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更新transfer_resource_to_another参数，支持spot入参

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This commit is contained in:
Xuwznln
2025-10-11 02:41:37 +08:00
parent df33e1a214
commit 0c42d60cf2
9 changed files with 598 additions and 519 deletions
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296
unilabos/registry/devices/dispensing_station_bioyond.yaml
View File

@@ -889,6 +889,7 @@ dispensing_station.bioyond:
mount_device_id: null
mount_resource: null
resource: null
sites: null
handles: {}
placeholder_keys:
mount_device_id: unilabos_devices
@@ -904,155 +905,164 @@ dispensing_station.bioyond:
mount_device_id:
type: object
mount_resource:
properties:
category:
type: string
children:
items:
items:
properties:
category:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: mount_resource
type: object
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: mount_resource
type: object
type: array
resource:
properties:
category:
type: string
children:
items:
items:
properties:
category:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: resource
type: object
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: resource
type: object
type: array
sites:
items:
type: string
type: array
required:
- resource
- mount_device_id
- mount_resource
- sites
- mount_device_id
type: object
result: {}
required:

296
unilabos/registry/devices/reaction_station_bioyond.yaml
View File

@@ -883,6 +883,7 @@ reaction_station.bioyond:
mount_device_id: null
mount_resource: null
resource: null
sites: null
handles: {}
placeholder_keys:
mount_device_id: unilabos_devices
@@ -898,155 +899,164 @@ reaction_station.bioyond:
mount_device_id:
type: object
mount_resource:
properties:
category:
type: string
children:
items:
items:
properties:
category:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: mount_resource
type: object
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: mount_resource
type: object
type: array
resource:
properties:
category:
type: string
children:
items:
items:
properties:
category:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: resource
type: object
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: resource
type: object
type: array
sites:
items:
type: string
type: array
required:
- resource
- mount_device_id
- mount_resource
- sites
- mount_device_id
type: object
result: {}
required:

296
unilabos/registry/devices/work_station.yaml
View File

@@ -7134,6 +7134,7 @@ workstation.bioyond:
mount_device_id: null
mount_resource: null
resource: null
sites: null
handles: {}
placeholder_keys:
mount_device_id: unilabos_devices
@@ -7149,155 +7150,164 @@ workstation.bioyond:
mount_device_id:
type: object
mount_resource:
properties:
category:
type: string
children:
items:
items:
properties:
category:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: mount_resource
type: object
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: mount_resource
type: object
type: array
resource:
properties:
category:
type: string
children:
items:
items:
properties:
category:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: resource
type: object
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: resource
type: object
type: array
sites:
items:
type: string
type: array
required:
- resource
- mount_device_id
- mount_resource
- sites
- mount_device_id
type: object
result: {}
required:

11
unilabos/registry/registry.py
View File

@@ -9,6 +9,8 @@ from typing import Any, Dict, List, Union, Tuple
import msgcenterpy
import yaml
from rosidl_parser.definition import UnboundedSequence
from unilabos_msgs.action import LiquidHandlerTransfer
from unilabos_msgs.msg import Resource
from unilabos.config.config import BasicConfig
@@ -431,6 +433,11 @@ class Registry:
param_required = arg_info.get("required", True)
if param_type == "unilabos.registry.placeholder_type:ResourceSlot":
schema["properties"][param_name] = ros_message_to_json_schema(Resource, param_name)
elif param_type == ("list", "unilabos.registry.placeholder_type:ResourceSlot"):
schema["properties"][param_name] = {
"items": ros_message_to_json_schema(Resource, param_name),
"type": "array"
}
else:
schema["properties"][param_name] = self._generate_schema_from_info(param_name, param_type, param_default)
if param_required:
@@ -543,9 +550,9 @@ class Registry:
"goal_default": {i["name"]: i["default"] for i in v["args"]},
"handles": [],
"placeholder_keys": {
i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" else "unilabos_devices"
i["name"]: "unilabos_resources" if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot" or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot") else "unilabos_devices"
for i in v["args"]
if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot"]
if i.get("type", "") in ["unilabos.registry.placeholder_type:ResourceSlot", "unilabos.registry.placeholder_type:DeviceSlot", ("list", "unilabos.registry.placeholder_type:ResourceSlot"), ("list", "unilabos.registry.placeholder_type:DeviceSlot")]
}
}
# 不生成已配置action的动作