mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-04 13:25:13 +00:00
Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16
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
@@ -43,7 +43,7 @@ class Base(ABC):
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self._type = typ
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self._data_type = data_type
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self._node: Optional[Node] = None
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def _get_node(self) -> Node:
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if self._node is None:
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try:
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@@ -66,7 +66,7 @@ class Base(ABC):
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# 直接以字符串形式处理
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if isinstance(nid, str):
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nid = nid.strip()
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# 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)'
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# 提取括号内的内容
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match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
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@@ -116,16 +116,16 @@ class Base(ABC):
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def read(self) -> Tuple[Any, bool]:
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"""读取节点值，返回(值, 是否出错)"""
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pass
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@abstractmethod
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def write(self, value: Any) -> bool:
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"""写入节点值，返回是否出错"""
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pass
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@property
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def type(self) -> NodeType:
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return self._type
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@property
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def node_id(self) -> str:
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return self._node_id
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@@ -210,15 +210,15 @@ class Method(Base):
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super().__init__(client, name, node_id, NodeType.METHOD, data_type)
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self._parent_node_id = parent_node_id
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self._parent_node = None
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def _get_parent_node(self) -> Node:
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if self._parent_node is None:
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try:
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# 处理父节点ID，使用与_get_node相同的解析逻辑
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import re
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nid = self._parent_node_id
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# 如果已经是 NodeId 对象，直接使用
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try:
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from opcua.ua import NodeId as UaNodeId
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@@ -227,16 +227,16 @@ class Method(Base):
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return self._parent_node
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except Exception:
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pass
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# 字符串处理
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if isinstance(nid, str):
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nid = nid.strip()
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# 处理包含类名的格式
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match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid)
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if match_wrapped:
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nid = match_wrapped.group(2).strip()
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# 常见短格式
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if re.match(r'^ns=\d+;[is]=', nid):
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self._parent_node = self._client.get_node(nid)
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@@ -271,7 +271,7 @@ class Method(Base):
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def write(self, value: Any) -> bool:
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"""方法节点不支持写入操作"""
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return True
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def call(self, *args) -> Tuple[Any, bool]:
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"""调用方法，返回(返回值, 是否出错)"""
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try:
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@@ -285,7 +285,7 @@ class Method(Base):
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class Object(Base):
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def __init__(self, client: Client, name: str, node_id: str):
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super().__init__(client, name, node_id, NodeType.OBJECT, None)
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def read(self) -> Tuple[Any, bool]:
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"""对象节点不支持直接读取操作"""
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return None, True
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@@ -293,7 +293,7 @@ class Object(Base):
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def write(self, value: Any) -> bool:
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"""对象节点不支持直接写入操作"""
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return True
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def get_children(self) -> Tuple[List[Node], bool]:
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"""获取子节点列表，返回(子节点列表, 是否出错)"""
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try:
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@@ -301,4 +301,4 @@ class Object(Base):
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return children, False
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except Exception as e:
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print(f"获取对象 {self._name} 的子节点失败: {e}")
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return [], True
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return [], True
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