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Device registry port (#49)

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* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* unify liquid_handler definition

* Update virtual_device.yaml

* 更正了stir和heater的连接方式

* 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动

* 修改了add protocol

* 修复了阀门更新版的bug

* 修复了添加protocol前缀导致的不能启动的bug

* Fix handles

* bump version to 0.9.6

* add resource edge upload

* update container registry and handles

* add virtual_separator virtual_rotavap
fix transfer_pump

* fix container value
add parent_name to edge device id

* 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表

* default resource upload mode is false

* 添加了icon的文件名在注册表里面

* 修改了json图中link的格式

* fix resource and edge upload

* fix device ports

* Fix edge id

* 移除device的父节点关联

* separate registry sync and resource_add

* 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数

* 完善tip

* protocol node不再嵌套显示

* bump version to 0.9.7  新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配

* protocol node 执行action不应携带自身device id

* 添加了一套简易双八通阀工作站JSON，亲测能跑

* 修复了很多protocol，亲测能跑

* 添加了run column和filter through的protocol，亲测能跑

* fix mock_reactor

* 修改了大图和小图的json，但是在前端上没看到改变

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
This commit is contained in:
Kongchang Feng
2025-06-22 12:59:59 +08:00
committed by GitHub
parent f7db8d17c5
commit 46cec82a51
85 changed files with 12934 additions and 1573 deletions
Download Patch File Download Diff File Expand all files Collapse all files

557
test/experiments/Protocol_Test_Station/evacuateandrefill_test_station.json Normal file
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@@ -0,0 +1,557 @@
{
"nodes": [
{
"id": "EvacuateRefillTestStation",
"name": "抽真空充气测试站",
"children": [
"transfer_pump_1",
"transfer_pump_2",
"multiway_valve_1",
"multiway_valve_2",
"flask_DMF",
"flask_ethyl_acetate",
"flask_methanol",
"flask_air",
"vacuum_pump_1",
"gas_source_nitrogen",
"gas_source_air",
"solenoid_valve_vacuum",
"solenoid_valve_gas",
"main_reactor",
"stirrer_1",
"waste_workup",
"collection_bottle_1"
],
"parent": null,
"type": "device",
"class": "workstation",
"position": {
"x": 500,
"y": 200,
"z": 0
},
"config": {
"protocol_type": ["PumpTransferProtocol", "EvacuateAndRefillProtocol"]
},
"data": {}
},
{
"id": "transfer_pump_1",
"name": "转移泵1",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_transfer_pump",
"position": {
"x": 300,
"y": 300,
"z": 0
},
"config": {
"port": "VIRTUAL_PUMP1",
"max_volume": 25.0,
"transfer_rate": 5.0
},
"data": {
"position": 0.0,
"status": "Idle"
}
},
{
"id": "transfer_pump_2",
"name": "转移泵2",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_transfer_pump",
"position": {
"x": 700,
"y": 300,
"z": 0
},
"config": {
"port": "VIRTUAL_PUMP2",
"max_volume": 25.0,
"transfer_rate": 5.0
},
"data": {
"position": 0.0,
"status": "Idle"
}
},
{
"id": "multiway_valve_1",
"name": "第一个八通阀",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_multiway_valve",
"position": {
"x": 300,
"y": 400,
"z": 0
},
"config": {
"port": "VIRTUAL_VALVE1",
"positions": 8
},
"data": {
"current_position": 1
}
},
{
"id": "multiway_valve_2",
"name": "第二个八通阀",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_multiway_valve",
"position": {
"x": 700,
"y": 400,
"z": 0
},
"config": {
"port": "VIRTUAL_VALVE2",
"positions": 8
},
"data": {
"current_position": 1
}
},
{
"id": "vacuum_pump_1",
"name": "真空泵1",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_vacuum_pump",
"position": {
"x": 150,
"y": 200,
"z": 0
},
"config": {
"port": "VIRTUAL_VACUUM1",
"max_pressure": -0.9
},
"data": {
"status": "OFF",
"pressure": 0.0
}
},
{
"id": "gas_source_nitrogen",
"name": "氮气源",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_gas_source",
"position": {
"x": 850,
"y": 200,
"z": 0
},
"config": {
"port": "VIRTUAL_GAS_N2",
"gas_type": "nitrogen",
"max_pressure": 5.0
},
"data": {
"status": "OFF",
"flow_rate": 0.0
}
},
{
"id": "gas_source_air",
"name": "空气源",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_gas_source",
"position": {
"x": 950,
"y": 200,
"z": 0
},
"config": {
"port": "VIRTUAL_GAS_AIR",
"gas_type": "air",
"max_pressure": 3.0
},
"data": {
"status": "OFF",
"flow_rate": 0.0
}
},
{
"id": "solenoid_valve_vacuum",
"name": "真空电磁阀",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_solenoid_valve",
"position": {
"x": 225,
"y": 300,
"z": 0
},
"config": {
"port": "VIRTUAL_SOLENOID_VACUUM"
},
"data": {
"valve_position": "CLOSED"
}
},
{
"id": "solenoid_valve_gas",
"name": "气源电磁阀",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_solenoid_valve",
"position": {
"x": 775,
"y": 300,
"z": 0
},
"config": {
"port": "VIRTUAL_SOLENOID_GAS"
},
"data": {
"valve_position": "CLOSED"
}
},
{
"id": "flask_DMF",
"name": "DMF试剂瓶",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "container",
"class": null,
"position": {
"x": 100,
"y": 500,
"z": 0
},
"config": {
"max_volume": 1000.0
},
"data": {
"liquid": [
{
"liquid_type": "DMF",
"liquid_volume": 800.0
}
]
}
},
{
"id": "flask_ethyl_acetate",
"name": "乙酸乙酯试剂瓶",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "container",
"class": null,
"position": {
"x": 200,
"y": 500,
"z": 0
},
"config": {
"max_volume": 1000.0
},
"data": {
"liquid": [
{
"liquid_type": "ethyl_acetate",
"liquid_volume": 800.0
}
]
}
},
{
"id": "flask_methanol",
"name": "甲醇试剂瓶",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "container",
"class": null,
"position": {
"x": 300,
"y": 500,
"z": 0
},
"config": {
"max_volume": 1000.0
},
"data": {
"liquid": [
{
"liquid_type": "methanol",
"liquid_volume": 800.0
}
]
}
},
{
"id": "flask_air",
"name": "空气瓶",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "container",
"class": null,
"position": {
"x": 400,
"y": 500,
"z": 0
},
"config": {
"max_volume": 1000.0
},
"data": {
"liquid": []
}
},
{
"id": "main_reactor",
"name": "主反应器",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "container",
"class": null,
"position": {
"x": 600,
"y": 500,
"z": 0
},
"config": {
"max_volume": 2000.0
},
"data": {
"liquid": []
}
},
{
"id": "stirrer_1",
"name": "搅拌器1",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "device",
"class": "virtual_stirrer",
"position": {
"x": 600,
"y": 450,
"z": 0
},
"config": {
"port": "VIRTUAL_STIRRER1",
"max_speed": 1500.0
},
"data": {
"speed": 0.0,
"status": "OFF"
}
},
{
"id": "waste_workup",
"name": "废液处理瓶",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "container",
"class": null,
"position": {
"x": 700,
"y": 500,
"z": 0
},
"config": {
"max_volume": 2000.0
},
"data": {
"liquid": []
}
},
{
"id": "collection_bottle_1",
"name": "收集瓶1",
"children": [],
"parent": "EvacuateRefillTestStation",
"type": "container",
"class": null,
"position": {
"x": 800,
"y": 500,
"z": 0
},
"config": {
"max_volume": 1000.0
},
"data": {
"liquid": []
}
}
],
"links": [
{
"id": "link_pump1_valve1",
"source": "transfer_pump_1",
"target": "multiway_valve_1",
"type": "fluid",
"port": {
"transfer_pump_1": "transferpump",
"multiway_valve_1": "transferpump"
}
},
{
"id": "link_pump2_valve2",
"source": "transfer_pump_2",
"target": "multiway_valve_2",
"type": "fluid",
"port": {
"transfer_pump_2": "transferpump",
"multiway_valve_2": "transferpump"
}
},
{
"id": "link_valve1_valve2",
"source": "multiway_valve_1",
"target": "multiway_valve_2",
"type": "fluid",
"port": {
"multiway_valve_1": "8",
"multiway_valve_2": "1"
}
},
{
"id": "link_vacuum_solenoid",
"source": "vacuum_pump_1",
"target": "solenoid_valve_vacuum",
"type": "fluid",
"port": {
"vacuum_pump_1": "outlet",
"solenoid_valve_vacuum": "inlet"
}
},
{
"id": "link_solenoid_vacuum_valve1",
"source": "solenoid_valve_vacuum",
"target": "multiway_valve_1",
"type": "fluid",
"port": {
"solenoid_valve_vacuum": "outlet",
"multiway_valve_1": "7"
}
},
{
"id": "link_gas_solenoid",
"source": "gas_source_nitrogen",
"target": "solenoid_valve_gas",
"type": "fluid",
"port": {
"gas_source_nitrogen": "outlet",
"solenoid_valve_gas": "inlet"
}
},
{
"id": "link_solenoid_gas_valve2",
"source": "solenoid_valve_gas",
"target": "multiway_valve_2",
"type": "fluid",
"port": {
"solenoid_valve_gas": "outlet",
"multiway_valve_2": "8"
}
},
{
"id": "link_air_source_valve2",
"source": "gas_source_air",
"target": "multiway_valve_2",
"type": "fluid",
"port": {
"gas_source_air": "outlet",
"multiway_valve_2": "2"
}
},
{
"id": "link_valve1_air",
"source": "multiway_valve_1",
"target": "flask_air",
"type": "fluid",
"port": {
"multiway_valve_1": "1",
"flask_air": "top"
}
},
{
"id": "link_valve1_DMF",
"source": "multiway_valve_1",
"target": "flask_DMF",
"type": "fluid",
"port": {
"multiway_valve_1": "2",
"flask_DMF": "outlet"
}
},
{
"id": "link_valve1_ethyl_acetate",
"source": "multiway_valve_1",
"target": "flask_ethyl_acetate",
"type": "fluid",
"port": {
"multiway_valve_1": "3",
"flask_ethyl_acetate": "outlet"
}
},
{
"id": "link_valve1_methanol",
"source": "multiway_valve_1",
"target": "flask_methanol",
"type": "fluid",
"port": {
"multiway_valve_1": "4",
"flask_methanol": "outlet"
}
},
{
"id": "link_valve2_reactor",
"source": "multiway_valve_2",
"target": "main_reactor",
"type": "fluid",
"port": {
"multiway_valve_2": "5",
"main_reactor": "inlet"
}
},
{
"id": "link_valve2_waste",
"source": "multiway_valve_2",
"target": "waste_workup",
"type": "fluid",
"port": {
"multiway_valve_2": "6",
"waste_workup": "inlet"
}
},
{
"id": "link_valve2_collection",
"source": "multiway_valve_2",
"target": "collection_bottle_1",
"type": "fluid",
"port": {
"multiway_valve_2": "7",
"collection_bottle_1": "inlet"
}
},
{
"id": "link_stirrer_reactor",
"source": "stirrer_1",
"target": "main_reactor",
"type": "mechanical",
"port": {
"stirrer_1": "stirrer",
"main_reactor": "stirrer"
}
}
]
}