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liquid_handler default use chatterbox instead of rviz backend

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This commit is contained in:
Xuwznln
2025-11-18 13:32:09 +08:00
parent 2c774bcd1d
commit 653e6e1ac3
1 changed files with 8 additions and 41 deletions
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49
unilabos/devices/liquid_handling/liquid_handler_abstract.py
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@@ -31,15 +31,17 @@ from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class LiquidHandlerMiddleware(LiquidHandler):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, total_height: float = 310, **kwargs):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs):
self._simulator = simulator
self.channel_num = channel_num
joint_config = kwargs.get("joint_config", None)
if simulator:
self._simulate_backend = UniLiquidHandlerRvizBackend(channel_num,total_height, joint_config=joint_config, lh_device_id = deck.name)
if joint_config:
self._simulate_backend = UniLiquidHandlerRvizBackend(channel_num, kwargs["total_height"],
joint_config=joint_config, lh_device_id=deck.name)
else:
self._simulate_backend = LiquidHandlerChatterboxBackend(channel_num)
self._simulate_handler = LiquidHandlerAbstract(self._simulate_backend, deck, False)
if hasattr(backend, "total_height"):
backend.total_height = total_height
super().__init__(backend, deck)
async def setup(self, **backend_kwargs):
@@ -544,51 +546,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
support_touch_tip = True
_ros_node: BaseROS2DeviceNode
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8,total_height: float = 310,**backend_kwargs):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
"""Initialize a LiquidHandler.
Args:
backend: Backend to use.
deck: Deck to use.
"""
backend_type = None
if isinstance(backend, dict) and "type" in backend:
backend_dict = backend.copy()
type_str = backend_dict.pop("type")
try:
# Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces
backend_cls = None
if type_str in globals():
backend_cls = globals()[type_str]
else:
# Try resolving dotted notation, e.g. "xxx.yyy.ClassName"
components = type_str.split(".")
mod = None
if len(components) > 1:
module_name = ".".join(components[:-1])
try:
import importlib
mod = importlib.import_module(module_name)
except ImportError:
mod = None
if mod is not None:
backend_cls = getattr(mod, components[-1], None)
if backend_cls is None:
# Try pylabrobot style import (if available)
try:
import pylabrobot
backend_cls = getattr(pylabrobot, type_str, None)
except Exception:
backend_cls = None
if backend_cls is not None and isinstance(backend_cls, type):
backend_type = backend_cls(**backend_dict) # pass the rest of dict as kwargs
except Exception as exc:
raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}")
else:
backend_type = backend
self._simulator = simulator
self.group_info = dict()
super().__init__(backend_type, deck, simulator, channel_num,total_height,**backend_kwargs)
super().__init__(backend, deck, simulator, channel_num)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node