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Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16

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Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

Fix/workstation yb revision (#217)

* Revert log change & update registry

* Revert opcua client & move electrolyte node

Workstation yb merge dev ready 260113 (#216)

* feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数

* feat(bioyond): 添加测量小瓶功能，支持基本参数配置

* feat(bioyond): 添加测量小瓶配置，支持新设备参数

* feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈

* feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积

* feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理

* feat(bioyond): 调整反应器位置配置，统一坐标格式

* feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常

* feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置

* feat(opcua): 增强节点ID解析兼容性和数据类型处理

改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符
添加数据类型转换处理，确保写入值时类型匹配
优化错误提示信息，便于调试节点连接问题

* feat(registry): 新增后处理站的设备配置文件

添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述

* 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑

* 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置

* fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property

* fix:同步工作流序列

* feat: remove commented workflow synchronization from `reaction_station.py`.

* 添加时间约束功能及相关配置

* fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项

* fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存

* fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息

* feat：添加实验报告简化功能，去除冗余信息并保留关键信息

* feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态

* fix: 修复添加物料时数据格式错误

* Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations

- Removed redundant action value mappings from bioyond_dispensing_station.
- Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters.
- Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End).
- Simplified descriptions and updated measurement units from μL to mL where applicable.
- Removed unused commands from reaction_station_bioyond to streamline the configuration.

* fix：Change the material unit from μL to mL

* fix：refresh_material_cache

* feat: 动态获取工作流步骤ID，优化工作流配置

* feat: 添加清空服务端所有非核心工作流功能

* fix：修复Bottle类的序列化和反序列化方法

* feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息

* Add debug log

* feat(workstation): update bioyond config migration and coin cell material search logic

- Migrate bioyond_cell config to JSON structure and remove global variable dependencies
- Implement material search confirmation dialog auto-handling
- Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md

* Refactor module paths for Bioyond devices in YAML configuration files

- Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure.
- Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase.

* fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

* refactor: Move config from module to instance initialization

* fix: 修正 reaction_station 目录名拼写错误

* feat: Integrate material search logic and cleanup deprecated files

- Update coin_cell_assembly.py with material search dialog handling
- Update YB_warehouses.py with latest warehouse configurations
- Remove outdated documentation and test data files

* Refactor: Use instance attributes for action names and workflow step IDs

* refactor: Split tipbox storage into left and right warehouses

* refactor: Merge tipbox storage left and right into single warehouse

---------

Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Andy6M <xieqiming1132@qq.com>

fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

fix parent_uuid fetch when bind_parent_id == node_name

物料更新也是用父节点进行报送

Add None conversion for tube rack etc.

Add set_liquid example.

Add create_resource and test_resource example.

Add restart.
Temp allow action message.

Add no_update_feedback option.

Create session_id by edge.

bump version to 0.10.15

temp cancel update req
This commit is contained in:
Xuwznln
2026-01-08 15:26:31 +08:00
parent 8580b84167
commit 2a5ddd611d
106 changed files with 17805 additions and 25458 deletions
Download Patch File Download Diff File Expand all files Collapse all files

159
unilabos/app/main.py
View File

@@ -7,7 +7,6 @@ import sys
import threading
import time
from typing import Dict, Any, List
import networkx as nx
import yaml
@@ -17,9 +16,15 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
if unilabos_dir not in sys.path:
sys.path.append(unilabos_dir)
from unilabos.app.utils import cleanup_for_restart
from unilabos.utils.banner_print import print_status, print_unilab_banner
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
# Global restart flags (used by ws_client and web/server)
_restart_requested: bool = False
_restart_reason: str = ""
def load_config_from_file(config_path):
if config_path is None:
config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
@@ -41,7 +46,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
for i, arg in enumerate(sys.argv):
for option_string in option_strings:
if arg.startswith(option_string):
new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
sys.argv[i] = new_arg
break
@@ -49,6 +54,8 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
def parse_args():
"""解析命令行参数"""
parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
subparsers = parser.add_subparsers(title="Valid subcommands", dest="command")
parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
parser.add_argument(
@@ -153,6 +160,50 @@ 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",
help="Disable sending update feedback to server",
)
# workflow upload subcommand
workflow_parser = subparsers.add_parser(
"workflow_upload",
aliases=["wf"],
help="Upload workflow from xdl/json/python files",
)
workflow_parser.add_argument(
"-f",
"--workflow_file",
type=str,
required=True,
help="Path to the workflow file (JSON format)",
)
workflow_parser.add_argument(
"-n",
"--workflow_name",
type=str,
default=None,
help="Workflow name, if not provided will use the name from file or filename",
)
workflow_parser.add_argument(
"--tags",
type=str,
nargs="*",
default=[],
help="Tags for the workflow (space-separated)",
)
workflow_parser.add_argument(
"--published",
action="store_true",
default=False,
help="Whether to publish the workflow (default: False)",
)
return parser
@@ -165,10 +216,12 @@ def main():
args_dict = vars(args)
# 环境检查 - 检查并自动安装必需的包 (可选)
if not args_dict.get("skip_env_check", False):
skip_env_check = args_dict.get("skip_env_check", False)
check_mode = args_dict.get("check_mode", False)
if not skip_env_check:
from unilabos.utils.environment_check import check_environment
print_status("正在进行环境依赖检查...", "info")
if not check_environment(auto_install=True):
print_status("环境检查失败，程序退出", "error")
os._exit(1)
@@ -177,7 +230,21 @@ def main():
# 加载配置文件，优先加载config，然后从env读取
config_path = args_dict.get("config")
if os.getcwd().endswith("unilabos_data"):
if check_mode:
args_dict["working_dir"] = os.path.abspath(os.getcwd())
# 当 skip_env_check 时，默认使用当前目录作为 working_dir
if skip_env_check and not args_dict.get("working_dir") and not config_path:
working_dir = os.path.abspath(os.getcwd())
print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
# 检查当前目录是否有 local_config.py
local_config_in_cwd = os.path.join(working_dir, "local_config.py")
if os.path.exists(local_config_in_cwd):
config_path = local_config_in_cwd
print_status(f"发现本地配置文件: {config_path}", "info")
else:
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
elif os.getcwd().endswith("unilabos_data"):
working_dir = os.path.abspath(os.getcwd())
else:
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
@@ -196,7 +263,7 @@ def main():
working_dir = os.path.dirname(config_path)
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
config_path = os.path.join(working_dir, "local_config.py")
elif not config_path and (
elif not skip_env_check and not config_path and (
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
):
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
@@ -210,9 +277,11 @@ def main():
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
else:
os._exit(1)
# 加载配置文件
# 加载配置文件 (check_mode 跳过)
print_status(f"当前工作目录为 {working_dir}", "info")
load_config_from_file(config_path)
if not check_mode:
load_config_from_file(config_path)
# 根据配置重新设置日志级别
from unilabos.utils.log import configure_logger, logger
@@ -241,9 +310,12 @@ def main():
if args_dict.get("sk", ""):
BasicConfig.sk = args_dict.get("sk", "")
print_status("传入了sk参数，优先采用传入参数！", "info")
BasicConfig.working_dir = working_dir
workflow_upload = args_dict.get("command") in ("workflow_upload", "wf")
# 使用远程资源启动
if args_dict["use_remote_resource"]:
if not workflow_upload and args_dict["use_remote_resource"]:
print_status("使用远程资源启动", "info")
from unilabos.app.web import http_client
@@ -256,15 +328,16 @@ def main():
BasicConfig.port = args_dict["port"] if args_dict["port"] else BasicConfig.port
BasicConfig.disable_browser = args_dict["disable_browser"] or BasicConfig.disable_browser
BasicConfig.working_dir = working_dir
BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False)
BasicConfig.communication_protocol = "websocket"
machine_name = os.popen("hostname").read().strip()
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
BasicConfig.machine_name = machine_name
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
BasicConfig.check_mode = check_mode
from unilabos.resources.graphio import (
read_node_link_json,
@@ -283,10 +356,36 @@ 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), args_dict["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
if BasicConfig.ak and BasicConfig.sk:
print_status("开始注册设备到服务端...", "info")
try:
register_devices_and_resources(lab_registry)
print_status("设备注册完成", "info")
except Exception as e:
print_status(f"设备注册失败: {e}", "error")
else:
print_status("未提供 ak 和 sk，跳过设备注册", "info")
else:
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
# 处理 workflow_upload 子命令
if workflow_upload:
from unilabos.workflow.wf_utils import handle_workflow_upload_command
handle_workflow_upload_command(args_dict)
print_status("工作流上传完成，程序退出", "info")
os._exit(0)
if not BasicConfig.ak or not BasicConfig.sk:
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
@@ -368,20 +467,6 @@ def main():
args_dict["devices_config"] = resource_tree_set
args_dict["graph"] = graph_res.physical_setup_graph
if BasicConfig.upload_registry:
# 设备注册到服务端 - 需要 ak 和 sk
if BasicConfig.ak and BasicConfig.sk:
print_status("开始注册设备到服务端...", "info")
try:
register_devices_and_resources(lab_registry)
print_status("设备注册完成", "info")
except Exception as e:
print_status(f"设备注册失败: {e}", "error")
else:
print_status("未提供 ak 和 sk，跳过设备注册", "info")
else:
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
if args_dict["controllers"] is not None:
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
else:
@@ -396,6 +481,7 @@ def main():
comm_client = get_communication_client()
if "websocket" in args_dict["app_bridges"]:
args_dict["bridges"].append(comm_client)
def _exit(signum, frame):
comm_client.stop()
sys.exit(0)
@@ -437,16 +523,13 @@ def main():
resource_visualization.start()
except OSError as e:
if "AMENT_PREFIX_PATH" in str(e):
print_status(
f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}",
"warning"
)
print_status(f"ROS 2环境未正确设置，跳过3D可视化启动。错误详情: {e}", "warning")
print_status(
"建议解决方案：\n"
"1. 激活Conda环境: conda activate unilab\n"
"2. 或使用 --backend simple 参数\n"
"3. 或使用 --visual disable 参数禁用可视化",
"info"
"info",
)
else:
raise
@@ -454,13 +537,19 @@ def main():
time.sleep(1)
else:
start_backend(**args_dict)
start_server(
restart_requested = start_server(
open_browser=not args_dict["disable_browser"],
port=BasicConfig.port,
)
if restart_requested:
print_status("[Main] Restart requested, cleaning up...", "info")
cleanup_for_restart()
return
else:
start_backend(**args_dict)
start_server(
# 启动服务器（默认支持WebSocket触发重启）
restart_requested = start_server(
open_browser=not args_dict["disable_browser"],
port=BasicConfig.port,
)