mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-06 06:25:06 +00:00
Merge branch 'dev' into workstation_dev_new
# Conflicts: # unilabos/registry/devices/work_station.yaml
This commit is contained in:
Xuwznln
File diff suppressed because it is too large
Load Diff
@@ -78,21 +78,23 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
HTMLResponse: 渲染后的HTML页面
|
||||
"""
|
||||
try:
|
||||
# 准备设备数据
|
||||
# 准备初始数据结构（这些数据将通过WebSocket实时更新）
|
||||
devices = []
|
||||
resources = []
|
||||
modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
|
||||
|
||||
# 获取在线设备信息
|
||||
# 获取在线设备信息（用于初始渲染）
|
||||
ros_node_info = get_ros_node_info()
|
||||
# 获取主机节点信息
|
||||
# 获取主机节点信息（用于初始渲染）
|
||||
host_node_info = get_host_node_info()
|
||||
# 获取Registry路径信息
|
||||
# 获取Registry路径信息（静态信息，不需要实时更新）
|
||||
registry_info = get_registry_info()
|
||||
|
||||
# 获取已加载的设备
|
||||
# 获取初始数据用于页面渲染（后续将被WebSocket数据覆盖）
|
||||
if lab_registry:
|
||||
devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
|
||||
devices = json.loads(
|
||||
json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
# 资源类型
|
||||
for resource_id, resource_info in lab_registry.resource_type_registry.items():
|
||||
resources.append(
|
||||
@@ -103,7 +105,7 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
}
|
||||
)
|
||||
|
||||
# 获取导入的模块
|
||||
# 获取导入的模块（初始数据）
|
||||
if msg_converter_manager:
|
||||
modules["names"] = msg_converter_manager.list_modules()
|
||||
all_classes = [i for i in msg_converter_manager.list_classes() if "." in i]
|
||||
@@ -171,3 +173,20 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
except Exception as e:
|
||||
error(f"打开文件夹时出错: {str(e)}")
|
||||
return {"status": "error", "message": f"Failed to open folder: {str(e)}"}
|
||||
|
||||
@router.get("/registry-editor", response_class=HTMLResponse, summary="Registry Editor")
|
||||
async def registry_editor_page() -> str:
|
||||
"""
|
||||
注册表编辑页面，用于导入Python文件并生成注册表
|
||||
|
||||
Returns:
|
||||
HTMLResponse: 渲染后的HTML页面
|
||||
"""
|
||||
try:
|
||||
# 使用模板渲染页面
|
||||
template = env.get_template("registry_editor.html")
|
||||
html = template.render()
|
||||
return html
|
||||
except Exception as e:
|
||||
error(f"生成注册表编辑页面时出错: {str(e)}")
|
||||
raise HTTPException(status_code=500, detail=f"Error generating registry editor page: {str(e)}")
|
||||
|
||||
@@ -162,7 +162,6 @@
|
||||
<body>
|
||||
<h1>{% block header %}UniLab{% endblock %}</h1>
|
||||
{% block nav %}
|
||||
<a href="/unilabos/webtic" class="home-link">Home</a>
|
||||
{% endblock %}
|
||||
|
||||
{% block top_info %}{% endblock %}
|
||||
|
||||
@@ -1,22 +1,25 @@
|
||||
{% extends "base.html" %}
|
||||
|
||||
{% block title %}UniLab API{% endblock %}
|
||||
|
||||
{% block header %}UniLab API{% endblock %}
|
||||
|
||||
{% block nav %}
|
||||
<a href="/status" class="status-link">System Status</a>
|
||||
{% endblock %}
|
||||
|
||||
{% block content %}
|
||||
<div class="card">
|
||||
<h2>Available Endpoints</h2>
|
||||
{% for route in routes %}
|
||||
<div class="endpoint">
|
||||
<span class="method">{{ route.method }}</span>
|
||||
<a href="{{ route.path }}">{{ route.path }}</a>
|
||||
<p>{{ route.summary }}</p>
|
||||
</div>
|
||||
{% endfor %}
|
||||
{% extends "base.html" %} {% block title %}UniLab API{% endblock %} {% block
|
||||
header %}UniLab API{% endblock %} {% block nav %}
|
||||
<div class="nav-tabs">
|
||||
<a
|
||||
href="/"
|
||||
class="nav-tab"
|
||||
style="background-color: #2196f3; color: white"
|
||||
target="_blank"
|
||||
>主页</a
|
||||
>
|
||||
<a href="/status" class="nav-tab">状态</a>
|
||||
<a href="/registry-editor" class="nav-tab" target="_blank">注册表编辑</a>
|
||||
</div>
|
||||
{% endblock %}
|
||||
{% endblock %} {% block content %}
|
||||
<div class="card">
|
||||
<h2>Available Endpoints</h2>
|
||||
{% for route in routes %}
|
||||
<div class="endpoint">
|
||||
<span class="method">{{ route.method }}</span>
|
||||
<a href="{{ route.path }}">{{ route.path }}</a>
|
||||
<p>{{ route.summary }}</p>
|
||||
</div>
|
||||
{% endfor %}
|
||||
</div>
|
||||
{% endblock %}
|
||||
|
||||
1411
unilabos/app/web/templates/registry_editor.html
Normal file
1411
unilabos/app/web/templates/registry_editor.html
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -336,7 +336,7 @@ separator.homemade:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -350,12 +350,12 @@ separator.homemade:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -372,7 +372,7 @@ separator.homemade:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
|
||||
@@ -533,7 +533,7 @@ gripper.mock:
|
||||
required:
|
||||
- position
|
||||
- max_effort
|
||||
title: GripperCommand
|
||||
title: command
|
||||
type: object
|
||||
required:
|
||||
- command
|
||||
|
||||
@@ -139,12 +139,12 @@ linear_motion.grbl:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
title: stamp
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
title: header
|
||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
@@ -163,7 +163,7 @@ linear_motion.grbl:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -177,17 +177,17 @@ linear_motion.grbl:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
|
||||
title: current_pose
|
||||
type: object
|
||||
distance_remaining:
|
||||
type: number
|
||||
@@ -204,7 +204,7 @@ linear_motion.grbl:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
title: estimated_time_remaining
|
||||
type: object
|
||||
navigation_time:
|
||||
properties:
|
||||
@@ -219,7 +219,7 @@ linear_motion.grbl:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
title: navigation_time
|
||||
type: object
|
||||
number_of_poses_remaining:
|
||||
maximum: 32767
|
||||
@@ -262,12 +262,12 @@ linear_motion.grbl:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
title: stamp
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
title: header
|
||||
type: object
|
||||
pose:
|
||||
properties:
|
||||
@@ -286,7 +286,7 @@ linear_motion.grbl:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -300,17 +300,17 @@ linear_motion.grbl:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
required:
|
||||
- header
|
||||
- pose
|
||||
title: PoseStamped
|
||||
title: poses
|
||||
type: object
|
||||
type: array
|
||||
required:
|
||||
@@ -323,7 +323,7 @@ linear_motion.grbl:
|
||||
result:
|
||||
properties: {}
|
||||
required: []
|
||||
title: Empty
|
||||
title: result
|
||||
type: object
|
||||
required:
|
||||
- result
|
||||
@@ -371,12 +371,12 @@ linear_motion.grbl:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Time
|
||||
title: stamp
|
||||
type: object
|
||||
required:
|
||||
- stamp
|
||||
- frame_id
|
||||
title: Header
|
||||
title: header
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
@@ -406,7 +406,7 @@ linear_motion.grbl:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
title: min_duration
|
||||
type: object
|
||||
position:
|
||||
type: number
|
||||
|
||||
@@ -362,7 +362,7 @@ heaterstirrer.dalong:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -376,12 +376,12 @@ heaterstirrer.dalong:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -398,7 +398,7 @@ heaterstirrer.dalong:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
|
||||
@@ -145,7 +145,7 @@ virtual_centrifuge:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -159,12 +159,12 @@ virtual_centrifuge:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -181,7 +181,7 @@ virtual_centrifuge:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -446,7 +446,7 @@ virtual_column:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -460,12 +460,12 @@ virtual_column:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -482,7 +482,7 @@ virtual_column:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: from_vessel
|
||||
type: object
|
||||
pct1:
|
||||
type: string
|
||||
@@ -531,7 +531,7 @@ virtual_column:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -545,12 +545,12 @@ virtual_column:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -567,7 +567,7 @@ virtual_column:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: to_vessel
|
||||
type: object
|
||||
required:
|
||||
- from_vessel
|
||||
@@ -850,7 +850,7 @@ virtual_filter:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -864,12 +864,12 @@ virtual_filter:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -886,7 +886,7 @@ virtual_filter:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: filtrate_vessel
|
||||
type: object
|
||||
stir:
|
||||
type: boolean
|
||||
@@ -929,7 +929,7 @@ virtual_filter:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -943,12 +943,12 @@ virtual_filter:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -965,7 +965,7 @@ virtual_filter:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
volume:
|
||||
type: number
|
||||
@@ -1071,8 +1071,8 @@ virtual_filter:
|
||||
- status
|
||||
- progress
|
||||
- current_temp
|
||||
- filtered_volume
|
||||
- current_status
|
||||
- filtered_volume
|
||||
- message
|
||||
- max_temp
|
||||
- max_stir_speed
|
||||
@@ -1455,7 +1455,7 @@ virtual_heatchill:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -1469,12 +1469,12 @@ virtual_heatchill:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -1491,7 +1491,7 @@ virtual_heatchill:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -1610,7 +1610,7 @@ virtual_heatchill:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -1624,12 +1624,12 @@ virtual_heatchill:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -1646,7 +1646,7 @@ virtual_heatchill:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -1747,7 +1747,7 @@ virtual_heatchill:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -1761,12 +1761,12 @@ virtual_heatchill:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -1783,7 +1783,7 @@ virtual_heatchill:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -2397,7 +2397,7 @@ virtual_rotavap:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
title: time_remaining
|
||||
type: object
|
||||
time_spent:
|
||||
properties:
|
||||
@@ -2412,7 +2412,7 @@ virtual_rotavap:
|
||||
required:
|
||||
- sec
|
||||
- nanosec
|
||||
title: Duration
|
||||
title: time_spent
|
||||
type: object
|
||||
required:
|
||||
- status
|
||||
@@ -2468,7 +2468,7 @@ virtual_rotavap:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -2482,12 +2482,12 @@ virtual_rotavap:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -2504,7 +2504,7 @@ virtual_rotavap:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -2889,7 +2889,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -2903,12 +2903,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -2925,7 +2925,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: from_vessel
|
||||
type: object
|
||||
product_phase:
|
||||
type: string
|
||||
@@ -2964,7 +2964,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -2978,12 +2978,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3000,7 +3000,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: product_vessel
|
||||
type: object
|
||||
purpose:
|
||||
type: string
|
||||
@@ -3043,7 +3043,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3057,12 +3057,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3079,7 +3079,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: separation_vessel
|
||||
type: object
|
||||
settling_time:
|
||||
type: number
|
||||
@@ -3128,7 +3128,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3142,12 +3142,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3164,7 +3164,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: to_vessel
|
||||
type: object
|
||||
vessel:
|
||||
properties:
|
||||
@@ -3201,7 +3201,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3215,12 +3215,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3237,7 +3237,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
volume:
|
||||
type: string
|
||||
@@ -3276,7 +3276,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3290,12 +3290,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3312,7 +3312,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: waste_phase_to_vessel
|
||||
type: object
|
||||
waste_vessel:
|
||||
properties:
|
||||
@@ -3349,7 +3349,7 @@ virtual_separator:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3363,12 +3363,12 @@ virtual_separator:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3385,7 +3385,7 @@ virtual_separator:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: waste_vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -3951,7 +3951,7 @@ virtual_solid_dispenser:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -3965,12 +3965,12 @@ virtual_solid_dispenser:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -3987,7 +3987,7 @@ virtual_solid_dispenser:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
viscous:
|
||||
type: boolean
|
||||
@@ -4332,7 +4332,7 @@ virtual_stirrer:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -4346,12 +4346,12 @@ virtual_stirrer:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -4368,7 +4368,7 @@ virtual_stirrer:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -4492,7 +4492,7 @@ virtual_stirrer:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -4506,12 +4506,12 @@ virtual_stirrer:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -4528,7 +4528,7 @@ virtual_stirrer:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -4639,7 +4639,7 @@ virtual_stirrer:
|
||||
- y
|
||||
- z
|
||||
- w
|
||||
title: Quaternion
|
||||
title: orientation
|
||||
type: object
|
||||
position:
|
||||
properties:
|
||||
@@ -4653,12 +4653,12 @@ virtual_stirrer:
|
||||
- x
|
||||
- y
|
||||
- z
|
||||
title: Point
|
||||
title: position
|
||||
type: object
|
||||
required:
|
||||
- position
|
||||
- orientation
|
||||
title: Pose
|
||||
title: pose
|
||||
type: object
|
||||
sample_id:
|
||||
type: string
|
||||
@@ -4675,7 +4675,7 @@ virtual_stirrer:
|
||||
- pose
|
||||
- config
|
||||
- data
|
||||
title: Resource
|
||||
title: vessel
|
||||
type: object
|
||||
required:
|
||||
- vessel
|
||||
@@ -4704,6 +4704,7 @@ virtual_stirrer:
|
||||
status_types:
|
||||
current_speed: float
|
||||
current_vessel: str
|
||||
device_info: dict
|
||||
is_stirring: bool
|
||||
max_speed: float
|
||||
min_speed: float
|
||||
@@ -4738,6 +4739,8 @@ virtual_stirrer:
|
||||
type: number
|
||||
current_vessel:
|
||||
type: string
|
||||
device_info:
|
||||
type: object
|
||||
is_stirring:
|
||||
type: boolean
|
||||
max_speed:
|
||||
@@ -4759,6 +4762,7 @@ virtual_stirrer:
|
||||
- remaining_time
|
||||
- max_speed
|
||||
- min_speed
|
||||
- device_info
|
||||
type: object
|
||||
version: 1.0.0
|
||||
virtual_transfer_pump:
|
||||
|
||||
@@ -24,12 +24,11 @@ DEFAULT_PATHS = [Path(__file__).absolute().parent]
|
||||
class Registry:
|
||||
def __init__(self, registry_paths=None):
|
||||
import ctypes
|
||||
|
||||
try:
|
||||
import unilabos_msgs
|
||||
except ImportError:
|
||||
logger.error(
|
||||
"[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。"
|
||||
)
|
||||
logger.error("[UniLab Registry] unilabos_msgs模块未找到，请确保已根据官方文档安装unilabos_msgs包。")
|
||||
sys.exit(1)
|
||||
try:
|
||||
ctypes.CDLL(str(Path(unilabos_msgs.__file__).parent / "unilabos_msgs_s__rosidl_typesupport_c.pyd"))
|
||||
@@ -219,7 +218,7 @@ class Registry:
|
||||
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
|
||||
|
||||
self.resource_type_registry.update(data)
|
||||
logger.trace(
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||
+ f"Add {list(data.keys())}"
|
||||
)
|
||||
@@ -406,7 +405,7 @@ class Registry:
|
||||
devices_path = abs_path / "devices"
|
||||
device_comms_path = abs_path / "device_comms"
|
||||
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
||||
logger.trace(
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
||||
+ f"total: {len(files)}"
|
||||
)
|
||||
@@ -577,7 +576,7 @@ class Registry:
|
||||
}
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
device_config["registry_type"] = "device"
|
||||
logger.trace(
|
||||
logger.trace( # type: ignore
|
||||
f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
|
||||
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
||||
)
|
||||
|
||||
@@ -1,12 +1,12 @@
|
||||
get_workstation_plate_resource:
|
||||
category:
|
||||
- workstation
|
||||
class:
|
||||
module: unilabos.ros.nodes.presets.workstation:get_workstation_plate_resource
|
||||
type: pylabrobot
|
||||
description: workstation example resource
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
#get_workstation_plate_resource:
|
||||
# category:
|
||||
# - workstation
|
||||
# class:
|
||||
# module: unilabos.devices.workstation.workstation_base:get_workstation_plate_resource
|
||||
# type: pylabrobot
|
||||
# description: workstation example resource
|
||||
# handles: []
|
||||
# icon: ''
|
||||
# init_param_schema: {}
|
||||
# registry_type: resource
|
||||
# version: 1.0.0
|
||||
|
||||
@@ -510,7 +510,7 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
|
||||
Python字典
|
||||
"""
|
||||
data: Dict[str, Any] = {}
|
||||
|
||||
|
||||
# # 🔧 添加调试信息
|
||||
# print(f"🔍 convert_from_ros_msg_with_mapping 开始")
|
||||
# print(f"🔍 ros_msg 类型: {type(ros_msg)}")
|
||||
@@ -519,14 +519,14 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
|
||||
# print("-" * 60)
|
||||
|
||||
for msg_name, attr_name in value_mapping.items():
|
||||
# print(f"🔍 处理映射: {msg_name} -> {attr_name}")
|
||||
|
||||
# print(f"🔍 处理映射: {msg_name} -> {attr_name}")
|
||||
|
||||
msg_path = msg_name.split(".")
|
||||
current = ros_msg
|
||||
|
||||
|
||||
# print(f"🔍 msg_path: {msg_path}")
|
||||
# print(f"🔍 current 初始值: {current} (类型: {type(current)})")
|
||||
|
||||
|
||||
try:
|
||||
if not attr_name.endswith("[]"):
|
||||
# 处理单值映射
|
||||
@@ -539,7 +539,7 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
|
||||
else:
|
||||
# print(f"❌ 属性 '{name}' 不存在于 {type(current)}")
|
||||
break
|
||||
|
||||
|
||||
converted_value = convert_from_ros_msg(current)
|
||||
# print(f"🔍 转换后的值: {converted_value} (类型: {type(converted_value)})")
|
||||
data[attr_name] = converted_value
|
||||
@@ -587,13 +587,13 @@ def convert_from_ros_msg_with_mapping(ros_msg: Any, value_mapping: Dict[str, str
|
||||
# print(f"❌ 映射转换错误 {msg_name} -> {attr_name}: {e}")
|
||||
logger.debug(f"Mapping conversion error for {msg_name} -> {attr_name}")
|
||||
continue
|
||||
|
||||
|
||||
# print(f"🔍 当前 data 状态: {data}")
|
||||
# print("-" * 40)
|
||||
|
||||
#print(f"🔍 convert_from_ros_msg_with_mapping 结束")
|
||||
#print(f"🔍 最终 data: {data}")
|
||||
#print("=" * 60)
|
||||
# print(f"🔍 convert_from_ros_msg_with_mapping 结束")
|
||||
# print(f"🔍 最终 data: {data}")
|
||||
# print("=" * 60)
|
||||
return data
|
||||
|
||||
|
||||
@@ -648,25 +648,28 @@ basic_type_map = {
|
||||
}
|
||||
|
||||
|
||||
def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None) -> Dict[str, Any]:
|
||||
def ros_field_type_to_json_schema(
|
||||
type_info: Type | str, field_name: str
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
将 ROS 字段类型转换为 JSON Schema 类型定义
|
||||
|
||||
Args:
|
||||
type_info: ROS 类型
|
||||
slot_type: ROS 类型
|
||||
field_name: 字段名，用于设置复杂类型的title
|
||||
|
||||
Returns:
|
||||
对应的 JSON Schema 类型定义
|
||||
"""
|
||||
if isinstance(type_info, UnboundedSequence):
|
||||
return {"type": "array", "items": ros_field_type_to_json_schema(type_info.value_type)}
|
||||
return {"type": "array", "items": ros_field_type_to_json_schema(type_info.value_type, field_name)} # type: ignore
|
||||
if isinstance(type_info, NamespacedType):
|
||||
cls_name = ".".join(type_info.namespaces) + ":" + type_info.name
|
||||
type_class = msg_converter_manager.get_class(cls_name)
|
||||
return ros_field_type_to_json_schema(type_class)
|
||||
return ros_field_type_to_json_schema(type_class, field_name)
|
||||
elif isinstance(type_info, BasicType):
|
||||
return ros_field_type_to_json_schema(type_info.typename)
|
||||
return ros_field_type_to_json_schema(type_info.typename, field_name)
|
||||
elif isinstance(type_info, UnboundedString):
|
||||
return basic_type_map["string"]
|
||||
elif isinstance(type_info, str):
|
||||
@@ -683,8 +686,9 @@ def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None)
|
||||
},
|
||||
"required": ["sec", "nanosec"],
|
||||
}
|
||||
return {}
|
||||
else:
|
||||
return ros_message_to_json_schema(type_info)
|
||||
return ros_message_to_json_schema(type_info, field_name)
|
||||
# # 处理数组类型
|
||||
# if field_type.endswith('[]'):
|
||||
# item_type = field_type[:-2]
|
||||
@@ -708,28 +712,28 @@ def ros_field_type_to_json_schema(type_info: Type | str, slot_type: str = None)
|
||||
# return {'type': 'object', 'description': f'未知类型: {field_type}'}
|
||||
|
||||
|
||||
def ros_message_to_json_schema(msg_class: Any) -> Dict[str, Any]:
|
||||
def ros_message_to_json_schema(msg_class: Any, field_name: str) -> Dict[str, Any]:
|
||||
"""
|
||||
将 ROS 消息类转换为 JSON Schema
|
||||
|
||||
Args:
|
||||
msg_class: ROS 消息类
|
||||
field_name: 字段名，用于设置schema的title，如果为None则使用类名
|
||||
|
||||
Returns:
|
||||
对应的 JSON Schema 定义
|
||||
"""
|
||||
schema = {"type": "object", "properties": {}, "required": []}
|
||||
|
||||
# 获取类名作为标题
|
||||
if hasattr(msg_class, "__name__"):
|
||||
schema["title"] = msg_class.__name__
|
||||
# 优先使用字段名作为标题，否则使用类名
|
||||
schema["title"] = field_name
|
||||
|
||||
# 获取消息的字段和字段类型
|
||||
try:
|
||||
for ind, slot_info in enumerate(msg_class._fields_and_field_types.items()):
|
||||
slot_name, slot_type = slot_info
|
||||
type_info = msg_class.SLOT_TYPES[ind]
|
||||
field_schema = ros_field_type_to_json_schema(type_info, slot_type)
|
||||
field_schema = ros_field_type_to_json_schema(type_info, slot_name)
|
||||
schema["properties"][slot_name] = field_schema
|
||||
schema["required"].append(slot_name)
|
||||
# if hasattr(msg_class, 'get_fields_and_field_types'):
|
||||
@@ -788,15 +792,15 @@ def ros_action_to_json_schema(action_class: Any, description="") -> Dict[str, An
|
||||
"properties": {
|
||||
"goal": {
|
||||
# 'description': 'Action 目标 - 从客户端发送到服务器',
|
||||
**ros_message_to_json_schema(action_class.Goal)
|
||||
**ros_message_to_json_schema(action_class.Goal, action_class.Goal.__name__)
|
||||
},
|
||||
"feedback": {
|
||||
# 'description': 'Action 反馈 - 执行过程中从服务器发送到客户端',
|
||||
**ros_message_to_json_schema(action_class.Feedback)
|
||||
**ros_message_to_json_schema(action_class.Feedback, action_class.Feedback.__name__)
|
||||
},
|
||||
"result": {
|
||||
# 'description': 'Action 结果 - 完成后从服务器发送到客户端',
|
||||
**ros_message_to_json_schema(action_class.Result)
|
||||
**ros_message_to_json_schema(action_class.Result, action_class.Result.__name__)
|
||||
},
|
||||
},
|
||||
"required": ["goal"],
|
||||
|
||||
Reference in New Issue
Block a user