Dev v0.9.0 (#23)

Add high-level PLR functions Add Laiyu/Zhida driver support Fix ROS node discovery issues Add hostname and resource query support Fix ROS message conversion logic Support configuration via environment variables * 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 --------- Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: zhangshixiang <@zhangshixiang> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
2025-12-17 04:51:10 +00:00 · 2025-05-07 17:37:03 +08:00
parent d1fbea3b7d
commit 5a564c0c05
93 changed files with 13081 additions and 211 deletions
--- a/unilabos/registry/devices/liquid_handler.yaml
+++ b/unilabos/registry/devices/liquid_handler.yaml
@@ -163,13 +163,134 @@ liquid_handler:
  schema:
    type: object
    properties:
-      status:
+      name:
        type: string
        description: 液体处理仪器当前状态
    required:
-      - status
+    - name
    additionalProperties: false

+dp_liquid_handler:
+  description: 通用液体处理
+  class:
+    module: unilabos.devices.liquid_handling.action_definition:DPLiquidHandler
+    type: python
+    status_types:
+      status: String
+    action_value_mappings:
+      remove_liquid:
+        type: DPLiquidHandlerRemoveLiquid
+        goal:
+          vols: vols
+          sources: sources
+          waste_liquid: waste_liquid
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          delays: delays
+          is_96_well: is_96_well
+          top: top
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      add_liquid:
+        type: DPLiquidHandlerAddLiquid
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          reagent_sources: reagent_sources
+          targets: targets
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_time: mix_time
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      transfer_liquid:
+        type: DPLiquidHandlerTransferLiquid
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          sources: sources
+          targets: targets
+          tip_racks: tip_racks
+          use_channels: use_channels
+          asp_flow_rates: asp_flow_rates
+          dis_flow_rates: dis_flow_rates
+          offsets: offsets
+          touch_tip: touch_tip
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          delays: delays
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      custom_delay:
+        type: DPLiquidHandlerCustomDelay
+        goal:
+          seconds: seconds
+          msg: msg
+        feedback: {}
+        result: {}
+      touch_tip:
+        type: DPLiquidHandlerTouchTip
+        goal:
+          targets: targets
+        feedback: {}
+        result: {}
+      mix:
+        type: DPLiquidHandlerMix
+        goal:
+          targets: targets
+          mix_time: mix_time
+          mix_vol: mix_vol
+          height_to_bottom: height_to_bottom
+          offsets: offsets
+          mix_rate: mix_rate
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      set_tiprack:
+        type: DPLiquidHandlerSetTiprack
+        goal:
+          tip_racks: tip_racks
+        feedback: {}
+        result: {}
+      move_to:
+        type: DPLiquidHandlerMoveTo
+        goal:
+          well: well
+          dis_to_top: dis_to_top
+          channel: channel
+        feedback: {}
+        result: {}
+  schema:
+    type: object
+    properties:
+      name:
+        type: string
+        description: 物料名
+    required:
+    - name
+
 liquid_handler.revvity:
  class:
    module: unilabos.devices.liquid_handling.revvity:Revvity
@@ -179,7 +300,7 @@ liquid_handler.revvity:
    action_value_mappings:
      run:
        type: WorkStationRun
-        goal: 
+        goal:
          wf_name: file_path
          params: params
          resource: resource
@@ -187,4 +308,3 @@ liquid_handler.revvity:
          status: status
        result:
          success: success
-    
--- a/unilabos/registry/devices/robot_gripper.yaml
+++ b/unilabos/registry/devices/robot_gripper.yaml
@@ -20,7 +20,6 @@ gripper.mock:
          position: position
          effort: torque

-
 gripper.misumi_rz:
  description: Misumi RZ gripper
  class:
@@ -35,4 +34,4 @@ gripper.misumi_rz:
          command: command
        feedback: {}
        result:
-          success: success
+          success: success
--- a/unilabos/registry/devices/sim_nodes.yaml
+++ b/unilabos/registry/devices/sim_nodes.yaml
@@ -0,0 +1,5 @@
+lh_joint_publisher:
+  class:
+    module: unilabos.devices.ros_dev.liquid_handler_joint_publisher:LiquidHandlerJointPublisher
+    type: ros2
+
--- a/unilabos/registry/devices/zhida_hplc.yaml
+++ b/unilabos/registry/devices/zhida_hplc.yaml
@@ -7,7 +7,7 @@ zhida_hplc:
      status: String
    action_value_mappings:
      start:
-        type: StringSingleInput
+        type: StrSingleInput
        goal:
          string: string
        feedback: {}
--- a/unilabos/registry/registry.py
+++ b/unilabos/registry/registry.py
@@ -1,3 +1,4 @@
+import io
 import json
 import os
 import sys
@@ -20,7 +21,43 @@ class Registry:
        self.registry_paths = DEFAULT_PATHS.copy()  # 使用copy避免修改默认值
        if registry_paths:
            self.registry_paths.extend(registry_paths)
-        self.device_type_registry = {}
+        action_type = self._replace_type_with_class(
+            "ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
+        )
+        schema = ros_action_to_json_schema(action_type)
+        self.device_type_registry = {
+            "host_node": {
+                "description": "UniLabOS主机节点",
+                "class": {
+                    "module": "unilabos.ros.nodes.presets.host_node",
+                    "type": "python",
+                    "status_types": {},
+                    "action_value_mappings": {
+                        "add_resource_from_outer": {
+                            "type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
+                            "goal": {
+                                "resources": "resources",
+                                "device_ids": "device_ids",
+                                "bind_parent_ids": "bind_parent_ids",
+                                "bind_locations": "bind_locations",
+                                "other_calling_params": "other_calling_params",
+                            },
+                            "feedback": {},
+                            "result": {
+                                "success": "success"
+                            },
+                            "schema": schema
+                        }
+                    }
+                },
+                "schema": {
+                    "properties": {},
+                    "additionalProperties": False,
+                    "type": "object"
+                },
+                "file_path": "/"
+            }
+        }
        self.resource_type_registry = {}
        self._setup_called = False  # 跟踪setup是否已调用
        # 其他状态变量
@@ -107,6 +144,7 @@ class Registry:
            + f"total: {len(files)}"
        )
        current_device_number = len(self.device_type_registry) + 1
+        from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
        for i, file in enumerate(files):
            data = yaml.safe_load(open(file, encoding="utf-8"))
            if data:
@@ -131,6 +169,7 @@ class Registry:
                                    action_config["type"] = self._replace_type_with_class(
                                        action_config["type"], device_id, f"动作 {action_name}"
                                    )
+                                    action_config["goal_default"] = yaml.safe_load(io.StringIO(get_yaml_from_goal_type(action_config["type"].Goal)))
                                    action_config["schema"] = ros_action_to_json_schema(action_config["type"])

                self.device_type_registry.update(data)
--- a/unilabos/registry/resources/opentrons/deck.yaml
+++ b/unilabos/registry/resources/opentrons/deck.yaml
@@ -2,4 +2,7 @@ OTDeck:
  description: Opentrons deck
  class: 
    module: pylabrobot.resources.opentrons.deck:OTDeck
-    type: pylabrobot
+    type: pylabrobot
+  model:
+    type: device
+    mesh: opentrons_liquid_handler
--- a/unilabos/registry/resources/opentrons/plates.yaml
+++ b/unilabos/registry/resources/opentrons/plates.yaml
@@ -39,6 +39,10 @@ nest_96_wellplate_2ml_deep:
  class: 
    module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_2ml_deep
    type: pylabrobot
+  model: 
+    type: resource
+    mesh: tecan_nested_tip_rack/meshes/plate.stl
+    mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708]

 nest_96_wellplate_200ul_flat:
  description: Nest 96 wellplate 200ul flat
@@ -51,6 +55,12 @@ nest_96_wellplate_100ul_pcr_full_skirt:
  class: 
    module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_100ul_pcr_full_skirt
    type: pylabrobot
+  model: 
+    type: resource
+    mesh: tecan_nested_tip_rack/meshes/plate.stl
+    mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708]
+    children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
+    children_mesh_tf: [0.0018, 0.0018, 0, -1.5708,0, 0]

 appliedbiosystemsmicroamp_384_wellplate_40ul:
  description: Applied Biosystems microamp 384 wellplate 40ul
--- a/unilabos/registry/resources/opentrons/tip_racks.yaml
+++ b/unilabos/registry/resources/opentrons/tip_racks.yaml
@@ -63,7 +63,13 @@ opentrons_96_filtertiprack_1000ul:
  class: 
    module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_1000ul
    type: pylabrobot
-
+  model: 
+    type: resource
+    mesh: tecan_nested_tip_rack/meshes/plate.stl
+    mesh_tf: [0.064, 0.043, 0, -1.5708, 0, 1.5708]
+    children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
+    children_mesh_tf: [0.0018, 0.0018, 0, -1.5708,0, 0]
+    
 opentrons_96_filtertiprack_20ul:
  description: Opentrons 96 filtertiprack 20ul
  class: