diff --git a/.conda/scripts/post-link.bat b/.conda/scripts/post-link.bat deleted file mode 100644 index 352b78c..0000000 --- a/.conda/scripts/post-link.bat +++ /dev/null @@ -1,9 +0,0 @@ -@echo off -setlocal enabledelayedexpansion - -REM upgrade pip -"%PREFIX%\python.exe" -m pip install --upgrade pip - -REM install extra deps -"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data -"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git diff --git a/.conda/scripts/post-link.sh b/.conda/scripts/post-link.sh deleted file mode 100644 index ef96f15..0000000 --- a/.conda/scripts/post-link.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env bash -set -euxo pipefail - -# make sure pip is available -"$PREFIX/bin/python" -m pip install --upgrade pip - -# install extra deps -"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data -"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git diff --git a/.cursorignore b/.cursorignore deleted file mode 100644 index 7b0d4f9..0000000 --- a/.cursorignore +++ /dev/null @@ -1,26 +0,0 @@ -.conda -# .github -.idea -# .vscode -output -pylabrobot_repo -recipes -scripts -service -temp -# unilabos/test -# unilabos/app/web -unilabos/device_mesh -unilabos_data -unilabos_msgs -unilabos.egg-info -CONTRIBUTORS -# LICENSE -MANIFEST.in -pyrightconfig.json -# README.md -# README_zh.md -setup.py -setup.cfg -.gitattrubutes -**/__pycache__ diff --git a/.github/dependabot.yml b/.github/dependabot.yml new file mode 100644 index 0000000..20a5faa --- /dev/null +++ b/.github/dependabot.yml @@ -0,0 +1,19 @@ +version: 2 +updates: +# GitHub Actions +- package-ecosystem: "github-actions" + directory: "/" + target-branch: "dev" + schedule: + interval: "weekly" + day: "monday" + time: "06:00" + open-pull-requests-limit: 5 + reviewers: + - "msgcenterpy-team" + labels: + - "dependencies" + - "github-actions" + commit-message: + prefix: "ci" + include: "scope" diff --git a/.github/workflows/ci-check.yml b/.github/workflows/ci-check.yml new file mode 100644 index 0000000..fa5ada7 --- /dev/null +++ b/.github/workflows/ci-check.yml @@ -0,0 +1,52 @@ +name: CI Check + +on: + pull_request: + branches: [main, dev] + +jobs: + registry-check: + runs-on: ubuntu-latest + + defaults: + run: + shell: bash -l {0} + + steps: + - uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: Setup Miniconda + uses: conda-incubator/setup-miniconda@v3 + with: + miniconda-version: 'latest' + channels: conda-forge,robostack-staging,uni-lab,defaults + channel-priority: strict + activate-environment: check-env + auto-activate-base: false + auto-update-conda: false + show-channel-urls: true + + - name: Install minimal ROS dependencies + run: | + conda install ros-humble-ros-core ros-humble-std-msgs ros-humble-geometry-msgs ros-humble-control-msgs -c robostack-staging -c conda-forge + + - name: Install unilabos-msgs and project + run: | + conda install ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge + pip install -e . + + - name: Run check mode (complete_registry) + run: | + python -m unilabos --check_mode --skip_env_check + + - name: Check for uncommitted changes + run: | + if ! git diff --exit-code; then + echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更" + echo "变化的文件:" + git diff --name-only + exit 1 + fi + echo "检查通过：无文件变化" diff --git a/.gitignore b/.gitignore index 610be61..838331e 100644 --- a/.gitignore +++ b/.gitignore @@ -4,6 +4,7 @@ temp/ output/ unilabos_data/ pyrightconfig.json +.cursorignore ## Python # Byte-compiled / optimized / DLL files diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 8ec26c0..8cea5f6 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -161,6 +161,12 @@ def parse_args(): 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( "--no_update_feedback", action="store_true", @@ -314,6 +320,12 @@ def main(): BasicConfig.machine_name = machine_name BasicConfig.vis_2d_enable = args_dict["2d_vis"] + # Check mode 处理 + check_mode = args_dict.get("check_mode", False) + BasicConfig.check_mode = check_mode + if check_mode: + print_status("Check mode 启用，将进行 complete_registry 检查", "info") + from unilabos.resources.graphio import ( read_node_link_json, read_graphml, @@ -331,10 +343,14 @@ def main(): # 显示启动横幅 print_unilab_banner(args_dict) - # 注册表 - lab_registry = build_registry( - args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry - ) + # 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 diff --git a/unilabos/app/web/controller.py b/unilabos/app/web/controller.py index 9b0f1ff..acd1f56 100644 --- a/unilabos/app/web/controller.py +++ b/unilabos/app/web/controller.py @@ -58,14 +58,14 @@ class JobResultStore: feedback=feedback or {}, timestamp=time.time(), ) - logger.debug(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}") + logger.trace(f"[JobResultStore] Stored result for job {job_id[:8]}, status={status}") def get_and_remove(self, job_id: str) -> Optional[JobResult]: """获取并删除任务结果""" with self._results_lock: result = self._results.pop(job_id, None) if result: - logger.debug(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}") + logger.trace(f"[JobResultStore] Retrieved and removed result for job {job_id[:8]}") return result def get_result(self, job_id: str) -> Optional[JobResult]: diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 95526f0..17d69ac 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -154,7 +154,7 @@ class DeviceActionManager: job_info.set_ready_timeout(10) # 设置10秒超时 self.active_jobs[device_key] = job_info job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name) - logger.info(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}") + logger.trace(f"[DeviceActionManager] Job {job_log} can start immediately for {device_key}") return True def start_job(self, job_id: str) -> bool: @@ -210,8 +210,9 @@ class DeviceActionManager: job_info.update_timestamp() # 从all_jobs中移除已结束的job del self.all_jobs[job_id] - job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name) - logger.info(f"[DeviceActionManager] Job {job_log} ended for {device_key}") + # job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name) + # logger.debug(f"[DeviceActionManager] Job {job_log} ended for {device_key}") + pass else: job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name) logger.warning(f"[DeviceActionManager] Job {job_log} was not active for {device_key}") @@ -227,7 +228,7 @@ class DeviceActionManager: next_job_log = format_job_log( next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name ) - logger.info(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}") + logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start for {device_key}") return next_job return None @@ -268,7 +269,7 @@ class DeviceActionManager: # 从all_jobs中移除 del self.all_jobs[job_id] job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name) - logger.info(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}") + logger.trace(f"[DeviceActionManager] Active job {job_log} cancelled for {device_key}") # 启动下一个任务 if device_key in self.device_queues and self.device_queues[device_key]: @@ -281,7 +282,7 @@ class DeviceActionManager: next_job_log = format_job_log( next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name ) - logger.info(f"[DeviceActionManager] Next job {next_job_log} can start after cancel") + logger.trace(f"[DeviceActionManager] Next job {next_job_log} can start after cancel") return True # 如果是排队中的任务 @@ -295,7 +296,7 @@ class DeviceActionManager: job_log = format_job_log( job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name ) - logger.info(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}") + logger.trace(f"[DeviceActionManager] Queued job {job_log} cancelled for {device_key}") return True job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name) @@ -565,7 +566,7 @@ class MessageProcessor: async def _process_message(self, message_type: str, message_data: Dict[str, Any]): """处理收到的消息""" - logger.debug(f"[MessageProcessor] Processing message: {message_type}") + logger.trace(f"[MessageProcessor] Processing message: {message_type}") try: if message_type == "pong": @@ -637,13 +638,13 @@ class MessageProcessor: await self._send_action_state_response( device_id, action_name, task_id, job_id, "query_action_status", True, 0 ) - logger.info(f"[MessageProcessor] Job {job_log} can start immediately") + logger.trace(f"[MessageProcessor] Job {job_log} can start immediately") else: # 需要排队 await self._send_action_state_response( device_id, action_name, task_id, job_id, "query_action_status", False, 10 ) - logger.info(f"[MessageProcessor] Job {job_log} queued") + logger.trace(f"[MessageProcessor] Job {job_log} queued") # 通知QueueProcessor有新的队列更新 if self.queue_processor: @@ -1128,7 +1129,7 @@ class QueueProcessor: success = self.message_processor.send_message(message) job_log = format_job_log(job_info.job_id, job_info.task_id, job_info.device_id, job_info.action_name) if success: - logger.debug(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}") + logger.trace(f"[QueueProcessor] Sent busy/need_more for queued job {job_log}") else: logger.warning(f"[QueueProcessor] Failed to send busy status for job {job_log}") @@ -1151,7 +1152,7 @@ class QueueProcessor: job_info.action_name, ) - logger.info(f"[QueueProcessor] Job {job_log} completed with status: {status}") + logger.trace(f"[QueueProcessor] Job {job_log} completed with status: {status}") # 结束任务，获取下一个可执行的任务 next_job = self.device_manager.end_job(job_id) @@ -1171,8 +1172,8 @@ class QueueProcessor: }, } self.message_processor.send_message(message) - next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name) - logger.info(f"[QueueProcessor] Notified next job {next_job_log} can start") + # next_job_log = format_job_log(next_job.job_id, next_job.task_id, next_job.device_id, next_job.action_name) + # logger.debug(f"[QueueProcessor] Notified next job {next_job_log} can start") # 立即触发下一轮状态检查 self.notify_queue_update() @@ -1314,7 +1315,7 @@ class WebSocketClient(BaseCommunicationClient): except (KeyError, AttributeError): logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status") - logger.info(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}") + # logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}") # 通知队列处理器job完成（包括timeout的job） self.queue_processor.handle_job_completed(item.job_id, status) diff --git a/unilabos/config/config.py b/unilabos/config/config.py index f3dba5d..c91a07d 100644 --- a/unilabos/config/config.py +++ b/unilabos/config/config.py @@ -22,6 +22,7 @@ class BasicConfig: startup_json_path = None # 填写绝对路径 disable_browser = False # 禁止浏览器自动打开 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 # 'TRACE', 'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL' log_level: Literal["TRACE", "DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"] = "DEBUG" diff --git a/unilabos/devices/virtual/workbench.py b/unilabos/devices/virtual/workbench.py new file mode 100644 index 0000000..7a8e145 --- /dev/null +++ b/unilabos/devices/virtual/workbench.py @@ -0,0 +1,687 @@ +""" +Virtual Workbench Device - 模拟工作台设备 +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 +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 + +注意：调用来自线程池，使用 threading.Lock 进行同步 +""" +import logging +import time +from typing import Dict, Any, Optional +from dataclasses import dataclass +from enum import Enum +from threading import Lock, RLock + +from typing_extensions import TypedDict + +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode +from unilabos.utils.decorator import not_action + + +# ============ TypedDict 返回类型定义 ============ + +class MoveToHeatingStationResult(TypedDict): + """move_to_heating_station 返回类型""" + success: bool + station_id: int + material_id: str + material_number: int + message: str + + +class StartHeatingResult(TypedDict): + """start_heating 返回类型""" + success: bool + station_id: int + material_id: str + material_number: int + message: str + + +class MoveToOutputResult(TypedDict): + """move_to_output 返回类型""" + success: bool + station_id: int + material_id: str + + +class PrepareMaterialsResult(TypedDict): + """prepare_materials 返回类型 - 批量准备物料""" + success: bool + count: int + material_1: int # 物料编号1 + material_2: int # 物料编号2 + material_3: int # 物料编号3 + material_4: int # 物料编号4 + material_5: int # 物料编号5 + message: str + + +# ============ 状态枚举 ============ + +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 + HEATING = "heating" # 加热中 + COMPLETED = "completed" # 加热完成，等待取走 + + +class ArmState(Enum): + """机械臂状态枚举""" + IDLE = "idle" # 空闲 + BUSY = "busy" # 工作中 + + +@dataclass +class HeatingStation: + """加热台数据结构""" + station_id: int + state: HeatingStationState = HeatingStationState.IDLE + current_material: Optional[str] = None # 当前物料 (如 "A1", "A2") + material_number: Optional[int] = None # 物料编号 (1-5) + heating_start_time: Optional[float] = None + heating_progress: float = 0.0 + + +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 + + 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 + """ + + _ros_node: BaseROS2DeviceNode + + # 配置常量 + ARM_OPERATION_TIME: float = 3.0 # 机械臂操作时间(秒) + HEATING_TIME: float = 10.0 # 加热时间(秒) + NUM_HEATING_STATIONS: int = 3 # 加热台数量 + + def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): + # 处理可能的不同调用方式 + 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 "virtual_workbench" + self.config = config or {} + + self.logger = logging.getLogger(f"VirtualWorkbench.{self.device_id}") + self.data: Dict[str, Any] = {} + + # 从config中获取可配置参数 + self.ARM_OPERATION_TIME = float(self.config.get("arm_operation_time", 3.0)) + self.HEATING_TIME = float(self.config.get("heating_time", 10.0)) + self.NUM_HEATING_STATIONS = int(self.config.get("num_heating_stations", 3)) + + # 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 (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() # 可重入锁，保护加热台状态 + + # 任务追踪 + self._active_tasks: Dict[str, Dict[str, Any]] = {} # material_id -> task_info + self._tasks_lock = Lock() + + # 处理其他kwargs参数 + skip_keys = {"arm_operation_time", "heating_time", "num_heating_stations"} + for key, value in kwargs.items(): + if key not in skip_keys and not hasattr(self, key): + setattr(self, key, value) + + self.logger.info(f"=== 虚拟工作台 {self.device_id} 已创建 ===") + self.logger.info( + f"机械臂操作时间: {self.ARM_OPERATION_TIME}s | " + f"加热时间: {self.HEATING_TIME}s | " + f"加热台数量: {self.NUM_HEATING_STATIONS}" + ) + + @not_action + def post_init(self, ros_node: BaseROS2DeviceNode): + """ROS节点初始化后回调""" + self._ros_node = ros_node + + @not_action + def initialize(self) -> bool: + """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 + station.current_material = None + station.material_number = None + station.heating_progress = 0.0 + + # 初始化状态 + self.data.update({ + "status": "Ready", + "arm_state": ArmState.IDLE.value, + "arm_current_task": None, + "heating_stations": self._get_stations_status(), + "active_tasks_count": 0, + "message": "工作台就绪", + }) + + self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪") + return True + + @not_action + def cleanup(self) -> bool: + """清理虚拟工作台""" + self.logger.info(f"清理虚拟工作台 {self.device_id}") + + self._arm_state = ArmState.IDLE + self._arm_current_task = None + + with self._stations_lock: + self._heating_stations.clear() + + with self._tasks_lock: + self._active_tasks.clear() + + self.data.update({ + "status": "Offline", + "arm_state": ArmState.IDLE.value, + "heating_stations": {}, + "message": "工作台已关闭", + }) + return True + + def _get_stations_status(self) -> Dict[int, Dict[str, Any]]: + """获取所有加热台状态""" + with self._stations_lock: + return { + station_id: { + "state": station.state.value, + "current_material": station.current_material, + "material_number": station.material_number, + "heating_progress": station.heating_progress, + } + for station_id, station in self._heating_stations.items() + } + + def _update_data_status(self, message: Optional[str] = None): + """更新状态数据""" + self.data.update({ + "arm_state": self._arm_state.value, + "arm_current_task": self._arm_current_task, + "heating_stations": self._get_stations_status(), + "active_tasks_count": len(self._active_tasks), + }) + if message: + self.data["message"] = message + + def _find_available_heating_station(self) -> Optional[int]: + """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: + return station_id + return None + + def _acquire_arm(self, task_description: str) -> bool: + """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 + + def _release_arm(self): + """释放机械臂""" + task = self._arm_current_task + self._arm_state = ArmState.IDLE + self._arm_current_task = None + self._arm_lock.release() + 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})") + + def prepare_materials( + self, + count: int = 5, + ) -> PrepareMaterialsResult: + """ + 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。 + + 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: " + f"A1-A{count} -> material_1~material_{count}" + ) + + return { + "success": True, + "count": count, + "material_1": materials[0] if len(materials) > 0 else 0, + "material_2": materials[1] if len(materials) > 1 else 0, + "material_3": materials[2] if len(materials) > 2 else 0, + "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}", + } + + def move_to_heating_station( + self, + material_number: int, + ) -> MoveToHeatingStationResult: + """ + 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 + + 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", + "start_time": time.time(), + } + + 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...") + # 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 + self.logger.info(f"[{material_id}] 机械臂正在移动到加热台{station_id}...") + + 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)") + + # 释放机械臂 + self._release_arm() + + with self._tasks_lock: + self._active_tasks[material_id]["status"] = "placed_on_station" + + return { + "success": True, + "station_id": station_id, + "material_id": material_id, + "material_number": material_number, + "message": f"{material_id}已成功移动到加热台{station_id}", + } + + except Exception as e: + self.logger.error(f"[{material_id}] 移动失败: {str(e)}") + if self._arm_lock.locked(): + self._release_arm() + return { + "success": False, + "station_id": -1, + "material_id": material_id, + "material_number": material_number, + "message": f"移动失败: {str(e)}", + } + + def start_heating( + self, + station_id: int, + material_number: int, + ) -> 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") + + if station_id not in self._heating_stations: + return { + "success": False, + "station_id": station_id, + "material_id": "", + "material_number": material_number, + "message": f"无效的加热台ID: {station_id}", + } + + with self._stations_lock: + station = self._heating_stations[station_id] + + if station.current_material is None: + return { + "success": False, + "station_id": station_id, + "material_id": "", + "material_number": material_number, + "message": f"加热台{station_id}上没有物料", + } + + if station.state == HeatingStationState.HEATING: + return { + "success": False, + "station_id": station_id, + "material_id": station.current_material, + "material_number": material_number, + "message": f"加热台{station_id}已经在加热中", + } + + material_id = station.current_material + + # 开始加热 + station.state = HeatingStationState.HEATING + station.heating_start_time = time.time() + station.heating_progress = 0.0 + + with self._tasks_lock: + if material_id in self._active_tasks: + self._active_tasks[material_id]["status"] = "heating" + + self._update_data_status(f"加热台{station_id}开始加热{material_id}") + + # 模拟加热过程 (10秒) + start_time = time.time() + while True: + elapsed = time.time() - start_time + progress = min(100.0, (elapsed / self.HEATING_TIME) * 100) + + with self._stations_lock: + self._heating_stations[station_id].heating_progress = progress + + self._update_data_status(f"加热台{station_id}加热中: {progress:.1f}%") + + if elapsed >= self.HEATING_TIME: + break + + 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 + + with self._tasks_lock: + if material_id in self._active_tasks: + self._active_tasks[material_id]["status"] = "heating_completed" + + self._update_data_status(f"加热台{station_id}加热完成") + self.logger.info(f"[加热台{station_id}] {material_id}加热完成 (用时{self.HEATING_TIME}s)") + + return { + "success": True, + "station_id": station_id, + "material_id": material_id, + "material_number": material_number, + "message": f"加热台{station_id}加热完成", + } + + def move_to_output( + self, + station_id: int, + material_number: int, + ) -> 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 # 物料编号决定输出位置 + + if station_id not in self._heating_stations: + return { + "success": False, + "station_id": station_id, + "material_id": "", + "output_position": f"C{output_number}", + "message": f"无效的加热台ID: {station_id}", + } + + with self._stations_lock: + station = self._heating_stations[station_id] + material_id = station.current_material + + if material_id is None: + return { + "success": False, + "station_id": station_id, + "material_id": "", + "output_position": f"C{output_number}", + "message": f"加热台{station_id}上没有物料", + } + + if station.state != HeatingStationState.COMPLETED: + return { + "success": False, + "station_id": station_id, + "material_id": material_id, + "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})", + } + + output_position = f"C{output_number}" + task_desc = f"从加热台{station_id}移动{material_id}到{output_position}" + self.logger.info(f"[任务] {task_desc}") + + try: + with self._tasks_lock: + 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" + + # 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 + self._heating_stations[station_id].material_number = None + 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)") + + return { + "success": True, + "station_id": station_id, + "material_id": material_id, + "output_position": output_position, + "message": f"{material_id}已成功移动到{output_position}", + } + + except Exception as e: + self.logger.error(f"移动到输出位置失败: {str(e)}") + if self._arm_lock.locked(): + self._release_arm() + return { + "success": False, + "station_id": station_id, + "material_id": "", + "output_position": output_position, + "message": f"移动失败: {str(e)}", + } + + # ============ 状态属性 ============ + + @property + def status(self) -> str: + return self.data.get("status", "Unknown") + + @property + def arm_state(self) -> str: + return self._arm_state.value + + @property + def arm_current_task(self) -> str: + return self._arm_current_task or "" + + @property + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + 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 + def active_tasks_count(self) -> int: + with self._tasks_lock: + return len(self._active_tasks) + + @property + def message(self) -> str: + return self.data.get("message", "") diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 77ac533..b1b1ab6 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -1,267 +1,324 @@ -virtual_centrifuge: +virtual_workbench: category: - virtual_device class: action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-post_init: + auto-move_to_heating_station: feedback: {} goal: {} goal_default: - ros_node: null - handles: {} + material_number: null + handles: + input: + - data_key: material_number + data_source: handle + data_type: workbench_material + handler_key: material_input + label: 物料编号 + output: + - data_key: station_id + data_source: executor + data_type: workbench_station + handler_key: heating_station_output + label: 加热台ID + - data_key: material_number + data_source: executor + data_type: workbench_material + handler_key: material_number_output + label: 物料编号 placeholder_keys: {} result: {} schema: - description: '' + 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 properties: feedback: {} goal: properties: - ros_node: - type: object + material_number: + description: 物料编号，1-5，物料ID自动生成为A{n} + type: integer required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - centrifuge: - feedback: - current_speed: current_speed - current_status: status - current_temp: current_temp - progress: progress - goal: - speed: speed - temp: temp - time: time - vessel: vessel - goal_default: - speed: 0.0 - temp: 0.0 - time: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - current_temp: - type: number - progress: - type: number - required: - - progress - - current_speed - - current_temp - - current_status - title: Centrifuge_Feedback - type: object - goal: - properties: - speed: - type: number - temp: - type: number - time: - type: number - vessel: - properties: - category: - type: string - 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: vessel - type: object - required: - - vessel - - speed - - time - - temp - title: Centrifuge_Goal + - material_number type: object result: + description: move_to_heating_station 返回类型 properties: + material_id: + title: Material Id + type: string + material_number: + title: Material Number + type: integer message: + title: Message type: string - return_info: - type: string + station_id: + description: 分配的加热台ID + title: Station Id + type: integer success: + title: Success type: boolean required: - success + - station_id + - material_id + - material_number - message - - return_info - title: Centrifuge_Result + title: MoveToHeatingStationResult type: object required: - goal - title: Centrifuge + title: move_to_heating_station参数 type: object - type: Centrifuge - module: unilabos.devices.virtual.virtual_centrifuge:VirtualCentrifuge + type: UniLabJsonCommand + auto-move_to_output: + feedback: {} + goal: {} + goal_default: + material_number: null + station_id: null + handles: + input: + - data_key: station_id + data_source: handle + data_type: workbench_station + handler_key: output_station_input + label: 加热台ID + - data_key: material_number + data_source: handle + data_type: workbench_material + handler_key: output_material_input + label: 物料编号 + placeholder_keys: {} + result: {} + schema: + description: 将物料从加热台移动到输出位置Cn + properties: + feedback: {} + goal: + properties: + material_number: + description: 物料编号，用于确定输出位置Cn + type: integer + station_id: + description: 加热台ID，1-3，从上一节点传入 + type: integer + required: + - station_id + - material_number + type: object + result: + description: move_to_output 返回类型 + properties: + material_id: + title: Material Id + type: string + station_id: + title: Station Id + type: integer + success: + title: Success + type: boolean + required: + - success + - station_id + - material_id + title: MoveToOutputResult + type: object + required: + - goal + title: move_to_output参数 + type: object + type: UniLabJsonCommand + auto-prepare_materials: + feedback: {} + goal: {} + goal_default: + count: 5 + handles: + output: + - data_key: material_1 + data_source: executor + data_type: workbench_material + handler_key: channel_1 + label: 实验1 + - data_key: material_2 + data_source: executor + data_type: workbench_material + handler_key: channel_2 + label: 实验2 + - data_key: material_3 + data_source: executor + data_type: workbench_material + handler_key: channel_3 + label: 实验3 + - data_key: material_4 + data_source: executor + data_type: workbench_material + handler_key: channel_4 + label: 实验4 + - data_key: material_5 + data_source: executor + data_type: workbench_material + handler_key: channel_5 + label: 实验5 + placeholder_keys: {} + result: {} + schema: + 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 + properties: + feedback: {} + goal: + properties: + count: + default: 5 + description: 待生成的物料数量，默认5 (生成 A1-A5) + type: integer + required: [] + type: object + result: + description: prepare_materials 返回类型 - 批量准备物料 + properties: + count: + title: Count + type: integer + material_1: + title: Material 1 + type: integer + material_2: + title: Material 2 + type: integer + material_3: + title: Material 3 + type: integer + material_4: + title: Material 4 + type: integer + material_5: + title: Material 5 + type: integer + message: + title: Message + type: string + success: + title: Success + type: boolean + required: + - success + - count + - material_1 + - material_2 + - material_3 + - material_4 + - material_5 + - message + title: PrepareMaterialsResult + type: object + required: + - goal + title: prepare_materials参数 + type: object + type: UniLabJsonCommand + auto-start_heating: + feedback: {} + goal: {} + goal_default: + material_number: null + station_id: null + handles: + input: + - data_key: station_id + data_source: handle + data_type: workbench_station + handler_key: station_id_input + label: 加热台ID + - data_key: material_number + data_source: handle + data_type: workbench_material + handler_key: material_number_input + label: 物料编号 + output: + - data_key: station_id + data_source: executor + data_type: workbench_station + handler_key: heating_done_station + label: 加热完成-加热台ID + - data_key: material_number + data_source: executor + data_type: workbench_material + handler_key: heating_done_material + label: 加热完成-物料编号 + placeholder_keys: {} + result: {} + schema: + description: 启动指定加热台的加热程序 + properties: + feedback: {} + goal: + properties: + material_number: + description: 物料编号，从上一节点传入 + type: integer + station_id: + description: 加热台ID，1-3，从上一节点传入 + type: integer + required: + - station_id + - material_number + type: object + result: + description: start_heating 返回类型 + properties: + material_id: + title: Material Id + type: string + material_number: + title: Material Number + type: integer + message: + title: Message + type: string + station_id: + title: Station Id + type: integer + success: + title: Success + type: boolean + required: + - success + - station_id + - material_id + - material_number + - message + title: StartHeatingResult + type: object + required: + - goal + title: start_heating参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.virtual.workbench:VirtualWorkbench status_types: - centrifuge_state: str - current_speed: float - current_temp: float - max_speed: float - max_temp: float + active_tasks_count: int + arm_current_task: str + arm_state: str + heating_station_1_material: str + heating_station_1_progress: float + heating_station_1_state: str + heating_station_2_material: str + heating_station_2_progress: float + heating_station_2_state: str + heating_station_3_material: str + heating_station_3_progress: float + heating_station_3_state: str message: str - min_temp: float - progress: float status: str - target_speed: float - target_temp: float - time_remaining: float type: python config_info: [] - description: Virtual Centrifuge for CentrifugeProtocol Testing - handles: - - data_key: vessel - data_source: handle - data_type: transport - description: 需要离心的样品容器 - handler_key: centrifuge - io_type: target - label: centrifuge - side: NORTH + description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent + material processing + handles: [] icon: '' init_param_schema: config: @@ -274,5521 +331,48 @@ virtual_centrifuge: type: object data: properties: - centrifuge_state: + active_tasks_count: + type: integer + arm_current_task: type: string - current_speed: + arm_state: + type: string + heating_station_1_material: + type: string + heating_station_1_progress: type: number - current_temp: + heating_station_1_state: + type: string + heating_station_2_material: + type: string + heating_station_2_progress: type: number - max_speed: - type: number - max_temp: + heating_station_2_state: + type: string + heating_station_3_material: + type: string + heating_station_3_progress: type: number + heating_station_3_state: + type: string message: type: string - min_temp: - type: number - progress: - type: number status: type: string - target_speed: - type: number - target_temp: - type: number - time_remaining: - type: number required: - status - - centrifuge_state - - current_speed - - target_speed - - current_temp - - target_temp - - max_speed - - max_temp - - min_temp - - time_remaining - - progress + - arm_state + - arm_current_task + - heating_station_1_state + - heating_station_1_material + - heating_station_1_progress + - heating_station_2_state + - heating_station_2_material + - heating_station_2_progress + - heating_station_3_state + - heating_station_3_material + - heating_station_3_progress + - active_tasks_count - message type: object version: 1.0.0 -virtual_column: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - 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 - run_column: - feedback: - current_status: current_status - processed_volume: processed_volume - progress: progress - goal: - column: column - from_vessel: from_vessel - to_vessel: to_vessel - goal_default: - column: '' - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - pct1: '' - pct2: '' - ratio: '' - rf: '' - solvent1: '' - solvent2: '' - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - message: current_status - return_info: current_status - success: success - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: RunColumn_Feedback - type: object - goal: - properties: - column: - type: string - from_vessel: - properties: - category: - type: string - 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: from_vessel - type: object - pct1: - type: string - pct2: - type: string - ratio: - type: string - rf: - type: string - solvent1: - type: string - solvent2: - type: string - to_vessel: - properties: - category: - type: string - 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: to_vessel - type: object - required: - - from_vessel - - to_vessel - - column - - rf - - pct1 - - pct2 - - solvent1 - - solvent2 - - ratio - title: RunColumn_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: RunColumn_Result - type: object - required: - - goal - title: RunColumn - type: object - type: RunColumn - module: unilabos.devices.virtual.virtual_column:VirtualColumn - status_types: - column_diameter: float - column_length: float - column_state: str - current_flow_rate: float - current_phase: str - current_status: str - final_volume: float - max_flow_rate: float - processed_volume: float - progress: float - status: str - type: python - config_info: [] - description: Virtual Column Chromatography Device for RunColumn Protocol Testing - handles: - - data_key: from_vessel - data_source: handle - data_type: transport - description: 样品输入口 - handler_key: columnin - io_type: target - label: columnin - side: WEST - - data_key: to_vessel - data_source: handle - data_type: transport - description: 产物输出口 - handler_key: columnout - io_type: source - label: columnout - side: EAST - icon: '' - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - column_diameter: - type: number - column_length: - type: number - column_state: - type: string - current_flow_rate: - type: number - current_phase: - type: string - current_status: - type: string - final_volume: - type: number - max_flow_rate: - type: number - processed_volume: - type: number - progress: - type: number - status: - type: string - required: - - status - - column_state - - current_flow_rate - - max_flow_rate - - column_length - - column_diameter - - processed_volume - - progress - - current_status - - current_phase - - final_volume - type: object - version: 1.0.0 -virtual_filter: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - 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 - filter: - feedback: - current_status: current_status - current_temp: current_temp - filtered_volume: filtered_volume - progress: progress - goal: - continue_heatchill: continue_heatchill - filtrate_vessel: filtrate_vessel - stir: stir - stir_speed: stir_speed - temp: temp - vessel: vessel - volume: volume - goal_default: - continue_heatchill: false - filtrate_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: 0.0 - handles: {} - result: - message: message - return_info: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - current_temp: - type: number - filtered_volume: - type: number - progress: - type: number - required: - - progress - - current_temp - - filtered_volume - - current_status - title: Filter_Feedback - type: object - goal: - properties: - continue_heatchill: - type: boolean - filtrate_vessel: - properties: - category: - type: string - 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: filtrate_vessel - type: object - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - vessel: - properties: - category: - type: string - 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: vessel - type: object - volume: - type: number - required: - - vessel - - filtrate_vessel - - stir - - stir_speed - - temp - - continue_heatchill - - volume - title: Filter_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Filter_Result - type: object - required: - - goal - title: Filter - type: object - type: Filter - module: unilabos.devices.virtual.virtual_filter:VirtualFilter - status_types: - current_status: str - current_temp: float - filtered_volume: float - max_stir_speed: float - max_temp: float - max_volume: float - message: str - progress: float - status: str - type: python - config_info: [] - description: Virtual Filter for FilterProtocol Testing - handles: - - data_key: vessel_in - data_source: handle - data_type: transport - description: 需要过滤的样品容器 - handler_key: filterin - io_type: target - label: filter_in - side: NORTH - - data_key: filtrate_out - data_source: handle - data_type: transport - description: 滤液出口 - handler_key: filtrateout - io_type: source - label: filtrate_out - side: SOUTH - - data_key: retentate_out - data_source: handle - data_type: transport - description: 滤渣/固体出口 - handler_key: retentateout - io_type: source - label: retentate_out - side: EAST - icon: '' - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - current_status: - type: string - current_temp: - type: number - filtered_volume: - type: number - max_stir_speed: - type: number - max_temp: - type: number - max_volume: - type: number - message: - type: string - progress: - type: number - status: - type: string - required: - - status - - progress - - current_temp - - current_status - - filtered_volume - - message - - max_temp - - max_stir_speed - - max_volume - type: object - version: 1.0.0 -virtual_gas_source: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-is_closed: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_closed的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_closed参数 - type: object - type: UniLabJsonCommand - auto-is_open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_open的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_open参数 - type: object - type: UniLabJsonCommand - close: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - set_status: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - module: unilabos.devices.virtual.virtual_gas_source:VirtualGasSource - status_types: - status: str - type: python - config_info: [] - description: Virtual gas source - handles: - - data_key: fluid_out - data_source: executor - data_type: fluid - description: 气源出气口 - handler_key: gassource - io_type: source - label: gassource - side: SOUTH - icon: '' - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - status: - type: string - required: - - status - type: object - version: 1.0.0 -virtual_heatchill: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - 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 - heat_chill: - feedback: - status: status - goal: - purpose: purpose - stir: stir - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - goal_default: - pressure: '' - purpose: '' - reflux_solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - temp_spec: '' - time: '' - time_spec: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChill_Feedback - type: object - goal: - properties: - pressure: - type: string - purpose: - type: string - reflux_solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - temp_spec: - type: string - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - 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: vessel - type: object - required: - - vessel - - temp - - time - - temp_spec - - time_spec - - pressure - - reflux_solvent - - stir - - stir_speed - - purpose - title: HeatChill_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: HeatChill_Result - type: object - required: - - goal - title: HeatChill - type: object - type: HeatChill - heat_chill_start: - feedback: - status: status - goal: - purpose: purpose - temp: temp - vessel: vessel - goal_default: - purpose: '' - temp: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStart_Feedback - type: object - goal: - properties: - purpose: - type: string - temp: - type: number - vessel: - properties: - category: - type: string - 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: vessel - type: object - required: - - vessel - - temp - - purpose - title: HeatChillStart_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStart_Result - type: object - required: - - goal - title: HeatChillStart - type: object - type: HeatChillStart - heat_chill_stop: - feedback: - status: status - goal: - vessel: vessel - goal_default: - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStop_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - 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: vessel - type: object - required: - - vessel - title: HeatChillStop_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStop_Result - type: object - required: - - goal - title: HeatChillStop - type: object - type: HeatChillStop - module: unilabos.devices.virtual.virtual_heatchill:VirtualHeatChill - status_types: - is_stirring: bool - max_stir_speed: float - max_temp: float - min_temp: float - operation_mode: str - progress: float - remaining_time: float - status: str - stir_speed: float - type: python - config_info: [] - description: Virtual HeatChill for HeatChillProtocol Testing - handles: - - data_key: vessel - data_source: handle - data_type: mechanical - description: 加热/冷却器的物理连接口 - handler_key: heatchill - io_type: source - label: heatchill - side: NORTH - icon: Heater.webp - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - is_stirring: - type: boolean - max_stir_speed: - type: number - max_temp: - type: number - min_temp: - type: number - operation_mode: - type: string - progress: - type: number - remaining_time: - type: number - status: - type: string - stir_speed: - type: number - required: - - status - - operation_mode - - is_stirring - - stir_speed - - remaining_time - - progress - - max_temp - - min_temp - - max_stir_speed - type: object - version: 1.0.0 -virtual_multiway_valve: - category: - - virtual_device - class: - action_value_mappings: - auto-close: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: close的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: close参数 - type: object - type: UniLabJsonCommand - auto-is_at_port: - feedback: {} - goal: {} - goal_default: - port_number: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_at_port的参数schema - properties: - feedback: {} - goal: - properties: - port_number: - type: integer - required: - - port_number - type: object - result: {} - required: - - goal - title: is_at_port参数 - type: object - type: UniLabJsonCommand - auto-is_at_position: - feedback: {} - goal: {} - goal_default: - position: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_at_position的参数schema - properties: - feedback: {} - goal: - properties: - position: - type: integer - required: - - position - type: object - result: {} - required: - - goal - title: is_at_position参数 - type: object - type: UniLabJsonCommand - auto-is_at_pump_position: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_at_pump_position的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_at_pump_position参数 - type: object - type: UniLabJsonCommand - auto-open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: open参数 - type: object - type: UniLabJsonCommand - auto-reset: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: reset的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: reset参数 - type: object - type: UniLabJsonCommand - auto-set_to_port: - feedback: {} - goal: {} - goal_default: - port_number: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: set_to_port的参数schema - properties: - feedback: {} - goal: - properties: - port_number: - type: integer - required: - - port_number - type: object - result: {} - required: - - goal - title: set_to_port参数 - type: object - type: UniLabJsonCommand - auto-set_to_pump_position: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: set_to_pump_position的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: set_to_pump_position参数 - type: object - type: UniLabJsonCommand - auto-switch_between_pump_and_port: - feedback: {} - goal: {} - goal_default: - port_number: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: switch_between_pump_and_port的参数schema - properties: - feedback: {} - goal: - properties: - port_number: - type: integer - required: - - port_number - type: object - result: {} - required: - - goal - title: switch_between_pump_and_port参数 - type: object - type: UniLabJsonCommand - set_position: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - set_valve_position: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.virtual.virtual_multiway_valve:VirtualMultiwayValve - status_types: - current_port: str - current_position: int - flow_path: str - status: str - target_position: int - valve_position: int - valve_state: str - type: python - config_info: [] - description: Virtual 8-Way Valve for flow direction control - handles: - - data_key: fluid_in - data_source: handle - data_type: fluid - description: 八通阀门进液口 - handler_key: transferpump - io_type: target - label: transferpump - side: NORTH - - data_key: fluid_port_1 - data_source: executor - data_type: fluid - description: 八通阀门端口1 - handler_key: '1' - io_type: source - label: '1' - side: NORTH - - data_key: fluid_port_2 - data_source: executor - data_type: fluid - description: 八通阀门端口2 - handler_key: '2' - io_type: source - label: '2' - side: EAST - - data_key: fluid_port_3 - data_source: executor - data_type: fluid - description: 八通阀门端口3 - handler_key: '3' - io_type: source - label: '3' - side: EAST - - data_key: fluid_port_4 - data_source: executor - data_type: fluid - description: 八通阀门端口4 - handler_key: '4' - io_type: source - label: '4' - side: SOUTH - - data_key: fluid_port_5 - data_source: executor - data_type: fluid - description: 八通阀门端口5 - handler_key: '5' - io_type: source - label: '5' - side: SOUTH - - data_key: fluid_port_6 - data_source: executor - data_type: fluid - description: 八通阀门端口6 - handler_key: '6' - io_type: source - label: '6' - side: WEST - - data_key: fluid_port_7 - data_source: executor - data_type: fluid - description: 八通阀门端口7 - handler_key: '7' - io_type: source - label: '7' - side: WEST - - data_key: fluid_port_8 - data_source: executor - data_type: fluid - description: 八通阀门端口8-特殊输入 - handler_key: '8' - io_type: target - label: '8' - side: WEST - - data_key: fluid_port_8 - data_source: executor - data_type: fluid - description: 八通阀门端口8 - handler_key: '8' - io_type: source - label: '8' - side: NORTH - icon: EightPipeline.webp - init_param_schema: - config: - properties: - port: - default: VIRTUAL - type: string - positions: - default: 8 - type: integer - required: [] - type: object - data: - properties: - current_port: - type: string - current_position: - type: integer - flow_path: - type: string - status: - type: string - target_position: - type: integer - valve_position: - type: integer - valve_state: - type: string - required: - - status - - valve_state - - current_position - - target_position - - current_port - - valve_position - - flow_path - type: object - version: 1.0.0 -virtual_rotavap: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - 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 - evaporate: - feedback: - current_device: current_device - status: status - goal: - pressure: pressure - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - goal_default: - pressure: 0.0 - solvent: '' - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Evaporate_Feedback - type: object - goal: - properties: - pressure: - type: number - solvent: - type: string - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - properties: - category: - type: string - 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: vessel - type: object - required: - - vessel - - pressure - - temp - - time - - stir_speed - - solvent - title: Evaporate_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Evaporate_Result - type: object - required: - - goal - title: Evaporate - type: object - type: Evaporate - module: unilabos.devices.virtual.virtual_rotavap:VirtualRotavap - status_types: - current_temp: float - evaporated_volume: float - max_rotation_speed: float - max_temp: float - message: str - progress: float - remaining_time: float - rotation_speed: float - rotavap_state: str - status: str - vacuum_pressure: float - type: python - config_info: [] - description: Virtual Rotary Evaporator for EvaporateProtocol Testing - handles: - - data_key: vessel_in - data_source: handle - data_type: fluid - description: 样品连接口 - handler_key: samplein - io_type: target - label: sample_in - side: NORTH - - data_key: product_out - data_source: handle - data_type: fluid - description: 浓缩产物出口 - handler_key: productout - io_type: source - label: product_out - side: SOUTH - - data_key: solvent_out - data_source: handle - data_type: fluid - description: 冷凝溶剂出口 - handler_key: solventout - io_type: source - label: solvent_out - side: EAST - icon: Rotaryevaporator.webp - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - current_temp: - type: number - evaporated_volume: - type: number - max_rotation_speed: - type: number - max_temp: - type: number - message: - type: string - progress: - type: number - remaining_time: - type: number - rotation_speed: - type: number - rotavap_state: - type: string - status: - type: string - vacuum_pressure: - type: number - required: - - status - - rotavap_state - - current_temp - - rotation_speed - - vacuum_pressure - - evaporated_volume - - progress - - message - - max_temp - - max_rotation_speed - - remaining_time - type: object - version: 1.0.0 -virtual_separator: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - 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 - separate: - feedback: - current_status: status - progress: progress - goal: - from_vessel: from_vessel - product_phase: product_phase - purpose: purpose - repeats: repeats - separation_vessel: separation_vessel - settling_time: settling_time - solvent: solvent - solvent_volume: solvent_volume - stir_speed: stir_speed - stir_time: stir_time - through: through - to_vessel: to_vessel - waste_phase_to_vessel: waste_phase_to_vessel - goal_default: - from_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - product_phase: '' - product_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - purpose: '' - repeats: 0 - separation_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - settling_time: 0.0 - solvent: '' - solvent_volume: '' - stir_speed: 0.0 - stir_time: 0.0 - through: '' - to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - volume: '' - waste_phase_to_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - waste_vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Separate_Feedback - type: object - goal: - properties: - from_vessel: - properties: - category: - type: string - 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: from_vessel - type: object - product_phase: - type: string - product_vessel: - properties: - category: - type: string - 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: product_vessel - type: object - purpose: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - separation_vessel: - properties: - category: - type: string - 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: separation_vessel - type: object - settling_time: - type: number - solvent: - type: string - solvent_volume: - type: string - stir_speed: - type: number - stir_time: - type: number - through: - type: string - to_vessel: - properties: - category: - type: string - 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: to_vessel - type: object - vessel: - properties: - category: - type: string - 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: vessel - type: object - volume: - type: string - waste_phase_to_vessel: - properties: - category: - type: string - 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: waste_phase_to_vessel - type: object - waste_vessel: - properties: - category: - type: string - 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: waste_vessel - type: object - required: - - vessel - - purpose - - product_phase - - from_vessel - - separation_vessel - - to_vessel - - waste_phase_to_vessel - - product_vessel - - waste_vessel - - solvent - - solvent_volume - - volume - - through - - repeats - - stir_time - - stir_speed - - settling_time - title: Separate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Separate_Result - type: object - required: - - goal - title: Separate - type: object - type: Separate - module: unilabos.devices.virtual.virtual_separator:VirtualSeparator - status_types: - has_phases: bool - message: str - phase_separation: bool - progress: float - separator_state: str - settling_time: float - status: str - stir_speed: float - volume: float - type: python - config_info: [] - description: Virtual Separator for SeparateProtocol Testing - handles: - - data_key: from_vessel - data_source: handle - data_type: fluid - description: 需要分离的混合液体输入口 - handler_key: separatorin - io_type: target - label: separator_in - side: NORTH - - data_key: bottom_outlet - data_source: executor - data_type: fluid - description: 下相（重相）液体输出口 - handler_key: bottomphaseout - io_type: source - label: bottom_phase_out - side: SOUTH - - data_key: mechanical_port - data_source: handle - data_type: mechanical - description: 用于连接搅拌器等机械设备的接口 - handler_key: bind - io_type: target - label: bind - side: WEST - icon: Separator.webp - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - has_phases: - type: boolean - message: - type: string - phase_separation: - type: boolean - progress: - type: number - separator_state: - type: string - settling_time: - type: number - status: - type: string - stir_speed: - type: number - volume: - type: number - required: - - status - - separator_state - - volume - - has_phases - - phase_separation - - stir_speed - - settling_time - - progress - - message - type: object - version: 1.0.0 -virtual_solenoid_valve: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-is_closed: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_closed的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_closed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-reset: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: reset的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: reset参数 - type: object - type: UniLabJsonCommandAsync - auto-toggle: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: toggle的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: toggle参数 - type: object - type: UniLabJsonCommand - close: - feedback: {} - goal: - command: CLOSED - goal_default: {} - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - set_status: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - set_valve_position: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: {} - result: - message: message - success: success - valve_position: valve_position - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.virtual.virtual_solenoid_valve:VirtualSolenoidValve - status_types: - is_open: bool - status: str - valve_position: str - valve_state: str - type: python - config_info: [] - description: Virtual Solenoid Valve for simple on/off flow control - handles: - - data_key: fluid_port_in - data_source: handle - data_type: fluid - description: 电磁阀的进液口 - handler_key: in - io_type: target - label: in - side: NORTH - - data_key: fluid_port_out - data_source: handle - data_type: fluid - description: 电磁阀的出液口 - handler_key: out - io_type: source - label: out - side: SOUTH - icon: '' - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - is_open: - type: boolean - status: - type: string - valve_position: - type: string - valve_state: - type: string - required: - - status - - valve_state - - is_open - - valve_position - type: object - version: 1.0.0 -virtual_solid_dispenser: - category: - - virtual_device - class: - action_value_mappings: - add_solid: - feedback: - current_status: status - progress: progress - goal: - equiv: equiv - event: event - mass: mass - mol: mol - purpose: purpose - rate_spec: rate_spec - ratio: ratio - reagent: reagent - vessel: vessel - goal_default: - amount: '' - equiv: '' - event: '' - mass: '' - mol: '' - purpose: '' - rate_spec: '' - ratio: '' - reagent: '' - stir: false - stir_speed: 0.0 - time: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - viscous: false - volume: '' - handles: {} - result: - message: message - return_info: return_info - success: success - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: Add_Feedback - type: object - goal: - properties: - amount: - type: string - equiv: - type: string - event: - type: string - mass: - type: string - mol: - type: string - purpose: - type: string - rate_spec: - type: string - ratio: - type: string - reagent: - type: string - stir: - type: boolean - stir_speed: - type: number - time: - type: string - vessel: - properties: - category: - type: string - 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: vessel - type: object - viscous: - type: boolean - volume: - type: string - required: - - vessel - - reagent - - volume - - mass - - amount - - time - - stir - - stir_speed - - viscous - - purpose - - event - - mol - - rate_spec - - equiv - - ratio - title: Add_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Add_Result - type: object - required: - - goal - title: Add - type: object - type: Add - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-find_solid_reagent_bottle: - feedback: {} - goal: {} - goal_default: - reagent_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - reagent_name: - type: string - required: - - reagent_name - type: object - result: {} - required: - - goal - title: find_solid_reagent_bottle参数 - type: object - type: UniLabJsonCommand - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-parse_mass_string: - feedback: {} - goal: {} - goal_default: - mass_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - mass_str: - type: string - required: - - mass_str - type: object - result: {} - required: - - goal - title: parse_mass_string参数 - type: object - type: UniLabJsonCommand - auto-parse_mol_string: - feedback: {} - goal: {} - goal_default: - mol_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - mol_str: - type: string - required: - - mol_str - type: object - result: {} - required: - - goal - title: parse_mol_string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 - module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser - status_types: - current_reagent: str - dispensed_amount: float - status: str - total_operations: int - type: python - config_info: [] - description: Virtual Solid Dispenser for Add Protocol Testing - supports mass and - molar additions - handles: - - data_key: solid_out - data_source: executor - data_type: resource - description: 固体试剂输出口 - handler_key: SolidOut - io_type: source - label: SolidOut - side: SOUTH - - data_key: solid_in - data_source: handle - data_type: resource - description: 固体试剂输入口（连接试剂瓶） - handler_key: SolidIn - io_type: target - label: SolidIn - side: NORTH - icon: '' - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - current_reagent: - type: string - dispensed_amount: - type: number - status: - type: string - total_operations: - type: integer - required: - - status - - current_reagent - - dispensed_amount - - total_operations - type: object - version: 1.0.0 -virtual_stirrer: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - 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 - start_stir: - feedback: - status: status - goal: - purpose: purpose - stir_speed: stir_speed - vessel: vessel - goal_default: - purpose: '' - stir_speed: 0.0 - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - progress: - type: number - required: - - progress - - current_speed - - current_status - title: StartStir_Feedback - type: object - goal: - properties: - purpose: - type: string - stir_speed: - type: number - vessel: - properties: - category: - type: string - 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: vessel - type: object - required: - - vessel - - stir_speed - - purpose - title: StartStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StartStir_Result - type: object - required: - - goal - title: StartStir - type: object - type: StartStir - stir: - feedback: - status: status - goal: - settling_time: settling_time - stir_speed: stir_speed - stir_time: stir_time - goal_default: - event: '' - settling_time: '' - stir_speed: 0.0 - stir_time: 0.0 - time: '' - time_spec: '' - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: Stir_Feedback - type: object - goal: - properties: - event: - type: string - settling_time: - type: string - stir_speed: - type: number - stir_time: - type: number - time: - type: string - time_spec: - type: string - vessel: - properties: - category: - type: string - 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: vessel - type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time - title: Stir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Stir_Result - type: object - required: - - goal - title: Stir - type: object - type: Stir - stop_stir: - feedback: - status: status - goal: - vessel: vessel - goal_default: - vessel: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: StopStir_Feedback - type: object - goal: - properties: - vessel: - properties: - category: - type: string - 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: vessel - type: object - required: - - vessel - title: StopStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StopStir_Result - type: object - required: - - goal - title: StopStir - type: object - type: StopStir - module: unilabos.devices.virtual.virtual_stirrer:VirtualStirrer - status_types: - current_speed: float - current_vessel: str - device_info: dict - is_stirring: bool - max_speed: float - min_speed: float - operation_mode: str - remaining_time: float - status: str - type: python - config_info: [] - description: Virtual Stirrer for StirProtocol Testing - handles: - - data_key: vessel - data_source: handle - data_type: mechanical - description: 搅拌器的机械连接口 - handler_key: stirrer - io_type: source - label: stirrer - side: NORTH - icon: Stirrer.webp - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - current_speed: - type: number - current_vessel: - type: string - device_info: - type: object - is_stirring: - type: boolean - max_speed: - type: number - min_speed: - type: number - operation_mode: - type: string - remaining_time: - type: number - status: - type: string - required: - - status - - operation_mode - - current_vessel - - current_speed - - is_stirring - - remaining_time - - max_speed - - min_speed - - device_info - type: object - version: 1.0.0 -virtual_transfer_pump: - category: - - virtual_device - class: - action_value_mappings: - auto-aspirate: - feedback: {} - goal: {} - goal_default: - velocity: null - volume: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: aspirate的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - volume: - type: number - required: - - volume - type: object - result: {} - required: - - goal - title: aspirate参数 - type: object - type: UniLabJsonCommandAsync - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-dispense: - feedback: {} - goal: {} - goal_default: - velocity: null - volume: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: dispense的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - volume: - type: number - required: - - volume - type: object - result: {} - required: - - goal - title: dispense参数 - type: object - type: UniLabJsonCommandAsync - auto-empty_syringe: - feedback: {} - goal: {} - goal_default: - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: empty_syringe的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - required: [] - type: object - result: {} - required: - - goal - title: empty_syringe参数 - type: object - type: UniLabJsonCommandAsync - auto-fill_syringe: - feedback: {} - goal: {} - goal_default: - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: fill_syringe的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - required: [] - type: object - result: {} - required: - - goal - title: fill_syringe参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-is_empty: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_empty的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_empty参数 - type: object - type: UniLabJsonCommand - auto-is_full: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_full的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_full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-pull_plunger: - feedback: {} - goal: {} - goal_default: - velocity: null - volume: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: pull_plunger的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - volume: - type: number - required: - - volume - type: object - result: {} - required: - - goal - title: pull_plunger参数 - type: object - type: UniLabJsonCommandAsync - auto-push_plunger: - feedback: {} - goal: {} - goal_default: - velocity: null - volume: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: push_plunger的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - volume: - type: number - required: - - volume - type: object - result: {} - required: - - goal - title: push_plunger参数 - type: object - type: UniLabJsonCommandAsync - auto-set_max_velocity: - feedback: {} - goal: {} - goal_default: - velocity: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: set_max_velocity的参数schema - properties: - feedback: {} - goal: - properties: - velocity: - type: number - required: - - velocity - type: object - result: {} - required: - - goal - title: set_max_velocity参数 - type: object - type: UniLabJsonCommand - auto-stop_operation: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: stop_operation的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: stop_operation参数 - type: object - type: UniLabJsonCommandAsync - set_position: - feedback: - current_position: current_position - progress: progress - status: status - goal: - max_velocity: max_velocity - position: position - goal_default: - max_velocity: 0.0 - position: 0.0 - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_position: - type: number - progress: - type: number - status: - type: string - required: - - status - - current_position - - progress - title: SetPumpPosition_Feedback - type: object - goal: - properties: - max_velocity: - type: number - position: - type: number - required: - - position - - max_velocity - title: SetPumpPosition_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - - message - title: SetPumpPosition_Result - type: object - required: - - goal - title: SetPumpPosition - type: object - type: SetPumpPosition - transfer: - feedback: - current_status: current_status - progress: progress - transferred_volume: transferred_volume - goal: - amount: amount - from_vessel: from_vessel - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - time: time - to_vessel: to_vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - from_vessel: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - time: 0.0 - to_vessel: '' - viscous: false - volume: 0.0 - handles: {} - result: - message: message - success: success - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - transferred_volume: - type: number - required: - - progress - - transferred_volume - - current_status - title: Transfer_Feedback - type: object - goal: - properties: - amount: - type: string - from_vessel: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - time: - type: number - to_vessel: - type: string - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - title: Transfer_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Transfer_Result - type: object - required: - - goal - title: Transfer - type: object - type: Transfer - module: unilabos.devices.virtual.virtual_transferpump:VirtualTransferPump - status_types: - current_volume: float - max_velocity: float - position: float - remaining_capacity: float - status: str - transfer_rate: float - type: python - config_info: [] - description: Virtual Transfer Pump for TransferProtocol Testing (Syringe-style) - handles: - - data_key: fluid_port - data_source: handle - data_type: fluid - description: 注射器式转移泵的连接口 - handler_key: transferpump - io_type: source - label: transferpump - side: SOUTH - icon: Pump.webp - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - current_volume: - type: number - max_velocity: - type: number - position: - type: number - remaining_capacity: - type: number - status: - type: string - transfer_rate: - type: number - required: - - status - - position - - current_volume - - max_velocity - - transfer_rate - - remaining_capacity - type: object - version: 1.0.0 -virtual_vacuum_pump: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-is_closed: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_closed的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_closed参数 - type: object - type: UniLabJsonCommand - auto-is_open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: is_open的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: is_open参数 - type: object - type: UniLabJsonCommand - close: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - open: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: EmptyIn_Feedback - type: object - goal: - properties: {} - required: [] - title: EmptyIn_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: EmptyIn_Result - type: object - required: - - goal - title: EmptyIn - type: object - type: EmptyIn - set_status: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - module: unilabos.devices.virtual.virtual_vacuum_pump:VirtualVacuumPump - status_types: - status: str - type: python - config_info: [] - description: Virtual vacuum pump - handles: - - data_key: fluid_in - data_source: handle - data_type: fluid - description: 真空泵进气口 - handler_key: vacuumpump - io_type: source - label: vacuumpump - side: SOUTH - icon: Vacuum.webp - init_param_schema: - config: - properties: - config: - type: string - device_id: - type: string - required: [] - type: object - data: - properties: - status: - type: string - required: - - status - type: object - version: 1.0.0 diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index f09b79c..e486d6c 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -71,6 +71,20 @@ class Registry: from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type + # 获取 HostNode 类的增强信息，用于自动生成 action schema + host_node_enhanced_info = get_enhanced_class_info( + "unilabos.ros.nodes.presets.host_node:HostNode", use_dynamic=True + ) + + # 为 test_latency 生成 schema，保留原有 description + test_latency_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_latency", {}) + test_latency_schema = self._generate_unilab_json_command_schema( + test_latency_method_info.get("args", []), + "test_latency", + test_latency_method_info.get("return_annotation"), + ) + test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。" + self.device_type_registry.update( { "host_node": { @@ -152,14 +166,19 @@ class Registry: }, }, "test_latency": { - "type": self.EmptyIn, + "type": ( + "UniLabJsonCommandAsync" + if test_latency_method_info.get("is_async", False) + else "UniLabJsonCommand" + ), "goal": {}, "feedback": {}, "result": {}, - "schema": ros_action_to_json_schema( - self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。" - ), - "goal_default": {}, + "schema": test_latency_schema, + "goal_default": { + arg["name"]: arg["default"] + for arg in test_latency_method_info.get("args", []) + }, "handles": {}, }, "auto-test_resource": { @@ -540,11 +559,9 @@ class Registry: return final_schema - def _preserve_field_descriptions( - self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any] - ) -> None: + def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None: """ - 保留之前 schema 中 goal/feedback/result 下一级字段的 description + 保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title Args: new_schema: 新生成的 schema（会被修改） @@ -566,6 +583,9 @@ class Registry: # 保留字段的 description if "description" in prev_field and prev_field["description"]: field_schema["description"] = prev_field["description"] + # 保留字段的 title（用户自定义的中文名） + if "title" in prev_field and prev_field["title"]: + field_schema["title"] = prev_field["title"] def _is_typed_dict(self, annotation: Any) -> bool: """ diff --git a/unilabos/ros/msgs/message_converter.py b/unilabos/ros/msgs/message_converter.py index 632d5e1..b526d5f 100644 --- a/unilabos/ros/msgs/message_converter.py +++ b/unilabos/ros/msgs/message_converter.py @@ -770,13 +770,16 @@ def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any return schema -def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, Any]: +def ros_action_to_json_schema( + action_class: Any, description="", previous_schema: Optional[Dict[str, Any]] = None +) -> Dict[str, Any]: """ 将 ROS Action 类转换为 JSON Schema Args: action_class: ROS Action 类 description: 描述 + previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description Returns: 完整的 JSON Schema 定义 @@ -810,9 +813,44 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An "required": ["goal"], } + # 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) + return schema +def _preserve_field_descriptions( + new_schema: Dict[str, Any], previous_schema: Dict[str, Any] +) -> None: + """ + 保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title + + Args: + new_schema: 新生成的 schema（会被修改） + previous_schema: 之前的 schema + """ + for section in ["goal", "feedback", "result"]: + new_section = new_schema.get("properties", {}).get(section, {}) + prev_section = previous_schema.get("properties", {}).get(section, {}) + + if not new_section or not prev_section: + continue + + new_props = new_section.get("properties", {}) + prev_props = prev_section.get("properties", {}) + + for field_name, field_schema in new_props.items(): + if field_name in prev_props: + prev_field = prev_props[field_name] + # 保留字段的 description + if "description" in prev_field and prev_field["description"]: + field_schema["description"] = prev_field["description"] + # 保留字段的 title（用户自定义的中文名） + if "title" in prev_field and prev_field["title"]: + field_schema["title"] = prev_field["title"] + + def convert_ros_action_to_jsonschema( action_name_or_type: Union[str, Type], output_file: Optional[str] = None, format: str = "json" ) -> Dict[str, Any]: diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 101476a..9a27e04 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -5,7 +5,8 @@ import threading import time import traceback import uuid -from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, TypedDict, Union +from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union +from typing_extensions import TypedDict from action_msgs.msg import GoalStatus from geometry_msgs.msg import Point @@ -62,6 +63,18 @@ class TestResourceReturn(TypedDict): devices: List[DeviceSlot] +class TestLatencyReturn(TypedDict): + """test_latency方法的返回值类型""" + + avg_rtt_ms: float + avg_time_diff_ms: float + max_time_error_ms: float + task_delay_ms: float + raw_delay_ms: float + test_count: int + status: str + + class HostNode(BaseROS2DeviceNode): """ 主机节点类，负责管理设备、资源和控制器 @@ -853,8 +866,13 @@ class HostNode(BaseROS2DeviceNode): # 适配后端的一些额外处理 return_value = return_info.get("return_value") if isinstance(return_value, dict): - unilabos_samples = return_info.get("unilabos_samples") - if isinstance(unilabos_samples, list): + unilabos_samples = return_value.pop("unilabos_samples", None) + if isinstance(unilabos_samples, list) and unilabos_samples: + self.lab_logger().info( + f"[Host Node] Job {job_id[:8]} returned {len(unilabos_samples)} sample(s): " + f"{[s.get('name', s.get('id', 'unknown')) if isinstance(s, dict) else str(s)[:20] for s in unilabos_samples[:5]]}" + f"{'...' if len(unilabos_samples) > 5 else ''}" + ) return_info["unilabos_samples"] = unilabos_samples suc = return_info.get("suc", False) if not suc: @@ -881,7 +899,7 @@ class HostNode(BaseROS2DeviceNode): # 清理 _goals 中的记录 if job_id in self._goals: del self._goals[job_id] - self.lab_logger().debug(f"[Host Node] Removed goal {job_id[:8]} from _goals") + self.lab_logger().trace(f"[Host Node] Removed goal {job_id[:8]} from _goals") # 存储结果供 HTTP API 查询 try: @@ -1326,10 +1344,20 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().debug(f"[Host Node-Resource] List parameters: {request}") return response - def test_latency(self): + def test_latency(self) -> TestLatencyReturn: """ 测试网络延迟的action实现 通过5次ping-pong机制校对时间误差并计算实际延迟 + + Returns: + TestLatencyReturn: 包含延迟测试结果的字典，包括： + - avg_rtt_ms: 平均往返时间（毫秒） + - avg_time_diff_ms: 平均时间差（毫秒） + - max_time_error_ms: 最大时间误差（毫秒） + - task_delay_ms: 实际任务延迟（毫秒），-1表示无法计算 + - raw_delay_ms: 原始时间差（毫秒），-1表示无法计算 + - test_count: 有效测试次数 + - status: 测试状态，"success"表示成功，"all_timeout"表示全部超时 """ import uuid as uuid_module @@ -1392,7 +1420,15 @@ class HostNode(BaseROS2DeviceNode): if not ping_results: self.lab_logger().error("❌ 所有ping-pong测试都失败了") - return {"status": "all_timeout"} + return { + "avg_rtt_ms": -1.0, + "avg_time_diff_ms": -1.0, + "max_time_error_ms": -1.0, + "task_delay_ms": -1.0, + "raw_delay_ms": -1.0, + "test_count": 0, + "status": "all_timeout", + } # 统计分析 rtts = [r["rtt_ms"] for r in ping_results] @@ -1400,7 +1436,7 @@ class HostNode(BaseROS2DeviceNode): avg_rtt_ms = sum(rtts) / len(rtts) avg_time_diff_ms = sum(time_diffs) / len(time_diffs) - max_time_diff_error_ms = max(abs(min(time_diffs)), abs(max(time_diffs))) + max_time_diff_error_ms: float = max(abs(min(time_diffs)), abs(max(time_diffs))) self.lab_logger().info("-" * 50) self.lab_logger().info("[测试统计]") @@ -1440,7 +1476,7 @@ class HostNode(BaseROS2DeviceNode): self.lab_logger().info("=" * 60) - return { + res: TestLatencyReturn = { "avg_rtt_ms": avg_rtt_ms, "avg_time_diff_ms": avg_time_diff_ms, "max_time_error_ms": max_time_diff_error_ms, @@ -1451,9 +1487,14 @@ class HostNode(BaseROS2DeviceNode): "test_count": len(ping_results), "status": "success", } + return res def test_resource( - self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None + self, + resource: ResourceSlot = None, + resources: List[ResourceSlot] = None, + device: DeviceSlot = None, + devices: List[DeviceSlot] = None, ) -> TestResourceReturn: if resources is None: resources = [] @@ -1514,7 +1555,9 @@ class HostNode(BaseROS2DeviceNode): # 构建服务地址 srv_address = f"/srv{namespace}/s2c_resource_tree" - self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------") + self.lab_logger().trace( + f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation started -------" + ) # 创建服务客户端 sclient = self.create_client(SerialCommand, srv_address) @@ -1549,7 +1592,9 @@ class HostNode(BaseROS2DeviceNode): time.sleep(0.05) response = future.result() - self.lab_logger().trace(f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------") + self.lab_logger().trace( + f"[Host Node-Resource] Host -> {device_id} ResourceTree {action} operation completed -------" + ) return True except Exception as e: diff --git a/unilabos/test/experiments/virtual_bench.json b/unilabos/test/experiments/virtual_bench.json new file mode 100644 index 0000000..d37fa6e --- /dev/null +++ b/unilabos/test/experiments/virtual_bench.json @@ -0,0 +1,28 @@ +{ + "nodes": [ + { + "id": "workbench_1", + "name": "虚拟工作台", + "children": [], + "parent": null, + "type": "device", + "class": "virtual_workbench", + "position": { + "x": 400, + "y": 300, + "z": 0 + }, + "config": { + "arm_operation_time": 3.0, + "heating_time": 10.0, + "num_heating_stations": 3 + }, + "data": { + "status": "Ready", + "arm_state": "idle", + "message": "工作台就绪" + } + } + ], + "links": [] +} diff --git a/unilabos/utils/decorator.py b/unilabos/utils/decorator.py index 667f353..57e968a 100644 --- a/unilabos/utils/decorator.py +++ b/unilabos/utils/decorator.py @@ -182,3 +182,49 @@ def get_all_subscriptions(instance) -> list: except Exception: pass return subscriptions + + +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 complete_registry 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。 + + Example: + class MyDriver: + @not_action + def helper_method(self): + # 这个方法不会被注册为动作 + pass + + def actual_action(self, param: str): + # 这个方法会被注册为动作 + self.helper_method() + + Note: + - 可以与其他装饰器组合使用，@not_action 应放在最外层 + - 仅影响 complete_registry 的动作识别，不影响方法的正常调用 + """ + + @wraps(func) + def wrapper(*args, **kwargs): + return func(*args, **kwargs) + + # 在函数上附加标记 + 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 + + Args: + func: 被检查的函数 + + Returns: + 如果函数被 @not_action 装饰则返回 True，否则返回 False + """ + return getattr(func, "_is_not_action", False) diff --git a/unilabos/utils/import_manager.py b/unilabos/utils/import_manager.py index 00fcd06..2df7636 100644 --- a/unilabos/utils/import_manager.py +++ b/unilabos/utils/import_manager.py @@ -28,6 +28,7 @@ __all__ = [ from ast import Constant from unilabos.utils import logger +from unilabos.utils.decorator import is_not_action class ImportManager: @@ -275,6 +276,9 @@ class ImportManager: method_info = self._analyze_method_signature(method) result["status_methods"][actual_name] = method_info elif not name.startswith("_"): + # 检查是否被 @not_action 装饰器标记 + if is_not_action(method): + continue # 其他非_开头的方法归类为action method_info = self._analyze_method_signature(method) result["action_methods"][name] = method_info @@ -330,6 +334,9 @@ class ImportManager: if actual_name not in result["status_methods"]: result["status_methods"][actual_name] = method_info else: + # 检查是否被 @not_action 装饰器标记 + if self._is_not_action_method(node): + continue # 其他非_开头的方法归类为action result["action_methods"][method_name] = method_info return result @@ -450,6 +457,13 @@ class ImportManager: return True return False + def _is_not_action_method(self, node: ast.FunctionDef) -> bool: + """检查是否是@not_action装饰的方法""" + for decorator in node.decorator_list: + if isinstance(decorator, ast.Name) and decorator.id == "not_action": + return True + return False + def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str: """从setter装饰器中获取属性名""" for decorator in node.decorator_list: