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bump version & protocol fix (#45)
* add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#39) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- 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: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#41) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.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> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持 调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法，如果选择 修改物料放下时的方法， 如果选择drop_trash，则删除物料显示 如果选择drop，则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活 2,添加pymoveit2的节点，使用json可直接启动 3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动 * 修改物体attach时，多次赋值当前时间导致卡顿问题， * Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit56d45b94f5. * Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，" This reverts commit07d9db20c3. * 添加缺少物料："plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段，给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que <Q-Query@outlook.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> * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * bump version & protocol fix --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn>
This commit is contained in:
Xuwznln
GitHub
@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
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# Currently, you need to install the `unilabos_msgs` package
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# You can download the system-specific package from the Release page
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conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2
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conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
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# Install PyLabRobot and other prerequisites
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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@@ -49,7 +49,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
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# 现阶段，需要安装 `unilabos_msgs` 包
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# 可以前往 Release 页面下载系统对应的包进行安装
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conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2
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conda install ros-humble-unilabos-msgs-0.9.5-xxxxx.tar.bz2
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# 安装PyLabRobot等前置
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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@@ -1,6 +1,6 @@
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package:
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name: ros-humble-unilabos-msgs
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version: 0.9.4
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version: 0.9.5
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source:
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path: ../../unilabos_msgs
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folder: ros-humble-unilabos-msgs/src/work
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@@ -1,6 +1,6 @@
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package:
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name: unilabos
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version: "0.9.4"
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version: "0.9.5"
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source:
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path: ../..
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2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
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setup(
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name=package_name,
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version='0.9.4',
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version='0.9.5',
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packages=find_packages(),
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include_package_data=True,
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install_requires=['setuptools'],
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@@ -2,17 +2,42 @@ import numpy as np
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import networkx as nx
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def is_integrated_pump(node_name):
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return "pump" in node_name and "valve" in node_name
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def find_connected_pump(G, valve_node):
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for neighbor in G.neighbors(valve_node):
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if "pump" in G.nodes[neighbor]["class"]:
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return neighbor
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raise ValueError(f"未找到与阀 {valve_node} 唯一相连的泵节点")
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def build_pump_valve_maps(G, pump_backbone):
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pumps_from_node = {}
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valve_from_node = {}
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for node in pump_backbone:
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if is_integrated_pump(node):
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pumps_from_node[node] = node
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valve_from_node[node] = node
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else:
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pump_node = find_connected_pump(G, node)
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pumps_from_node[node] = pump_node
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valve_from_node[node] = node
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return pumps_from_node, valve_from_node
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def generate_pump_protocol(
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G: nx.DiGraph,
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from_vessel: str,
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to_vessel: str,
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volume: float,
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flowrate: float = 0.5,
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transfer_flowrate: float = 0,
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G: nx.DiGraph,
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from_vessel: str,
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to_vessel: str,
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volume: float,
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flowrate: float = 0.5,
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transfer_flowrate: float = 0,
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) -> list[dict]:
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"""
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生成泵操作的动作序列。
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:param G: 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
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:param from_vessel: 容器A
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:param to_vessel: 容器B
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@@ -21,194 +46,137 @@ def generate_pump_protocol(
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:param transfer_flowrate: 泵骨架中转移流速（若不指定，默认与注入流速相同）
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:return: 泵操作的动作序列
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"""
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# 生成泵操作的动作序列
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pump_action_sequence = []
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# 检查节点是否存在
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if from_vessel not in G.nodes:
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print(f"Warning: Source vessel '{from_vessel}' not found in graph. Skipping.")
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return []
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if to_vessel not in G.nodes:
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print(f"Warning: Target vessel '{to_vessel}' not found in graph. Skipping.")
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return []
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# 检查是否存在路径
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try:
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
except nx.NetworkXNoPath:
|
||||
print(f"Warning: No path from '{from_vessel}' to '{to_vessel}'. Skipping.")
|
||||
return []
|
||||
except nx.NodeNotFound as e:
|
||||
print(f"Warning: Node not found: {e}. Skipping.")
|
||||
return []
|
||||
|
||||
print(f"Shortest path: {shortest_path}")
|
||||
nodes = G.nodes(data=True)
|
||||
# 从from_vessel到to_vessel的最短路径
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
print(shortest_path)
|
||||
|
||||
pump_backbone = shortest_path
|
||||
if not from_vessel.startswith("pump"):
|
||||
pump_backbone = pump_backbone[1:]
|
||||
if not to_vessel.startswith("pump"):
|
||||
pump_backbone = pump_backbone[:-1]
|
||||
|
||||
print(f"Pump backbone: {pump_backbone}")
|
||||
|
||||
# 修复：检查pump_backbone是否为空
|
||||
if not pump_backbone:
|
||||
print(f"Warning: No pumps found in path from '{from_vessel}' to '{to_vessel}'. Skipping.")
|
||||
return []
|
||||
|
||||
|
||||
if transfer_flowrate == 0:
|
||||
transfer_flowrate = flowrate
|
||||
|
||||
# 修复：正确访问节点数据
|
||||
pump_max_volumes = []
|
||||
for pump in pump_backbone:
|
||||
# 直接使用 G.nodes[pump] 来访问节点数据
|
||||
pump_data = G.nodes[pump] if pump in G.nodes else {}
|
||||
# 尝试多种可能的键名，并提供默认值
|
||||
max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume')
|
||||
if max_vol is None:
|
||||
# 如果是设备节点，尝试从config中获取
|
||||
config = pump_data.get('config', {})
|
||||
max_vol = config.get('max_volume', 25.0)
|
||||
pump_max_volumes.append(float(max_vol))
|
||||
|
||||
if pump_max_volumes:
|
||||
min_transfer_volume = min(pump_max_volumes)
|
||||
else:
|
||||
min_transfer_volume = 25.0 # 默认值
|
||||
|
||||
|
||||
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||
|
||||
min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
|
||||
repeats = int(np.ceil(volume / min_transfer_volume))
|
||||
if repeats > 1 and (from_vessel.startswith("pump") or to_vessel.startswith("pump")):
|
||||
raise ValueError("Cannot transfer volume larger than min_transfer_volume between two pumps.")
|
||||
|
||||
|
||||
volume_left = volume
|
||||
|
||||
|
||||
# 生成泵操作的动作序列
|
||||
for i in range(repeats):
|
||||
# 单泵依次执行阀指令、活塞指令，将液体吸入与之相连的第一台泵
|
||||
if not from_vessel.startswith("pump") and pump_backbone:
|
||||
# 修复：添加边缘数据检查
|
||||
edge_data = G.get_edge_data(pump_backbone[0], from_vessel)
|
||||
if edge_data and "port" in edge_data:
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": pump_backbone[0],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": edge_data["port"][pump_backbone[0]]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pump_backbone[0],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
if not from_vessel.startswith("pump"):
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": valve_from_node[pump_backbone[0]],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(pump_backbone[0], from_vessel)["port"][pump_backbone[0]]
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
else:
|
||||
print(f"Warning: No edge data found between {pump_backbone[0]} and {from_vessel}")
|
||||
|
||||
# 修复：检查pump_backbone长度，避免多泵操作时出错
|
||||
if len(pump_backbone) > 1:
|
||||
for pumpA, pumpB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
||||
# 相邻两泵同时切换阀门至连通位置
|
||||
edge_AB = G.get_edge_data(pumpA, pumpB)
|
||||
edge_BA = G.get_edge_data(pumpB, pumpA)
|
||||
|
||||
if edge_AB and "port" in edge_AB and edge_BA and "port" in edge_BA:
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": pumpA,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": edge_AB["port"][pumpA]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumpB,
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": edge_BA["port"][pumpB],
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[pump_backbone[0]],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
])
|
||||
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": pumpA,
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumpB,
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
for nodeA, nodeB in zip(pump_backbone[:-1], pump_backbone[1:]):
|
||||
# 相邻两泵同时切换阀门至连通位置
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": valve_from_node[nodeA],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(nodeA, nodeB)["port"][nodeA]
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
else:
|
||||
print(f"Warning: No edge data found between {pumpA} and {pumpB}")
|
||||
|
||||
if not to_vessel.startswith("pump") and pump_backbone:
|
||||
},
|
||||
{
|
||||
"device_id": valve_from_node[nodeB],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(nodeB, nodeA)["port"][nodeB],
|
||||
}
|
||||
}
|
||||
])
|
||||
# 相邻两泵液体转移：泵A排出液体，泵B吸入液体
|
||||
pump_action_sequence.append([
|
||||
{
|
||||
"device_id": pumps_from_node[nodeA],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[nodeB],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": float(min(volume_left, min_transfer_volume)),
|
||||
"max_velocity": transfer_flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
|
||||
if not to_vessel.startswith("pump"):
|
||||
# 单泵依次执行阀指令、活塞指令，将最后一台泵液体缓慢加入容器B
|
||||
edge_data = G.get_edge_data(pump_backbone[-1], to_vessel)
|
||||
if edge_data and "port" in edge_data:
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": pump_backbone[-1],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": edge_data["port"][pump_backbone[-1]]
|
||||
}
|
||||
},
|
||||
{
|
||||
"device_id": pump_backbone[-1],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": flowrate
|
||||
}
|
||||
pump_action_sequence.extend([
|
||||
{
|
||||
"device_id": valve_from_node[pump_backbone[-1]],
|
||||
"action_name": "set_valve_position",
|
||||
"action_kwargs": {
|
||||
"command": G.get_edge_data(pump_backbone[-1], to_vessel)["port"][pump_backbone[-1]]
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
else:
|
||||
print(f"Warning: No edge data found between {pump_backbone[-1]} and {to_vessel}")
|
||||
|
||||
},
|
||||
{
|
||||
"device_id": pumps_from_node[pump_backbone[-1]],
|
||||
"action_name": "set_position",
|
||||
"action_kwargs": {
|
||||
"position": 0.0,
|
||||
"max_velocity": flowrate
|
||||
}
|
||||
}
|
||||
])
|
||||
pump_action_sequence.append({"action_name": "wait", "action_kwargs": {"time": 5}})
|
||||
|
||||
volume_left -= min_transfer_volume
|
||||
return pump_action_sequence
|
||||
|
||||
|
||||
# Pump protocol compilation
|
||||
def generate_pump_protocol_with_rinsing(
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
time: float = 0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "air",
|
||||
rinsing_volume: float = 5.0,
|
||||
rinsing_repeats: int = 2,
|
||||
solid: bool = False,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
G: nx.DiGraph,
|
||||
from_vessel: str,
|
||||
to_vessel: str,
|
||||
volume: float,
|
||||
amount: str = "",
|
||||
time: float = 0,
|
||||
viscous: bool = False,
|
||||
rinsing_solvent: str = "air",
|
||||
rinsing_volume: float = 5.0,
|
||||
rinsing_repeats: int = 2,
|
||||
solid: bool = False,
|
||||
flowrate: float = 2.5,
|
||||
transfer_flowrate: float = 0.5,
|
||||
) -> list[dict]:
|
||||
"""
|
||||
Generates a pump protocol for transferring a specified volume between vessels, including rinsing steps with a chosen solvent. This function constructs a sequence of pump actions based on the provided parameters and the shortest path in a directed graph.
|
||||
|
||||
|
||||
Args:
|
||||
G (nx.DiGraph): The directed graph representing the vessels and connections. 有向图, 节点为容器和注射泵, 边为流体管道, A→B边的属性为管道接A端的阀门位置
|
||||
from_vessel (str): The name of the vessel to transfer from.
|
||||
@@ -223,96 +191,64 @@ def generate_pump_protocol_with_rinsing(
|
||||
solid (bool, optional): Indicates if the transfer involves a solid (default is False).
|
||||
flowrate (float, optional): The flow rate for the transfer (default is 2.5). 最终注入容器B时的流速
|
||||
transfer_flowrate (float, optional): The flow rate for the transfer action (default is 0.5). 泵骨架中转移流速（若不指定，默认与注入流速相同）
|
||||
|
||||
|
||||
Returns:
|
||||
list[dict]: A sequence of pump actions to be executed for the transfer and rinsing process. 泵操作的动作序列.
|
||||
|
||||
|
||||
Raises:
|
||||
AssertionError: If the number of rinsing solvents does not match the number of rinsing repeats.
|
||||
|
||||
|
||||
Examples:
|
||||
pump_protocol = generate_pump_protocol_with_rinsing(G, "vessel_A", "vessel_B", 0.1, rinsing_solvent="water")
|
||||
"""
|
||||
# 修复：使用实际存在的节点名称
|
||||
air_vessel = "flask_air" # 这个在你的配置中存在
|
||||
|
||||
# 寻找合适的废料容器，如果没有找到则使用空的容器作为替代
|
||||
waste_vessel = None
|
||||
available_vessels = [node for node in G.nodes if node.startswith("flask_") and node != air_vessel]
|
||||
if available_vessels:
|
||||
# 使用第一个可用的容器作为废料容器
|
||||
waste_vessel = available_vessels[0]
|
||||
print(f"Using {waste_vessel} as waste vessel")
|
||||
else:
|
||||
waste_vessel = "flask_1" # 备用选择
|
||||
|
||||
# 修复：添加路径检查
|
||||
try:
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
pump_backbone = shortest_path[1: -1]
|
||||
except (nx.NetworkXNoPath, nx.NodeNotFound) as e:
|
||||
print(f"Warning: Cannot find path from {from_vessel} to {to_vessel}: {e}")
|
||||
return []
|
||||
|
||||
# 修复：正确访问节点数据
|
||||
pump_max_volumes = []
|
||||
for pump in pump_backbone:
|
||||
# 直接使用 G.nodes[pump] 来访问节点数据
|
||||
pump_data = G.nodes[pump] if pump in G.nodes else {}
|
||||
# 尝试多种可能的键名，并提供默认值
|
||||
max_vol = pump_data.get('max_volume') or pump_data.get('max_vol') or pump_data.get('volume')
|
||||
if max_vol is None:
|
||||
# 如果是设备节点，尝试从config中获取
|
||||
config = pump_data.get('config', {})
|
||||
max_vol = config.get('max_volume', 25.0)
|
||||
pump_max_volumes.append(float(max_vol))
|
||||
|
||||
if pump_max_volumes:
|
||||
min_transfer_volume = float(min(pump_max_volumes))
|
||||
else:
|
||||
min_transfer_volume = 25.0 # 默认值
|
||||
|
||||
air_vessel = "flask_air"
|
||||
waste_vessel = f"waste_workup"
|
||||
|
||||
shortest_path = nx.shortest_path(G, source=from_vessel, target=to_vessel)
|
||||
pump_backbone = shortest_path[1: -1]
|
||||
nodes = G.nodes(data=True)
|
||||
|
||||
pumps_from_node, valve_from_node = build_pump_valve_maps(G, pump_backbone)
|
||||
|
||||
min_transfer_volume = min([nodes[pumps_from_node[node]]["config"]["max_volume"] for node in pump_backbone])
|
||||
if time != 0:
|
||||
flowrate = transfer_flowrate = volume / time
|
||||
|
||||
|
||||
pump_action_sequence = generate_pump_protocol(G, from_vessel, to_vessel, float(volume), flowrate, transfer_flowrate)
|
||||
|
||||
# 修复：只在需要清洗且相关节点存在时才执行清洗步骤
|
||||
if rinsing_solvent != "air" and pump_backbone:
|
||||
if rinsing_solvent != "air" and rinsing_solvent != "":
|
||||
if "," in rinsing_solvent:
|
||||
rinsing_solvents = rinsing_solvent.split(",")
|
||||
assert len(rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
|
||||
assert len(
|
||||
rinsing_solvents) == rinsing_repeats, "Number of rinsing solvents must match number of rinsing repeats."
|
||||
else:
|
||||
rinsing_solvents = [rinsing_solvent] * rinsing_repeats
|
||||
|
||||
|
||||
for rinsing_solvent in rinsing_solvents:
|
||||
solvent_vessel = f"flask_{rinsing_solvent}"
|
||||
|
||||
# 检查溶剂容器是否存在
|
||||
if solvent_vessel not in G.nodes:
|
||||
print(f"Warning: Solvent vessel '{solvent_vessel}' not found in graph. Skipping rinsing step.")
|
||||
continue
|
||||
|
||||
# 清洗泵 - 只有当所有必需的节点都存在且pump_backbone不为空时才执行
|
||||
if pump_backbone and len(pump_backbone) > 0 and waste_vessel in G.nodes:
|
||||
# 清洗泵
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate,
|
||||
transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate,
|
||||
transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate,
|
||||
transfer_flowrate)
|
||||
)
|
||||
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
|
||||
if rinsing_solvent == rinsing_solvents[0]:
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, pump_backbone[0], min_transfer_volume, flowrate, transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[0], pump_backbone[-1], min_transfer_volume, flowrate, transfer_flowrate) +
|
||||
generate_pump_protocol(G, pump_backbone[-1], waste_vessel, min_transfer_volume, flowrate, transfer_flowrate)
|
||||
)
|
||||
|
||||
# 如果转移的是溶液，第一种冲洗溶剂请选用溶液的溶剂，稀释泵内、转移管道内的溶液。后续冲洗溶剂不需要此操作。
|
||||
if rinsing_solvent == rinsing_solvents[0]:
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
|
||||
# 最后的空气清洗 - 只有当节点存在时才执行
|
||||
if air_vessel in G.nodes:
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
pump_action_sequence.extend(generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
|
||||
generate_pump_protocol(G, solvent_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, solvent_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, solvent_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, waste_vessel, rinsing_volume, flowrate, transfer_flowrate))
|
||||
if rinsing_solvent != "":
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, from_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
pump_action_sequence.extend(
|
||||
generate_pump_protocol(G, air_vessel, to_vessel, rinsing_volume, flowrate, transfer_flowrate) * 2)
|
||||
|
||||
return pump_action_sequence
|
||||
# End Protocols
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
io_snrd:
|
||||
description: IO Board with 16 IOs
|
||||
class:
|
||||
module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
|
||||
module: ilabos.device_comms.SRND_16_IO:SRND_16_IO
|
||||
type: python
|
||||
hardware_interface:
|
||||
name: modbus_client
|
||||
|
||||
@@ -71,3 +71,13 @@ solenoid_valve:
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
valve_position: String
|
||||
action_value_mappings:
|
||||
set_valve_position:
|
||||
type: StrSingleInput
|
||||
goal:
|
||||
string: position
|
||||
feedback: {}
|
||||
result: {}
|
||||
@@ -601,10 +601,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
goal = goal_handle.request
|
||||
|
||||
# 从目标消息中提取参数, 并调用对应的方法
|
||||
if "sequence" in self._action_value_mappings:
|
||||
if "sequence" in action_value_mapping:
|
||||
# 如果一个指令对应函数的连续调用，如启动和等待结果，默认参数应该属于第一个函数调用
|
||||
def ACTION(**kwargs):
|
||||
for i, action in enumerate(self._action_value_mappings["sequence"]):
|
||||
for i, action in enumerate(action_value_mapping["sequence"]):
|
||||
if i == 0:
|
||||
self.lab_logger().info(f"执行序列动作第一步: {action}")
|
||||
self.get_real_function(self.driver_instance, action)[0](**kwargs)
|
||||
@@ -612,9 +612,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self.lab_logger().info(f"执行序列动作后续步骤: {action}")
|
||||
self.get_real_function(self.driver_instance, action)[0]()
|
||||
|
||||
action_paramtypes = get_type_hints(
|
||||
self.get_real_function(self.driver_instance, self._action_value_mappings["sequence"][0])
|
||||
)[1]
|
||||
action_paramtypes = self.get_real_function(self.driver_instance, action_value_mapping["sequence"][0])[1]
|
||||
else:
|
||||
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
|
||||
|
||||
|
||||
@@ -256,12 +256,12 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
|
||||
return write_func(*args, **kwargs)
|
||||
|
||||
if read_method:
|
||||
bound_read = MethodType(_read, device.driver_instance)
|
||||
setattr(device.driver_instance, read_method, bound_read)
|
||||
# bound_read = MethodType(_read, device.driver_instance)
|
||||
setattr(device.driver_instance, read_method, _read)
|
||||
|
||||
if write_method:
|
||||
bound_write = MethodType(_write, device.driver_instance)
|
||||
setattr(device.driver_instance, write_method, bound_write)
|
||||
# bound_write = MethodType(_write, device.driver_instance)
|
||||
setattr(device.driver_instance, write_method, _write)
|
||||
|
||||
|
||||
async def _update_resources(self, goal, protocol_kwargs):
|
||||
|
||||
Reference in New Issue
Block a user