench:
|
||||
"output_position": f"C{output_number}",
|
||||
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
output_position = f"C{output_number}"
|
||||
@@ -709,17 +624,18 @@ class VirtualWorkbench:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "waiting_for_arm_output"
|
||||
|
||||
# 获取机械臂
|
||||
self._acquire_arm(task_desc)
|
||||
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "arm_moving_to_output"
|
||||
|
||||
self.logger.info(
|
||||
f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}..."
|
||||
)
|
||||
# 模拟机械臂操作 (3秒)
|
||||
self.logger.info(f"[{material_id}] 机械臂正在从加热台{station_id}取出并移动到{output_position}...")
|
||||
time.sleep(self.ARM_OPERATION_TIME)
|
||||
|
||||
# 清空加热台
|
||||
with self._stations_lock:
|
||||
self._heating_stations[station_id].state = HeatingStationState.IDLE
|
||||
self._heating_stations[station_id].current_material = None
|
||||
@@ -727,17 +643,17 @@ class VirtualWorkbench:
|
||||
self._heating_stations[station_id].heating_progress = 0.0
|
||||
self._heating_stations[station_id].heating_start_time = None
|
||||
|
||||
# 释放机械臂
|
||||
self._release_arm()
|
||||
|
||||
# 任务完成
|
||||
with self._tasks_lock:
|
||||
if material_id in self._active_tasks:
|
||||
self._active_tasks[material_id]["status"] = "completed"
|
||||
self._active_tasks[material_id]["end_time"] = time.time()
|
||||
|
||||
self._update_data_status(f"{material_id}已移动到{output_position}")
|
||||
self.logger.info(
|
||||
f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)"
|
||||
)
|
||||
self.logger.info(f"[{material_id}] 已成功移动到{output_position} (用时{self.ARM_OPERATION_TIME}s)")
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
@@ -746,17 +662,8 @@ class VirtualWorkbench:
|
||||
"output_position": output_position,
|
||||
"message": f"{material_id}已成功移动到{output_position}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str)
|
||||
else (content.serialize() if content is not None else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
@@ -770,105 +677,83 @@ class VirtualWorkbench:
|
||||
"output_position": output_position,
|
||||
"message": f"移动失败: {str(e)}",
|
||||
"unilabos_samples": [
|
||||
LabSample(
|
||||
sample_uuid=sample_uuid,
|
||||
oss_path="",
|
||||
extra=(
|
||||
{"material_uuid": content}
|
||||
if isinstance(content, str) else (content.serialize() if content else {})
|
||||
),
|
||||
)
|
||||
for sample_uuid, content in sample_uuids.items()
|
||||
],
|
||||
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
|
||||
sample_uuid, content in sample_uuids.items()]
|
||||
}
|
||||
|
||||
# ============ 状态属性 ============
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def status(self) -> str:
|
||||
return self.data.get("status", "Unknown")
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def arm_state(self) -> str:
|
||||
return self._arm_state.value
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def arm_current_task(self) -> str:
|
||||
return self._arm_current_task or ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_1_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(1)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_2_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(2)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_state(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.state.value if station else "unknown"
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_material(self) -> str:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.current_material or "" if station else ""
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def heating_station_3_progress(self) -> float:
|
||||
with self._stations_lock:
|
||||
station = self._heating_stations.get(3)
|
||||
return station.heating_progress if station else 0.0
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def active_tasks_count(self) -> int:
|
||||
with self._tasks_lock:
|
||||
return len(self._active_tasks)
|
||||
|
||||
@property
|
||||
@topic_config()
|
||||
def message(self) -> str:
|
||||
return self.data.get("message", "")
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -1,614 +0,0 @@
|
||||
"""
|
||||
装饰器注册表系统
|
||||
|
||||
通过 @device, @action, @resource 装饰器替代 YAML 配置文件来定义设备/动作/资源注册表信息。
|
||||
|
||||
Usage:
|
||||
from unilabos.registry.decorators import (
|
||||
device, action, resource,
|
||||
InputHandle, OutputHandle,
|
||||
ActionInputHandle, ActionOutputHandle,
|
||||
HardwareInterface, Side, DataSource,
|
||||
)
|
||||
|
||||
@device(
|
||||
id="solenoid_valve.mock",
|
||||
category=["pump_and_valve"],
|
||||
description="模拟电磁阀设备",
|
||||
handles=[
|
||||
InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH),
|
||||
OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH),
|
||||
],
|
||||
hardware_interface=HardwareInterface(
|
||||
name="hardware_interface",
|
||||
read="send_command",
|
||||
write="send_command",
|
||||
),
|
||||
)
|
||||
class SolenoidValveMock:
|
||||
@action(action_type=EmptyIn)
|
||||
def close(self):
|
||||
...
|
||||
|
||||
@action(
|
||||
handles=[
|
||||
ActionInputHandle(key="in", data_type="fluid", label="in"),
|
||||
ActionOutputHandle(key="out", data_type="fluid", label="out"),
|
||||
],
|
||||
)
|
||||
def set_valve_position(self, position):
|
||||
...
|
||||
|
||||
# 无 @action 装饰器 => auto- 前缀动作
|
||||
def is_open(self):
|
||||
...
|
||||
"""
|
||||
|
||||
from enum import Enum
|
||||
from functools import wraps
|
||||
from typing import Any, Callable, Dict, List, Optional, TypeVar
|
||||
|
||||
from pydantic import BaseModel, ConfigDict, Field
|
||||
|
||||
F = TypeVar("F", bound=Callable[..., Any])
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 枚举
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class Side(str, Enum):
|
||||
"""UI 上 Handle 的显示位置"""
|
||||
|
||||
NORTH = "NORTH"
|
||||
SOUTH = "SOUTH"
|
||||
EAST = "EAST"
|
||||
WEST = "WEST"
|
||||
|
||||
|
||||
class DataSource(str, Enum):
|
||||
"""Handle 的数据来源"""
|
||||
|
||||
HANDLE = "handle" # 从上游 handle 获取数据 (用于 InputHandle)
|
||||
EXECUTOR = "executor" # 从执行器输出数据 (用于 OutputHandle)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class _DeviceHandleBase(BaseModel):
|
||||
"""设备/资源端口基类 (内部使用)"""
|
||||
|
||||
model_config = ConfigDict(populate_by_name=True)
|
||||
|
||||
key: str = Field(serialization_alias="handler_key")
|
||||
data_type: str
|
||||
label: str
|
||||
side: Optional[Side] = None
|
||||
data_key: Optional[str] = None
|
||||
data_source: Optional[str] = None
|
||||
description: Optional[str] = None
|
||||
|
||||
# 子类覆盖
|
||||
io_type: str = ""
|
||||
|
||||
def to_registry_dict(self) -> Dict[str, Any]:
|
||||
return self.model_dump(by_alias=True, exclude_none=True)
|
||||
|
||||
|
||||
class InputHandle(_DeviceHandleBase):
|
||||
"""
|
||||
输入端口 (io_type="target"), 用于 @device / @resource handles
|
||||
|
||||
Example:
|
||||
InputHandle(key="in", data_type="fluid", label="in", side=Side.NORTH)
|
||||
"""
|
||||
|
||||
io_type: str = "target"
|
||||
|
||||
|
||||
class OutputHandle(_DeviceHandleBase):
|
||||
"""
|
||||
输出端口 (io_type="source"), 用于 @device / @resource handles
|
||||
|
||||
Example:
|
||||
OutputHandle(key="out", data_type="fluid", label="out", side=Side.SOUTH)
|
||||
"""
|
||||
|
||||
io_type: str = "source"
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Action Handle (动作级别端口, 序列化时不含 io_type, 按类型自动分组)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class _ActionHandleBase(BaseModel):
|
||||
"""动作端口基类 (内部使用)"""
|
||||
|
||||
model_config = ConfigDict(populate_by_name=True)
|
||||
|
||||
key: str = Field(serialization_alias="handler_key")
|
||||
data_type: str
|
||||
label: str
|
||||
side: Optional[Side] = None
|
||||
data_key: Optional[str] = None
|
||||
data_source: Optional[str] = None
|
||||
description: Optional[str] = None
|
||||
io_type: Optional[str] = None # source/sink (dataflow) or target/source (device-style)
|
||||
|
||||
def to_registry_dict(self) -> Dict[str, Any]:
|
||||
return self.model_dump(by_alias=True, exclude_none=True)
|
||||
|
||||
|
||||
class ActionInputHandle(_ActionHandleBase):
|
||||
"""
|
||||
动作输入端口, 用于 @action handles, 序列化后归入 "input" 组
|
||||
|
||||
Example:
|
||||
ActionInputHandle(
|
||||
key="material_input", data_type="workbench_material",
|
||||
label="物料编号", data_key="material_number", data_source="handle",
|
||||
)
|
||||
"""
|
||||
|
||||
pass
|
||||
|
||||
|
||||
class ActionOutputHandle(_ActionHandleBase):
|
||||
"""
|
||||
动作输出端口, 用于 @action handles, 序列化后归入 "output" 组
|
||||
|
||||
Example:
|
||||
ActionOutputHandle(
|
||||
key="station_output", data_type="workbench_station",
|
||||
label="加热台ID", data_key="station_id", data_source="executor",
|
||||
)
|
||||
"""
|
||||
|
||||
pass
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# HardwareInterface
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class HardwareInterface(BaseModel):
|
||||
"""
|
||||
硬件通信接口定义
|
||||
|
||||
描述设备与底层硬件通信的方式 (串口、Modbus 等)。
|
||||
|
||||
Example:
|
||||
HardwareInterface(name="hardware_interface", read="send_command", write="send_command")
|
||||
"""
|
||||
|
||||
name: str
|
||||
read: Optional[str] = None
|
||||
write: Optional[str] = None
|
||||
extra_info: Optional[List[str]] = None
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 全局注册表 -- 记录所有被装饰器标记的类/函数
|
||||
# ---------------------------------------------------------------------------
|
||||
_registered_devices: Dict[str, type] = {} # device_id -> class
|
||||
_registered_resources: Dict[str, Any] = {} # resource_id -> class or function
|
||||
|
||||
|
||||
def _device_handles_to_list(
|
||||
handles: Optional[List[_DeviceHandleBase]],
|
||||
) -> List[Dict[str, Any]]:
|
||||
"""将设备/资源 Handle 列表序列化为字典列表 (含 io_type)"""
|
||||
if handles is None:
|
||||
return []
|
||||
return [h.to_registry_dict() for h in handles]
|
||||
|
||||
|
||||
def _action_handles_to_dict(
|
||||
handles: Optional[List[_ActionHandleBase]],
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将动作 Handle 列表序列化为 {"input": [...], "output": [...]} 格式。
|
||||
|
||||
ActionInputHandle => "input", ActionOutputHandle => "output"
|
||||
"""
|
||||
if handles is None:
|
||||
return {}
|
||||
input_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionInputHandle)]
|
||||
output_list = [h.to_registry_dict() for h in handles if isinstance(h, ActionOutputHandle)]
|
||||
result: Dict[str, Any] = {}
|
||||
if input_list:
|
||||
result["input"] = input_list
|
||||
if output_list:
|
||||
result["output"] = output_list
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @device 类装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
# noinspection PyShadowingBuiltins
|
||||
def device(
|
||||
id: Optional[str] = None,
|
||||
ids: Optional[List[str]] = None,
|
||||
id_meta: Optional[Dict[str, Dict[str, Any]]] = None,
|
||||
category: Optional[List[str]] = None,
|
||||
description: str = "",
|
||||
display_name: str = "",
|
||||
icon: str = "",
|
||||
version: str = "1.0.0",
|
||||
handles: Optional[List[_DeviceHandleBase]] = None,
|
||||
model: Optional[Dict[str, Any]] = None,
|
||||
device_type: str = "python",
|
||||
hardware_interface: Optional[HardwareInterface] = None,
|
||||
):
|
||||
"""
|
||||
设备类装饰器
|
||||
|
||||
将类标记为一个 UniLab-OS 设备，并附加注册表元数据。
|
||||
|
||||
支持两种模式:
|
||||
1. 单设备: id="xxx", category=[...]
|
||||
2. 多设备: ids=["id1","id2"], id_meta={"id1":{handles:[...]}, "id2":{...}}
|
||||
|
||||
Args:
|
||||
id: 单设备时的注册表唯一标识
|
||||
ids: 多设备时的 id 列表，与 id_meta 配合使用
|
||||
id_meta: 每个 device_id 的覆盖元数据 (handles/description/icon/model)
|
||||
category: 设备分类标签列表 (必填)
|
||||
description: 设备描述
|
||||
display_name: 人类可读的设备显示名称，缺失时默认使用 id
|
||||
icon: 图标路径
|
||||
version: 版本号
|
||||
handles: 设备端口列表 (单设备或 id_meta 未覆盖时使用)
|
||||
model: 可选的 3D 模型配置
|
||||
device_type: 设备实现类型 ("python" / "ros2")
|
||||
hardware_interface: 硬件通信接口 (HardwareInterface)
|
||||
"""
|
||||
# Resolve device ids
|
||||
if ids is not None:
|
||||
device_ids = list(ids)
|
||||
if not device_ids:
|
||||
raise ValueError("@device ids 不能为空")
|
||||
id_meta = id_meta or {}
|
||||
elif id is not None:
|
||||
device_ids = [id]
|
||||
id_meta = {}
|
||||
else:
|
||||
raise ValueError("@device 必须提供 id 或 ids")
|
||||
|
||||
if category is None:
|
||||
raise ValueError("@device category 必填")
|
||||
|
||||
base_meta = {
|
||||
"category": category,
|
||||
"description": description,
|
||||
"display_name": display_name,
|
||||
"icon": icon,
|
||||
"version": version,
|
||||
"handles": _device_handles_to_list(handles),
|
||||
"model": model,
|
||||
"device_type": device_type,
|
||||
"hardware_interface": (hardware_interface.model_dump(exclude_none=True) if hardware_interface else None),
|
||||
}
|
||||
|
||||
def decorator(cls):
|
||||
cls._device_registry_meta = base_meta
|
||||
cls._device_registry_id_meta = id_meta
|
||||
cls._device_registry_ids = device_ids
|
||||
|
||||
for did in device_ids:
|
||||
if did in _registered_devices:
|
||||
raise ValueError(f"@device id 重复: '{did}' 已被 {_registered_devices[did]} 注册")
|
||||
_registered_devices[did] = cls
|
||||
|
||||
return cls
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @action 方法装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
# 区分 "用户没传 action_type" 和 "用户传了 None"
|
||||
_ACTION_TYPE_UNSET = object()
|
||||
|
||||
|
||||
# noinspection PyShadowingNames
|
||||
def action(
|
||||
action_type: Any = _ACTION_TYPE_UNSET,
|
||||
goal: Optional[Dict[str, str]] = None,
|
||||
feedback: Optional[Dict[str, str]] = None,
|
||||
result: Optional[Dict[str, str]] = None,
|
||||
handles: Optional[List[_ActionHandleBase]] = None,
|
||||
goal_default: Optional[Dict[str, Any]] = None,
|
||||
placeholder_keys: Optional[Dict[str, str]] = None,
|
||||
always_free: bool = False,
|
||||
is_protocol: bool = False,
|
||||
description: str = "",
|
||||
auto_prefix: bool = False,
|
||||
parent: bool = False,
|
||||
):
|
||||
"""
|
||||
动作方法装饰器
|
||||
|
||||
标记方法为注册表动作。有三种用法:
|
||||
1. @action(action_type=EmptyIn, ...) -- 非 auto, 使用指定 ROS Action 类型
|
||||
2. @action() -- 非 auto, UniLabJsonCommand (从方法签名生成 schema)
|
||||
3. 不加 @action -- auto- 前缀, UniLabJsonCommand
|
||||
|
||||
Protocol 用法:
|
||||
@action(action_type=Add, is_protocol=True)
|
||||
def AddProtocol(self): ...
|
||||
标记该动作为高级协议 (protocol)，运行时通过 ROS Action 路由到
|
||||
protocol generator 执行。action_type 指向 unilabos_msgs 的 Action 类型。
|
||||
|
||||
Args:
|
||||
action_type: ROS Action 消息类型 (如 EmptyIn, SendCmd, HeatChill).
|
||||
不传/默认 = UniLabJsonCommand (非 auto).
|
||||
goal: Goal 字段映射 (ROS字段名 -> 设备参数名).
|
||||
protocol 模式下可留空，系统自动生成 identity 映射.
|
||||
feedback: Feedback 字段映射
|
||||
result: Result 字段映射
|
||||
handles: 动作端口列表 (ActionInputHandle / ActionOutputHandle)
|
||||
goal_default: Goal 字段默认值映射 (字段名 -> 默认值), 与自动生成的 goal_default 合并
|
||||
placeholder_keys: 参数占位符配置
|
||||
always_free: 是否为永久闲置动作 (不受排队限制)
|
||||
is_protocol: 是否为工作站协议 (protocol)。True 时运行时走 protocol generator 路径。
|
||||
description: 动作描述
|
||||
auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
|
||||
parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
# action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
|
||||
resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
|
||||
|
||||
meta = {
|
||||
"action_type": resolved_type,
|
||||
"goal": goal or {},
|
||||
"feedback": feedback or {},
|
||||
"result": result or {},
|
||||
"handles": _action_handles_to_dict(handles),
|
||||
"goal_default": goal_default or {},
|
||||
"placeholder_keys": placeholder_keys or {},
|
||||
"always_free": always_free,
|
||||
"is_protocol": is_protocol,
|
||||
"description": description,
|
||||
"auto_prefix": auto_prefix,
|
||||
"parent": parent,
|
||||
}
|
||||
wrapper._action_registry_meta = meta # type: ignore[attr-defined]
|
||||
|
||||
# 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
|
||||
if always_free:
|
||||
wrapper._is_always_free = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_action_meta(func) -> Optional[Dict[str, Any]]:
|
||||
"""获取方法上的 @action 装饰器元数据"""
|
||||
return getattr(func, "_action_registry_meta", None)
|
||||
|
||||
|
||||
def has_action_decorator(func) -> bool:
|
||||
"""检查函数是否带有 @action 装饰器"""
|
||||
return hasattr(func, "_action_registry_meta")
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# @resource 类/函数装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def resource(
|
||||
id: str,
|
||||
category: List[str],
|
||||
description: str = "",
|
||||
icon: str = "",
|
||||
version: str = "1.0.0",
|
||||
handles: Optional[List[_DeviceHandleBase]] = None,
|
||||
model: Optional[Dict[str, Any]] = None,
|
||||
class_type: str = "pylabrobot",
|
||||
):
|
||||
"""
|
||||
资源类/函数装饰器
|
||||
|
||||
将类或工厂函数标记为一个 UniLab-OS 资源，附加注册表元数据。
|
||||
|
||||
Args:
|
||||
id: 注册表唯一标识 (必填, 不可重复)
|
||||
category: 资源分类标签列表 (必填)
|
||||
description: 资源描述
|
||||
icon: 图标路径
|
||||
version: 版本号
|
||||
handles: 端口列表 (InputHandle / OutputHandle)
|
||||
model: 可选的 3D 模型配置
|
||||
class_type: 资源实现类型 ("python" / "pylabrobot" / "unilabos")
|
||||
"""
|
||||
|
||||
def decorator(obj):
|
||||
meta = {
|
||||
"resource_id": id,
|
||||
"category": category,
|
||||
"description": description,
|
||||
"icon": icon,
|
||||
"version": version,
|
||||
"handles": _device_handles_to_list(handles),
|
||||
"model": model,
|
||||
"class_type": class_type,
|
||||
}
|
||||
obj._resource_registry_meta = meta
|
||||
|
||||
if id in _registered_resources:
|
||||
raise ValueError(f"@resource id 重复: '{id}' 已被 {_registered_resources[id]} 注册")
|
||||
_registered_resources[id] = obj
|
||||
|
||||
return obj
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_device_meta(cls, device_id: Optional[str] = None) -> Optional[Dict[str, Any]]:
|
||||
"""
|
||||
获取类上的 @device 装饰器元数据。
|
||||
|
||||
当 device_id 存在且类使用 ids+id_meta 时，返回合并后的 meta
|
||||
(base_meta 与 id_meta[device_id] 深度合并)。
|
||||
"""
|
||||
base = getattr(cls, "_device_registry_meta", None)
|
||||
if base is None:
|
||||
return None
|
||||
id_meta = getattr(cls, "_device_registry_id_meta", None) or {}
|
||||
if device_id is None or device_id not in id_meta:
|
||||
result = dict(base)
|
||||
ids = getattr(cls, "_device_registry_ids", None)
|
||||
result["device_id"] = device_id if device_id is not None else (ids[0] if ids else None)
|
||||
return result
|
||||
|
||||
overrides = id_meta[device_id]
|
||||
result = dict(base)
|
||||
result["device_id"] = device_id
|
||||
for key in ["handles", "description", "icon", "model"]:
|
||||
if key in overrides:
|
||||
val = overrides[key]
|
||||
if key == "handles" and isinstance(val, list):
|
||||
# handles 必须是 Handle 对象列表
|
||||
result[key] = [h.to_registry_dict() for h in val]
|
||||
else:
|
||||
result[key] = val
|
||||
return result
|
||||
|
||||
|
||||
def get_resource_meta(obj) -> Optional[Dict[str, Any]]:
|
||||
"""获取对象上的 @resource 装饰器元数据"""
|
||||
return getattr(obj, "_resource_registry_meta", None)
|
||||
|
||||
|
||||
def get_all_registered_devices() -> Dict[str, type]:
|
||||
"""获取所有已注册的设备类"""
|
||||
return _registered_devices.copy()
|
||||
|
||||
|
||||
def get_all_registered_resources() -> Dict[str, Any]:
|
||||
"""获取所有已注册的资源"""
|
||||
return _registered_resources.copy()
|
||||
|
||||
|
||||
def clear_registry():
|
||||
"""清空全局注册表 (用于测试)"""
|
||||
_registered_devices.clear()
|
||||
_registered_resources.clear()
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# topic_config / not_action / always_free 装饰器
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def topic_config(
|
||||
period: Optional[float] = None,
|
||||
print_publish: Optional[bool] = None,
|
||||
qos: Optional[int] = None,
|
||||
name: Optional[str] = None,
|
||||
) -> Callable[[F], F]:
|
||||
"""
|
||||
Topic发布配置装饰器
|
||||
|
||||
用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。
|
||||
|
||||
Args:
|
||||
period: 发布周期（秒）。None 表示使用默认值 5.0
|
||||
print_publish: 是否打印发布日志。None 表示使用节点默认配置
|
||||
qos: QoS深度配置。None 表示使用默认值 10
|
||||
name: 自定义发布名称。None 表示使用方法名（去掉 get_ 前缀）
|
||||
|
||||
Note:
|
||||
与 @property 连用时，@topic_config 必须放在 @property 下面，
|
||||
这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。
|
||||
"""
|
||||
|
||||
def decorator(func: F) -> F:
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._topic_period = period # type: ignore[attr-defined]
|
||||
wrapper._topic_print_publish = print_publish # type: ignore[attr-defined]
|
||||
wrapper._topic_qos = qos # type: ignore[attr-defined]
|
||||
wrapper._topic_name = name # type: ignore[attr-defined]
|
||||
wrapper._has_topic_config = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
return decorator
|
||||
|
||||
|
||||
def get_topic_config(func) -> dict:
|
||||
"""获取函数上的 topic 配置 (period, print_publish, qos, name)"""
|
||||
if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False):
|
||||
return {
|
||||
"period": getattr(func, "_topic_period", None),
|
||||
"print_publish": getattr(func, "_topic_print_publish", None),
|
||||
"qos": getattr(func, "_topic_qos", None),
|
||||
"name": getattr(func, "_topic_name", None),
|
||||
}
|
||||
return {}
|
||||
|
||||
|
||||
def always_free(func: F) -> F:
|
||||
"""
|
||||
标记动作为永久闲置(不受busy队列限制)的装饰器
|
||||
|
||||
被此装饰器标记的 action 方法，在执行时不会受到设备级别的排队限制，
|
||||
任何时候请求都可以立即执行。适用于查询类、状态读取类等轻量级操作。
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._is_always_free = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
|
||||
def is_always_free(func) -> bool:
|
||||
"""检查函数是否被标记为永久闲置"""
|
||||
return getattr(func, "_is_always_free", False)
|
||||
|
||||
|
||||
def not_action(func: F) -> F:
|
||||
"""
|
||||
标记方法为非动作的装饰器
|
||||
|
||||
用于装饰 driver 类中的方法，使其在注册表扫描时不被识别为动作。
|
||||
适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
|
||||
"""
|
||||
|
||||
@wraps(func)
|
||||
def wrapper(*args, **kwargs):
|
||||
return func(*args, **kwargs)
|
||||
|
||||
wrapper._is_not_action = True # type: ignore[attr-defined]
|
||||
|
||||
return wrapper # type: ignore[return-value]
|
||||
|
||||
|
||||
def is_not_action(func) -> bool:
|
||||
"""检查函数是否被标记为非动作"""
|
||||
return getattr(func, "_is_not_action", False)
|
||||
@@ -13,18 +13,21 @@ Qone_nmr:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -68,6 +71,31 @@ Qone_nmr:
|
||||
title: monitor_folder_for_new_content参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-strings_to_txt:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -110,18 +138,21 @@ Qone_nmr:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -136,31 +167,32 @@ Qone_nmr:
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
@@ -22,8 +22,7 @@ bioyond_cell:
|
||||
required:
|
||||
- xlsx_path
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: auto_batch_outbound_from_xlsx参数
|
||||
@@ -491,9 +490,7 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
material_names:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
type: string
|
||||
type_id:
|
||||
default: 3a190ca0-b2f6-9aeb-8067-547e72c11469
|
||||
type: string
|
||||
@@ -502,8 +499,7 @@ bioyond_cell:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_and_inbound_materials参数
|
||||
@@ -539,8 +535,7 @@ bioyond_cell:
|
||||
- type_id
|
||||
- warehouse_name
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_material参数
|
||||
@@ -561,16 +556,11 @@ bioyond_cell:
|
||||
goal:
|
||||
properties:
|
||||
mappings:
|
||||
additionalProperties:
|
||||
type: object
|
||||
type: object
|
||||
required:
|
||||
- mappings
|
||||
type: object
|
||||
result:
|
||||
items:
|
||||
type: object
|
||||
type: array
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_materials参数
|
||||
@@ -602,8 +592,7 @@ bioyond_cell:
|
||||
required:
|
||||
- xlsx_path
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_orders参数
|
||||
@@ -635,8 +624,7 @@ bioyond_cell:
|
||||
required:
|
||||
- xlsx_path
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_orders_v2参数
|
||||
@@ -677,8 +665,7 @@ bioyond_cell:
|
||||
- bottle_type
|
||||
- location_code
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_sample参数
|
||||
@@ -731,8 +718,7 @@ bioyond_cell:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: order_list_v2参数
|
||||
@@ -835,8 +821,7 @@ bioyond_cell:
|
||||
required:
|
||||
- material_obj
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: report_material_change参数
|
||||
@@ -890,8 +875,7 @@ bioyond_cell:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_continue参数
|
||||
@@ -912,8 +896,7 @@ bioyond_cell:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_reset参数
|
||||
@@ -934,8 +917,7 @@ bioyond_cell:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start参数
|
||||
@@ -1380,8 +1362,7 @@ bioyond_cell:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start_and_auto_feeding参数
|
||||
@@ -1826,8 +1807,7 @@ bioyond_cell:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_start_and_auto_feeding_v2参数
|
||||
@@ -1848,8 +1828,7 @@ bioyond_cell:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: scheduler_stop参数
|
||||
@@ -1871,15 +1850,12 @@ bioyond_cell:
|
||||
properties:
|
||||
items:
|
||||
items:
|
||||
additionalProperties:
|
||||
type: string
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- items
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: storage_batch_inbound参数
|
||||
@@ -1908,8 +1884,7 @@ bioyond_cell:
|
||||
- material_id
|
||||
- location_id
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: storage_inbound参数
|
||||
@@ -1930,8 +1905,7 @@ bioyond_cell:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_1_to_2参数
|
||||
@@ -1972,8 +1946,7 @@ bioyond_cell:
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_3_to_2参数
|
||||
@@ -2010,8 +1983,7 @@ bioyond_cell:
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_3_to_2_to_1参数
|
||||
@@ -2035,11 +2007,10 @@ bioyond_cell:
|
||||
ip:
|
||||
type: string
|
||||
port:
|
||||
type: integer
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: update_push_ip参数
|
||||
@@ -2068,8 +2039,7 @@ bioyond_cell:
|
||||
required:
|
||||
- order_code
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_order_finish参数
|
||||
@@ -2102,8 +2072,7 @@ bioyond_cell:
|
||||
required:
|
||||
- order_code
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_order_finish_polling参数
|
||||
@@ -2135,8 +2104,7 @@ bioyond_cell:
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_transfer_task参数
|
||||
@@ -2144,7 +2112,8 @@ bioyond_cell:
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.bioyond_cell.bioyond_cell_workstation:BioyondCellWorkstation
|
||||
status_types:
|
||||
device_id: ''
|
||||
device_id: String
|
||||
material_info: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: ''
|
||||
@@ -2165,7 +2134,11 @@ bioyond_cell:
|
||||
properties:
|
||||
device_id:
|
||||
type: string
|
||||
material_info:
|
||||
type: object
|
||||
required:
|
||||
- device_id
|
||||
- material_info
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -24,8 +24,7 @@ bioyond_dispensing_station:
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: brief_step_parameters参数
|
||||
@@ -54,8 +53,7 @@ bioyond_dispensing_station:
|
||||
- report_request
|
||||
- used_materials
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_order_finish_report参数
|
||||
@@ -80,8 +78,7 @@ bioyond_dispensing_station:
|
||||
required:
|
||||
- order_id
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: project_order_report参数
|
||||
@@ -131,8 +128,7 @@ bioyond_dispensing_station:
|
||||
required:
|
||||
- workflow_id
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: workflow_sample_locations参数
|
||||
@@ -148,12 +144,12 @@ bioyond_dispensing_station:
|
||||
temperature: temperature
|
||||
titration: titration
|
||||
goal_default:
|
||||
delay_time: null
|
||||
hold_m_name: null
|
||||
delay_time: '600'
|
||||
hold_m_name: ''
|
||||
liquid_material_name: NMP
|
||||
speed: null
|
||||
temperature: null
|
||||
titration: null
|
||||
speed: '400'
|
||||
temperature: '40'
|
||||
titration: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: titration
|
||||
@@ -169,16 +165,20 @@ bioyond_dispensing_station:
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: sink
|
||||
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。返回的return_info中包含order_codes和order_ids列表。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BatchCreate9010VialFeedingTasks_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
default: '600'
|
||||
description: 延迟时间(秒),默认600
|
||||
type: string
|
||||
hold_m_name:
|
||||
@@ -189,9 +189,11 @@ bioyond_dispensing_station:
|
||||
description: 10%物料的液体物料名称,默认为"NMP"
|
||||
type: string
|
||||
speed:
|
||||
default: '400'
|
||||
description: 搅拌速度,默认400
|
||||
type: string
|
||||
temperature:
|
||||
default: '40'
|
||||
description: 温度(℃),默认40
|
||||
type: string
|
||||
titration:
|
||||
@@ -200,14 +202,21 @@ bioyond_dispensing_station:
|
||||
type: string
|
||||
required:
|
||||
- titration
|
||||
- hold_m_name
|
||||
title: BatchCreate9010VialFeedingTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: BatchCreate9010VialFeedingTasks_Result
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: batch_create_90_10_vial_feeding_tasks参数
|
||||
title: BatchCreate9010VialFeedingTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
batch_create_diamine_solution_tasks:
|
||||
@@ -219,11 +228,11 @@ bioyond_dispensing_station:
|
||||
speed: speed
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
delay_time: null
|
||||
delay_time: '600'
|
||||
liquid_material_name: NMP
|
||||
solutions: null
|
||||
speed: null
|
||||
temperature: null
|
||||
solutions: ''
|
||||
speed: '400'
|
||||
temperature: '20'
|
||||
handles:
|
||||
input:
|
||||
- data_key: solutions
|
||||
@@ -239,16 +248,20 @@ bioyond_dispensing_station:
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: sink
|
||||
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。返回的return_info中包含order_codes和order_ids列表。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BatchCreateDiamineSolutionTasks_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
delay_time:
|
||||
default: '600'
|
||||
description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒
|
||||
type: string
|
||||
liquid_material_name:
|
||||
@@ -262,9 +275,11 @@ bioyond_dispensing_station:
|
||||
4.5, "solvent_volume": 18}]'
|
||||
type: string
|
||||
speed:
|
||||
default: '400'
|
||||
description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟
|
||||
type: string
|
||||
temperature:
|
||||
default: '20'
|
||||
description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温）
|
||||
type: string
|
||||
required:
|
||||
@@ -272,11 +287,17 @@ bioyond_dispensing_station:
|
||||
title: BatchCreateDiamineSolutionTasks_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: BatchCreateDiamineSolutionTasks_Result
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: batch_create_diamine_solution_tasks参数
|
||||
title: BatchCreateDiamineSolutionTasks
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
compute_experiment_design:
|
||||
@@ -288,7 +309,7 @@ bioyond_dispensing_station:
|
||||
wt_percent: wt_percent
|
||||
goal_default:
|
||||
m_tot: '70'
|
||||
ratio: null
|
||||
ratio: ''
|
||||
titration_percent: '0.03'
|
||||
wt_percent: '0.25'
|
||||
handles:
|
||||
@@ -317,8 +338,12 @@ bioyond_dispensing_station:
|
||||
handler_key: feeding_order
|
||||
io_type: sink
|
||||
label: Feeding Order Data From Calculation Node
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
feeding_order: feeding_order
|
||||
return_info: return_info
|
||||
solutions: solutions
|
||||
solvents: solvents
|
||||
titration: titration
|
||||
schema:
|
||||
description: 计算实验设计，输出solutions/titration/solvents/feeding_order用于后续节点。
|
||||
properties:
|
||||
@@ -331,7 +356,7 @@ bioyond_dispensing_station:
|
||||
type: string
|
||||
ratio:
|
||||
description: 组分摩尔比的对象，保持输入顺序，如{"MDA":1,"BTDA":1}
|
||||
type: object
|
||||
type: string
|
||||
titration_percent:
|
||||
default: '0.03'
|
||||
description: 滴定比例(10%部分)
|
||||
@@ -346,23 +371,14 @@ bioyond_dispensing_station:
|
||||
result:
|
||||
properties:
|
||||
feeding_order:
|
||||
items: {}
|
||||
title: Feeding Order
|
||||
type: array
|
||||
return_info:
|
||||
title: Return Info
|
||||
type: string
|
||||
solutions:
|
||||
items: {}
|
||||
title: Solutions
|
||||
type: array
|
||||
solvents:
|
||||
additionalProperties: true
|
||||
title: Solvents
|
||||
type: object
|
||||
titration:
|
||||
additionalProperties: true
|
||||
title: Titration
|
||||
type: object
|
||||
required:
|
||||
- solutions
|
||||
@@ -370,11 +386,11 @@ bioyond_dispensing_station:
|
||||
- solvents
|
||||
- feeding_order
|
||||
- return_info
|
||||
title: ComputeExperimentDesignReturn
|
||||
title: ComputeExperimentDesign_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: compute_experiment_design参数
|
||||
title: ComputeExperimentDesign
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
create_90_10_vial_feeding_task:
|
||||
@@ -428,18 +444,17 @@ bioyond_dispensing_station:
|
||||
speed: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationVialFeed_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
@@ -487,13 +502,38 @@ bioyond_dispensing_station:
|
||||
type: string
|
||||
temperature:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- percent_90_1_assign_material_name
|
||||
- percent_90_1_target_weigh
|
||||
- percent_90_2_assign_material_name
|
||||
- percent_90_2_target_weigh
|
||||
- percent_90_3_assign_material_name
|
||||
- percent_90_3_target_weigh
|
||||
- percent_10_1_assign_material_name
|
||||
- percent_10_1_target_weigh
|
||||
- percent_10_1_volume
|
||||
- percent_10_1_liquid_material_name
|
||||
- percent_10_2_assign_material_name
|
||||
- percent_10_2_target_weigh
|
||||
- percent_10_2_volume
|
||||
- percent_10_2_liquid_material_name
|
||||
- percent_10_3_assign_material_name
|
||||
- percent_10_3_target_weigh
|
||||
- percent_10_3_volume
|
||||
- percent_10_3_liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationVialFeed_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationVialFeed_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -524,18 +564,17 @@ bioyond_dispensing_station:
|
||||
temperature: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: DispenStationSolnPrep_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
delay_time:
|
||||
type: string
|
||||
@@ -555,13 +594,24 @@ bioyond_dispensing_station:
|
||||
type: string
|
||||
volume:
|
||||
type: string
|
||||
required:
|
||||
- order_name
|
||||
- material_name
|
||||
- target_weigh
|
||||
- volume
|
||||
- liquid_material_name
|
||||
- speed
|
||||
- temperature
|
||||
- delay_time
|
||||
- hold_m_name
|
||||
title: DispenStationSolnPrep_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: DispenStationSolnPrep_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -574,8 +624,8 @@ bioyond_dispensing_station:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 启动调度器 - 启动Bioyond配液站的任务调度器，开始执行队列中的任务
|
||||
properties:
|
||||
@@ -585,6 +635,12 @@ bioyond_dispensing_station:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 调度器启动结果，成功返回1，失败返回0
|
||||
type: integer
|
||||
required:
|
||||
- return_info
|
||||
title: scheduler_start结果
|
||||
type: object
|
||||
required:
|
||||
@@ -598,8 +654,8 @@ bioyond_dispensing_station:
|
||||
target_device_id: target_device_id
|
||||
transfer_groups: transfer_groups
|
||||
goal_default:
|
||||
target_device_id: null
|
||||
transfer_groups: null
|
||||
target_device_id: ''
|
||||
transfer_groups: ''
|
||||
handles: {}
|
||||
placeholder_keys:
|
||||
target_device_id: unilabos_devices
|
||||
@@ -615,13 +671,32 @@ bioyond_dispensing_station:
|
||||
type: string
|
||||
transfer_groups:
|
||||
description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组
|
||||
items:
|
||||
properties:
|
||||
materials:
|
||||
description: 物料名称（手动输入，系统将通过RPC查询验证）
|
||||
type: string
|
||||
target_sites:
|
||||
description: 目标库位（手动输入，如"A01"）
|
||||
type: string
|
||||
target_stack:
|
||||
description: 目标堆栈名称（从列表选择）
|
||||
enum:
|
||||
- 堆栈1左
|
||||
- 堆栈1右
|
||||
- 站内试剂存放堆栈
|
||||
type: string
|
||||
required:
|
||||
- materials
|
||||
- target_stack
|
||||
- target_sites
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- target_device_id
|
||||
- transfer_groups
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: transfer_materials_to_reaction_station参数
|
||||
@@ -634,9 +709,9 @@ bioyond_dispensing_station:
|
||||
check_interval: check_interval
|
||||
timeout: timeout
|
||||
goal_default:
|
||||
batch_create_result: null
|
||||
check_interval: 10
|
||||
timeout: 7200
|
||||
batch_create_result: ''
|
||||
check_interval: '10'
|
||||
timeout: '7200'
|
||||
handles:
|
||||
input:
|
||||
- data_key: batch_create_result
|
||||
@@ -652,35 +727,47 @@ bioyond_dispensing_station:
|
||||
handler_key: batch_reports_result
|
||||
io_type: sink
|
||||
label: Batch Order Completion Reports
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: WaitForMultipleOrdersAndGetReports_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
batch_create_result:
|
||||
description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
|
||||
type: string
|
||||
check_interval:
|
||||
default: 10
|
||||
default: '10'
|
||||
description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
|
||||
type: integer
|
||||
type: string
|
||||
timeout:
|
||||
default: 7200
|
||||
default: '7200'
|
||||
description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
|
||||
type: integer
|
||||
required: []
|
||||
type: string
|
||||
required:
|
||||
- batch_create_result
|
||||
title: WaitForMultipleOrdersAndGetReports_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
|
||||
error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
|
||||
order_id, status, completion_status, report, elapsed_time)'
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: WaitForMultipleOrdersAndGetReports_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_multiple_orders_and_get_reports参数
|
||||
title: WaitForMultipleOrdersAndGetReports
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station.dispensing_station:BioyondDispensingStation
|
||||
|
||||
81
unilabos/registry/devices/camera.yaml
Normal file
81
unilabos/registry/devices/camera.yaml
Normal file
@@ -0,0 +1,81 @@
|
||||
camera:
|
||||
category:
|
||||
- camera
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-destroy_node:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 用于安全地关闭摄像头设备，释放摄像头资源，停止视频采集和发布服务。调用此函数将清理OpenCV摄像头连接并销毁ROS2节点。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: destroy_node参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-timer_callback:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 定时器回调函数的参数schema。此函数负责定期采集摄像头视频帧，将OpenCV格式的图像转换为ROS Image消息格式，并发布到指定的视频话题。默认以10Hz频率执行，确保视频流的连续性和实时性。
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: timer_callback参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.ros.nodes.presets.camera:VideoPublisher
|
||||
status_types: {}
|
||||
type: ros2
|
||||
config_info: []
|
||||
description: VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
camera_index:
|
||||
default: 0
|
||||
type: string
|
||||
device_id:
|
||||
default: video_publisher
|
||||
type: string
|
||||
device_uuid:
|
||||
default: ''
|
||||
type: string
|
||||
period:
|
||||
default: 0.1
|
||||
type: number
|
||||
registry_name:
|
||||
default: ''
|
||||
type: string
|
||||
resource_tracker:
|
||||
type: object
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -18,7 +18,7 @@ cameracontroller_device:
|
||||
goal:
|
||||
properties:
|
||||
config:
|
||||
type: object
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
@@ -42,8 +42,7 @@ cameracontroller_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop参数
|
||||
@@ -51,7 +50,7 @@ cameracontroller_device:
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.cameraSII.cameraUSB:CameraController
|
||||
status_types:
|
||||
status: Dict[str, Any]
|
||||
status: dict
|
||||
type: python
|
||||
config_info: []
|
||||
description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ）
|
||||
@@ -104,4 +103,5 @@ cameracontroller_device:
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -141,26 +141,30 @@ hplc.agilent:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -171,6 +175,7 @@ hplc.agilent:
|
||||
module: unilabos.devices.hplc.AgilentHPLC:HPLCDriver
|
||||
status_types:
|
||||
could_run: bool
|
||||
data_file: String
|
||||
device_status: str
|
||||
driver_init_ok: bool
|
||||
finish_status: str
|
||||
@@ -194,6 +199,10 @@ hplc.agilent:
|
||||
properties:
|
||||
could_run:
|
||||
type: boolean
|
||||
data_file:
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
device_status:
|
||||
type: string
|
||||
driver_init_ok:
|
||||
@@ -207,13 +216,14 @@ hplc.agilent:
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- could_run
|
||||
- device_status
|
||||
- driver_init_ok
|
||||
- finish_status
|
||||
- is_running
|
||||
- status_text
|
||||
- device_status
|
||||
- could_run
|
||||
- driver_init_ok
|
||||
- is_running
|
||||
- success
|
||||
- finish_status
|
||||
- data_file
|
||||
type: object
|
||||
version: 1.0.0
|
||||
hplc.agilent-zhida:
|
||||
@@ -226,25 +236,26 @@ hplc.agilent-zhida:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -304,18 +315,21 @@ hplc.agilent-zhida:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -327,35 +341,35 @@ hplc.agilent-zhida:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
text: text
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -393,7 +407,7 @@ hplc.agilent-zhida:
|
||||
status:
|
||||
type: object
|
||||
required:
|
||||
- methods
|
||||
- status
|
||||
- methods
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -120,41 +120,42 @@ raman.home_made:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
raman_cmd:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
@@ -19,8 +19,7 @@ separator.chinwe:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: connect参数
|
||||
@@ -66,145 +65,135 @@ separator.chinwe:
|
||||
required:
|
||||
- command_dict
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: execute_command_from_outer参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_rotate_quarter:
|
||||
feedback: {}
|
||||
goal:
|
||||
direction: 顺时针
|
||||
motor_id: 4
|
||||
speed: 60
|
||||
goal_default:
|
||||
direction: 顺时针
|
||||
motor_id: null
|
||||
speed: 60
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 电机旋转 1/4 圈
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: 顺时针
|
||||
description: 旋转方向
|
||||
enum:
|
||||
- 顺时针
|
||||
- 逆时针
|
||||
type: string
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机 (4:搅拌, 5:旋钮)
|
||||
type: integer
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
type: string
|
||||
speed:
|
||||
default: 60
|
||||
description: 速度 (RPM)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
- speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: motor_rotate_quarter参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_run_continuous:
|
||||
feedback: {}
|
||||
goal:
|
||||
direction: 顺时针
|
||||
motor_id: 4
|
||||
speed: 60
|
||||
goal_default:
|
||||
direction: 顺时针
|
||||
motor_id: null
|
||||
speed: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 电机一直旋转 (速度模式)
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
direction:
|
||||
default: 顺时针
|
||||
description: 旋转方向
|
||||
enum:
|
||||
- 顺时针
|
||||
- 逆时针
|
||||
type: string
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机 (4:搅拌, 5:旋钮)
|
||||
type: integer
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
type: string
|
||||
speed:
|
||||
default: 60
|
||||
description: 速度 (RPM)
|
||||
type: integer
|
||||
required:
|
||||
- motor_id
|
||||
- speed
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: motor_run_continuous参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
motor_stop:
|
||||
feedback: {}
|
||||
goal:
|
||||
motor_id: 4
|
||||
goal_default:
|
||||
motor_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 停止指定步进电机
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
motor_id:
|
||||
default: '4'
|
||||
description: 选择电机
|
||||
enum:
|
||||
- '4'
|
||||
- '5'
|
||||
title: '注: 4=搅拌, 5=旋钮'
|
||||
type: integer
|
||||
type: string
|
||||
required:
|
||||
- motor_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: motor_stop参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_aspirate:
|
||||
feedback: {}
|
||||
goal:
|
||||
pump_id: 1
|
||||
valve_port: 1
|
||||
volume: 1000
|
||||
goal_default:
|
||||
pump_id: null
|
||||
valve_port: null
|
||||
volume: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 注射泵吸液
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
valve_port:
|
||||
default: '1'
|
||||
description: 阀门端口
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
volume:
|
||||
default: 1000
|
||||
description: 吸液步数
|
||||
type: integer
|
||||
required:
|
||||
@@ -212,38 +201,41 @@ separator.chinwe:
|
||||
- volume
|
||||
- valve_port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pump_aspirate参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_dispense:
|
||||
feedback: {}
|
||||
goal:
|
||||
pump_id: 1
|
||||
valve_port: 1
|
||||
volume: 1000
|
||||
goal_default:
|
||||
pump_id: null
|
||||
valve_port: null
|
||||
volume: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 注射泵排液
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
valve_port:
|
||||
default: '1'
|
||||
description: 阀门端口
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
volume:
|
||||
default: 1000
|
||||
description: 排液步数
|
||||
type: integer
|
||||
required:
|
||||
@@ -251,152 +243,121 @@ separator.chinwe:
|
||||
- volume
|
||||
- valve_port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pump_dispense参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_initialize:
|
||||
feedback: {}
|
||||
goal:
|
||||
drain_port: 0
|
||||
output_port: 0
|
||||
pump_id: 1
|
||||
speed: 10
|
||||
goal_default:
|
||||
drain_port: 0
|
||||
output_port: 0
|
||||
pump_id: null
|
||||
speed: 10
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 初始化指定注射泵
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
drain_port:
|
||||
default: 0
|
||||
description: 排液口索引
|
||||
type: string
|
||||
type: integer
|
||||
output_port:
|
||||
default: 0
|
||||
description: 输出口索引
|
||||
type: string
|
||||
pump_id:
|
||||
description: 选择泵
|
||||
title: '注: 1号泵, 2号泵, 3号泵'
|
||||
type: integer
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
title: '注: 1号泵, 2号泵, 3号泵'
|
||||
type: string
|
||||
speed:
|
||||
default: 10
|
||||
description: 运动速度
|
||||
type: string
|
||||
type: integer
|
||||
required:
|
||||
- pump_id
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pump_initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pump_valve:
|
||||
feedback: {}
|
||||
goal:
|
||||
port: 1
|
||||
pump_id: 1
|
||||
goal_default:
|
||||
port: null
|
||||
pump_id: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 切换指定泵的阀门端口
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
port:
|
||||
default: '1'
|
||||
description: 阀门端口号 (1-8)
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
- '4'
|
||||
- '5'
|
||||
- '6'
|
||||
- '7'
|
||||
- '8'
|
||||
type: string
|
||||
pump_id:
|
||||
default: '1'
|
||||
description: 选择泵
|
||||
type: integer
|
||||
enum:
|
||||
- '1'
|
||||
- '2'
|
||||
- '3'
|
||||
type: string
|
||||
required:
|
||||
- pump_id
|
||||
- port
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: pump_valve参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_sensor_level:
|
||||
feedback: {}
|
||||
goal:
|
||||
target_state: 有液
|
||||
timeout: 30
|
||||
goal_default:
|
||||
target_state: 有液
|
||||
timeout: 30
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 等待传感器液位条件
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
target_state:
|
||||
default: 有液
|
||||
description: 目标液位状态
|
||||
enum:
|
||||
- 有液
|
||||
- 无液
|
||||
type: string
|
||||
timeout:
|
||||
default: 30
|
||||
description: 超时时间 (秒)
|
||||
type: integer
|
||||
required: []
|
||||
required:
|
||||
- target_state
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: wait_sensor_level参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
wait_time:
|
||||
feedback: {}
|
||||
goal:
|
||||
duration: 10
|
||||
goal_default:
|
||||
duration: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 等待指定时间
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
duration:
|
||||
default: 10
|
||||
description: 等待时间 (秒)
|
||||
type: integer
|
||||
required:
|
||||
- duration
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
required:
|
||||
- goal
|
||||
title: wait_time参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.separator.chinwe:ChinweDevice
|
||||
status_types:
|
||||
@@ -445,8 +406,8 @@ separator.chinwe:
|
||||
sensor_rssi:
|
||||
type: integer
|
||||
required:
|
||||
- is_connected
|
||||
- sensor_level
|
||||
- sensor_rssi
|
||||
- is_connected
|
||||
type: object
|
||||
version: 2.1.0
|
||||
|
||||
@@ -64,8 +64,7 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: fun_wuliao_test参数
|
||||
@@ -110,8 +109,7 @@ coincellassemblyworkstation_device:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd参数
|
||||
@@ -222,8 +220,7 @@ coincellassemblyworkstation_device:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_allpack_cmd_simp参数
|
||||
@@ -312,8 +309,7 @@ coincellassemblyworkstation_device:
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_init_auto_start_combined参数
|
||||
@@ -355,8 +351,7 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_device_stop参数
|
||||
@@ -381,8 +376,7 @@ coincellassemblyworkstation_device:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_get_msg_cmd参数
|
||||
@@ -436,8 +430,7 @@ coincellassemblyworkstation_device:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_finished_cmd参数
|
||||
@@ -474,8 +467,7 @@ coincellassemblyworkstation_device:
|
||||
- assembly_type
|
||||
- assembly_pressure
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_pack_send_msg_cmd参数
|
||||
@@ -619,8 +611,7 @@ coincellassemblyworkstation_device:
|
||||
- elec_num
|
||||
- elec_use_num
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: func_sendbottle_allpack_multi参数
|
||||
@@ -672,6 +663,31 @@ coincellassemblyworkstation_device:
|
||||
title: modify_deck_name参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-qiming_coin_cell_code:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -719,8 +735,7 @@ coincellassemblyworkstation_device:
|
||||
required:
|
||||
- fujipian_panshu
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: qiming_coin_cell_code参数
|
||||
@@ -811,24 +826,25 @@ coincellassemblyworkstation_device:
|
||||
sys_status:
|
||||
type: string
|
||||
required:
|
||||
- sys_status
|
||||
- sys_mode
|
||||
- request_rec_msg_status
|
||||
- request_send_msg_status
|
||||
- data_assembly_coin_cell_num
|
||||
- data_assembly_pressure
|
||||
- data_assembly_time
|
||||
- data_open_circuit_voltage
|
||||
- data_axis_x_pos
|
||||
- data_axis_y_pos
|
||||
- data_axis_z_pos
|
||||
- data_coin_cell_code
|
||||
- data_coin_num
|
||||
- data_electrolyte_code
|
||||
- data_electrolyte_volume
|
||||
- data_glove_box_o2_content
|
||||
- data_glove_box_pressure
|
||||
- data_glove_box_water_content
|
||||
- data_open_circuit_voltage
|
||||
- data_pole_weight
|
||||
- request_rec_msg_status
|
||||
- request_send_msg_status
|
||||
- sys_mode
|
||||
- sys_status
|
||||
- data_assembly_pressure
|
||||
- data_electrolyte_volume
|
||||
- data_coin_num
|
||||
- data_coin_cell_code
|
||||
- data_electrolyte_code
|
||||
- data_glove_box_pressure
|
||||
- data_glove_box_o2_content
|
||||
- data_glove_box_water_content
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
|
||||
@@ -50,25 +50,26 @@ gas_source.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -81,25 +82,26 @@ gas_source.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -114,31 +116,32 @@ gas_source.mock:
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -229,25 +232,26 @@ vacuum_pump.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -260,25 +264,26 @@ vacuum_pump.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -293,31 +298,32 @@ vacuum_pump.mock:
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
@@ -5,7 +5,7 @@ hotel.thermo_orbitor_rs2_hotel:
|
||||
action_value_mappings: {}
|
||||
module: unilabos.devices.resource_container.container:HotelContainer
|
||||
status_types:
|
||||
rotation: ''
|
||||
rotation: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: Thermo Orbitor RS2 Hotel容器设备，用于实验室样品的存储和管理。该设备通过HotelContainer类实现容器的旋转控制和状态监控，主要用于存储实验样品、试剂瓶或其他实验器具，支持旋转功能以便于样品的自动化存取。适用于需要有序存储和快速访问大量样品的实验室自动化场景。
|
||||
|
||||
@@ -22,8 +22,7 @@ xyz_stepper_controller:
|
||||
required:
|
||||
- degrees
|
||||
type: object
|
||||
result:
|
||||
type: integer
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: degrees_to_steps参数
|
||||
@@ -48,8 +47,7 @@ xyz_stepper_controller:
|
||||
required:
|
||||
- axis
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: emergency_stop参数
|
||||
@@ -74,10 +72,7 @@ xyz_stepper_controller:
|
||||
type: boolean
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
additionalProperties:
|
||||
type: boolean
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable_all_axes参数
|
||||
@@ -106,8 +101,7 @@ xyz_stepper_controller:
|
||||
required:
|
||||
- axis
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: enable_motor参数
|
||||
@@ -128,10 +122,7 @@ xyz_stepper_controller:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
additionalProperties:
|
||||
type: boolean
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: home_all_axes参数
|
||||
@@ -156,8 +147,7 @@ xyz_stepper_controller:
|
||||
required:
|
||||
- axis
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: home_axis参数
|
||||
@@ -198,8 +188,7 @@ xyz_stepper_controller:
|
||||
- axis
|
||||
- position
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_position参数
|
||||
@@ -240,8 +229,7 @@ xyz_stepper_controller:
|
||||
- axis
|
||||
- degrees
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_position_degrees参数
|
||||
@@ -282,8 +270,7 @@ xyz_stepper_controller:
|
||||
- axis
|
||||
- revolutions
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_to_position_revolutions参数
|
||||
@@ -314,17 +301,14 @@ xyz_stepper_controller:
|
||||
default: 5000
|
||||
type: integer
|
||||
x:
|
||||
type: integer
|
||||
type: string
|
||||
y:
|
||||
type: integer
|
||||
type: string
|
||||
z:
|
||||
type: integer
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
additionalProperties:
|
||||
type: boolean
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_xyz参数
|
||||
@@ -355,17 +339,14 @@ xyz_stepper_controller:
|
||||
default: 5000
|
||||
type: integer
|
||||
x_deg:
|
||||
type: number
|
||||
type: string
|
||||
y_deg:
|
||||
type: number
|
||||
type: string
|
||||
z_deg:
|
||||
type: number
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
additionalProperties:
|
||||
type: boolean
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_xyz_degrees参数
|
||||
@@ -396,17 +377,14 @@ xyz_stepper_controller:
|
||||
default: 5000
|
||||
type: integer
|
||||
x_rev:
|
||||
type: number
|
||||
type: string
|
||||
y_rev:
|
||||
type: number
|
||||
type: string
|
||||
z_rev:
|
||||
type: number
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
additionalProperties:
|
||||
type: boolean
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: move_xyz_revolutions参数
|
||||
@@ -431,8 +409,7 @@ xyz_stepper_controller:
|
||||
required:
|
||||
- revolutions
|
||||
type: object
|
||||
result:
|
||||
type: integer
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: revolutions_to_steps参数
|
||||
@@ -465,8 +442,7 @@ xyz_stepper_controller:
|
||||
- axis
|
||||
- speed
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_speed_mode参数
|
||||
@@ -491,8 +467,7 @@ xyz_stepper_controller:
|
||||
required:
|
||||
- steps
|
||||
type: object
|
||||
result:
|
||||
type: number
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: steps_to_degrees参数
|
||||
@@ -517,8 +492,7 @@ xyz_stepper_controller:
|
||||
required:
|
||||
- steps
|
||||
type: object
|
||||
result:
|
||||
type: number
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: steps_to_revolutions参数
|
||||
@@ -539,10 +513,7 @@ xyz_stepper_controller:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
additionalProperties:
|
||||
type: boolean
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: stop_all_axes参数
|
||||
@@ -571,8 +542,7 @@ xyz_stepper_controller:
|
||||
required:
|
||||
- axis
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_completion参数
|
||||
@@ -580,7 +550,8 @@ xyz_stepper_controller:
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController
|
||||
status_types:
|
||||
all_positions: Dict[MotorAxis, MotorPosition]
|
||||
all_positions: dict
|
||||
motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition
|
||||
type: python
|
||||
config_info: []
|
||||
description: 新XYZ控制器
|
||||
@@ -603,10 +574,12 @@ xyz_stepper_controller:
|
||||
data:
|
||||
properties:
|
||||
all_positions:
|
||||
additionalProperties:
|
||||
type: object
|
||||
type: object
|
||||
motor_status:
|
||||
type: object
|
||||
required:
|
||||
- motor_status
|
||||
- all_positions
|
||||
type: object
|
||||
registry_type: device
|
||||
version: 1.0.0
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -5,6 +5,31 @@ neware_battery_test_system:
|
||||
- battery_test
|
||||
class:
|
||||
action_value_mappings:
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-print_status_summary:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -41,8 +66,7 @@ neware_battery_test_system:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: boolean
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: test_connection参数
|
||||
@@ -53,8 +77,9 @@ neware_battery_test_system:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 调试方法：显示所有资源的实际名称
|
||||
properties:
|
||||
@@ -64,10 +89,19 @@ neware_battery_test_system:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 资源调试信息
|
||||
type: string
|
||||
success:
|
||||
description: 是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: debug_resource_names参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
export_status_json:
|
||||
@@ -77,8 +111,9 @@ neware_battery_test_system:
|
||||
goal_default:
|
||||
filepath: bts_status.json
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 导出当前状态数据到JSON文件
|
||||
properties:
|
||||
@@ -92,10 +127,19 @@ neware_battery_test_system:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 导出操作结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 导出是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: export_status_json参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_device_summary:
|
||||
@@ -137,8 +181,10 @@ neware_battery_test_system:
|
||||
goal_default:
|
||||
plate_num: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
plate_data: plate_data
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 获取指定盘或所有盘的状态信息
|
||||
properties:
|
||||
@@ -147,14 +193,29 @@ neware_battery_test_system:
|
||||
properties:
|
||||
plate_num:
|
||||
description: 盘号 (1 或 2)，如果为null则返回所有盘的状态
|
||||
maximum: 2
|
||||
minimum: 1
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
plate_data:
|
||||
description: 盘状态数据（单盘或所有盘）
|
||||
type: object
|
||||
return_info:
|
||||
description: 操作结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 查询是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
- plate_data
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: get_plate_status参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
print_status_summary_action:
|
||||
@@ -162,8 +223,9 @@ neware_battery_test_system:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 打印通道状态摘要信息到控制台
|
||||
properties:
|
||||
@@ -173,21 +235,28 @@ neware_battery_test_system:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 打印操作结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 打印是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: print_status_summary_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
query_plate_action:
|
||||
feedback: {}
|
||||
goal:
|
||||
plate_id: plate_id
|
||||
string: string
|
||||
string: plate_id
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
@@ -195,23 +264,27 @@ neware_battery_test_system:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -225,11 +298,13 @@ neware_battery_test_system:
|
||||
csv_path: string
|
||||
output_dir: string
|
||||
goal_default:
|
||||
csv_path: null
|
||||
csv_path: ''
|
||||
output_dir: .
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
submitted_count: submitted_count
|
||||
success: success
|
||||
schema:
|
||||
description: 从CSV文件批量提交Neware测试任务
|
||||
properties:
|
||||
@@ -240,17 +315,31 @@ neware_battery_test_system:
|
||||
description: 输入CSV文件的绝对路径
|
||||
type: string
|
||||
output_dir:
|
||||
default: .
|
||||
description: 输出目录（用于存储XML和备份文件），默认当前目录
|
||||
type: string
|
||||
required:
|
||||
- csv_path
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 执行结果详细信息
|
||||
type: string
|
||||
submitted_count:
|
||||
description: 成功提交的任务数量
|
||||
type: integer
|
||||
success:
|
||||
description: 是否成功
|
||||
type: boolean
|
||||
total_count:
|
||||
description: CSV文件中的总行数
|
||||
type: integer
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: submit_from_csv参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
test_connection_action:
|
||||
@@ -258,8 +347,9 @@ neware_battery_test_system:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: 测试与电池测试系统的TCP连接
|
||||
properties:
|
||||
@@ -269,10 +359,19 @@ neware_battery_test_system:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 连接测试结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 连接测试是否成功
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: test_connection_action参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
upload_backup_to_oss:
|
||||
@@ -293,8 +392,12 @@ neware_battery_test_system:
|
||||
handler_key: uploaded_files
|
||||
io_type: sink
|
||||
label: Uploaded Files (with standard flow info)
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
failed_files: failed_files
|
||||
return_info: return_info
|
||||
success: success
|
||||
total_count: total_count
|
||||
uploaded_count: uploaded_count
|
||||
schema:
|
||||
description: 上传备份文件到阿里云OSS
|
||||
properties:
|
||||
@@ -314,17 +417,65 @@ neware_battery_test_system:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
failed_files:
|
||||
description: 上传失败的文件名列表
|
||||
items:
|
||||
type: string
|
||||
type: array
|
||||
return_info:
|
||||
description: 上传操作结果信息
|
||||
type: string
|
||||
success:
|
||||
description: 上传是否成功
|
||||
type: boolean
|
||||
total_count:
|
||||
description: 总文件数
|
||||
type: integer
|
||||
uploaded_count:
|
||||
description: 成功上传的文件数
|
||||
type: integer
|
||||
uploaded_files:
|
||||
description: 成功上传的文件详情列表
|
||||
items:
|
||||
properties:
|
||||
Battery_Code:
|
||||
description: 电池编码
|
||||
type: string
|
||||
Electrolyte_Code:
|
||||
description: 电解液编码
|
||||
type: string
|
||||
filename:
|
||||
description: 文件名
|
||||
type: string
|
||||
url:
|
||||
description: OSS下载链接
|
||||
type: string
|
||||
required:
|
||||
- filename
|
||||
- url
|
||||
- Battery_Code
|
||||
- Electrolyte_Code
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
- uploaded_count
|
||||
- total_count
|
||||
- failed_files
|
||||
- uploaded_files
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: upload_backup_to_oss参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem
|
||||
status_types:
|
||||
channel_status: Dict[int, Dict]
|
||||
connection_info: Dict[str, str]
|
||||
channel_status: dict
|
||||
connection_info: dict
|
||||
device_summary: dict
|
||||
plate_status: dict
|
||||
status: str
|
||||
total_channels: int
|
||||
type: python
|
||||
@@ -366,24 +517,23 @@ neware_battery_test_system:
|
||||
data:
|
||||
properties:
|
||||
channel_status:
|
||||
additionalProperties:
|
||||
type: object
|
||||
type: object
|
||||
connection_info:
|
||||
additionalProperties:
|
||||
type: string
|
||||
type: object
|
||||
device_summary:
|
||||
type: object
|
||||
plate_status:
|
||||
type: object
|
||||
status:
|
||||
type: string
|
||||
total_channels:
|
||||
type: integer
|
||||
required:
|
||||
- status
|
||||
- channel_status
|
||||
- connection_info
|
||||
- device_summary
|
||||
- status
|
||||
- total_channels
|
||||
- plate_status
|
||||
- device_summary
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -142,7 +142,8 @@ opcua_example:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.device_comms.opcua_client.client:OpcUaClient
|
||||
status_types: {}
|
||||
status_types:
|
||||
node_value: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: null
|
||||
@@ -166,7 +167,10 @@ opcua_example:
|
||||
- url
|
||||
type: object
|
||||
data:
|
||||
properties: {}
|
||||
required: []
|
||||
properties:
|
||||
node_value:
|
||||
type: string
|
||||
required:
|
||||
- node_value
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -80,8 +80,7 @@ opsky_ATR30007:
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: run_once参数
|
||||
|
||||
@@ -100,41 +100,42 @@ rotavap.one:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_timer:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -249,13 +250,9 @@ separator.homemade:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
event: event
|
||||
settling_time: settling_time
|
||||
stir_speed: stir_speed
|
||||
stir_time: stir_time
|
||||
time: time
|
||||
time_spec: time_spec
|
||||
vessel: vessel
|
||||
stir_time: stir_time,
|
||||
goal_default:
|
||||
event: ''
|
||||
settling_time: ''
|
||||
@@ -284,42 +281,34 @@ separator.homemade:
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
message: message
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: Stir_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
event:
|
||||
type: string
|
||||
settling_time:
|
||||
type: string
|
||||
stir_speed:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
stir_time:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
time:
|
||||
type: string
|
||||
time_spec:
|
||||
type: string
|
||||
vessel:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
@@ -338,26 +327,16 @@ separator.homemade:
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
orientation:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
w:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
x:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
y:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
z:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
@@ -367,19 +346,12 @@ separator.homemade:
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
x:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
y:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
z:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
@@ -409,10 +381,17 @@ separator.homemade:
|
||||
- data
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
- time
|
||||
- event
|
||||
- time_spec
|
||||
- stir_time
|
||||
- stir_speed
|
||||
- settling_time
|
||||
title: Stir_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
@@ -420,6 +399,10 @@ separator.homemade:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: Stir_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -435,34 +418,36 @@ separator.homemade:
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
@@ -28,6 +28,31 @@ post_process_station:
|
||||
title: load_config参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-print_cache_stats:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -79,41 +104,42 @@ post_process_station:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
disconnect:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
command: {}
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -123,41 +149,42 @@ post_process_station:
|
||||
type: SendCmd
|
||||
read_node:
|
||||
feedback:
|
||||
status: status
|
||||
result: result
|
||||
goal:
|
||||
command: command
|
||||
node_name: node_name
|
||||
command: node_name
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -256,19 +283,17 @@ post_process_station:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: PostProcessTriggerClean_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
acetone_inner_wall_cleaning_count:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_inner_wall_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
acetone_inner_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
@@ -279,8 +304,6 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_outer_wall_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
acetone_outer_wall_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
@@ -299,8 +322,6 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
acetone_stirrer_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
acetone_stirrer_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
@@ -327,8 +348,6 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_inner_wall_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
nmp_inner_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
@@ -339,8 +358,6 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_outer_wall_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
nmp_outer_wall_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
@@ -359,8 +376,6 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
nmp_stirrer_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
nmp_stirrer_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
@@ -379,8 +394,6 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_inner_wall_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
water_inner_wall_cleaning_waste_time:
|
||||
maximum: 2147483647
|
||||
@@ -391,8 +404,6 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_outer_wall_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
water_outer_wall_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
@@ -411,8 +422,6 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
water_stirrer_cleaning_injection:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
water_stirrer_cleaning_wait_time:
|
||||
maximum: 2147483647
|
||||
@@ -422,13 +431,55 @@ post_process_station:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- nmp_outer_wall_cleaning_injection
|
||||
- nmp_outer_wall_cleaning_count
|
||||
- nmp_outer_wall_cleaning_wait_time
|
||||
- nmp_outer_wall_cleaning_waste_time
|
||||
- nmp_inner_wall_cleaning_injection
|
||||
- nmp_inner_wall_cleaning_count
|
||||
- nmp_pump_cleaning_suction_count
|
||||
- nmp_inner_wall_cleaning_waste_time
|
||||
- nmp_stirrer_cleaning_injection
|
||||
- nmp_stirrer_cleaning_count
|
||||
- nmp_stirrer_cleaning_wait_time
|
||||
- nmp_stirrer_cleaning_waste_time
|
||||
- water_outer_wall_cleaning_injection
|
||||
- water_outer_wall_cleaning_count
|
||||
- water_outer_wall_cleaning_wait_time
|
||||
- water_outer_wall_cleaning_waste_time
|
||||
- water_inner_wall_cleaning_injection
|
||||
- water_inner_wall_cleaning_count
|
||||
- water_pump_cleaning_suction_count
|
||||
- water_inner_wall_cleaning_waste_time
|
||||
- water_stirrer_cleaning_injection
|
||||
- water_stirrer_cleaning_count
|
||||
- water_stirrer_cleaning_wait_time
|
||||
- water_stirrer_cleaning_waste_time
|
||||
- acetone_outer_wall_cleaning_injection
|
||||
- acetone_outer_wall_cleaning_count
|
||||
- acetone_outer_wall_cleaning_wait_time
|
||||
- acetone_outer_wall_cleaning_waste_time
|
||||
- acetone_inner_wall_cleaning_injection
|
||||
- acetone_inner_wall_cleaning_count
|
||||
- acetone_pump_cleaning_suction_count
|
||||
- acetone_inner_wall_cleaning_waste_time
|
||||
- acetone_stirrer_cleaning_injection
|
||||
- acetone_stirrer_cleaning_count
|
||||
- acetone_stirrer_cleaning_wait_time
|
||||
- acetone_stirrer_cleaning_waste_time
|
||||
- pipe_blowing_time
|
||||
- injection_pump_forward_empty_suction_count
|
||||
- injection_pump_reverse_empty_suction_count
|
||||
- filtration_liquid_selection
|
||||
title: PostProcessTriggerClean_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: PostProcessTriggerClean_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -451,11 +502,11 @@ post_process_station:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: PostProcessGrab_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
raw_tank_number:
|
||||
maximum: 2147483647
|
||||
@@ -465,13 +516,17 @@ post_process_station:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- reaction_tank_number
|
||||
- raw_tank_number
|
||||
title: PostProcessGrab_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: PostProcessGrab_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -518,15 +573,13 @@ post_process_station:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: PostProcessTriggerPostPro_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
atomization_fast_speed:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
atomization_pressure_kpa:
|
||||
maximum: 2147483647
|
||||
@@ -541,12 +594,8 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
first_wash_water_amount:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
initial_water_amount:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
injection_pump_push_speed:
|
||||
maximum: 2147483647
|
||||
@@ -573,20 +622,32 @@ post_process_station:
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
second_wash_water_amount:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
wash_slow_speed:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- atomization_fast_speed
|
||||
- wash_slow_speed
|
||||
- injection_pump_suction_speed
|
||||
- injection_pump_push_speed
|
||||
- raw_liquid_suction_count
|
||||
- first_wash_water_amount
|
||||
- second_wash_water_amount
|
||||
- first_powder_mixing_tim
|
||||
- second_powder_mixing_time
|
||||
- first_powder_wash_count
|
||||
- second_powder_wash_count
|
||||
- initial_water_amount
|
||||
- pre_filtration_mixing_time
|
||||
- atomization_pressure_kpa
|
||||
title: PostProcessTriggerPostPro_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: PostProcessTriggerPostPro_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -608,26 +669,30 @@ post_process_station:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -637,7 +702,8 @@ post_process_station:
|
||||
type: SendCmd
|
||||
module: unilabos.devices.workstation.post_process.post_process:OpcUaClient
|
||||
status_types:
|
||||
cache_stats: Dict[str, Any]
|
||||
cache_stats: dict
|
||||
node_value: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: 后处理站
|
||||
@@ -652,9 +718,7 @@ post_process_station:
|
||||
config_path:
|
||||
type: string
|
||||
deck:
|
||||
anyOf:
|
||||
- type: object
|
||||
- type: object
|
||||
type: string
|
||||
password:
|
||||
type: string
|
||||
subscription_interval:
|
||||
@@ -674,7 +738,10 @@ post_process_station:
|
||||
properties:
|
||||
cache_stats:
|
||||
type: object
|
||||
node_value:
|
||||
type: string
|
||||
required:
|
||||
- node_value
|
||||
- cache_stats
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -136,36 +136,36 @@ solenoid_valve:
|
||||
set_valve_position:
|
||||
feedback: {}
|
||||
goal:
|
||||
position: position
|
||||
string: string
|
||||
string: position
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -278,25 +278,26 @@ solenoid_valve.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -309,25 +310,26 @@ solenoid_valve.mock:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -420,27 +422,6 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-list:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: list的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: list参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pull_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -714,10 +695,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal:
|
||||
properties:
|
||||
position:
|
||||
anyOf:
|
||||
- type: integer
|
||||
- type: string
|
||||
- type: number
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
@@ -742,9 +720,7 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
anyOf:
|
||||
- type: integer
|
||||
- type: string
|
||||
type: string
|
||||
required:
|
||||
- velocity
|
||||
type: object
|
||||
@@ -804,13 +780,13 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
status_types:
|
||||
max_velocity: float
|
||||
mode: int
|
||||
plunger_position: ''
|
||||
plunger_position: String
|
||||
position: float
|
||||
status: str
|
||||
valve_position: str
|
||||
velocity_end: ''
|
||||
velocity_grade: ''
|
||||
velocity_init: ''
|
||||
velocity_end: String
|
||||
velocity_grade: String
|
||||
velocity_init: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
|
||||
@@ -909,15 +885,15 @@ syringe_pump_with_valve.runze.SY03B-T06:
|
||||
velocity_init:
|
||||
type: string
|
||||
required:
|
||||
- max_velocity
|
||||
- mode
|
||||
- plunger_position
|
||||
- position
|
||||
- status
|
||||
- valve_position
|
||||
- velocity_end
|
||||
- mode
|
||||
- max_velocity
|
||||
- velocity_grade
|
||||
- velocity_init
|
||||
- velocity_end
|
||||
- valve_position
|
||||
- position
|
||||
- plunger_position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
syringe_pump_with_valve.runze.SY03B-T08:
|
||||
@@ -967,27 +943,6 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-list:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: list的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: list参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-pull_plunger:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -1261,10 +1216,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal:
|
||||
properties:
|
||||
position:
|
||||
anyOf:
|
||||
- type: integer
|
||||
- type: string
|
||||
- type: number
|
||||
type: string
|
||||
required:
|
||||
- position
|
||||
type: object
|
||||
@@ -1289,9 +1241,7 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
goal:
|
||||
properties:
|
||||
velocity:
|
||||
anyOf:
|
||||
- type: integer
|
||||
- type: string
|
||||
type: string
|
||||
required:
|
||||
- velocity
|
||||
type: object
|
||||
@@ -1351,13 +1301,13 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
status_types:
|
||||
max_velocity: float
|
||||
mode: int
|
||||
plunger_position: ''
|
||||
plunger_position: String
|
||||
position: float
|
||||
status: str
|
||||
valve_position: str
|
||||
velocity_end: ''
|
||||
velocity_grade: ''
|
||||
velocity_init: ''
|
||||
velocity_end: String
|
||||
velocity_grade: String
|
||||
velocity_init: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: 润泽精密注射泵设备，集成阀门控制的高精度流体输送系统。该设备通过串口通信控制，支持多种运行模式和精确的体积控制。具备可变速度控制、精密定位、阀门切换、实时状态监控等功能。适用于微量液体输送、精密进样、流速控制、化学反应进料等需要高精度流体操作的实验室自动化应用。
|
||||
@@ -1472,14 +1422,14 @@ syringe_pump_with_valve.runze.SY03B-T08:
|
||||
velocity_init:
|
||||
type: string
|
||||
required:
|
||||
- max_velocity
|
||||
- mode
|
||||
- plunger_position
|
||||
- position
|
||||
- status
|
||||
- valve_position
|
||||
- velocity_end
|
||||
- mode
|
||||
- max_velocity
|
||||
- velocity_grade
|
||||
- velocity_init
|
||||
- velocity_end
|
||||
- valve_position
|
||||
- position
|
||||
- plunger_position
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -13,13 +13,12 @@ reaction_station.bioyond:
|
||||
start_point: start_point
|
||||
start_step_key: start_step_key
|
||||
goal_default:
|
||||
duration: null
|
||||
duration: 0
|
||||
end_point: 0
|
||||
end_step_key: ''
|
||||
start_point: 0
|
||||
start_step_key: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 添加时间约束 - 在两个工作流之间添加时间约束
|
||||
@@ -31,19 +30,23 @@ reaction_station.bioyond:
|
||||
description: 时间(秒)
|
||||
type: integer
|
||||
end_point:
|
||||
default: 0
|
||||
default: Start
|
||||
description: 终点计时点 (Start=开始前, End=结束后)
|
||||
type: integer
|
||||
enum:
|
||||
- Start
|
||||
- End
|
||||
type: string
|
||||
end_step_key:
|
||||
default: ''
|
||||
description: 终点步骤Key (可选, 默认为空则自动选择)
|
||||
type: string
|
||||
start_point:
|
||||
default: 0
|
||||
default: Start
|
||||
description: 起点计时点 (Start=开始前, End=结束后)
|
||||
type: integer
|
||||
enum:
|
||||
- Start
|
||||
- End
|
||||
type: string
|
||||
start_step_key:
|
||||
default: ''
|
||||
description: 起点步骤Key (例如 "feeding", "liquid", 可选, 默认为空则自动选择)
|
||||
type: string
|
||||
required:
|
||||
@@ -95,8 +98,7 @@ reaction_station.bioyond:
|
||||
required:
|
||||
- json_str
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: create_order参数
|
||||
@@ -123,8 +125,7 @@ reaction_station.bioyond:
|
||||
required:
|
||||
- workflow_ids
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: hard_delete_merged_workflows参数
|
||||
@@ -149,8 +150,7 @@ reaction_station.bioyond:
|
||||
required:
|
||||
- json_str
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: merge_workflow_with_parameters参数
|
||||
@@ -175,8 +175,7 @@ reaction_station.bioyond:
|
||||
required:
|
||||
- report_request
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_temperature_cutoff_report参数
|
||||
@@ -201,12 +200,7 @@ reaction_station.bioyond:
|
||||
required:
|
||||
- web_workflow_json
|
||||
type: object
|
||||
result:
|
||||
items:
|
||||
additionalProperties:
|
||||
type: string
|
||||
type: object
|
||||
type: array
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_web_workflows参数
|
||||
@@ -235,8 +229,7 @@ reaction_station.bioyond:
|
||||
- reactor_id
|
||||
- temperature
|
||||
type: object
|
||||
result:
|
||||
type: string
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: set_reactor_temperature参数
|
||||
@@ -261,8 +254,7 @@ reaction_station.bioyond:
|
||||
required:
|
||||
- preintake_id
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: skip_titration_steps参数
|
||||
@@ -283,8 +275,7 @@ reaction_station.bioyond:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: sync_workflow_sequence_from_bioyond参数
|
||||
@@ -316,8 +307,7 @@ reaction_station.bioyond:
|
||||
type: integer
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: wait_for_multiple_orders_and_get_reports参数
|
||||
@@ -369,8 +359,7 @@ reaction_station.bioyond:
|
||||
required:
|
||||
- workflow_id
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: workflow_step_query参数
|
||||
@@ -381,8 +370,9 @@ reaction_station.bioyond:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
code: code
|
||||
message: message
|
||||
schema:
|
||||
description: 清空服务端所有非核心工作流 (保留核心流程)
|
||||
properties:
|
||||
@@ -392,6 +382,13 @@ reaction_station.bioyond:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
code:
|
||||
description: 操作结果代码(1表示成功)
|
||||
type: integer
|
||||
message:
|
||||
description: 结果描述
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
@@ -408,14 +405,13 @@ reaction_station.bioyond:
|
||||
torque_variation: torque_variation
|
||||
volume: volume
|
||||
goal_default:
|
||||
assign_material_name: null
|
||||
temperature: 25.0
|
||||
time: '90'
|
||||
titration_type: '1'
|
||||
torque_variation: 2
|
||||
volume: null
|
||||
assign_material_name: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
titration_type: ''
|
||||
torque_variation: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 滴回去
|
||||
@@ -427,27 +423,33 @@ reaction_station.bioyond:
|
||||
description: 物料名称（不能为空）
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
type: string
|
||||
time:
|
||||
default: '90'
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
type: integer
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
volume:
|
||||
description: 分液公式(mL)
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
- volume
|
||||
- assign_material_name
|
||||
- time
|
||||
- torque_variation
|
||||
- titration_type
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
@@ -460,7 +462,7 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
batch_reports_result: batch_reports_result
|
||||
goal_default:
|
||||
batch_reports_result: null
|
||||
batch_reports_result: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: batch_reports_result
|
||||
@@ -476,8 +478,8 @@ reaction_station.bioyond:
|
||||
handler_key: ACTUALS_EXTRACTED
|
||||
io_type: sink
|
||||
label: Extracted Actuals
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 从批量任务完成报告中提取每个订单的实际加料量，输出extracted列表。
|
||||
properties:
|
||||
@@ -491,6 +493,13 @@ reaction_station.bioyond:
|
||||
- batch_reports_result
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: JSON字符串，包含actuals数组，每项含order_code, order_id, actualTargetWeigh,
|
||||
actualVolume
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: extract_actuals_from_batch_reports结果
|
||||
type: object
|
||||
required:
|
||||
@@ -508,14 +517,13 @@ reaction_station.bioyond:
|
||||
torque_variation: torque_variation
|
||||
volume: volume
|
||||
goal_default:
|
||||
assign_material_name: BAPP
|
||||
temperature: 25.0
|
||||
time: '0'
|
||||
titration_type: '1'
|
||||
torque_variation: 1
|
||||
volume: '350'
|
||||
assign_material_name: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
titration_type: ''
|
||||
torque_variation: ''
|
||||
volume: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体进料烧杯
|
||||
@@ -524,30 +532,36 @@ reaction_station.bioyond:
|
||||
goal:
|
||||
properties:
|
||||
assign_material_name:
|
||||
default: BAPP
|
||||
description: 物料名称
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
type: string
|
||||
time:
|
||||
default: '0'
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
type: integer
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
volume:
|
||||
default: '350'
|
||||
description: 分液公式(mL)
|
||||
type: string
|
||||
required: []
|
||||
required:
|
||||
- volume
|
||||
- assign_material_name
|
||||
- time
|
||||
- torque_variation
|
||||
- titration_type
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
@@ -566,13 +580,13 @@ reaction_station.bioyond:
|
||||
torque_variation: torque_variation
|
||||
volume: volume
|
||||
goal_default:
|
||||
assign_material_name: null
|
||||
solvents: null
|
||||
temperature: 25.0
|
||||
assign_material_name: ''
|
||||
solvents: ''
|
||||
temperature: '25.00'
|
||||
time: '360'
|
||||
titration_type: '1'
|
||||
torque_variation: 2
|
||||
volume: null
|
||||
torque_variation: '2'
|
||||
volume: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: solvents
|
||||
@@ -581,7 +595,6 @@ reaction_station.bioyond:
|
||||
handler_key: solvents
|
||||
io_type: source
|
||||
label: Solvents Data From Calculation Node
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体投料-溶剂。可以直接提供volume(mL),或通过solvents对象自动从additional_solvent(mL)计算volume。
|
||||
@@ -596,21 +609,27 @@ reaction_station.bioyond:
|
||||
description: '溶剂信息对象(可选),包含: additional_solvent(溶剂体积mL), total_liquid_volume(总液体体积mL)。如果提供,将自动计算volume'
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
default: '25.00'
|
||||
description: 温度设定(°C),默认25.00
|
||||
type: number
|
||||
type: string
|
||||
time:
|
||||
default: '360'
|
||||
description: 观察时间(分钟),默认360
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
default: 'NO'
|
||||
description: 是否滴定(NO=否, YES=是),默认NO
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
default: 'YES'
|
||||
description: 是否观察 (NO=否, YES=是),默认YES
|
||||
type: integer
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
volume:
|
||||
description: 分液量(mL)。可直接提供,或通过solvents参数自动计算
|
||||
type: string
|
||||
@@ -636,15 +655,15 @@ reaction_station.bioyond:
|
||||
volume_formula: volume_formula
|
||||
x_value: x_value
|
||||
goal_default:
|
||||
assign_material_name: null
|
||||
extracted_actuals: null
|
||||
feeding_order_data: null
|
||||
temperature: 25.0
|
||||
assign_material_name: ''
|
||||
extracted_actuals: ''
|
||||
feeding_order_data: ''
|
||||
temperature: '25.00'
|
||||
time: '90'
|
||||
titration_type: '2'
|
||||
torque_variation: 2
|
||||
volume_formula: null
|
||||
x_value: null
|
||||
torque_variation: '2'
|
||||
volume_formula: ''
|
||||
x_value: ''
|
||||
handles:
|
||||
input:
|
||||
- data_key: extracted_actuals
|
||||
@@ -659,7 +678,6 @@ reaction_station.bioyond:
|
||||
handler_key: feeding_order
|
||||
io_type: source
|
||||
label: Feeding Order Data From Calculation Node
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体进料(滴定)。支持两种模式:1)直接提供volume_formula;2)自动计算-提供x_value+feeding_order_data+extracted_actuals,系统自动生成公式"1000*(m二酐-x)*V二酐滴定/m二酐滴定"
|
||||
@@ -678,21 +696,27 @@ reaction_station.bioyond:
|
||||
{"feeding_order": [{"type": "main_anhydride", "amount": 1.915}]}'
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
default: '25.00'
|
||||
description: 温度设定(°C),默认25.00
|
||||
type: number
|
||||
type: string
|
||||
time:
|
||||
default: '90'
|
||||
description: 观察时间(分钟),默认90
|
||||
type: string
|
||||
titration_type:
|
||||
default: '2'
|
||||
default: 'YES'
|
||||
description: 是否滴定(NO=否, YES=是),默认YES
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 2
|
||||
default: 'YES'
|
||||
description: 是否观察 (NO=否, YES=是),默认YES
|
||||
type: integer
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
volume_formula:
|
||||
description: 分液公式(mL)。可直接提供固定公式,或留空由系统根据x_value、feeding_order_data、extracted_actuals自动生成
|
||||
type: string
|
||||
@@ -718,14 +742,13 @@ reaction_station.bioyond:
|
||||
torque_variation: torque_variation
|
||||
volume_formula: volume_formula
|
||||
goal_default:
|
||||
assign_material_name: null
|
||||
temperature: 25.0
|
||||
time: '0'
|
||||
titration_type: '1'
|
||||
torque_variation: 1
|
||||
volume_formula: null
|
||||
assign_material_name: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
titration_type: ''
|
||||
torque_variation: ''
|
||||
volume_formula: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 液体进料小瓶(非滴定)
|
||||
@@ -737,27 +760,33 @@ reaction_station.bioyond:
|
||||
description: 物料名称
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
type: string
|
||||
time:
|
||||
default: '0'
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
titration_type:
|
||||
default: '1'
|
||||
description: 是否滴定(NO=否, YES=是)
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
type: integer
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
volume_formula:
|
||||
description: 分液公式(mL)
|
||||
type: string
|
||||
required:
|
||||
- volume_formula
|
||||
- assign_material_name
|
||||
- time
|
||||
- torque_variation
|
||||
- titration_type
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
@@ -771,10 +800,9 @@ reaction_station.bioyond:
|
||||
task_name: task_name
|
||||
workflow_name: workflow_name
|
||||
goal_default:
|
||||
task_name: null
|
||||
workflow_name: null
|
||||
task_name: ''
|
||||
workflow_name: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 处理并执行工作流
|
||||
@@ -792,8 +820,7 @@ reaction_station.bioyond:
|
||||
- workflow_name
|
||||
- task_name
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: process_and_execute_workflow参数
|
||||
@@ -806,11 +833,10 @@ reaction_station.bioyond:
|
||||
cutoff: cutoff
|
||||
temperature: temperature
|
||||
goal_default:
|
||||
assign_material_name: null
|
||||
cutoff: '900000'
|
||||
temperature: -10.0
|
||||
assign_material_name: ''
|
||||
cutoff: ''
|
||||
temperature: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 反应器放入 - 将反应器放入工作站，配置物料名称、粘度上限和温度参数
|
||||
@@ -822,14 +848,14 @@ reaction_station.bioyond:
|
||||
description: 物料名称
|
||||
type: string
|
||||
cutoff:
|
||||
default: '900000'
|
||||
description: 粘度上限
|
||||
type: string
|
||||
temperature:
|
||||
default: -10.0
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
type: string
|
||||
required:
|
||||
- cutoff
|
||||
- temperature
|
||||
- assign_material_name
|
||||
type: object
|
||||
result: {}
|
||||
@@ -843,7 +869,6 @@ reaction_station.bioyond:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 反应器取出 - 从工作站中取出反应器，无需参数的简单操作
|
||||
@@ -853,7 +878,15 @@ reaction_station.bioyond:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
result:
|
||||
properties:
|
||||
code:
|
||||
description: 操作结果代码(1表示成功,0表示失败)
|
||||
type: integer
|
||||
return_info:
|
||||
description: 操作结果详细信息
|
||||
type: string
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: reactor_taken_out参数
|
||||
@@ -864,8 +897,8 @@ reaction_station.bioyond:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 启动调度器 - 启动Bioyond工作站的任务调度器，开始执行队列中的任务
|
||||
properties:
|
||||
@@ -875,6 +908,12 @@ reaction_station.bioyond:
|
||||
required: []
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 调度器启动结果，成功返回1，失败返回0
|
||||
type: integer
|
||||
required:
|
||||
- return_info
|
||||
title: scheduler_start结果
|
||||
type: object
|
||||
required:
|
||||
@@ -891,13 +930,12 @@ reaction_station.bioyond:
|
||||
time: time
|
||||
torque_variation: torque_variation
|
||||
goal_default:
|
||||
assign_material_name: null
|
||||
material_id: null
|
||||
temperature: 25.0
|
||||
time: '0'
|
||||
torque_variation: 1
|
||||
assign_material_name: ''
|
||||
material_id: ''
|
||||
temperature: ''
|
||||
time: ''
|
||||
torque_variation: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 固体进料小瓶 - 通过小瓶向反应器中添加固体物料，支持多种粉末类型(盐、面粉、BTDA)
|
||||
@@ -910,21 +948,29 @@ reaction_station.bioyond:
|
||||
type: string
|
||||
material_id:
|
||||
description: 粉末类型ID，Salt=盐（21分钟），Flour=面粉（27分钟），BTDA=BTDA（38分钟）
|
||||
enum:
|
||||
- Salt
|
||||
- Flour
|
||||
- BTDA
|
||||
type: string
|
||||
temperature:
|
||||
default: 25.0
|
||||
description: 温度设定(°C)
|
||||
type: number
|
||||
type: string
|
||||
time:
|
||||
default: '0'
|
||||
description: 观察时间(分钟)
|
||||
type: string
|
||||
torque_variation:
|
||||
default: 1
|
||||
description: 是否观察 (NO=否, YES=是)
|
||||
type: integer
|
||||
enum:
|
||||
- 'NO'
|
||||
- 'YES'
|
||||
type: string
|
||||
required:
|
||||
- assign_material_name
|
||||
- material_id
|
||||
- time
|
||||
- torque_variation
|
||||
- temperature
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
|
||||
@@ -37,41 +37,42 @@ agv.SEER:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
send_nav_task:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
@@ -122,6 +122,31 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
title: moveit_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -173,41 +198,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -216,41 +241,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -259,41 +284,41 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -430,41 +455,42 @@ robotic_arm.UR:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
move_pos_task:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -506,8 +532,8 @@ robotic_arm.UR:
|
||||
type: string
|
||||
required:
|
||||
- arm_pose
|
||||
- arm_status
|
||||
- gripper_pose
|
||||
- arm_status
|
||||
- gripper_status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
@@ -700,41 +726,41 @@ robotic_arm.elite:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
modbus_task_cmd:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -744,8 +770,8 @@ robotic_arm.elite:
|
||||
type: SendCmd
|
||||
module: unilabos.devices.arm.elite_robot:EliteRobot
|
||||
status_types:
|
||||
actual_joint_positions: ''
|
||||
arm_pose: list[float]
|
||||
actual_joint_positions: String
|
||||
arm_pose: String
|
||||
type: python
|
||||
config_info: []
|
||||
description: Elite robot arm
|
||||
@@ -771,8 +797,8 @@ robotic_arm.elite:
|
||||
type: number
|
||||
type: array
|
||||
required:
|
||||
- actual_joint_positions
|
||||
- arm_pose
|
||||
- actual_joint_positions
|
||||
type: object
|
||||
model:
|
||||
mesh: elite_robot
|
||||
|
||||
@@ -114,12 +114,11 @@ gripper.misumi_rz:
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: object
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: modbus_crc参数
|
||||
@@ -399,26 +398,30 @@ gripper.misumi_rz:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -501,82 +504,71 @@ gripper.mock:
|
||||
type: UniLabJsonCommand
|
||||
push_to:
|
||||
feedback:
|
||||
effort: effort
|
||||
effort: torque
|
||||
position: position
|
||||
reached_goal: reached_goal
|
||||
stalled: stalled
|
||||
goal:
|
||||
command: command
|
||||
position: position
|
||||
torque: torque
|
||||
velocity: velocity
|
||||
command.max_effort: torque
|
||||
command.position: position
|
||||
goal_default:
|
||||
command:
|
||||
max_effort: 0.0
|
||||
position: 0.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
effort: effort
|
||||
effort: torque
|
||||
position: position
|
||||
reached_goal: reached_goal
|
||||
stalled: stalled
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
effort:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
position:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
reached_goal:
|
||||
type: boolean
|
||||
stalled:
|
||||
type: boolean
|
||||
required:
|
||||
- position
|
||||
- effort
|
||||
- stalled
|
||||
- reached_goal
|
||||
title: GripperCommand_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
max_effort:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
position:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- max_effort
|
||||
title: command
|
||||
type: object
|
||||
required:
|
||||
- command
|
||||
title: GripperCommand_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
effort:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
position:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
reached_goal:
|
||||
type: boolean
|
||||
stalled:
|
||||
type: boolean
|
||||
required:
|
||||
- position
|
||||
- effort
|
||||
- stalled
|
||||
- reached_goal
|
||||
title: GripperCommand_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -612,8 +604,8 @@ gripper.mock:
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- status
|
||||
- torque
|
||||
- velocity
|
||||
- torque
|
||||
- status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -24,27 +24,6 @@ linear_motion.grbl:
|
||||
title: initialize参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-list:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: list的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties: {}
|
||||
required: []
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: list参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-set_position:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -114,39 +93,44 @@ linear_motion.grbl:
|
||||
type: UniLabJsonCommandAsync
|
||||
move_through_points:
|
||||
feedback:
|
||||
current_pose: current_pose
|
||||
distance_remaining: distance_remaining
|
||||
estimated_time_remaining: estimated_time_remaining
|
||||
navigation_time: navigation_time
|
||||
number_of_poses_remaining: number_of_poses_remaining
|
||||
number_of_recoveries: number_of_recoveries
|
||||
current_pose.pose.position: position
|
||||
estimated_time_remaining.sec: time_remaining
|
||||
navigation_time.sec: time_spent
|
||||
number_of_poses_remaining: pose_number_remaining
|
||||
goal:
|
||||
behavior_tree: behavior_tree
|
||||
poses: poses
|
||||
positions: positions
|
||||
poses[].pose.position: positions[]
|
||||
goal_default:
|
||||
behavior_tree: ''
|
||||
poses: []
|
||||
poses:
|
||||
- header:
|
||||
frame_id: ''
|
||||
stamp:
|
||||
nanosec: 0
|
||||
sec: 0
|
||||
pose:
|
||||
orientation:
|
||||
w: 1.0
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
position:
|
||||
x: 0.0
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
result: result
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
current_pose:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
header:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
@@ -167,26 +151,16 @@ linear_motion.grbl:
|
||||
title: header
|
||||
type: object
|
||||
pose:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
orientation:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
w:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
x:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
y:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
z:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
@@ -196,19 +170,12 @@ linear_motion.grbl:
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
x:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
y:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
z:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
@@ -227,11 +194,8 @@ linear_motion.grbl:
|
||||
title: current_pose
|
||||
type: object
|
||||
distance_remaining:
|
||||
maximum: 3.4028235e+38
|
||||
minimum: -3.4028235e+38
|
||||
type: number
|
||||
estimated_time_remaining:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
@@ -247,7 +211,6 @@ linear_motion.grbl:
|
||||
title: estimated_time_remaining
|
||||
type: object
|
||||
navigation_time:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
@@ -270,10 +233,16 @@ linear_motion.grbl:
|
||||
maximum: 32767
|
||||
minimum: -32768
|
||||
type: integer
|
||||
required:
|
||||
- current_pose
|
||||
- navigation_time
|
||||
- estimated_time_remaining
|
||||
- number_of_recoveries
|
||||
- distance_remaining
|
||||
- number_of_poses_remaining
|
||||
title: NavigateThroughPoses_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
behavior_tree:
|
||||
type: string
|
||||
@@ -287,8 +256,12 @@ linear_motion.grbl:
|
||||
stamp:
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
minimum: 0
|
||||
type: integer
|
||||
sec:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- sec
|
||||
@@ -341,17 +314,23 @@ linear_motion.grbl:
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: poses
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
- poses
|
||||
- behavior_tree
|
||||
title: NavigateThroughPoses_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
result:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: result
|
||||
type: object
|
||||
required:
|
||||
- result
|
||||
title: NavigateThroughPoses_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -361,15 +340,9 @@ linear_motion.grbl:
|
||||
type: NavigateThroughPoses
|
||||
set_spindle_speed:
|
||||
feedback:
|
||||
error: error
|
||||
header: header
|
||||
position: position
|
||||
velocity: velocity
|
||||
position: spindle_speed
|
||||
goal:
|
||||
max_velocity: max_velocity
|
||||
min_duration: min_duration
|
||||
position: position
|
||||
spindle_speed: spindle_speed
|
||||
position: spindle_speed
|
||||
goal_default:
|
||||
max_velocity: 0.0
|
||||
min_duration:
|
||||
@@ -377,25 +350,19 @@ linear_motion.grbl:
|
||||
sec: 0
|
||||
position: 0.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
error:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
header:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
frame_id:
|
||||
type: string
|
||||
stamp:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
@@ -416,24 +383,21 @@ linear_motion.grbl:
|
||||
title: header
|
||||
type: object
|
||||
position:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
velocity:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- header
|
||||
- position
|
||||
- velocity
|
||||
- error
|
||||
title: SingleJointPosition_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
max_velocity:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
min_duration:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
nanosec:
|
||||
maximum: 4294967295
|
||||
@@ -449,13 +413,16 @@ linear_motion.grbl:
|
||||
title: min_duration
|
||||
type: object
|
||||
position:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- position
|
||||
- min_duration
|
||||
- max_velocity
|
||||
title: SingleJointPosition_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: SingleJointPosition_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -465,7 +432,7 @@ linear_motion.grbl:
|
||||
type: SingleJointPosition
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
status_types:
|
||||
position: Point3D
|
||||
position: unilabos.messages:Point3D
|
||||
spindle_speed: float
|
||||
status: str
|
||||
type: python
|
||||
@@ -504,9 +471,9 @@ linear_motion.grbl:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
- position
|
||||
- spindle_speed
|
||||
- status
|
||||
type: object
|
||||
version: 1.0.0
|
||||
linear_motion.toyo_xyz.sim:
|
||||
@@ -633,6 +600,31 @@ linear_motion.toyo_xyz.sim:
|
||||
title: moveit_task参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: post_init的参数schema
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: object
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-resource_manager:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -684,41 +676,41 @@ linear_motion.toyo_xyz.sim:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
pick_and_place:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -727,41 +719,41 @@ linear_motion.toyo_xyz.sim:
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_position:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -770,41 +762,41 @@ linear_motion.toyo_xyz.sim:
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_status:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -947,26 +939,30 @@ motor.iCL42:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -1004,8 +1000,8 @@ motor.iCL42:
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- is_executing_run
|
||||
- motor_position
|
||||
- is_executing_run
|
||||
- success
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -14,24 +14,19 @@ solid_dispenser.laiyu:
|
||||
powder_tube_number: 0
|
||||
target_tube_position: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
actual_mass_mg: actual_mass_mg
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: SolidDispenseAddPowderTube_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
compound_mass:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
powder_tube_number:
|
||||
maximum: 2147483647
|
||||
@@ -39,19 +34,24 @@ solid_dispenser.laiyu:
|
||||
type: integer
|
||||
target_tube_position:
|
||||
type: string
|
||||
required:
|
||||
- powder_tube_number
|
||||
- target_tube_position
|
||||
- compound_mass
|
||||
title: SolidDispenseAddPowderTube_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
actual_mass_mg:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- actual_mass_mg
|
||||
- success
|
||||
title: SolidDispenseAddPowderTube_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -74,12 +74,11 @@ solid_dispenser.laiyu:
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: object
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: calculate_crc参数
|
||||
@@ -100,12 +99,11 @@ solid_dispenser.laiyu:
|
||||
goal:
|
||||
properties:
|
||||
command:
|
||||
type: object
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: send_command参数
|
||||
@@ -114,37 +112,36 @@ solid_dispenser.laiyu:
|
||||
discharge:
|
||||
feedback: {}
|
||||
goal:
|
||||
float_in: float_in
|
||||
float_input: float_input
|
||||
goal_default:
|
||||
float_in: 0.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: FloatSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
float_in:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- float_in
|
||||
title: FloatSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: FloatSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -159,31 +156,32 @@ solid_dispenser.laiyu:
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -202,41 +200,38 @@ solid_dispenser.laiyu:
|
||||
y: 0.0
|
||||
z: 0.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: Point3DSeparateInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
x:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
y:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
z:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point3DSeparateInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: Point3DSeparateInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -251,33 +246,34 @@ solid_dispenser.laiyu:
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -292,33 +288,34 @@ solid_dispenser.laiyu:
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -331,25 +328,26 @@ solid_dispenser.laiyu:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
@@ -34,8 +34,7 @@ chiller:
|
||||
- register_address
|
||||
- value
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: build_modbus_frame参数
|
||||
@@ -64,8 +63,7 @@ chiller:
|
||||
required:
|
||||
- temperature
|
||||
type: object
|
||||
result:
|
||||
type: integer
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: convert_temperature_to_modbus_value参数
|
||||
@@ -86,12 +84,11 @@ chiller:
|
||||
goal:
|
||||
properties:
|
||||
data:
|
||||
type: object
|
||||
type: string
|
||||
required:
|
||||
- data
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: modbus_crc参数
|
||||
@@ -119,41 +116,42 @@ chiller:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_temperature:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -268,15 +266,9 @@ heaterstirrer.dalong:
|
||||
feedback:
|
||||
status: status
|
||||
goal:
|
||||
pressure: pressure
|
||||
purpose: purpose
|
||||
reflux_solvent: reflux_solvent
|
||||
stir: stir
|
||||
stir_speed: stir_speed
|
||||
temp: temp
|
||||
temp_spec: temp_spec
|
||||
time: time
|
||||
time_spec: time_spec
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
pressure: ''
|
||||
@@ -309,23 +301,20 @@ heaterstirrer.dalong:
|
||||
sample_id: ''
|
||||
type: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
message: message
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: HeatChill_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
pressure:
|
||||
type: string
|
||||
@@ -336,12 +325,8 @@ heaterstirrer.dalong:
|
||||
stir:
|
||||
type: boolean
|
||||
stir_speed:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
temp:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
temp_spec:
|
||||
type: string
|
||||
@@ -350,7 +335,6 @@ heaterstirrer.dalong:
|
||||
time_spec:
|
||||
type: string
|
||||
vessel:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
category:
|
||||
type: string
|
||||
@@ -369,26 +353,16 @@ heaterstirrer.dalong:
|
||||
parent:
|
||||
type: string
|
||||
pose:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
orientation:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
w:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
x:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
y:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
z:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
@@ -398,19 +372,12 @@ heaterstirrer.dalong:
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
x:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
y:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
z:
|
||||
maximum: 1.7976931348623157e+308
|
||||
minimum: -1.7976931348623157e+308
|
||||
type: number
|
||||
required:
|
||||
- x
|
||||
@@ -440,10 +407,20 @@ heaterstirrer.dalong:
|
||||
- data
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
- temp
|
||||
- time
|
||||
- temp_spec
|
||||
- time_spec
|
||||
- pressure
|
||||
- reflux_solvent
|
||||
- stir
|
||||
- stir_speed
|
||||
- purpose
|
||||
title: HeatChill_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
message:
|
||||
type: string
|
||||
@@ -451,6 +428,10 @@ heaterstirrer.dalong:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- success
|
||||
- message
|
||||
- return_info
|
||||
title: HeatChill_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -459,42 +440,42 @@ heaterstirrer.dalong:
|
||||
type: object
|
||||
type: HeatChill
|
||||
set_temp_target:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
temp: temp
|
||||
command: temp
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -503,42 +484,42 @@ heaterstirrer.dalong:
|
||||
type: object
|
||||
type: SendCmd
|
||||
set_temp_warning:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
temp: temp
|
||||
command: temp
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -588,8 +569,8 @@ heaterstirrer.dalong:
|
||||
- status
|
||||
- stir_speed
|
||||
- temp
|
||||
- temp_target
|
||||
- temp_warning
|
||||
- temp_target
|
||||
type: object
|
||||
version: 1.0.0
|
||||
tempsensor:
|
||||
@@ -710,41 +691,42 @@ tempsensor:
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_warning:
|
||||
feedback:
|
||||
status: status
|
||||
feedback: {}
|
||||
goal:
|
||||
command: command
|
||||
goal_default:
|
||||
command: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
title: SendCmd_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
command:
|
||||
type: string
|
||||
required:
|
||||
- command
|
||||
title: SendCmd_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SendCmd_Result
|
||||
type: object
|
||||
required:
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -45,6 +45,31 @@ xrd_d7mate:
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-start_from_string:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -60,14 +85,11 @@ xrd_d7mate:
|
||||
goal:
|
||||
properties:
|
||||
params:
|
||||
anyOf:
|
||||
- type: string
|
||||
- type: object
|
||||
type: string
|
||||
required:
|
||||
- params
|
||||
type: object
|
||||
result:
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: start_from_string参数
|
||||
@@ -83,18 +105,21 @@ xrd_d7mate:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -105,38 +130,38 @@ xrd_d7mate:
|
||||
get_sample_down:
|
||||
feedback: {}
|
||||
goal:
|
||||
int_input: int_input
|
||||
sample_station: sample_station
|
||||
sample_station: 1
|
||||
goal_default:
|
||||
int_input: 0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: IntSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
int_input:
|
||||
maximum: 2147483647
|
||||
minimum: -2147483648
|
||||
type: integer
|
||||
required:
|
||||
- int_input
|
||||
title: IntSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: IntSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -154,18 +179,21 @@ xrd_d7mate:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -183,18 +211,21 @@ xrd_d7mate:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -207,25 +238,26 @@ xrd_d7mate:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -242,35 +274,42 @@ xrd_d7mate:
|
||||
sample_id: ''
|
||||
start_theta: 10.0
|
||||
goal_default:
|
||||
end_theta: null
|
||||
exp_time: null
|
||||
increment: null
|
||||
sample_id: null
|
||||
start_theta: null
|
||||
end_theta: 80.0
|
||||
exp_time: 0.5
|
||||
increment: 0.02
|
||||
sample_id: Sample001
|
||||
start_theta: 10.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 送样完成后，发送样品信息和采集参数
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: SampleReadyInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
end_theta:
|
||||
description: 结束角度（≥5.5°，且必须大于start_theta）
|
||||
minimum: 5.5
|
||||
type: number
|
||||
exp_time:
|
||||
description: 曝光时间（0.1-5.0秒）
|
||||
maximum: 5.0
|
||||
minimum: 0.1
|
||||
type: number
|
||||
increment:
|
||||
description: 角度增量（≥0.005）
|
||||
minimum: 0.005
|
||||
type: number
|
||||
sample_id:
|
||||
description: 样品标识符
|
||||
type: string
|
||||
start_theta:
|
||||
description: 起始角度（≥5°）
|
||||
minimum: 5.0
|
||||
type: number
|
||||
required:
|
||||
- sample_id
|
||||
@@ -281,11 +320,19 @@ xrd_d7mate:
|
||||
title: SampleReadyInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: SampleReadyInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: send_sample_ready参数
|
||||
title: SampleReadyInput
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
set_power_off:
|
||||
@@ -293,25 +340,26 @@ xrd_d7mate:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -324,25 +372,26 @@ xrd_d7mate:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -356,16 +405,18 @@ xrd_d7mate:
|
||||
current: 30.0
|
||||
voltage: 40.0
|
||||
goal_default:
|
||||
current: null
|
||||
voltage: null
|
||||
current: 30.0
|
||||
voltage: 40.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 设置高压电源电压和电流
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: VoltageCurrentInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
current:
|
||||
@@ -380,11 +431,19 @@ xrd_d7mate:
|
||||
title: VoltageCurrentInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: VoltageCurrentInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: set_voltage_current参数
|
||||
title: VoltageCurrentInput
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
start:
|
||||
@@ -394,12 +453,11 @@ xrd_d7mate:
|
||||
end_theta: 80.0
|
||||
exp_time: 0.1
|
||||
increment: 0.05
|
||||
sample_id: ''
|
||||
sample_id: 样品名称
|
||||
start_theta: 10.0
|
||||
string: ''
|
||||
wait_minutes: 3.0
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动自动模式→上样→等待→样品准备→监控→检测下样位→执行下样流程。
|
||||
@@ -408,42 +466,54 @@ xrd_d7mate:
|
||||
goal:
|
||||
properties:
|
||||
end_theta:
|
||||
default: 80.0
|
||||
description: 结束角度（≥5.5°，且必须大于start_theta）
|
||||
type: number
|
||||
minimum: 5.5
|
||||
type: string
|
||||
exp_time:
|
||||
default: 0.1
|
||||
description: 曝光时间（0.1-5.0秒）
|
||||
type: number
|
||||
maximum: 5.0
|
||||
minimum: 0.1
|
||||
type: string
|
||||
increment:
|
||||
default: 0.05
|
||||
description: 角度增量（≥0.005）
|
||||
type: number
|
||||
minimum: 0.005
|
||||
type: string
|
||||
sample_id:
|
||||
default: ''
|
||||
description: 样品标识符
|
||||
type: string
|
||||
start_theta:
|
||||
default: 10.0
|
||||
description: 起始角度（≥5°）
|
||||
type: number
|
||||
minimum: 5.0
|
||||
type: string
|
||||
string:
|
||||
default: ''
|
||||
description: 字符串格式的参数输入，如果提供则优先解析使用
|
||||
type: string
|
||||
wait_minutes:
|
||||
default: 3.0
|
||||
description: 允许上样后等待分钟数
|
||||
minimum: 0.0
|
||||
type: number
|
||||
required: []
|
||||
required:
|
||||
- sample_id
|
||||
- start_theta
|
||||
- end_theta
|
||||
- increment
|
||||
- exp_time
|
||||
title: StartWorkflow_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StartWorkflow_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: start参数
|
||||
title: StartWorkflow
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
start_auto_mode:
|
||||
@@ -451,15 +521,17 @@ xrd_d7mate:
|
||||
goal:
|
||||
status: true
|
||||
goal_default:
|
||||
status: null
|
||||
status: true
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: 启动或停止自动模式
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: BoolSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
status:
|
||||
@@ -470,16 +542,25 @@ xrd_d7mate:
|
||||
title: BoolSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: BoolSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: start_auto_mode参数
|
||||
title: BoolSingleInput
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient
|
||||
status_types:
|
||||
current_acquire_data: dict
|
||||
sample_down: dict
|
||||
sample_request: dict
|
||||
sample_status: dict
|
||||
type: python
|
||||
@@ -505,13 +586,16 @@ xrd_d7mate:
|
||||
properties:
|
||||
current_acquire_data:
|
||||
type: object
|
||||
sample_down:
|
||||
type: object
|
||||
sample_request:
|
||||
type: object
|
||||
sample_status:
|
||||
type: object
|
||||
required:
|
||||
- current_acquire_data
|
||||
- sample_request
|
||||
- current_acquire_data
|
||||
- sample_status
|
||||
- sample_down
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
@@ -8,25 +8,26 @@ zhida_gcms:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -76,6 +77,31 @@ zhida_gcms:
|
||||
title: connect参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
auto-post_init:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
goal_default:
|
||||
ros_node: null
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback: {}
|
||||
goal:
|
||||
properties:
|
||||
ros_node:
|
||||
type: string
|
||||
required:
|
||||
- ros_node
|
||||
type: object
|
||||
result: {}
|
||||
required:
|
||||
- goal
|
||||
title: post_init参数
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
get_methods:
|
||||
feedback: {}
|
||||
goal: {}
|
||||
@@ -86,18 +112,21 @@ zhida_gcms:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -115,18 +144,21 @@ zhida_gcms:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -144,18 +176,21 @@ zhida_gcms:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -168,25 +203,26 @@ zhida_gcms:
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: EmptyIn_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: EmptyIn_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -198,35 +234,35 @@ zhida_gcms:
|
||||
feedback: {}
|
||||
goal:
|
||||
string: string
|
||||
text: text
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -237,36 +273,36 @@ zhida_gcms:
|
||||
start_with_csv_file:
|
||||
feedback: {}
|
||||
goal:
|
||||
csv_file_path: csv_file_path
|
||||
string: string
|
||||
goal_default:
|
||||
string: ''
|
||||
handles: {}
|
||||
placeholder_keys: {}
|
||||
result:
|
||||
return_info: return_info
|
||||
success: success
|
||||
result: {}
|
||||
schema:
|
||||
description: ''
|
||||
properties:
|
||||
feedback:
|
||||
additionalProperties: true
|
||||
properties: {}
|
||||
required: []
|
||||
title: StrSingleInput_Feedback
|
||||
type: object
|
||||
goal:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
string:
|
||||
type: string
|
||||
required:
|
||||
- string
|
||||
title: StrSingleInput_Goal
|
||||
type: object
|
||||
result:
|
||||
additionalProperties: false
|
||||
properties:
|
||||
return_info:
|
||||
type: string
|
||||
success:
|
||||
type: boolean
|
||||
required:
|
||||
- return_info
|
||||
- success
|
||||
title: StrSingleInput_Result
|
||||
type: object
|
||||
required:
|
||||
@@ -307,8 +343,8 @@ zhida_gcms:
|
||||
version:
|
||||
type: object
|
||||
required:
|
||||
- methods
|
||||
- status
|
||||
- methods
|
||||
- version
|
||||
type: object
|
||||
version: 1.0.0
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -9,6 +9,7 @@ YB_20ml_fenyeping:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_5ml_fenyeping:
|
||||
category:
|
||||
@@ -21,6 +22,7 @@ YB_5ml_fenyeping:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_jia_yang_tou_da:
|
||||
category:
|
||||
@@ -33,6 +35,7 @@ YB_jia_yang_tou_da:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_pei_ye_da_Bottle:
|
||||
category:
|
||||
@@ -45,6 +48,7 @@ YB_pei_ye_da_Bottle:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_pei_ye_xiao_Bottle:
|
||||
category:
|
||||
@@ -57,6 +61,7 @@ YB_pei_ye_xiao_Bottle:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_qiang_tou:
|
||||
category:
|
||||
@@ -69,6 +74,7 @@ YB_qiang_tou:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye_Bottle:
|
||||
category:
|
||||
@@ -82,4 +88,5 @@ YB_ye_Bottle:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -9,6 +9,7 @@ YB_100ml_yeti:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_20ml_fenyepingban:
|
||||
category:
|
||||
@@ -21,6 +22,7 @@ YB_20ml_fenyepingban:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_5ml_fenyepingban:
|
||||
category:
|
||||
@@ -33,6 +35,7 @@ YB_5ml_fenyepingban:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_6StockCarrier:
|
||||
category:
|
||||
@@ -45,6 +48,7 @@ YB_6StockCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_6VialCarrier:
|
||||
category:
|
||||
@@ -57,6 +61,7 @@ YB_6VialCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_gao_nian_ye_Bottle:
|
||||
category:
|
||||
@@ -69,6 +74,7 @@ YB_gao_nian_ye_Bottle:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_gaonianye:
|
||||
category:
|
||||
@@ -81,6 +87,7 @@ YB_gaonianye:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_jia_yang_tou_da_Carrier:
|
||||
category:
|
||||
@@ -93,6 +100,7 @@ YB_jia_yang_tou_da_Carrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_peiyepingdaban:
|
||||
category:
|
||||
@@ -105,6 +113,7 @@ YB_peiyepingdaban:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_peiyepingxiaoban:
|
||||
category:
|
||||
@@ -117,6 +126,7 @@ YB_peiyepingxiaoban:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_qiang_tou_he:
|
||||
category:
|
||||
@@ -129,6 +139,7 @@ YB_qiang_tou_he:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_shi_pei_qi_kuai:
|
||||
category:
|
||||
@@ -141,6 +152,7 @@ YB_shi_pei_qi_kuai:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye:
|
||||
category:
|
||||
@@ -153,6 +165,7 @@ YB_ye:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
YB_ye_100ml_Bottle:
|
||||
category:
|
||||
@@ -165,4 +178,5 @@ YB_ye_100ml_Bottle:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -8,6 +8,7 @@ BIOYOND_PolymerStation_1BottleCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_1FlaskCarrier:
|
||||
category:
|
||||
@@ -19,6 +20,7 @@ BIOYOND_PolymerStation_1FlaskCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_6StockCarrier:
|
||||
category:
|
||||
@@ -30,6 +32,7 @@ BIOYOND_PolymerStation_6StockCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_8StockCarrier:
|
||||
category:
|
||||
@@ -41,4 +44,5 @@ BIOYOND_PolymerStation_8StockCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -8,6 +8,7 @@ BIOYOND_PolymerPreparationStation_Deck:
|
||||
handles: []
|
||||
icon: 配液站.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerReactionStation_Deck:
|
||||
category:
|
||||
@@ -19,6 +20,7 @@ BIOYOND_PolymerReactionStation_Deck:
|
||||
handles: []
|
||||
icon: 反应站.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_YB_Deck:
|
||||
category:
|
||||
@@ -30,6 +32,7 @@ BIOYOND_YB_Deck:
|
||||
handles: []
|
||||
icon: 配液站.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
CoincellDeck:
|
||||
category:
|
||||
@@ -41,4 +44,5 @@ CoincellDeck:
|
||||
handles: []
|
||||
icon: koudian.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,3 +1,24 @@
|
||||
disposal:
|
||||
category:
|
||||
- disposal
|
||||
- waste
|
||||
- resource_container
|
||||
class:
|
||||
module: unilabos.resources.disposal:Disposal
|
||||
type: unilabos
|
||||
description: 废料处理位置，用于处理实验废料
|
||||
handles:
|
||||
- data_key: disposal_access
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
handler_key: access
|
||||
io_type: target
|
||||
label: access
|
||||
side: NORTH
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
hplc_plate:
|
||||
category:
|
||||
- resource_container
|
||||
@@ -19,6 +40,56 @@ hplc_plate:
|
||||
- 3.1416
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
maintenance:
|
||||
category:
|
||||
- maintenance
|
||||
- position
|
||||
- resource_container
|
||||
class:
|
||||
module: unilabos.resources.maintenance:Maintenance
|
||||
type: unilabos
|
||||
description: 维护位置，用于设备维护和校准
|
||||
handles:
|
||||
- data_key: maintenance_access
|
||||
data_source: handle
|
||||
data_type: mechanical
|
||||
handler_key: access
|
||||
io_type: target
|
||||
label: access
|
||||
side: NORTH
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
plate:
|
||||
category:
|
||||
- plate
|
||||
- labware
|
||||
- resource_container
|
||||
class:
|
||||
module: unilabos.resources.plate:Plate
|
||||
type: unilabos
|
||||
description: 实验板，用于放置样品和试剂
|
||||
handles:
|
||||
- data_key: plate_access
|
||||
data_source: handle
|
||||
data_type: mechanical
|
||||
handler_key: access
|
||||
io_type: target
|
||||
label: access
|
||||
side: NORTH
|
||||
- data_key: sample_wells
|
||||
data_source: handle
|
||||
data_type: fluid
|
||||
handler_key: wells
|
||||
io_type: target
|
||||
label: wells
|
||||
side: CENTER
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
plate_96:
|
||||
category:
|
||||
@@ -41,6 +112,7 @@ plate_96:
|
||||
- 0
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
plate_96_high:
|
||||
category:
|
||||
@@ -63,6 +135,35 @@ plate_96_high:
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
tip_rack:
|
||||
category:
|
||||
- tip_rack
|
||||
- labware
|
||||
- resource_container
|
||||
class:
|
||||
module: unilabos.resources.tip_rack:TipRack
|
||||
type: unilabos
|
||||
description: 枪头架资源，用于存放和管理移液器枪头
|
||||
handles:
|
||||
- data_key: tip_access
|
||||
data_source: handle
|
||||
data_type: mechanical
|
||||
handler_key: access
|
||||
io_type: target
|
||||
label: access
|
||||
side: NORTH
|
||||
- data_key: tip_pickup
|
||||
data_source: handle
|
||||
data_type: mechanical
|
||||
handler_key: pickup
|
||||
io_type: target
|
||||
label: pickup
|
||||
side: SOUTH
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
tiprack_96_high:
|
||||
category:
|
||||
@@ -94,6 +195,7 @@ tiprack_96_high:
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
tiprack_box:
|
||||
category:
|
||||
@@ -125,4 +227,5 @@ tiprack_box:
|
||||
- 0
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -29,6 +29,7 @@ bottle_container:
|
||||
- 0
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
tube_container:
|
||||
category:
|
||||
@@ -61,4 +62,5 @@ tube_container:
|
||||
- 0
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -12,4 +12,5 @@ TransformXYZDeck:
|
||||
mesh: liquid_transform_xyz
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
|
||||
type: device
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -12,6 +12,7 @@ OTDeck:
|
||||
mesh: opentrons_liquid_handler
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
|
||||
type: device
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
hplc_station:
|
||||
category:
|
||||
@@ -27,4 +28,5 @@ hplc_station:
|
||||
mesh: hplc_station
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
|
||||
type: device
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
6884
unilabos/registry/resources/opentrons/lab.yaml
Normal file
6884
unilabos/registry/resources/opentrons/lab.yaml
Normal file
File diff suppressed because it is too large
Load Diff
@@ -8,4 +8,5 @@ Opentrons_96_adapter_Vb:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -8,6 +8,7 @@ appliedbiosystemsmicroamp_384_wellplate_40ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
biorad_384_wellplate_50ul:
|
||||
category:
|
||||
@@ -19,6 +20,7 @@ biorad_384_wellplate_50ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
biorad_96_wellplate_200ul_pcr:
|
||||
category:
|
||||
@@ -30,6 +32,7 @@ biorad_96_wellplate_200ul_pcr:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
corning_12_wellplate_6point9ml_flat:
|
||||
category:
|
||||
@@ -41,6 +44,7 @@ corning_12_wellplate_6point9ml_flat:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
corning_24_wellplate_3point4ml_flat:
|
||||
category:
|
||||
@@ -52,6 +56,7 @@ corning_24_wellplate_3point4ml_flat:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
corning_384_wellplate_112ul_flat:
|
||||
category:
|
||||
@@ -63,6 +68,7 @@ corning_384_wellplate_112ul_flat:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
corning_48_wellplate_1point6ml_flat:
|
||||
category:
|
||||
@@ -74,6 +80,7 @@ corning_48_wellplate_1point6ml_flat:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
corning_6_wellplate_16point8ml_flat:
|
||||
category:
|
||||
@@ -85,6 +92,7 @@ corning_6_wellplate_16point8ml_flat:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
corning_96_wellplate_360ul_flat:
|
||||
category:
|
||||
@@ -96,6 +104,7 @@ corning_96_wellplate_360ul_flat:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
nest_96_wellplate_100ul_pcr_full_skirt:
|
||||
category:
|
||||
@@ -127,6 +136,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
nest_96_wellplate_200ul_flat:
|
||||
category:
|
||||
@@ -138,6 +148,7 @@ nest_96_wellplate_200ul_flat:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
nest_96_wellplate_2ml_deep:
|
||||
category:
|
||||
@@ -160,6 +171,7 @@ nest_96_wellplate_2ml_deep:
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
thermoscientificnunc_96_wellplate_1300ul:
|
||||
category:
|
||||
@@ -171,6 +183,7 @@ thermoscientificnunc_96_wellplate_1300ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
thermoscientificnunc_96_wellplate_2000ul:
|
||||
category:
|
||||
@@ -182,6 +195,7 @@ thermoscientificnunc_96_wellplate_2000ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
usascientific_96_wellplate_2point4ml_deep:
|
||||
category:
|
||||
@@ -193,4 +207,5 @@ usascientific_96_wellplate_2point4ml_deep:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -8,6 +8,7 @@ agilent_1_reservoir_290ml:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
axygen_1_reservoir_90ml:
|
||||
category:
|
||||
@@ -19,6 +20,7 @@ axygen_1_reservoir_90ml:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
nest_12_reservoir_15ml:
|
||||
category:
|
||||
@@ -30,6 +32,7 @@ nest_12_reservoir_15ml:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
nest_1_reservoir_195ml:
|
||||
category:
|
||||
@@ -41,6 +44,7 @@ nest_1_reservoir_195ml:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
nest_1_reservoir_290ml:
|
||||
category:
|
||||
@@ -52,6 +56,7 @@ nest_1_reservoir_290ml:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
usascientific_12_reservoir_22ml:
|
||||
category:
|
||||
@@ -63,4 +68,5 @@ usascientific_12_reservoir_22ml:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -8,6 +8,7 @@ eppendorf_96_tiprack_1000ul_eptips:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
eppendorf_96_tiprack_10ul_eptips:
|
||||
category:
|
||||
@@ -19,6 +20,7 @@ eppendorf_96_tiprack_10ul_eptips:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
geb_96_tiprack_1000ul:
|
||||
category:
|
||||
@@ -30,6 +32,7 @@ geb_96_tiprack_1000ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
geb_96_tiprack_10ul:
|
||||
category:
|
||||
@@ -41,6 +44,7 @@ geb_96_tiprack_10ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_filtertiprack_1000ul:
|
||||
category:
|
||||
@@ -71,6 +75,7 @@ opentrons_96_filtertiprack_1000ul:
|
||||
- 1.5708
|
||||
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
|
||||
type: resource
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_filtertiprack_10ul:
|
||||
category:
|
||||
@@ -82,6 +87,7 @@ opentrons_96_filtertiprack_10ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_filtertiprack_200ul:
|
||||
category:
|
||||
@@ -93,6 +99,7 @@ opentrons_96_filtertiprack_200ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_filtertiprack_20ul:
|
||||
category:
|
||||
@@ -104,6 +111,7 @@ opentrons_96_filtertiprack_20ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_tiprack_1000ul:
|
||||
category:
|
||||
@@ -115,6 +123,7 @@ opentrons_96_tiprack_1000ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_tiprack_10ul:
|
||||
category:
|
||||
@@ -126,6 +135,7 @@ opentrons_96_tiprack_10ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_tiprack_20ul:
|
||||
category:
|
||||
@@ -137,6 +147,7 @@ opentrons_96_tiprack_20ul:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_tiprack_300ul:
|
||||
category:
|
||||
|
||||
@@ -8,6 +8,7 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
|
||||
category:
|
||||
@@ -19,6 +20,7 @@ opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
|
||||
category:
|
||||
@@ -30,6 +32,7 @@ opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_15_tuberack_falcon_15ml_conical:
|
||||
category:
|
||||
@@ -41,6 +44,7 @@ opentrons_15_tuberack_falcon_15ml_conical:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_15_tuberack_nest_15ml_conical:
|
||||
category:
|
||||
@@ -52,6 +56,7 @@ opentrons_15_tuberack_nest_15ml_conical:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_aluminumblock_generic_2ml_screwcap:
|
||||
category:
|
||||
@@ -63,6 +68,7 @@ opentrons_24_aluminumblock_generic_2ml_screwcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_aluminumblock_nest_1point5ml_snapcap:
|
||||
category:
|
||||
@@ -74,6 +80,7 @@ opentrons_24_aluminumblock_nest_1point5ml_snapcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
|
||||
category:
|
||||
@@ -85,6 +92,7 @@ opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
|
||||
category:
|
||||
@@ -96,6 +104,7 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
|
||||
category:
|
||||
@@ -107,6 +116,7 @@ opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
|
||||
category:
|
||||
@@ -118,6 +128,7 @@ opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_generic_2ml_screwcap:
|
||||
category:
|
||||
@@ -129,6 +140,7 @@ opentrons_24_tuberack_generic_2ml_screwcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_nest_0point5ml_screwcap:
|
||||
category:
|
||||
@@ -140,6 +152,7 @@ opentrons_24_tuberack_nest_0point5ml_screwcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_nest_1point5ml_screwcap:
|
||||
category:
|
||||
@@ -151,6 +164,7 @@ opentrons_24_tuberack_nest_1point5ml_screwcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_nest_1point5ml_snapcap:
|
||||
category:
|
||||
@@ -162,6 +176,7 @@ opentrons_24_tuberack_nest_1point5ml_snapcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_nest_2ml_screwcap:
|
||||
category:
|
||||
@@ -173,6 +188,7 @@ opentrons_24_tuberack_nest_2ml_screwcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_24_tuberack_nest_2ml_snapcap:
|
||||
category:
|
||||
@@ -184,6 +200,7 @@ opentrons_24_tuberack_nest_2ml_snapcap:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_6_tuberack_falcon_50ml_conical:
|
||||
category:
|
||||
@@ -195,6 +212,7 @@ opentrons_6_tuberack_falcon_50ml_conical:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_6_tuberack_nest_50ml_conical:
|
||||
category:
|
||||
@@ -206,6 +224,7 @@ opentrons_6_tuberack_nest_50ml_conical:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
opentrons_96_well_aluminum_block:
|
||||
category:
|
||||
@@ -217,4 +236,5 @@ opentrons_96_well_aluminum_block:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -29,4 +29,5 @@ container:
|
||||
side: WEST
|
||||
icon: Flask.webp
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -8,6 +8,7 @@ POST_PROCESS_Raw_1BottleCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
POST_PROCESS_Reaction_1BottleCarrier:
|
||||
category:
|
||||
@@ -19,4 +20,5 @@ POST_PROCESS_Reaction_1BottleCarrier:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -9,4 +9,5 @@ post_process_deck:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -9,6 +9,7 @@ PRCXI_30mm_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Adapter:
|
||||
category:
|
||||
@@ -21,6 +22,7 @@ PRCXI_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Deep10_Adapter:
|
||||
category:
|
||||
@@ -33,6 +35,7 @@ PRCXI_Deep10_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Deep300_Adapter:
|
||||
category:
|
||||
@@ -45,6 +48,7 @@ PRCXI_Deep300_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_PCR_Adapter:
|
||||
category:
|
||||
@@ -57,6 +61,7 @@ PRCXI_PCR_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Reservoir_Adapter:
|
||||
category:
|
||||
@@ -69,6 +74,7 @@ PRCXI_Reservoir_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Tip10_Adapter:
|
||||
category:
|
||||
@@ -81,6 +87,7 @@ PRCXI_Tip10_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Tip1250_Adapter:
|
||||
category:
|
||||
@@ -93,6 +100,7 @@ PRCXI_Tip1250_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_Tip300_Adapter:
|
||||
category:
|
||||
@@ -105,4 +113,5 @@ PRCXI_Tip300_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -9,6 +9,7 @@ PRCXI_48_DeepWell:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_96_DeepWell:
|
||||
category:
|
||||
@@ -21,6 +22,7 @@ PRCXI_96_DeepWell:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_AGenBio_4_troughplate:
|
||||
category:
|
||||
@@ -33,6 +35,7 @@ PRCXI_AGenBio_4_troughplate:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_BioER_96_wellplate:
|
||||
category:
|
||||
@@ -45,6 +48,7 @@ PRCXI_BioER_96_wellplate:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_BioRad_384_wellplate:
|
||||
category:
|
||||
@@ -57,6 +61,7 @@ PRCXI_BioRad_384_wellplate:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_CellTreat_96_wellplate:
|
||||
category:
|
||||
@@ -69,6 +74,7 @@ PRCXI_CellTreat_96_wellplate:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_PCR_Plate_200uL_nonskirted:
|
||||
category:
|
||||
@@ -81,6 +87,7 @@ PRCXI_PCR_Plate_200uL_nonskirted:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_PCR_Plate_200uL_semiskirted:
|
||||
category:
|
||||
@@ -93,6 +100,7 @@ PRCXI_PCR_Plate_200uL_semiskirted:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_PCR_Plate_200uL_skirted:
|
||||
category:
|
||||
@@ -105,6 +113,7 @@ PRCXI_PCR_Plate_200uL_skirted:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_nest_12_troughplate:
|
||||
category:
|
||||
@@ -117,6 +126,7 @@ PRCXI_nest_12_troughplate:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_nest_1_troughplate:
|
||||
category:
|
||||
@@ -129,4 +139,5 @@ PRCXI_nest_1_troughplate:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -9,6 +9,7 @@ PRCXI_1000uL_Tips:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_10uL_Tips:
|
||||
category:
|
||||
@@ -21,6 +22,7 @@ PRCXI_10uL_Tips:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_10ul_eTips:
|
||||
category:
|
||||
@@ -33,6 +35,7 @@ PRCXI_10ul_eTips:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_1250uL_Tips:
|
||||
category:
|
||||
@@ -45,6 +48,7 @@ PRCXI_1250uL_Tips:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_200uL_Tips:
|
||||
category:
|
||||
@@ -57,6 +61,7 @@ PRCXI_200uL_Tips:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
PRCXI_300ul_Tips:
|
||||
category:
|
||||
@@ -69,4 +74,5 @@ PRCXI_300ul_Tips:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -9,4 +9,5 @@ PRCXI_trash:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -9,4 +9,5 @@ PRCXI_EP_Adapter:
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,724 +0,0 @@
|
||||
"""
|
||||
注册表工具函数
|
||||
|
||||
从 registry.py 中提取的纯工具函数，包括：
|
||||
- docstring 解析
|
||||
- 类型字符串 → JSON Schema 转换
|
||||
- AST 类型节点解析
|
||||
- TypedDict / Slot / Handle 等辅助检测
|
||||
"""
|
||||
|
||||
import inspect
|
||||
import logging
|
||||
import re
|
||||
import typing
|
||||
from typing import Any, Dict, List, Optional, Tuple, Union
|
||||
|
||||
from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
|
||||
|
||||
from unilabos.utils.cls_creator import import_class
|
||||
|
||||
_logger = logging.getLogger(__name__)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 异常
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
class ROSMsgNotFound(Exception):
|
||||
pass
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Docstring 解析 (Google-style)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
_SECTION_RE = re.compile(r"^(\w[\w\s]*):\s*$")
|
||||
|
||||
|
||||
def parse_docstring(docstring: Optional[str]) -> Dict[str, Any]:
|
||||
"""
|
||||
解析 Google-style docstring，提取描述和参数说明。
|
||||
|
||||
Returns:
|
||||
{"description": "短描述", "params": {"param1": "参数1描述", ...}}
|
||||
"""
|
||||
result: Dict[str, Any] = {"description": "", "params": {}}
|
||||
if not docstring:
|
||||
return result
|
||||
|
||||
lines = docstring.strip().splitlines()
|
||||
if not lines:
|
||||
return result
|
||||
|
||||
result["description"] = lines[0].strip()
|
||||
|
||||
in_args = False
|
||||
current_param: Optional[str] = None
|
||||
current_desc_parts: list = []
|
||||
|
||||
for line in lines[1:]:
|
||||
stripped = line.strip()
|
||||
section_match = _SECTION_RE.match(stripped)
|
||||
if section_match:
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
current_param = None
|
||||
current_desc_parts = []
|
||||
section_name = section_match.group(1).lower()
|
||||
in_args = section_name in ("args", "arguments", "parameters", "params")
|
||||
continue
|
||||
|
||||
if not in_args:
|
||||
continue
|
||||
|
||||
if ":" in stripped and not stripped.startswith(" "):
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
param_part, _, desc_part = stripped.partition(":")
|
||||
param_name = param_part.strip().split("(")[0].strip()
|
||||
current_param = param_name
|
||||
current_desc_parts = [desc_part.strip()]
|
||||
elif current_param is not None:
|
||||
aline = line
|
||||
if aline.startswith(" "):
|
||||
aline = aline[4:]
|
||||
elif aline.startswith("\t"):
|
||||
aline = aline[1:]
|
||||
current_desc_parts.append(aline.strip())
|
||||
|
||||
if current_param is not None:
|
||||
result["params"][current_param] = "\n".join(current_desc_parts).strip()
|
||||
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 类型常量
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
SIMPLE_TYPE_MAP = {
|
||||
"str": "string",
|
||||
"string": "string",
|
||||
"int": "integer",
|
||||
"integer": "integer",
|
||||
"float": "number",
|
||||
"number": "number",
|
||||
"bool": "boolean",
|
||||
"boolean": "boolean",
|
||||
"list": "array",
|
||||
"array": "array",
|
||||
"dict": "object",
|
||||
"object": "object",
|
||||
}
|
||||
|
||||
ARRAY_TYPES = {"list", "List", "tuple", "Tuple", "set", "Set", "Sequence", "Iterable"}
|
||||
OBJECT_TYPES = {"dict", "Dict", "Mapping"}
|
||||
WRAPPER_TYPES = {"Optional"}
|
||||
SLOT_TYPES = {"ResourceSlot", "DeviceSlot"}
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 简单类型映射
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def get_json_schema_type(type_str: str) -> str:
|
||||
"""简单类型名 -> JSON Schema type"""
|
||||
return SIMPLE_TYPE_MAP.get(type_str.lower(), "string")
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# AST 类型解析
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def parse_type_node(type_str: str):
|
||||
"""将类型注解字符串解析为 AST 节点，失败返回 None。"""
|
||||
import ast as _ast
|
||||
|
||||
try:
|
||||
return _ast.parse(type_str.strip(), mode="eval").body
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def _collect_bitor(node, out: list):
|
||||
"""递归收集 X | Y | Z 的所有分支。"""
|
||||
import ast as _ast
|
||||
|
||||
if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
|
||||
_collect_bitor(node.left, out)
|
||||
_collect_bitor(node.right, out)
|
||||
else:
|
||||
out.append(node)
|
||||
|
||||
|
||||
def type_node_to_schema(
|
||||
node,
|
||||
import_map: Optional[Dict[str, str]] = None,
|
||||
) -> Dict[str, Any]:
|
||||
"""将 AST 类型注解节点递归转换为 JSON Schema dict。
|
||||
|
||||
当提供 import_map 时，对于未知类名会尝试通过 import_map 解析模块路径，
|
||||
然后 import 真实类型对象来生成 schema (支持 TypedDict 等)。
|
||||
|
||||
映射规则:
|
||||
- Optional[X] → X 的 schema (剥掉 Optional)
|
||||
- Union[X, Y] → {"anyOf": [X_schema, Y_schema]}
|
||||
- List[X] / Tuple[X] / Set[X] → {"type": "array", "items": X_schema}
|
||||
- Dict[K, V] → {"type": "object", "additionalProperties": V_schema}
|
||||
- Literal["a", "b"] → {"type": "string", "enum": ["a", "b"]}
|
||||
- TypedDict (via import_map) → {"type": "object", "properties": {...}}
|
||||
- 基本类型 str/int/... → {"type": "string"/"integer"/...}
|
||||
"""
|
||||
import ast as _ast
|
||||
|
||||
# --- Name 节点: str / int / dict / ResourceSlot / 自定义类 ---
|
||||
if isinstance(node, _ast.Name):
|
||||
name = node.id
|
||||
if name in SLOT_TYPES:
|
||||
return {"$slot": name}
|
||||
json_type = SIMPLE_TYPE_MAP.get(name.lower())
|
||||
if json_type:
|
||||
return {"type": json_type}
|
||||
# 尝试通过 import_map 解析并 import 真实类型
|
||||
if import_map and name in import_map:
|
||||
type_obj = resolve_type_object(import_map[name])
|
||||
if type_obj is not None:
|
||||
return type_to_schema(type_obj)
|
||||
# 未知类名 → 无法转 schema 的自定义类型默认当 object
|
||||
return {"type": "object"}
|
||||
|
||||
if isinstance(node, _ast.Constant):
|
||||
if isinstance(node.value, str):
|
||||
return {"type": SIMPLE_TYPE_MAP.get(node.value.lower(), "string")}
|
||||
return {"type": "string"}
|
||||
|
||||
# --- Subscript 节点: List[X], Dict[K,V], Optional[X], Literal[...] 等 ---
|
||||
if isinstance(node, _ast.Subscript):
|
||||
base_name = node.value.id if isinstance(node.value, _ast.Name) else ""
|
||||
|
||||
# Optional[X] → 剥掉
|
||||
if base_name in WRAPPER_TYPES:
|
||||
return type_node_to_schema(node.slice, import_map)
|
||||
|
||||
# Union[X, None] → 剥掉 None; Union[X, Y] → anyOf
|
||||
if base_name == "Union":
|
||||
elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
|
||||
non_none = [
|
||||
e
|
||||
for e in elts
|
||||
if not (isinstance(e, _ast.Constant) and e.value is None)
|
||||
and not (isinstance(e, _ast.Name) and e.id == "None")
|
||||
]
|
||||
if len(non_none) == 1:
|
||||
return type_node_to_schema(non_none[0], import_map)
|
||||
if len(non_none) > 1:
|
||||
return {"anyOf": [type_node_to_schema(e, import_map) for e in non_none]}
|
||||
return {"type": "string"}
|
||||
|
||||
# Literal["a", "b", 1] → enum
|
||||
if base_name == "Literal":
|
||||
elts = node.slice.elts if isinstance(node.slice, _ast.Tuple) else [node.slice]
|
||||
values = []
|
||||
for e in elts:
|
||||
if isinstance(e, _ast.Constant):
|
||||
values.append(e.value)
|
||||
elif isinstance(e, _ast.Name):
|
||||
values.append(e.id)
|
||||
if values:
|
||||
return {"type": "string", "enum": values}
|
||||
return {"type": "string"}
|
||||
|
||||
# List / Tuple / Set → array
|
||||
if base_name in ARRAY_TYPES:
|
||||
if isinstance(node.slice, _ast.Tuple) and node.slice.elts:
|
||||
inner_node = node.slice.elts[0]
|
||||
else:
|
||||
inner_node = node.slice
|
||||
return {"type": "array", "items": type_node_to_schema(inner_node, import_map)}
|
||||
|
||||
# Dict → object
|
||||
if base_name in OBJECT_TYPES:
|
||||
schema: Dict[str, Any] = {"type": "object"}
|
||||
if isinstance(node.slice, _ast.Tuple) and len(node.slice.elts) >= 2:
|
||||
val_node = node.slice.elts[1]
|
||||
# Dict[str, Any] → 不加 additionalProperties (Any 等同于无约束)
|
||||
is_any = (isinstance(val_node, _ast.Name) and val_node.id == "Any") or (
|
||||
isinstance(val_node, _ast.Constant) and val_node.value is None
|
||||
)
|
||||
if not is_any:
|
||||
val_schema = type_node_to_schema(val_node, import_map)
|
||||
schema["additionalProperties"] = val_schema
|
||||
return schema
|
||||
|
||||
# --- BinOp: X | Y (Python 3.10+) → 当 Union 处理 ---
|
||||
if isinstance(node, _ast.BinOp) and isinstance(node.op, _ast.BitOr):
|
||||
parts: list = []
|
||||
_collect_bitor(node, parts)
|
||||
non_none = [
|
||||
p
|
||||
for p in parts
|
||||
if not (isinstance(p, _ast.Constant) and p.value is None)
|
||||
and not (isinstance(p, _ast.Name) and p.id == "None")
|
||||
]
|
||||
if len(non_none) == 1:
|
||||
return type_node_to_schema(non_none[0], import_map)
|
||||
if len(non_none) > 1:
|
||||
return {"anyOf": [type_node_to_schema(p, import_map) for p in non_none]}
|
||||
return {"type": "string"}
|
||||
|
||||
return {"type": "string"}
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 真实类型对象解析 (import-based)
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def resolve_type_object(type_ref: str) -> Optional[Any]:
|
||||
"""通过 'module.path:ClassName' 格式的引用 import 并返回真实类型对象。
|
||||
|
||||
对于 typing 内置名 (str, int, List 等) 直接返回 None (由 AST 路径处理)。
|
||||
import 失败时静默返回 None。
|
||||
"""
|
||||
if ":" not in type_ref:
|
||||
return None
|
||||
try:
|
||||
return import_class(type_ref)
|
||||
except Exception:
|
||||
return None
|
||||
|
||||
|
||||
def is_typed_dict_class(obj: Any) -> bool:
|
||||
"""检查对象是否是 TypedDict 类。"""
|
||||
if obj is None:
|
||||
return False
|
||||
try:
|
||||
from typing_extensions import is_typeddict
|
||||
|
||||
return is_typeddict(obj)
|
||||
except ImportError:
|
||||
if isinstance(obj, type):
|
||||
return hasattr(obj, "__required_keys__") and hasattr(obj, "__optional_keys__")
|
||||
return False
|
||||
|
||||
|
||||
def type_to_schema(tp: Any) -> Dict[str, Any]:
|
||||
"""将真实 typing 对象递归转换为 JSON Schema dict。
|
||||
|
||||
支持:
|
||||
- 基本类型: str, int, float, bool → {"type": "string"/"integer"/...}
|
||||
- typing 泛型: List[X], Dict[K,V], Optional[X], Union[X,Y], Literal[...]
|
||||
- TypedDict → {"type": "object", "properties": {...}, "required": [...]}
|
||||
- 自定义类 (ResourceSlot 等) → {"$slot": "..."} 或 {"type": "string"}
|
||||
"""
|
||||
origin = getattr(tp, "__origin__", None)
|
||||
args = getattr(tp, "__args__", None)
|
||||
|
||||
# --- None / NoneType ---
|
||||
if tp is type(None):
|
||||
return {"type": "null"}
|
||||
|
||||
# --- 基本类型 ---
|
||||
if tp is str:
|
||||
return {"type": "string"}
|
||||
if tp is int:
|
||||
return {"type": "integer"}
|
||||
if tp is float:
|
||||
return {"type": "number"}
|
||||
if tp is bool:
|
||||
return {"type": "boolean"}
|
||||
|
||||
# --- TypedDict ---
|
||||
if is_typed_dict_class(tp):
|
||||
try:
|
||||
return TypedDictMessageInstance.get_json_schema_from_typed_dict(tp)
|
||||
except Exception:
|
||||
return {"type": "object"}
|
||||
|
||||
# --- Literal ---
|
||||
if origin is typing.Literal:
|
||||
values = list(args) if args else []
|
||||
return {"type": "string", "enum": values}
|
||||
|
||||
# --- Optional / Union ---
|
||||
if origin is typing.Union:
|
||||
non_none = [a for a in (args or ()) if a is not type(None)]
|
||||
if len(non_none) == 1:
|
||||
return type_to_schema(non_none[0])
|
||||
if len(non_none) > 1:
|
||||
return {"anyOf": [type_to_schema(a) for a in non_none]}
|
||||
return {"type": "string"}
|
||||
|
||||
# --- List / Sequence / Set / Tuple / Iterable ---
|
||||
if origin in (list, tuple, set, frozenset) or (
|
||||
origin is not None
|
||||
and getattr(origin, "__name__", "") in ("Sequence", "Iterable", "Iterator", "MutableSequence")
|
||||
):
|
||||
if args:
|
||||
return {"type": "array", "items": type_to_schema(args[0])}
|
||||
return {"type": "array"}
|
||||
|
||||
# --- Dict / Mapping ---
|
||||
if origin in (dict,) or (origin is not None and getattr(origin, "__name__", "") in ("Mapping", "MutableMapping")):
|
||||
schema: Dict[str, Any] = {"type": "object"}
|
||||
if args and len(args) >= 2:
|
||||
schema["additionalProperties"] = type_to_schema(args[1])
|
||||
return schema
|
||||
|
||||
# --- Slot 类型 ---
|
||||
if isinstance(tp, type):
|
||||
name = tp.__name__
|
||||
if name in SLOT_TYPES:
|
||||
return {"$slot": name}
|
||||
|
||||
# --- 其他未知类型 fallback ---
|
||||
if isinstance(tp, type):
|
||||
return {"type": "object"}
|
||||
return {"type": "string"}
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Slot / Placeholder 检测
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def detect_slot_type(ptype) -> Tuple[Optional[str], bool]:
|
||||
"""检测参数类型是否为 ResourceSlot / DeviceSlot。
|
||||
|
||||
兼容多种格式:
|
||||
- runtime: "unilabos.registry.placeholder_type:ResourceSlot"
|
||||
- runtime tuple: ("list", "unilabos.registry.placeholder_type:ResourceSlot")
|
||||
- AST 裸名: "ResourceSlot", "List[ResourceSlot]", "Optional[ResourceSlot]"
|
||||
|
||||
Returns: (slot_name | None, is_list)
|
||||
"""
|
||||
ptype_str = str(ptype)
|
||||
|
||||
# 快速路径: 字符串里根本没有 Slot
|
||||
if "ResourceSlot" not in ptype_str and "DeviceSlot" not in ptype_str:
|
||||
return (None, False)
|
||||
|
||||
# runtime 格式: 完整模块路径
|
||||
if isinstance(ptype, str):
|
||||
if ptype.endswith(":ResourceSlot") or ptype == "ResourceSlot":
|
||||
return ("ResourceSlot", False)
|
||||
if ptype.endswith(":DeviceSlot") or ptype == "DeviceSlot":
|
||||
return ("DeviceSlot", False)
|
||||
# AST 复杂格式: List[ResourceSlot], Optional[ResourceSlot] 等
|
||||
if "[" in ptype:
|
||||
node = parse_type_node(ptype)
|
||||
if node is not None:
|
||||
schema = type_node_to_schema(node)
|
||||
# 直接是 slot
|
||||
if "$slot" in schema:
|
||||
return (schema["$slot"], False)
|
||||
# array 包裹 slot: {"type": "array", "items": {"$slot": "..."}}
|
||||
items = schema.get("items", {})
|
||||
if isinstance(items, dict) and "$slot" in items:
|
||||
return (items["$slot"], True)
|
||||
return (None, False)
|
||||
|
||||
# runtime tuple 格式
|
||||
if isinstance(ptype, tuple) and len(ptype) == 2:
|
||||
inner_str = str(ptype[1])
|
||||
if "ResourceSlot" in inner_str:
|
||||
return ("ResourceSlot", True)
|
||||
if "DeviceSlot" in inner_str:
|
||||
return ("DeviceSlot", True)
|
||||
|
||||
return (None, False)
|
||||
|
||||
|
||||
def detect_placeholder_keys(params: list) -> Dict[str, str]:
|
||||
"""Detect parameters that reference ResourceSlot or DeviceSlot."""
|
||||
result: Dict[str, str] = {}
|
||||
for p in params:
|
||||
ptype = p.get("type", "")
|
||||
if "ResourceSlot" in str(ptype):
|
||||
result[p["name"]] = "unilabos_resources"
|
||||
elif "DeviceSlot" in str(ptype):
|
||||
result[p["name"]] = "unilabos_devices"
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Handle 规范化
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
|
||||
"""Convert AST-parsed handle structures to the standard registry format."""
|
||||
if not handles_raw:
|
||||
return []
|
||||
|
||||
# handle_type → io_type 映射 (AST 内部类名 → YAML 标准字段值)
|
||||
_HANDLE_TYPE_TO_IO_TYPE = {
|
||||
"input": "target",
|
||||
"output": "source",
|
||||
"action_input": "action_target",
|
||||
"action_output": "action_source",
|
||||
}
|
||||
|
||||
result: List[Dict[str, Any]] = []
|
||||
for h in handles_raw:
|
||||
if isinstance(h, dict):
|
||||
call = h.get("_call", "")
|
||||
if "InputHandle" in call:
|
||||
handle_type = "input"
|
||||
elif "OutputHandle" in call:
|
||||
handle_type = "output"
|
||||
elif "ActionInputHandle" in call:
|
||||
handle_type = "action_input"
|
||||
elif "ActionOutputHandle" in call:
|
||||
handle_type = "action_output"
|
||||
else:
|
||||
handle_type = h.get("handle_type", "unknown")
|
||||
|
||||
io_type = _HANDLE_TYPE_TO_IO_TYPE.get(handle_type, handle_type)
|
||||
|
||||
entry: Dict[str, Any] = {
|
||||
"handler_key": h.get("key", ""),
|
||||
"data_type": h.get("data_type", ""),
|
||||
"io_type": io_type,
|
||||
}
|
||||
side = h.get("side")
|
||||
if side:
|
||||
if isinstance(side, str) and "." in side:
|
||||
val = side.rsplit(".", 1)[-1]
|
||||
side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
|
||||
entry["side"] = side
|
||||
label = h.get("label")
|
||||
if label:
|
||||
entry["label"] = label
|
||||
data_key = h.get("data_key")
|
||||
if data_key:
|
||||
entry["data_key"] = data_key
|
||||
data_source = h.get("data_source")
|
||||
if data_source:
|
||||
if isinstance(data_source, str) and "." in data_source:
|
||||
val = data_source.rsplit(".", 1)[-1]
|
||||
data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
|
||||
entry["data_source"] = data_source
|
||||
description = h.get("description")
|
||||
if description:
|
||||
entry["description"] = description
|
||||
|
||||
result.append(entry)
|
||||
return result
|
||||
|
||||
|
||||
def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
|
||||
"""Convert AST-parsed action handle list to {"input": [...], "output": [...]}.
|
||||
|
||||
Mirrors the runtime behavior of decorators._action_handles_to_dict:
|
||||
- ActionInputHandle => grouped under "input"
|
||||
- ActionOutputHandle => grouped under "output"
|
||||
Field mapping: key -> handler_key (matches Pydantic serialization_alias).
|
||||
"""
|
||||
if not handles_raw or not isinstance(handles_raw, list):
|
||||
return {}
|
||||
|
||||
input_list: List[Dict[str, Any]] = []
|
||||
output_list: List[Dict[str, Any]] = []
|
||||
|
||||
for h in handles_raw:
|
||||
if not isinstance(h, dict):
|
||||
continue
|
||||
call = h.get("_call", "")
|
||||
is_input = "ActionInputHandle" in call or "InputHandle" in call
|
||||
is_output = "ActionOutputHandle" in call or "OutputHandle" in call
|
||||
|
||||
entry: Dict[str, Any] = {
|
||||
"handler_key": h.get("key", ""),
|
||||
"data_type": h.get("data_type", ""),
|
||||
"label": h.get("label", ""),
|
||||
}
|
||||
for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
|
||||
val = h.get(opt_key)
|
||||
if val is not None:
|
||||
# Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
|
||||
# data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
|
||||
if (
|
||||
isinstance(val, str)
|
||||
and "." in val
|
||||
and opt_key not in ("io_type", "data_key")
|
||||
):
|
||||
val = val.rsplit(".", 1)[-1].lower()
|
||||
entry[opt_key] = val
|
||||
|
||||
# io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)
|
||||
if "io_type" not in entry and is_input:
|
||||
entry["io_type"] = "source"
|
||||
|
||||
if is_input:
|
||||
input_list.append(entry)
|
||||
elif is_output:
|
||||
output_list.append(entry)
|
||||
|
||||
result: Dict[str, Any] = {}
|
||||
if input_list:
|
||||
result["input"] = input_list
|
||||
# Always include output (empty list when no outputs) to match YAML
|
||||
result["output"] = output_list
|
||||
return result
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# Schema 辅助
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def wrap_action_schema(
|
||||
goal_schema: Dict[str, Any],
|
||||
action_name: str,
|
||||
description: str = "",
|
||||
result_schema: Optional[Dict[str, Any]] = None,
|
||||
feedback_schema: Optional[Dict[str, Any]] = None,
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将 goal 参数 schema 包装为标准的 action schema 格式:
|
||||
{ "properties": { "goal": ..., "feedback": ..., "result": ... }, ... }
|
||||
"""
|
||||
# 去掉 auto- 前缀用于 title/description，与 YAML 路径保持一致
|
||||
display_name = action_name.removeprefix("auto-")
|
||||
return {
|
||||
"title": f"{display_name}参数",
|
||||
"description": description or f"{display_name}的参数schema",
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"goal": goal_schema,
|
||||
"feedback": feedback_schema or {},
|
||||
"result": result_schema or {},
|
||||
},
|
||||
"required": ["goal"],
|
||||
}
|
||||
|
||||
|
||||
def preserve_field_descriptions(new_schema: Dict[str, Any], prev_schema: Dict[str, Any]):
|
||||
"""递归保留之前 schema 中各字段的 description / title。
|
||||
|
||||
覆盖顶层以及嵌套 properties（如 goal.properties.xxx.description）。
|
||||
"""
|
||||
if not prev_schema or not new_schema:
|
||||
return
|
||||
prev_props = prev_schema.get("properties", {})
|
||||
new_props = new_schema.get("properties", {})
|
||||
for field_name, prev_field in prev_props.items():
|
||||
if field_name not in new_props:
|
||||
continue
|
||||
new_field = new_props[field_name]
|
||||
if not isinstance(prev_field, dict) or not isinstance(new_field, dict):
|
||||
continue
|
||||
if "title" in prev_field:
|
||||
new_field.setdefault("title", prev_field["title"])
|
||||
if "description" in prev_field:
|
||||
new_field.setdefault("description", prev_field["description"])
|
||||
if "properties" in prev_field and "properties" in new_field:
|
||||
preserve_field_descriptions(new_field, prev_field)
|
||||
|
||||
|
||||
def strip_ros_descriptions(schema: Any):
|
||||
"""递归清除 ROS schema 中自动生成的无意义 description（含 rosidl_parser 内存地址）。"""
|
||||
if isinstance(schema, dict):
|
||||
desc = schema.get("description", "")
|
||||
if isinstance(desc, str) and "rosidl_parser" in desc:
|
||||
del schema["description"]
|
||||
for v in schema.values():
|
||||
strip_ros_descriptions(v)
|
||||
elif isinstance(schema, list):
|
||||
for item in schema:
|
||||
strip_ros_descriptions(item)
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# 深度对比
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def _short(val, limit=120):
|
||||
"""截断过长的值用于日志显示。"""
|
||||
s = repr(val)
|
||||
return s if len(s) <= limit else s[:limit] + "..."
|
||||
|
||||
|
||||
def deep_diff(old, new, path="", max_depth=10) -> list:
|
||||
"""递归对比两个对象，返回所有差异的描述列表。"""
|
||||
diffs = []
|
||||
if max_depth <= 0:
|
||||
if old != new:
|
||||
diffs.append(f"{path}: (达到最大深度) OLD≠NEW")
|
||||
return diffs
|
||||
|
||||
if type(old) != type(new):
|
||||
diffs.append(f"{path}: 类型不同 OLD={type(old).__name__}({_short(old)}) NEW={type(new).__name__}({_short(new)})")
|
||||
return diffs
|
||||
|
||||
if isinstance(old, dict):
|
||||
old_keys = set(old.keys())
|
||||
new_keys = set(new.keys())
|
||||
for k in sorted(new_keys - old_keys):
|
||||
diffs.append(f"{path}.{k}: 新增字段 (AST有, YAML无) = {_short(new[k])}")
|
||||
for k in sorted(old_keys - new_keys):
|
||||
diffs.append(f"{path}.{k}: 缺失字段 (YAML有, AST无) = {_short(old[k])}")
|
||||
for k in sorted(old_keys & new_keys):
|
||||
diffs.extend(deep_diff(old[k], new[k], f"{path}.{k}", max_depth - 1))
|
||||
elif isinstance(old, (list, tuple)):
|
||||
if len(old) != len(new):
|
||||
diffs.append(f"{path}: 列表长度不同 OLD={len(old)} NEW={len(new)}")
|
||||
for i in range(min(len(old), len(new))):
|
||||
diffs.extend(deep_diff(old[i], new[i], f"{path}[{i}]", max_depth - 1))
|
||||
if len(new) > len(old):
|
||||
for i in range(len(old), len(new)):
|
||||
diffs.append(f"{path}[{i}]: 新增元素 = {_short(new[i])}")
|
||||
elif len(old) > len(new):
|
||||
for i in range(len(new), len(old)):
|
||||
diffs.append(f"{path}[{i}]: 缺失元素 = {_short(old[i])}")
|
||||
else:
|
||||
if old != new:
|
||||
diffs.append(f"{path}: OLD={_short(old)} NEW={_short(new)}")
|
||||
return diffs
|
||||
|
||||
|
||||
# ---------------------------------------------------------------------------
|
||||
# MRO 方法参数解析
|
||||
# ---------------------------------------------------------------------------
|
||||
|
||||
|
||||
def resolve_method_params_via_import(module_str: str, method_name: str) -> Dict[str, str]:
|
||||
"""当 AST 方法参数为空 (如 *args, **kwargs) 时, import class 并通过 MRO 获取真实方法参数.
|
||||
|
||||
返回 identity mapping {param_name: param_name}.
|
||||
"""
|
||||
if not module_str or ":" not in module_str:
|
||||
return {}
|
||||
try:
|
||||
cls = import_class(module_str)
|
||||
except Exception as e:
|
||||
_logger.debug(f"[AST] resolve_method_params_via_import: import_class('{module_str}') failed: {e}")
|
||||
return {}
|
||||
|
||||
try:
|
||||
for base_cls in cls.__mro__:
|
||||
if method_name not in base_cls.__dict__:
|
||||
continue
|
||||
method = base_cls.__dict__[method_name]
|
||||
actual = getattr(method, "__wrapped__", method)
|
||||
if isinstance(actual, (staticmethod, classmethod)):
|
||||
actual = actual.__func__
|
||||
if not callable(actual):
|
||||
continue
|
||||
sig = inspect.signature(actual, follow_wrapped=True)
|
||||
params = [
|
||||
p.name for p in sig.parameters.values()
|
||||
if p.name not in ("self", "cls")
|
||||
and p.kind not in (inspect.Parameter.VAR_POSITIONAL, inspect.Parameter.VAR_KEYWORD)
|
||||
]
|
||||
if params:
|
||||
return {p: p for p in params}
|
||||
except Exception as e:
|
||||
_logger.debug(f"[AST] resolve_method_params_via_import: MRO walk for '{method_name}' failed: {e}")
|
||||
return {}
|
||||
@@ -12,11 +12,9 @@ class RegularContainer(Container):
|
||||
kwargs["size_y"] = 0
|
||||
if "size_z" not in kwargs:
|
||||
kwargs["size_z"] = 0
|
||||
if "category" not in kwargs:
|
||||
kwargs["category"] = "container"
|
||||
|
||||
self.kwargs = kwargs
|
||||
super().__init__(*args, **kwargs)
|
||||
super().__init__(*args, category="container", **kwargs)
|
||||
|
||||
def load_state(self, state: Dict[str, Any]):
|
||||
super().load_state(state)
|
||||
|
||||
@@ -76,7 +76,7 @@ def canonicalize_nodes_data(
|
||||
if sample_id:
|
||||
logger.error(f"{node}的sample_id参数已弃用，sample_id: {sample_id}")
|
||||
for k in list(node.keys()):
|
||||
if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra", "machine_name"]:
|
||||
if k not in ["id", "uuid", "name", "description", "schema", "model", "icon", "parent_uuid", "parent", "type", "class", "position", "config", "data", "children", "pose", "extra"]:
|
||||
v = node.pop(k)
|
||||
node["config"][k] = v
|
||||
if outer_host_node_id is not None:
|
||||
@@ -288,15 +288,6 @@ def read_node_link_json(
|
||||
physical_setup_graph = nx.node_link_graph(graph_data, edges="links", multigraph=False)
|
||||
handle_communications(physical_setup_graph)
|
||||
|
||||
# Stamp machine_name on device trees only (resources are cloud-managed)
|
||||
local_machine = BasicConfig.machine_name or "本地"
|
||||
for tree in resource_tree_set.trees:
|
||||
if tree.root_node.res_content.type != "device":
|
||||
continue
|
||||
for node in tree.get_all_nodes():
|
||||
if not node.res_content.machine_name:
|
||||
node.res_content.machine_name = local_machine
|
||||
|
||||
return physical_setup_graph, resource_tree_set, standardized_links
|
||||
|
||||
|
||||
@@ -381,15 +372,6 @@ def read_graphml(graphml_file: str) -> tuple[nx.Graph, ResourceTreeSet, List[Dic
|
||||
physical_setup_graph = nx.node_link_graph(graph_data, link="links", multigraph=False)
|
||||
handle_communications(physical_setup_graph)
|
||||
|
||||
# Stamp machine_name on device trees only (resources are cloud-managed)
|
||||
local_machine = BasicConfig.machine_name or "本地"
|
||||
for tree in resource_tree_set.trees:
|
||||
if tree.root_node.res_content.type != "device":
|
||||
continue
|
||||
for node in tree.get_all_nodes():
|
||||
if not node.res_content.machine_name:
|
||||
node.res_content.machine_name = local_machine
|
||||
|
||||
return physical_setup_graph, resource_tree_set, standardized_links
|
||||
|
||||
|
||||
|
||||
3681
unilabos/resources/lab_resources.py
Normal file
3681
unilabos/resources/lab_resources.py
Normal file
File diff suppressed because it is too large
Load Diff
1
unilabos/resources/opentrons_custom_labware_defs.json
Normal file
1
unilabos/resources/opentrons_custom_labware_defs.json
Normal file
File diff suppressed because one or more lines are too long
@@ -75,6 +75,14 @@ class ResourceDictPositionObject(BaseModel):
|
||||
z: float = Field(description="Z coordinate", default=0.0)
|
||||
|
||||
|
||||
class ResourceDictPoseExtraObjectType(BaseModel):
|
||||
z_index: int
|
||||
|
||||
|
||||
class ResourceDictPoseExtraObject(BaseModel):
|
||||
z_index: Optional[int] = Field(alias="zIndex", default=None)
|
||||
|
||||
|
||||
class ResourceDictPositionType(TypedDict):
|
||||
size: ResourceDictPositionSizeType
|
||||
scale: ResourceDictPositionScaleType
|
||||
@@ -101,7 +109,7 @@ class ResourceDictPosition(BaseModel):
|
||||
cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(
|
||||
description="Cross section type", default="rectangle"
|
||||
)
|
||||
extra: Optional[Dict[str, Any]] = Field(description="Extra data", default=None)
|
||||
extra: Optional[ResourceDictPoseExtraObject] = Field(description="Extra data", default=None)
|
||||
|
||||
|
||||
class ResourceDictType(TypedDict):
|
||||
@@ -120,7 +128,6 @@ class ResourceDictType(TypedDict):
|
||||
config: Dict[str, Any]
|
||||
data: Dict[str, Any]
|
||||
extra: Dict[str, Any]
|
||||
machine_name: str
|
||||
|
||||
|
||||
# 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
|
||||
@@ -142,7 +149,6 @@ class ResourceDict(BaseModel):
|
||||
config: Dict[str, Any] = Field(description="Resource configuration")
|
||||
data: Dict[str, Any] = Field(description="Resource data, eg: container liquid data")
|
||||
extra: Dict[str, Any] = Field(description="Extra data, eg: slot index")
|
||||
machine_name: str = Field(description="Machine this resource belongs to", default="")
|
||||
|
||||
@field_serializer("parent_uuid")
|
||||
def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]):
|
||||
@@ -198,30 +204,22 @@ class ResourceDictInstance(object):
|
||||
self.typ = "dict"
|
||||
|
||||
@classmethod
|
||||
def get_resource_instance_from_dict(cls, content: ResourceDictType) -> "ResourceDictInstance":
|
||||
def get_resource_instance_from_dict(cls, content: Dict[str, Any]) -> "ResourceDictInstance":
|
||||
"""从字典创建资源实例"""
|
||||
if "id" not in content:
|
||||
content["id"] = content["name"]
|
||||
if "uuid" not in content:
|
||||
content["uuid"] = str(uuid.uuid4())
|
||||
if "description" in content and content["description"] is None:
|
||||
# noinspection PyTypedDict
|
||||
del content["description"]
|
||||
if "model" in content and content["model"] is None:
|
||||
# noinspection PyTypedDict
|
||||
del content["model"]
|
||||
# noinspection PyTypedDict
|
||||
if "schema" in content and content["schema"] is None:
|
||||
# noinspection PyTypedDict
|
||||
del content["schema"]
|
||||
# noinspection PyTypedDict
|
||||
if "x" in content.get("position", {}):
|
||||
# 说明是老版本的position格式，转换成新的
|
||||
# noinspection PyTypedDict
|
||||
content["position"] = {"position": content["position"]}
|
||||
# noinspection PyTypedDict
|
||||
if not content.get("class"):
|
||||
# noinspection PyTypedDict
|
||||
content["class"] = ""
|
||||
if not content.get("config"): # todo: 后续从后端保证字段非空
|
||||
content["config"] = {}
|
||||
@@ -232,18 +230,16 @@ class ResourceDictInstance(object):
|
||||
if "position" in content:
|
||||
pose = content.get("pose", {})
|
||||
if "position" not in pose:
|
||||
# noinspection PyTypedDict
|
||||
if "position" in content["position"]:
|
||||
# noinspection PyTypedDict
|
||||
pose["position"] = content["position"]["position"]
|
||||
else:
|
||||
pose["position"] = ResourceDictPositionObjectType(x=0, y=0, z=0)
|
||||
pose["position"] = {"x": 0, "y": 0, "z": 0}
|
||||
if "size" not in pose:
|
||||
pose["size"] = ResourceDictPositionSizeType(
|
||||
width= content["config"].get("size_x", 0),
|
||||
height= content["config"].get("size_y", 0),
|
||||
depth= content["config"].get("size_z", 0),
|
||||
)
|
||||
pose["size"] = {
|
||||
"width": content["config"].get("size_x", 0),
|
||||
"height": content["config"].get("size_y", 0),
|
||||
"depth": content["config"].get("size_z", 0),
|
||||
}
|
||||
content["pose"] = pose
|
||||
try:
|
||||
res_dict = ResourceDict.model_validate(content)
|
||||
@@ -411,7 +407,7 @@ class ResourceTreeSet(object):
|
||||
)
|
||||
|
||||
@classmethod
|
||||
def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False, old_size=False) -> "ResourceTreeSet":
|
||||
def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet":
|
||||
"""
|
||||
从plr资源创建ResourceTreeSet
|
||||
"""
|
||||
@@ -434,20 +430,13 @@ class ResourceTreeSet(object):
|
||||
"resource_group": "resource_group",
|
||||
"trash": "trash",
|
||||
"plate_adapter": "plate_adapter",
|
||||
"consumable": "consumable",
|
||||
"tool": "tool",
|
||||
"condenser": "condenser",
|
||||
"crucible": "crucible",
|
||||
"reagent_bottle": "reagent_bottle",
|
||||
"flask": "flask",
|
||||
"beaker": "beaker",
|
||||
}
|
||||
if source in replace_info:
|
||||
return replace_info[source]
|
||||
elif source is None:
|
||||
return ""
|
||||
else:
|
||||
logger.trace(f"转换pylabrobot的时候，出现未知类型 {source}")
|
||||
print("转换pylabrobot的时候，出现未知类型", source)
|
||||
return source
|
||||
|
||||
def build_uuid_mapping(res: "PLRResource", uuid_list: list, parent_uuid: Optional[str] = None):
|
||||
@@ -502,7 +491,7 @@ class ResourceTreeSet(object):
|
||||
k: v
|
||||
for k, v in d.items()
|
||||
if k
|
||||
not in ([
|
||||
not in [
|
||||
"name",
|
||||
"children",
|
||||
"parent_name",
|
||||
@@ -513,15 +502,7 @@ class ResourceTreeSet(object):
|
||||
"size_z",
|
||||
"cross_section_type",
|
||||
"bottom_type",
|
||||
] if not old_size else [
|
||||
"name",
|
||||
"children",
|
||||
"parent_name",
|
||||
"location",
|
||||
"rotation",
|
||||
"cross_section_type",
|
||||
"bottom_type",
|
||||
])
|
||||
]
|
||||
},
|
||||
"data": states[d["name"]],
|
||||
"extra": extra,
|
||||
@@ -553,10 +534,17 @@ class ResourceTreeSet(object):
|
||||
trees.append(tree_instance)
|
||||
return cls(trees)
|
||||
|
||||
def to_plr_resources(self, skip_devices=True) -> List["PLRResource"]:
|
||||
def to_plr_resources(
|
||||
self, skip_devices: bool = True, requested_uuids: Optional[List[str]] = None
|
||||
) -> List["PLRResource"]:
|
||||
"""
|
||||
将 ResourceTreeSet 转换为 PLR 资源列表
|
||||
|
||||
Args:
|
||||
skip_devices: 是否跳过 device 类型节点
|
||||
requested_uuids: 若指定，则按此 UUID 顺序返回对应资源（用于批量查询时一一对应），
|
||||
否则返回各树的根节点列表
|
||||
|
||||
Returns:
|
||||
List[PLRResource]: PLR 资源实例列表
|
||||
"""
|
||||
@@ -612,6 +600,71 @@ class ResourceTreeSet(object):
|
||||
d["model"] = res.config.get("model", None)
|
||||
return d
|
||||
|
||||
# deserialize 会单独处理的元数据 key，不传给构造函数
|
||||
_META_KEYS = {"type", "parent_name", "location", "children", "rotation", "barcode"}
|
||||
# deserialize 自定义逻辑使用的 key（如 TipSpot 用 prototype_tip 构建 make_tip），需保留
|
||||
_DESERIALIZE_PRESERVED_KEYS = {"prototype_tip"}
|
||||
|
||||
def remove_incompatible_params(plr_d: dict) -> None:
|
||||
"""递归移除 PLR 类不接受的参数，避免 deserialize 报错。
|
||||
- 移除构造函数不接受的参数（如 compute_height_from_volume、ordering、category）
|
||||
- 对 TubeRack：将 ordering 转为 ordered_items
|
||||
- 保留 deserialize 自定义逻辑需要的 key（如 prototype_tip）
|
||||
"""
|
||||
if "type" in plr_d:
|
||||
sub_cls = find_subclass(plr_d["type"], PLRResource)
|
||||
if sub_cls is not None:
|
||||
spec = inspect.signature(sub_cls)
|
||||
valid_params = set(spec.parameters.keys())
|
||||
# TubeRack 特殊处理：先转换 ordering，再参与后续过滤
|
||||
if "ordering" not in valid_params and "ordering" in plr_d:
|
||||
ordering = plr_d.pop("ordering", None)
|
||||
if sub_cls.__name__ == "TubeRack":
|
||||
plr_d["ordered_items"] = (
|
||||
_ordering_to_ordered_items(plr_d, ordering)
|
||||
if ordering
|
||||
else {}
|
||||
)
|
||||
# 移除构造函数不接受的参数（保留 META 和 deserialize 自定义逻辑需要的 key）
|
||||
for key in list(plr_d.keys()):
|
||||
if (
|
||||
key not in _META_KEYS
|
||||
and key not in _DESERIALIZE_PRESERVED_KEYS
|
||||
and key not in valid_params
|
||||
):
|
||||
plr_d.pop(key, None)
|
||||
for child in plr_d.get("children", []):
|
||||
remove_incompatible_params(child)
|
||||
|
||||
def _ordering_to_ordered_items(plr_d: dict, ordering: dict) -> dict:
|
||||
"""将 ordering 转为 ordered_items，从 children 构建 Tube 对象"""
|
||||
from pylabrobot.resources import Tube, Coordinate
|
||||
from pylabrobot.serializer import deserialize as plr_deserialize
|
||||
|
||||
children = plr_d.get("children", [])
|
||||
ordered_items = {}
|
||||
for idx, (ident, child_name) in enumerate(ordering.items()):
|
||||
child_data = children[idx] if idx < len(children) else None
|
||||
if child_data is None:
|
||||
continue
|
||||
loc_data = child_data.get("location")
|
||||
loc = (
|
||||
plr_deserialize(loc_data)
|
||||
if loc_data
|
||||
else Coordinate(0, 0, 0)
|
||||
)
|
||||
tube = Tube(
|
||||
name=child_data.get("name", child_name or ident),
|
||||
size_x=child_data.get("size_x", 10),
|
||||
size_y=child_data.get("size_y", 10),
|
||||
size_z=child_data.get("size_z", 50),
|
||||
max_volume=child_data.get("max_volume", 1000),
|
||||
)
|
||||
tube.location = loc
|
||||
ordered_items[ident] = tube
|
||||
plr_d["children"] = [] # 已并入 ordered_items，避免重复反序列化
|
||||
return ordered_items
|
||||
|
||||
plr_resources = []
|
||||
tracker = DeviceNodeResourceTracker()
|
||||
|
||||
@@ -631,9 +684,7 @@ class ResourceTreeSet(object):
|
||||
raise ValueError(
|
||||
f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}"
|
||||
)
|
||||
spec = inspect.signature(sub_cls)
|
||||
if "category" not in spec.parameters:
|
||||
plr_dict.pop("category", None)
|
||||
remove_incompatible_params(plr_dict)
|
||||
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
|
||||
from pylabrobot.resources import Coordinate
|
||||
from pylabrobot.serializer import deserialize
|
||||
@@ -647,12 +698,47 @@ class ResourceTreeSet(object):
|
||||
plr_resources.append(plr_resource)
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"转换 PLR 资源失败: {e} {str(plr_dict)[:1000]}")
|
||||
logger.error(f"转换 PLR 资源失败: {e}")
|
||||
import traceback
|
||||
|
||||
logger.error(f"堆栈: {traceback.format_exc()}")
|
||||
raise
|
||||
|
||||
if requested_uuids:
|
||||
# 按请求的 UUID 顺序返回对应资源（从整棵树中按 uuid 提取）
|
||||
# 优先使用 tracker.uuid_to_resources；若映射缺失，再递归遍历 PLR 树兜底搜索。
|
||||
def _find_plr_by_uuid(roots: List["PLRResource"], uid: str) -> Optional["PLRResource"]:
|
||||
stack = list(roots)
|
||||
while stack:
|
||||
node = stack.pop()
|
||||
node_uid = getattr(node, "unilabos_uuid", None)
|
||||
if node_uid == uid:
|
||||
return node
|
||||
children = getattr(node, "children", None) or []
|
||||
stack.extend(children)
|
||||
return None
|
||||
|
||||
result = []
|
||||
missing_uuids = []
|
||||
for uid in requested_uuids:
|
||||
found = tracker.uuid_to_resources.get(uid)
|
||||
if found is None:
|
||||
found = _find_plr_by_uuid(plr_resources, uid)
|
||||
if found is not None:
|
||||
# 回填缓存，后续相同 uuid 可直接命中
|
||||
tracker.uuid_to_resources[uid] = found
|
||||
if found is None:
|
||||
missing_uuids.append(uid)
|
||||
else:
|
||||
result.append(found)
|
||||
|
||||
if missing_uuids:
|
||||
raise ValueError(
|
||||
f"请求的 UUID 未在资源树中找到: {missing_uuids}。"
|
||||
f"可用 UUID 数量: {len(tracker.uuid_to_resources)}，"
|
||||
f"资源树数量: {len(self.trees)}"
|
||||
)
|
||||
return result
|
||||
return plr_resources
|
||||
|
||||
@classmethod
|
||||
@@ -820,8 +906,7 @@ class ResourceTreeSet(object):
|
||||
if remote_root_type == "device":
|
||||
# 情况1: 一级是 device
|
||||
if remote_root_id not in local_device_map:
|
||||
if remote_root_id != "host_node":
|
||||
logger.warning(f"Device '{remote_root_id}' 在本地不存在，跳过该 device 下的物料同步")
|
||||
logger.warning(f"Device '{remote_root_id}' 在本地不存在，跳过该 device 下的物料同步")
|
||||
continue
|
||||
|
||||
local_device = local_device_map[remote_root_id]
|
||||
@@ -868,27 +953,14 @@ class ResourceTreeSet(object):
|
||||
f"从远端同步了 {added_count} 个物料子树"
|
||||
)
|
||||
else:
|
||||
# 二级物料已存在，比较三级子节点是否缺失
|
||||
local_material = local_children_map[remote_child_name]
|
||||
local_material_children_map = {child.res_content.name: child for child in
|
||||
local_material.children}
|
||||
added_count = 0
|
||||
for remote_sub in remote_child.children:
|
||||
remote_sub_name = remote_sub.res_content.name
|
||||
if remote_sub_name not in local_material_children_map:
|
||||
remote_sub.res_content.parent = local_material.res_content
|
||||
local_material.children.append(remote_sub)
|
||||
added_count += 1
|
||||
else:
|
||||
logger.info(
|
||||
f"物料 '{remote_root_id}/{remote_child_name}/{remote_sub_name}' "
|
||||
f"已存在，跳过"
|
||||
)
|
||||
if added_count > 0:
|
||||
logger.info(
|
||||
f"物料 '{remote_root_id}/{remote_child_name}': "
|
||||
f"从远端同步了 {added_count} 个子物料"
|
||||
)
|
||||
# 情况2: 二级是物料（不是 device）
|
||||
if remote_child_name not in local_children_map:
|
||||
# 引入整个子树
|
||||
remote_child.res_content.parent = local_device.res_content
|
||||
local_device.children.append(remote_child)
|
||||
logger.info(f"Device '{remote_root_id}': 从远端同步物料子树 '{remote_child_name}'")
|
||||
else:
|
||||
logger.info(f"物料 '{remote_root_id}/{remote_child_name}' 已存在，跳过")
|
||||
else:
|
||||
# 情况1: 一级节点是物料（不是 device）
|
||||
# 检查是否已存在
|
||||
@@ -911,7 +983,7 @@ class ResourceTreeSet(object):
|
||||
|
||||
return self
|
||||
|
||||
def dump(self, old_position=False) -> List[List[Dict[str, Any]]]:
|
||||
def dump(self) -> List[List[Dict[str, Any]]]:
|
||||
"""
|
||||
将 ResourceTreeSet 序列化为嵌套列表格式
|
||||
|
||||
@@ -927,10 +999,6 @@ class ResourceTreeSet(object):
|
||||
# 获取树的所有节点并序列化
|
||||
tree_nodes = [node.res_content.model_dump(by_alias=True) for node in tree.get_all_nodes()]
|
||||
result.append(tree_nodes)
|
||||
if old_position:
|
||||
for r in result:
|
||||
for rr in r:
|
||||
rr["position"] = rr["pose"]["position"]
|
||||
return result
|
||||
|
||||
@classmethod
|
||||
|
||||
@@ -11,7 +11,6 @@ from io import StringIO
|
||||
from typing import Iterable, Any, Dict, Type, TypeVar, Union
|
||||
|
||||
import yaml
|
||||
from msgcenterpy.instances.ros2_instance import ROS2MessageInstance
|
||||
from pydantic import BaseModel
|
||||
from dataclasses import asdict, is_dataclass
|
||||
|
||||
@@ -717,19 +716,6 @@ def ros_field_type_to_json_schema(
|
||||
# return {'type': 'object', 'description': f'未知类型: {field_type}'}
|
||||
|
||||
|
||||
def _strip_rosidl_descriptions(schema: Any) -> None:
|
||||
"""递归清除 rosidl_parser 自动生成的无意义 description（含内存地址）。"""
|
||||
if isinstance(schema, dict):
|
||||
desc = schema.get("description", "")
|
||||
if isinstance(desc, str) and "rosidl_parser" in desc:
|
||||
del schema["description"]
|
||||
for v in schema.values():
|
||||
_strip_rosidl_descriptions(v)
|
||||
elif isinstance(schema, list):
|
||||
for item in schema:
|
||||
_strip_rosidl_descriptions(item)
|
||||
|
||||
|
||||
def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any]:
|
||||
"""
|
||||
将 ROS 消息类转换为 JSON Schema
|
||||
@@ -741,10 +727,46 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any
|
||||
Returns:
|
||||
对应的 JSON Schema 定义
|
||||
"""
|
||||
schema = ROS2MessageInstance(msg_class()).get_json_schema()
|
||||
schema = {"type": "object", "properties": {}, "required": []}
|
||||
|
||||
# 优先使用字段名作为标题，否则使用类名
|
||||
schema["title"] = field_name
|
||||
schema.pop("description", None)
|
||||
_strip_rosidl_descriptions(schema)
|
||||
|
||||
# 获取消息的字段和字段类型
|
||||
try:
|
||||
for ind, slot_info in enumerate(msg_class._fields_and_field_types.items()):
|
||||
slot_name, slot_type = slot_info
|
||||
type_info = msg_class.SLOT_TYPES[ind]
|
||||
field_schema = ros_field_type_to_json_schema(type_info, slot_name)
|
||||
schema["properties"][slot_name] = field_schema
|
||||
schema["required"].append(slot_name)
|
||||
# if hasattr(msg_class, 'get_fields_and_field_types'):
|
||||
# fields_and_types = msg_class.get_fields_and_field_types()
|
||||
#
|
||||
# for field_name, field_type in fields_and_types.items():
|
||||
# # 将 ROS 字段类型转换为 JSON Schema
|
||||
# field_schema = ros_field_type_to_json_schema(field_type)
|
||||
#
|
||||
# schema['properties'][field_name] = field_schema
|
||||
# schema['required'].append(field_name)
|
||||
# elif hasattr(msg_class, '__slots__') and hasattr(msg_class, '_fields_and_field_types'):
|
||||
# # 直接从实例属性获取
|
||||
# for field_name in msg_class.__slots__:
|
||||
# # 移除前导下划线（如果有）
|
||||
# clean_name = field_name[1:] if field_name.startswith('_') else field_name
|
||||
#
|
||||
# # 从 _fields_and_field_types 获取类型
|
||||
# if clean_name in msg_class._fields_and_field_types:
|
||||
# field_type = msg_class._fields_and_field_types[clean_name]
|
||||
# field_schema = ros_field_type_to_json_schema(field_type)
|
||||
#
|
||||
# schema['properties'][clean_name] = field_schema
|
||||
# schema['required'].append(clean_name)
|
||||
except Exception as e:
|
||||
# 如果获取字段类型失败，添加错误信息
|
||||
schema["description"] = f"解析消息字段时出错: {str(e)}"
|
||||
logger.error(f"解析 {msg_class.__name__} 消息字段失败: {str(e)}")
|
||||
|
||||
return schema
|
||||
|
||||
|
||||
@@ -791,8 +813,6 @@ def ros_action_to_json_schema(
|
||||
"required": ["goal"],
|
||||
}
|
||||
|
||||
_strip_rosidl_descriptions(schema)
|
||||
|
||||
# 保留之前 schema 中 goal/feedback/result 下一级字段的 description
|
||||
if previous_schema:
|
||||
_preserve_field_descriptions(schema, previous_schema)
|
||||
|
||||
@@ -34,8 +34,7 @@ from unilabos_msgs.action import SendCmd
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.registry.decorators import get_topic_config
|
||||
from unilabos.utils.decorator import get_all_subscriptions
|
||||
from unilabos.utils.decorator import get_topic_config, get_all_subscriptions
|
||||
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.graphio import (
|
||||
@@ -58,7 +57,6 @@ from unilabos_msgs.msg import Resource # type: ignore
|
||||
|
||||
from unilabos.resources.resource_tracker import (
|
||||
DeviceNodeResourceTracker,
|
||||
ResourceDictType,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
ResourceDictInstance,
|
||||
@@ -196,9 +194,9 @@ class PropertyPublisher:
|
||||
self._value = None
|
||||
try:
|
||||
self.publisher_ = node.create_publisher(msg_type, f"{name}", qos)
|
||||
except Exception as e:
|
||||
except AttributeError as ex:
|
||||
self.node.lab_logger().error(
|
||||
f"StatusError, DeviceId: {self.node.device_id} 创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {e}"
|
||||
f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}"
|
||||
)
|
||||
self.timer = node.create_timer(self.timer_period, self.publish_property)
|
||||
self.__loop = ROS2DeviceNode.get_asyncio_loop()
|
||||
@@ -571,11 +569,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
future.add_done_callback(done_cb)
|
||||
except ImportError:
|
||||
self.lab_logger().error("Host请求添加物料时，本环境并不存在pylabrobot")
|
||||
res.response = get_result_info_str(traceback.format_exc(), False, {})
|
||||
except Exception as e:
|
||||
self.lab_logger().error("Host请求添加物料时出错")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
res.response = get_result_info_str(traceback.format_exc(), False, {})
|
||||
return res
|
||||
|
||||
# noinspection PyTypeChecker
|
||||
@@ -598,12 +594,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self.s2c_resource_tree, # type: ignore
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"s2c_device_manage": self.create_service(
|
||||
SerialCommand,
|
||||
f"/srv{self.namespace}/s2c_device_manage",
|
||||
self.s2c_device_manage, # type: ignore
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
}
|
||||
|
||||
# 向全局在线设备注册表添加设备信息
|
||||
@@ -1072,48 +1062,6 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
return res
|
||||
|
||||
async def s2c_device_manage(self, req: SerialCommand_Request, res: SerialCommand_Response):
|
||||
"""Handle add/remove device requests from HostNode via SerialCommand."""
|
||||
try:
|
||||
cmd = json.loads(req.command)
|
||||
action = cmd.get("action", "")
|
||||
data = cmd.get("data", {})
|
||||
device_id = data.get("device_id", "")
|
||||
|
||||
if not device_id:
|
||||
res.response = json.dumps({"success": False, "error": "device_id required"})
|
||||
return res
|
||||
|
||||
if action == "add":
|
||||
result = self.create_device(device_id, data)
|
||||
elif action == "remove":
|
||||
result = self.destroy_device(device_id)
|
||||
else:
|
||||
result = {"success": False, "error": f"Unknown action: {action}"}
|
||||
|
||||
res.response = json.dumps(result, ensure_ascii=False)
|
||||
|
||||
except NotImplementedError as e:
|
||||
self.lab_logger().warning(f"[DeviceManage] {e}")
|
||||
res.response = json.dumps({"success": False, "error": str(e)})
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[DeviceManage] Error: {e}")
|
||||
res.response = json.dumps({"success": False, "error": str(e)})
|
||||
|
||||
return res
|
||||
|
||||
def create_device(self, device_id: str, config: "ResourceDictType") -> dict:
|
||||
"""Create a sub-device dynamically. Override in HostNode / WorkstationNode."""
|
||||
raise NotImplementedError(
|
||||
f"{self.__class__.__name__} does not support dynamic device creation"
|
||||
)
|
||||
|
||||
def destroy_device(self, device_id: str) -> dict:
|
||||
"""Destroy a sub-device dynamically. Override in HostNode / WorkstationNode."""
|
||||
raise NotImplementedError(
|
||||
f"{self.__class__.__name__} does not support dynamic device removal"
|
||||
)
|
||||
|
||||
async def transfer_resource_to_another(
|
||||
self,
|
||||
plr_resources: List["ResourcePLR"],
|
||||
@@ -1256,40 +1204,22 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
return self._lab_logger
|
||||
|
||||
def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
|
||||
"""创建ROS发布者，仅当方法/属性有 @topic_config 装饰器时才创建。"""
|
||||
# 检测 @topic_config 装饰器配置
|
||||
"""创建ROS发布者"""
|
||||
# 检测装饰器配置（支持 get_{attr_name} 方法和 @property）
|
||||
topic_config = {}
|
||||
driver_class = type(self.driver_instance)
|
||||
|
||||
# 区分 @property 和普通方法两种情况
|
||||
is_prop = hasattr(driver_class, attr_name) and isinstance(
|
||||
getattr(driver_class, attr_name), property
|
||||
)
|
||||
# 优先检测 get_{attr_name} 方法
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
getter_method = getattr(self.driver_instance, f"get_{attr_name}")
|
||||
topic_config = get_topic_config(getter_method)
|
||||
|
||||
if is_prop:
|
||||
# @property: 检测 fget 上的 @topic_config
|
||||
class_attr = getattr(driver_class, attr_name)
|
||||
if class_attr.fget is not None:
|
||||
topic_config = get_topic_config(class_attr.fget)
|
||||
else:
|
||||
# 普通方法: 直接检测 attr_name 方法上的 @topic_config
|
||||
if hasattr(self.driver_instance, attr_name):
|
||||
method = getattr(self.driver_instance, attr_name)
|
||||
if callable(method):
|
||||
topic_config = get_topic_config(method)
|
||||
|
||||
# 没有 @topic_config 装饰器则跳过发布
|
||||
# 如果没有配置，检测 @property 装饰的属性
|
||||
if not topic_config:
|
||||
return
|
||||
|
||||
# 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name
|
||||
cfg_name = topic_config.get("name")
|
||||
if cfg_name:
|
||||
publish_name = cfg_name
|
||||
elif attr_name.startswith("get_"):
|
||||
publish_name = attr_name[4:]
|
||||
else:
|
||||
publish_name = attr_name
|
||||
driver_class = type(self.driver_instance)
|
||||
if hasattr(driver_class, attr_name):
|
||||
class_attr = getattr(driver_class, attr_name)
|
||||
if isinstance(class_attr, property) and class_attr.fget is not None:
|
||||
topic_config = get_topic_config(class_attr.fget)
|
||||
|
||||
# 使用装饰器配置或默认值
|
||||
cfg_period = topic_config.get("period")
|
||||
@@ -1302,10 +1232,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
# 获取属性值的方法
|
||||
def get_device_attr():
|
||||
try:
|
||||
if is_prop:
|
||||
return getattr(self.driver_instance, attr_name)
|
||||
if hasattr(self.driver_instance, f"get_{attr_name}"):
|
||||
return getattr(self.driver_instance, f"get_{attr_name}")()
|
||||
else:
|
||||
return getattr(self.driver_instance, attr_name)()
|
||||
return getattr(self.driver_instance, attr_name)
|
||||
except AttributeError as ex:
|
||||
if ex.args[0].startswith(f"AttributeError: '{self.driver_instance.__class__.__name__}' object"):
|
||||
self.lab_logger().error(
|
||||
@@ -1317,8 +1247,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
)
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
|
||||
self._property_publishers[publish_name] = PropertyPublisher(
|
||||
self, publish_name, get_device_attr, msg_type, period, print_publish, qos
|
||||
self._property_publishers[attr_name] = PropertyPublisher(
|
||||
self, attr_name, get_device_attr, msg_type, period, print_publish, qos
|
||||
)
|
||||
|
||||
def create_ros_action_server(self, action_name, action_value_mapping):
|
||||
@@ -1326,17 +1256,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
action_type = action_value_mapping["type"]
|
||||
str_action_type = str(action_type)[8:-2]
|
||||
|
||||
try:
|
||||
self._action_servers[action_name] = ActionServer(
|
||||
self,
|
||||
action_type,
|
||||
action_name,
|
||||
execute_callback=self._create_execute_callback(action_name, action_value_mapping),
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"创建ActionServer失败，Device: {self.device_id}, Action Name: {action_name}, Action Type: {action_type}, Error: {e}")
|
||||
return
|
||||
self._action_servers[action_name] = ActionServer(
|
||||
self,
|
||||
action_type,
|
||||
action_name,
|
||||
execute_callback=self._create_execute_callback(action_name, action_value_mapping),
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
|
||||
self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}")
|
||||
|
||||
def _setup_decorated_subscribers(self):
|
||||
@@ -1884,8 +1811,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
continue
|
||||
|
||||
# 处理单个 ResourceSlot
|
||||
_is_resource_slot = isinstance(arg_type, str) and arg_type.endswith(":ResourceSlot")
|
||||
if _is_resource_slot:
|
||||
if arg_type == "unilabos.registry.placeholder_type:ResourceSlot":
|
||||
resource_data = function_args[arg_name]
|
||||
if isinstance(resource_data, dict) and "id" in resource_data:
|
||||
try:
|
||||
@@ -1899,7 +1825,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
|
||||
# 处理 ResourceSlot 列表
|
||||
elif isinstance(arg_type, tuple) and len(arg_type) == 2:
|
||||
if arg_type[0] == "list" and isinstance(arg_type[1], str) and arg_type[1].endswith(":ResourceSlot"):
|
||||
resource_slot_type = "unilabos.registry.placeholder_type:ResourceSlot"
|
||||
if arg_type[0] == "list" and arg_type[1] == resource_slot_type:
|
||||
resource_list = function_args[arg_name]
|
||||
if isinstance(resource_list, list):
|
||||
try:
|
||||
|
||||
@@ -4,14 +4,7 @@ import cv2
|
||||
from sensor_msgs.msg import Image
|
||||
from cv_bridge import CvBridge
|
||||
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, DeviceNodeResourceTracker
|
||||
from unilabos.registry.decorators import device
|
||||
|
||||
|
||||
@device(
|
||||
id="camera",
|
||||
category=["camera"],
|
||||
description="""VideoPublisher摄像头设备节点，用于实时视频采集和流媒体发布。该设备通过OpenCV连接本地摄像头（如USB摄像头、内置摄像头等），定时采集视频帧并将其转换为ROS2的sensor_msgs/Image消息格式发布到视频话题。主要用于实验室自动化系统中的视觉监控、图像分析、实时观察等应用场景。支持可配置的摄像头索引、发布频率等参数。""",
|
||||
)
|
||||
class VideoPublisher(BaseROS2DeviceNode):
|
||||
def __init__(self, device_id='video_publisher', registry_name="", device_uuid='', camera_index=0, period: float = 0.1, resource_tracker: DeviceNodeResourceTracker = None):
|
||||
# 初始化BaseROS2DeviceNode，使用自身作为driver_instance
|
||||
|
||||
@@ -9,11 +9,9 @@ from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Unio
|
||||
|
||||
from action_msgs.msg import GoalStatus
|
||||
from geometry_msgs.msg import Point
|
||||
from sensor_msgs.msg import JointState as JointStateMsg
|
||||
from rclpy.action import ActionClient, get_action_server_names_and_types_by_node
|
||||
from rclpy.service import Service
|
||||
from typing_extensions import TypedDict
|
||||
from unilabos_msgs.action import EmptyIn, StrSingleInput, ResourceCreateFromOuterEasy, ResourceCreateFromOuter
|
||||
from unilabos_msgs.msg import Resource # type: ignore
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
@@ -25,7 +23,6 @@ from unilabos_msgs.srv import (
|
||||
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
|
||||
from unique_identifier_msgs.msg import UUID
|
||||
|
||||
from unilabos.registry.decorators import device
|
||||
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
|
||||
from unilabos.registry.registry import lab_registry
|
||||
from unilabos.resources.container import RegularContainer
|
||||
@@ -33,7 +30,6 @@ from unilabos.resources.graphio import initialize_resource
|
||||
from unilabos.resources.registry import add_schema
|
||||
from unilabos.resources.resource_tracker import (
|
||||
ResourceDict,
|
||||
ResourceDictType,
|
||||
ResourceDictInstance,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
@@ -69,13 +65,7 @@ class DeviceActionStatus:
|
||||
class TestResourceReturn(TypedDict):
|
||||
resources: List[List[ResourceDict]]
|
||||
devices: List[Dict[str, Any]]
|
||||
# unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class CreateResourceReturn(TypedDict):
|
||||
created_resource_tree: List[List[ResourceDict]]
|
||||
liquid_input_resource_tree: List[Dict[str, Any]]
|
||||
# unilabos_samples: List[LabSample]
|
||||
unilabos_samples: List[LabSample]
|
||||
|
||||
|
||||
class TestLatencyReturn(TypedDict):
|
||||
@@ -90,7 +80,6 @@ class TestLatencyReturn(TypedDict):
|
||||
status: str
|
||||
|
||||
|
||||
@device(id="host_node", category=[], description="Host Node", icon="icon_device.webp")
|
||||
class HostNode(BaseROS2DeviceNode):
|
||||
"""
|
||||
主机节点类，负责管理设备、资源和控制器
|
||||
@@ -279,42 +268,44 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self._action_clients: Dict[str, ActionClient] = { # 为了方便了解实际的数据类型，host的默认写好
|
||||
"/devices/host_node/create_resource": ActionClient(
|
||||
self,
|
||||
ResourceCreateFromOuterEasy,
|
||||
lab_registry.ResourceCreateFromOuterEasy,
|
||||
"/devices/host_node/create_resource",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/create_resource_detailed": ActionClient(
|
||||
self,
|
||||
ResourceCreateFromOuter,
|
||||
lab_registry.ResourceCreateFromOuter,
|
||||
"/devices/host_node/create_resource_detailed",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/test_latency": ActionClient(
|
||||
self,
|
||||
EmptyIn,
|
||||
lab_registry.EmptyIn,
|
||||
"/devices/host_node/test_latency",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/test_resource": ActionClient(
|
||||
self,
|
||||
EmptyIn,
|
||||
lab_registry.EmptyIn,
|
||||
"/devices/host_node/test_resource",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/_execute_driver_command": ActionClient(
|
||||
self,
|
||||
StrSingleInput,
|
||||
lab_registry.StrSingleInput,
|
||||
"/devices/host_node/_execute_driver_command",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
"/devices/host_node/_execute_driver_command_async": ActionClient(
|
||||
self,
|
||||
StrSingleInput,
|
||||
lab_registry.StrSingleInput,
|
||||
"/devices/host_node/_execute_driver_command_async",
|
||||
callback_group=self.callback_group,
|
||||
),
|
||||
} # 用来存储多个ActionClient实例
|
||||
self._action_value_mappings: Dict[str, Dict] = {} # device_id -> action_value_mappings(本地+远程设备统一存储)
|
||||
self._action_value_mappings: Dict[str, Dict] = (
|
||||
{}
|
||||
) # device_id -> action_value_mappings(本地+远程设备统一存储)
|
||||
self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings)
|
||||
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
|
||||
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
|
||||
@@ -332,27 +323,15 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self._discover_devices()
|
||||
|
||||
# 初始化所有本机设备节点，多一次过滤，防止重复初始化
|
||||
local_machine = BasicConfig.machine_name
|
||||
for device_config in devices_config.root_nodes:
|
||||
device_id = device_config.res_content.id
|
||||
if device_config.res_content.type != "device":
|
||||
continue
|
||||
dev_machine = device_config.res_content.machine_name
|
||||
if dev_machine and local_machine and dev_machine != local_machine:
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] Device {device_id} belongs to machine '{dev_machine}', "
|
||||
f"local is '{local_machine}', skipping initialization."
|
||||
)
|
||||
continue
|
||||
if device_id not in self.devices_names:
|
||||
self.initialize_device(device_id, device_config)
|
||||
else:
|
||||
self.lab_logger().warning(f"[Host Node] Device {device_id} already existed, skipping.")
|
||||
self.update_device_status_subscriptions()
|
||||
|
||||
# 订阅 joint_state_repub topic，桥接关节数据到云端
|
||||
self._init_joint_state_bridge()
|
||||
|
||||
# TODO: 需要验证 初始化所有控制器节点
|
||||
if controllers_config:
|
||||
update_rate = controllers_config["controller_manager"]["ros__parameters"]["update_rate"]
|
||||
@@ -577,7 +556,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
liquid_type: list[str] = [],
|
||||
liquid_volume: list[int] = [],
|
||||
slot_on_deck: str = "",
|
||||
) -> CreateResourceReturn:
|
||||
):
|
||||
# 暂不支持多对同名父子同时存在
|
||||
res_creation_input = {
|
||||
"id": res_id.split("/")[-1],
|
||||
@@ -630,8 +609,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
assert len(response) == 1, "Create Resource应当只返回一个结果"
|
||||
for i in response:
|
||||
res = json.loads(i)
|
||||
if "suc" in res:
|
||||
raise ValueError(res.get("error"))
|
||||
return res
|
||||
except Exception as ex:
|
||||
pass
|
||||
@@ -673,12 +650,7 @@ class HostNode(BaseROS2DeviceNode):
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
if action_id not in self._action_clients:
|
||||
action_type = action_value_mapping["type"]
|
||||
try:
|
||||
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(
|
||||
f"创建ActionClient失败，Device: {device_id}, Action Name: {action_name}, Action Type: {action_type}, Error: {e}")
|
||||
continue
|
||||
self._action_clients[action_id] = ActionClient(self, action_type, action_id)
|
||||
self.lab_logger().trace(
|
||||
f"[Host Node] Created ActionClient (Local): {action_id}"
|
||||
) # 子设备再创建用的是Discover发现的
|
||||
@@ -787,179 +759,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
else:
|
||||
self.lab_logger().trace(f"Status updated: {device_id}.{property_name} = {msg.data}")
|
||||
|
||||
"""关节数据 & 资源跟随桥接"""
|
||||
|
||||
# 吞吐优化参数
|
||||
_JOINT_DEAD_BAND: float = 1e-4 # 关节角度变化小于此值视为无变化
|
||||
_JOINT_MIN_INTERVAL: float = 0.05 # 最小发送间隔 (秒)，限制到 ~20Hz
|
||||
|
||||
def _init_joint_state_bridge(self):
|
||||
"""
|
||||
订阅 /joint_states (sensor_msgs/JointState) 和 resource_pose (String)，
|
||||
构建 device_id → uuid 映射，并维护 resource_poses 状态。
|
||||
|
||||
吞吐优化:
|
||||
- 死区过滤 (dead band): 关节角度变化 < 阈值时不发送
|
||||
- 抑频 (throttle): 限制最大发送频率，避免 ROS2 1kHz 打满 WS
|
||||
- 增量 resource_poses: 仅在 resource_pose 实际变化时才附带发送
|
||||
"""
|
||||
# 构建 device_id → cloud_uuid 映射（从 devices_config 中获取）
|
||||
self._device_uuid_map: Dict[str, str] = {}
|
||||
for tree in self.devices_config.trees:
|
||||
node = tree.root_node
|
||||
if node.res_content.type == "device" and node.res_content.uuid:
|
||||
self._device_uuid_map[node.res_content.id] = node.res_content.uuid
|
||||
|
||||
# 按 device_id 长度降序排列，最长前缀优先匹配（避免 arm 抢先匹配 arm_left_j1）
|
||||
self._device_ids_sorted = sorted(self._device_uuid_map.keys(), key=len, reverse=True)
|
||||
|
||||
# 资源挂载状态：{resource_id: parent_link_name}
|
||||
self._resource_poses: Dict[str, str] = {}
|
||||
# resource_pose 变化标志，仅在真正变化时随关节数据发送
|
||||
self._resource_poses_dirty: bool = False
|
||||
|
||||
# 吞吐优化状态
|
||||
self._last_joint_values: Dict[str, float] = {} # 上次发送的关节值（全局）
|
||||
self._last_send_time: float = -float("inf") # 上次发送时间戳（初始为-inf确保首条通过）
|
||||
self._last_sent_resource_poses: Dict[str, str] = {} # 上次发送的 resource_poses 快照
|
||||
|
||||
if not self._device_uuid_map:
|
||||
self.lab_logger().debug("[Host Node] 无设备 UUID 映射，跳过关节桥接")
|
||||
return
|
||||
|
||||
# 直接订阅 /joint_states（sensor_msgs/JointState），无需经过 JointRepublisher
|
||||
self.create_subscription(
|
||||
JointStateMsg,
|
||||
"/joint_states",
|
||||
self._joint_state_callback,
|
||||
10,
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
|
||||
# 订阅 resource_pose（资源挂载变化，由 ResourceMeshManager 发布）
|
||||
from std_msgs.msg import String as StdString
|
||||
self.create_subscription(
|
||||
StdString,
|
||||
"resource_pose",
|
||||
self._resource_pose_callback,
|
||||
10,
|
||||
callback_group=self.callback_group,
|
||||
)
|
||||
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] 已订阅 /joint_states 和 resource_pose，设备映射: {list(self._device_uuid_map.keys())}"
|
||||
)
|
||||
|
||||
def _resource_pose_callback(self, msg):
|
||||
"""
|
||||
接收 ResourceMeshManager 发布的资源挂载变更。
|
||||
|
||||
msg.data 格式: JSON dict，如 {"tip_rack_A1": "gripper_link", "plate_1": "deck_link"}
|
||||
空 dict {} 表示无变化（心跳包）。
|
||||
"""
|
||||
try:
|
||||
data = json.loads(msg.data)
|
||||
except (json.JSONDecodeError, ValueError):
|
||||
return
|
||||
if not isinstance(data, dict) or not data:
|
||||
return
|
||||
# 检测实际变化
|
||||
has_change = False
|
||||
for k, v in data.items():
|
||||
if self._resource_poses.get(k) != v:
|
||||
has_change = True
|
||||
break
|
||||
if has_change:
|
||||
self._resource_poses.update(data)
|
||||
self._resource_poses_dirty = True
|
||||
|
||||
def _joint_state_callback(self, msg: JointStateMsg):
|
||||
"""
|
||||
直接接收 /joint_states (sensor_msgs/JointState)，按设备分组后通过 bridge 发送到云端。
|
||||
|
||||
吞吐优化:
|
||||
1. 抑频: 距上次发送 < _JOINT_MIN_INTERVAL 则跳过（除非有 resource_pose 变化）
|
||||
2. 死区: 所有关节角度变化 < _JOINT_DEAD_BAND 则跳过（除非有 resource_pose 变化）
|
||||
3. 增量 resource_poses: 仅在 dirty 时附带，否则发空 dict
|
||||
"""
|
||||
names = list(msg.name)
|
||||
positions = list(msg.position)
|
||||
if not names or len(names) != len(positions):
|
||||
return
|
||||
|
||||
now = time.time()
|
||||
resource_dirty = self._resource_poses_dirty
|
||||
|
||||
# 抑频检查：resource_pose 变化时强制发送
|
||||
if not resource_dirty and (now - self._last_send_time) < self._JOINT_MIN_INTERVAL:
|
||||
return
|
||||
|
||||
# 死区过滤：检测是否有关节值实质变化
|
||||
has_significant_change = False
|
||||
for name, pos in zip(names, positions):
|
||||
last_val = self._last_joint_values.get(name)
|
||||
if last_val is None or abs(float(pos) - last_val) >= self._JOINT_DEAD_BAND:
|
||||
has_significant_change = True
|
||||
break
|
||||
|
||||
# 无关节变化且无资源变化 → 跳过
|
||||
if not has_significant_change and not resource_dirty:
|
||||
return
|
||||
|
||||
# 更新上次发送的关节值
|
||||
for name, pos in zip(names, positions):
|
||||
self._last_joint_values[name] = float(pos)
|
||||
self._last_send_time = now
|
||||
|
||||
# 按设备 ID 分组关节数据（最长前缀优先匹配）
|
||||
device_joints: Dict[str, Dict[str, float]] = {}
|
||||
for name, pos in zip(names, positions):
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
|
||||
if matched_device:
|
||||
if matched_device not in device_joints:
|
||||
device_joints[matched_device] = {}
|
||||
device_joints[matched_device][name] = float(pos)
|
||||
elif len(self._device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_joints:
|
||||
device_joints[fallback_id] = {}
|
||||
device_joints[fallback_id][name] = float(pos)
|
||||
|
||||
# 构建设备级 resource_poses（仅在 dirty 时附带实际数据）
|
||||
device_resource_poses: Dict[str, Dict[str, str]] = {}
|
||||
if resource_dirty:
|
||||
for resource_id, link_name in self._resource_poses.items():
|
||||
matched_device = None
|
||||
for device_id in self._device_ids_sorted:
|
||||
if link_name.startswith(device_id + "_"):
|
||||
matched_device = device_id
|
||||
break
|
||||
if matched_device:
|
||||
if matched_device not in device_resource_poses:
|
||||
device_resource_poses[matched_device] = {}
|
||||
device_resource_poses[matched_device][resource_id] = link_name
|
||||
elif len(self._device_uuid_map) == 1:
|
||||
fallback_id = self._device_ids_sorted[0]
|
||||
if fallback_id not in device_resource_poses:
|
||||
device_resource_poses[fallback_id] = {}
|
||||
device_resource_poses[fallback_id][resource_id] = link_name
|
||||
self._resource_poses_dirty = False
|
||||
|
||||
# 通过 bridge 发送 push_joint_state（含 resource_poses）
|
||||
for device_id, joint_states in device_joints.items():
|
||||
node_uuid = self._device_uuid_map.get(device_id)
|
||||
if not node_uuid:
|
||||
continue
|
||||
resource_poses = device_resource_poses.get(device_id, {})
|
||||
for bridge in self.bridges:
|
||||
if hasattr(bridge, "publish_joint_state"):
|
||||
bridge.publish_joint_state(node_uuid, joint_states, resource_poses)
|
||||
|
||||
def send_goal(
|
||||
self,
|
||||
item: "QueueItem",
|
||||
@@ -1451,9 +1250,9 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
# 用 registry_name 索引已存储的 registry_config,获取 action_value_mappings
|
||||
if registry_name and registry_name in self._slave_registry_configs:
|
||||
action_mappings = (
|
||||
self._slave_registry_configs[registry_name].get("class", {}).get("action_value_mappings", {})
|
||||
)
|
||||
action_mappings = self._slave_registry_configs[registry_name].get(
|
||||
"class", {}
|
||||
).get("action_value_mappings", {})
|
||||
if action_mappings:
|
||||
self._action_value_mappings[edge_device_id] = action_mappings
|
||||
self.lab_logger().info(
|
||||
@@ -1473,19 +1272,14 @@ class HostNode(BaseROS2DeviceNode):
|
||||
|
||||
# 解析 devices_config,建立 device_id -> action_value_mappings 映射
|
||||
if devices_config:
|
||||
machine_name = info["machine_name"]
|
||||
# Stamp machine_name on each device dict before parsing
|
||||
for device_tree in devices_config:
|
||||
for device_dict in device_tree:
|
||||
device_dict["machine_name"] = machine_name
|
||||
device_id = device_dict.get("id", "")
|
||||
class_name = device_dict.get("class", "")
|
||||
if device_id and class_name and class_name in self._slave_registry_configs:
|
||||
action_mappings = (
|
||||
self._slave_registry_configs[class_name]
|
||||
.get("class", {})
|
||||
.get("action_value_mappings", {})
|
||||
)
|
||||
action_mappings = self._slave_registry_configs[class_name].get(
|
||||
"class", {}
|
||||
).get("action_value_mappings", {})
|
||||
if action_mappings:
|
||||
self._action_value_mappings[device_id] = action_mappings
|
||||
self.lab_logger().info(
|
||||
@@ -1493,18 +1287,6 @@ class HostNode(BaseROS2DeviceNode):
|
||||
f"for remote device {device_id} (class: {class_name})"
|
||||
)
|
||||
|
||||
# Merge slave devices_config into self.devices_config tree
|
||||
try:
|
||||
slave_tree_set = ResourceTreeSet.load(devices_config) # slave一定是根节点的tree
|
||||
for tree in slave_tree_set.trees:
|
||||
self.devices_config.trees.append(tree)
|
||||
self.lab_logger().info(
|
||||
f"[Host Node] Merged {len(slave_tree_set.trees)} slave device trees "
|
||||
f"(machine: {machine_name}) into devices_config"
|
||||
)
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node] Failed to merge slave devices_config: {e}")
|
||||
|
||||
self.lab_logger().debug(f"[Host Node] Node info update: {info}")
|
||||
response.response = "OK"
|
||||
except Exception as e:
|
||||
@@ -1913,177 +1695,3 @@ class HostNode(BaseROS2DeviceNode):
|
||||
self.lab_logger().error(f"[Host Node-Resource] Error notifying resource tree update: {str(e)}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return False
|
||||
|
||||
# ------------------------------------------------------------------
|
||||
# Device lifecycle (add / remove) — pure forwarder
|
||||
# ------------------------------------------------------------------
|
||||
|
||||
def notify_device_manage(self, target_node_id: str, action: str, config: ResourceDictType) -> bool:
|
||||
"""Forward an add/remove device command to the target node via ROS2 SerialCommand.
|
||||
|
||||
The HostNode does NOT interpret the command; it simply resolves the
|
||||
target namespace and forwards the request to ``s2c_device_manage``.
|
||||
|
||||
If *target_node_id* equals the HostNode's own device_id (i.e. the
|
||||
command targets the host itself), we call our local ``create_device``
|
||||
/ ``destroy_device`` directly instead of going through ROS2.
|
||||
"""
|
||||
try:
|
||||
# If the target is the host itself, handle locally
|
||||
device_id = config["id"]
|
||||
if target_node_id == self.device_id:
|
||||
if action == "add":
|
||||
return self.create_device(device_id, config).get("success", False)
|
||||
elif action == "remove":
|
||||
return self.destroy_device(device_id).get("success", False)
|
||||
|
||||
if target_node_id not in self.devices_names:
|
||||
self.lab_logger().error(
|
||||
f"[Host Node-DeviceMgr] Target {target_node_id} not found in devices_names"
|
||||
)
|
||||
return False
|
||||
|
||||
namespace = self.devices_names[target_node_id]
|
||||
device_key = f"{namespace}/{target_node_id}"
|
||||
if device_key not in self._online_devices:
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Target {device_key} is offline")
|
||||
return False
|
||||
|
||||
srv_address = f"/srv{namespace}/s2c_device_manage"
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-DeviceMgr] Forwarding {action}_device to {target_node_id} ({srv_address})"
|
||||
)
|
||||
|
||||
sclient = self.create_client(SerialCommand, srv_address)
|
||||
if not sclient.wait_for_service(timeout_sec=5.0):
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Service {srv_address} not available")
|
||||
return False
|
||||
|
||||
request = SerialCommand.Request()
|
||||
request.command = json.dumps({"action": action, "data": config}, ensure_ascii=False)
|
||||
|
||||
future = sclient.call_async(request)
|
||||
timeout = 30.0
|
||||
start_time = time.time()
|
||||
while not future.done():
|
||||
if time.time() - start_time > timeout:
|
||||
self.lab_logger().error(
|
||||
f"[Host Node-DeviceMgr] Timeout waiting for {action}_device on {target_node_id}"
|
||||
)
|
||||
return False
|
||||
time.sleep(0.05)
|
||||
|
||||
response = future.result()
|
||||
self.lab_logger().info(
|
||||
f"[Host Node-DeviceMgr] {action}_device on {target_node_id} completed"
|
||||
)
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Error: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return False
|
||||
|
||||
def create_device(self, device_id: str, config: ResourceDictType) -> dict:
|
||||
"""Dynamically create a root-level device on the host."""
|
||||
if not device_id:
|
||||
return {"success": False, "error": "device_id required"}
|
||||
|
||||
if device_id in self.devices_names:
|
||||
return {"success": False, "error": f"Device {device_id} already exists"}
|
||||
|
||||
try:
|
||||
config.setdefault("id", device_id)
|
||||
config.setdefault("type", "device")
|
||||
config.setdefault("machine_name", BasicConfig.machine_name or "本地")
|
||||
res_dict = ResourceDictInstance.get_resource_instance_from_dict(config)
|
||||
|
||||
self.initialize_device(device_id, res_dict)
|
||||
|
||||
if device_id not in self.devices_names:
|
||||
return {"success": False, "error": f"initialize_device failed for {device_id}"}
|
||||
|
||||
# Add to config tree (devices_config)
|
||||
tree = ResourceTreeInstance(res_dict)
|
||||
self.devices_config.trees.append(tree)
|
||||
|
||||
# Add to resource tracker so s2c_resource_tree can find it
|
||||
try:
|
||||
for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
|
||||
self._resource_tracker.add_resource(plr_resource)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning(f"[Host Node-DeviceMgr] PLR resource registration skipped: {ex}")
|
||||
|
||||
self.lab_logger().info(f"[Host Node-DeviceMgr] Device {device_id} created successfully")
|
||||
return {"success": True, "device_id": device_id}
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Failed to create {device_id}: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return {"success": False, "error": str(e)}
|
||||
|
||||
def destroy_device(self, device_id: str) -> dict:
|
||||
"""Remove a root-level device from the host."""
|
||||
if not device_id:
|
||||
return {"success": False, "error": "device_id required"}
|
||||
|
||||
if device_id not in self.devices_names:
|
||||
return {"success": False, "error": f"Device {device_id} not found"}
|
||||
|
||||
if device_id == self.device_id:
|
||||
return {"success": False, "error": "Cannot destroy host_node itself"}
|
||||
|
||||
try:
|
||||
namespace = self.devices_names[device_id]
|
||||
device_key = f"{namespace}/{device_id}"
|
||||
|
||||
# Remove action clients
|
||||
action_prefix = f"/devices/{device_id}/"
|
||||
to_remove = [k for k in self._action_clients if k.startswith(action_prefix)]
|
||||
for k in to_remove:
|
||||
try:
|
||||
self._action_clients[k].destroy()
|
||||
except Exception:
|
||||
pass
|
||||
del self._action_clients[k]
|
||||
|
||||
# Remove from config tree (devices_config)
|
||||
self.devices_config.trees = [
|
||||
t for t in self.devices_config.trees
|
||||
if t.root_node.res_content.id != device_id
|
||||
]
|
||||
|
||||
# Remove from resource tracker
|
||||
try:
|
||||
tracked = self._resource_tracker.uuid_to_resources.copy()
|
||||
for uid, res in tracked.items():
|
||||
res_id = res.get("id") if isinstance(res, dict) else getattr(res, "name", None)
|
||||
if res_id == device_id:
|
||||
self._resource_tracker.remove_resource(res)
|
||||
except Exception as ex:
|
||||
self.lab_logger().warning(f"[Host Node-DeviceMgr] Resource tracker cleanup: {ex}")
|
||||
|
||||
# Clean internal state
|
||||
self._online_devices.discard(device_key)
|
||||
self.devices_names.pop(device_id, None)
|
||||
self.device_machine_names.pop(device_id, None)
|
||||
self._action_value_mappings.pop(device_id, None)
|
||||
|
||||
# Destroy the ROS2 node of the device
|
||||
instance = self.devices_instances.pop(device_id, None)
|
||||
if instance is not None:
|
||||
try:
|
||||
# noinspection PyProtectedMember
|
||||
ros_node = getattr(instance, "_ros_node", None)
|
||||
if ros_node is not None:
|
||||
ros_node.destroy_node()
|
||||
except Exception as e:
|
||||
self.lab_logger().warning(f"[Host Node-DeviceMgr] Error destroying ROS node for {device_id}: {e}")
|
||||
|
||||
self.lab_logger().info(f"[Host Node-DeviceMgr] Device {device_id} destroyed")
|
||||
return {"success": True, "device_id": device_id}
|
||||
|
||||
except Exception as e:
|
||||
self.lab_logger().error(f"[Host Node-DeviceMgr] Failed to destroy {device_id}: {e}")
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
return {"success": False, "error": str(e)}
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user