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https://github.com/dptech-corp/Uni-Lab-OS.git
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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
@@ -71,6 +71,20 @@ class Registry:
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from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
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# 获取 HostNode 类的增强信息，用于自动生成 action schema
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host_node_enhanced_info = get_enhanced_class_info(
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"unilabos.ros.nodes.presets.host_node:HostNode", use_dynamic=True
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)
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# 为 test_latency 生成 schema，保留原有 description
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test_latency_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_latency", {})
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test_latency_schema = self._generate_unilab_json_command_schema(
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test_latency_method_info.get("args", []),
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"test_latency",
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test_latency_method_info.get("return_annotation"),
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)
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test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
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self.device_type_registry.update(
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{
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"host_node": {
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@@ -124,11 +138,25 @@ class Registry:
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"output": [
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{
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"handler_key": "labware",
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"label": "Labware",
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"data_type": "resource",
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"data_source": "handle",
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"data_key": "liquid",
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}
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"label": "Labware",
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"data_source": "executor",
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"data_key": "created_resource_tree.@flatten",
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},
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{
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"handler_key": "liquid_slots",
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"data_type": "resource",
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"label": "LiquidSlots",
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"data_source": "executor",
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"data_key": "liquid_input_resource_tree.@flatten",
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},
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{
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"handler_key": "materials",
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"data_type": "resource",
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"label": "AllMaterials",
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"data_source": "executor",
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"data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten",
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},
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]
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},
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"placeholder_keys": {
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@@ -138,14 +166,19 @@ class Registry:
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},
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},
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"test_latency": {
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"type": self.EmptyIn,
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"type": (
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"UniLabJsonCommandAsync"
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if test_latency_method_info.get("is_async", False)
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else "UniLabJsonCommand"
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),
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"goal": {},
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"feedback": {},
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"result": {},
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"schema": ros_action_to_json_schema(
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self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
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),
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"goal_default": {},
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"schema": test_latency_schema,
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"goal_default": {
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arg["name"]: arg["default"]
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for arg in test_latency_method_info.get("args", [])
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},
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"handles": {},
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},
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"auto-test_resource": {
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@@ -186,7 +219,17 @@ class Registry:
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"resources": "unilabos_resources",
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},
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"goal_default": {},
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"handles": {},
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"handles": {
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"input": [
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{
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"handler_key": "input_resources",
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"data_type": "resource",
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"label": "InputResources",
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"data_source": "handle",
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"data_key": "resources", # 不为空
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},
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]
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},
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},
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},
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},
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@@ -455,7 +498,11 @@ class Registry:
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return status_schema
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def _generate_unilab_json_command_schema(
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self, method_args: List[Dict[str, Any]], method_name: str, return_annotation: Any = None
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self,
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method_args: List[Dict[str, Any]],
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method_name: str,
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return_annotation: Any = None,
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previous_schema: Dict[str, Any] | None = None,
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) -> Dict[str, Any]:
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"""
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根据UniLabJsonCommand方法信息生成JSON Schema，暂不支持嵌套类型
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@@ -464,6 +511,7 @@ class Registry:
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method_args: 方法信息字典，包含args等
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method_name: 方法名称
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return_annotation: 返回类型注解，用于生成result schema（仅支持TypedDict）
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previous_schema: 之前的 schema，用于保留 goal/feedback/result 下一级字段的 description
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Returns:
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JSON Schema格式的参数schema
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@@ -497,7 +545,7 @@ class Registry:
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if return_annotation is not None and self._is_typed_dict(return_annotation):
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result_schema = self._generate_typed_dict_result_schema(return_annotation)
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return {
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final_schema = {
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"title": f"{method_name}参数",
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"description": f"",
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"type": "object",
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@@ -505,6 +553,40 @@ class Registry:
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"required": ["goal"],
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}
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# 保留之前 schema 中 goal/feedback/result 下一级字段的 description
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if previous_schema:
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self._preserve_field_descriptions(final_schema, previous_schema)
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return final_schema
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def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None:
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"""
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保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
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Args:
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new_schema: 新生成的 schema（会被修改）
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previous_schema: 之前的 schema
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"""
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for section in ["goal", "feedback", "result"]:
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new_section = new_schema.get("properties", {}).get(section, {})
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prev_section = previous_schema.get("properties", {}).get(section, {})
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if not new_section or not prev_section:
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continue
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new_props = new_section.get("properties", {})
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prev_props = prev_section.get("properties", {})
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for field_name, field_schema in new_props.items():
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if field_name in prev_props:
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prev_field = prev_props[field_name]
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# 保留字段的 description
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if "description" in prev_field and prev_field["description"]:
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field_schema["description"] = prev_field["description"]
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# 保留字段的 title（用户自定义的中文名）
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if "title" in prev_field and prev_field["title"]:
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field_schema["title"] = prev_field["title"]
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def _is_typed_dict(self, annotation: Any) -> bool:
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"""
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检查类型注解是否是TypedDict
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@@ -673,13 +755,10 @@ class Registry:
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sorted(device_config["class"]["status_types"].items())
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)
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if complete_registry:
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# 保存原有的description信息
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old_descriptions = {}
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# 保存原有的 action 配置（用于保留 schema 的 description 和 handles 等）
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old_action_configs = {}
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for action_name, action_config in device_config["class"]["action_value_mappings"].items():
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if "description" in action_config.get("schema", {}):
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description = action_config["schema"]["description"]
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if len(description):
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old_descriptions[action_name] = action_config["schema"]["description"]
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old_action_configs[action_name] = action_config
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device_config["class"]["action_value_mappings"] = {
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k: v
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@@ -695,10 +774,15 @@ class Registry:
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"feedback": {},
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"result": {},
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"schema": self._generate_unilab_json_command_schema(
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v["args"], k, v.get("return_annotation")
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v["args"],
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k,
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v.get("return_annotation"),
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# 传入旧的 schema 以保留字段 description
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old_action_configs.get(f"auto-{k}", {}).get("schema"),
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),
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"goal_default": {i["name"]: i["default"] for i in v["args"]},
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"handles": [],
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# 保留原有的 handles 配置
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"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
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"placeholder_keys": {
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i["name"]: (
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"unilabos_resources"
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@@ -722,12 +806,14 @@ class Registry:
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if k not in device_config["class"]["action_value_mappings"]
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}
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)
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# 恢复原有的description信息（auto开头的不修改）
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for action_name, description in old_descriptions.items():
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# 恢复原有的 description 信息（非 auto- 开头的动作）
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for action_name, old_config in old_action_configs.items():
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if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除
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device_config["class"]["action_value_mappings"][action_name]["schema"][
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"description"
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] = description
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old_schema = old_config.get("schema", {})
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if "description" in old_schema and old_schema["description"]:
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device_config["class"]["action_value_mappings"][action_name]["schema"][
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"description"
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] = old_schema["description"]
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device_config["init_param_schema"] = {}
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device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
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enhanced_info["init_params"], "__init__"
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