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>

unilabos_msgs/CMakeLists.txt

@@ -29,6 +29,8 @@ set(action_files
   "action/HeatChillStart.action"
   "action/HeatChillStop.action"
 
+  "action/LiquidHandlerProtocolCreation.action"
+
   "action/LiquidHandlerAspirate.action"
   "action/LiquidHandlerDiscardTips.action"
   "action/LiquidHandlerDispense.action"
@@ -44,6 +46,11 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
+  "action/LiquidHandlerTransferBiomek.action"
+  "action/LiquidHandlerIncubateBiomek.action"
+  "action/LiquidHandlerMoveBiomek.action"
+  "action/LiquidHandlerOscillateBiomek.action"
+
   "action/LiquidHandlerAdd.action"
   "action/LiquidHandlerMix.action"
   "action/LiquidHandlerMoveTo.action"

unilabos_msgs/action/AGVTransfer.action

@@ -4,6 +4,7 @@ string from_repo_position
 Resource to_repo
 string to_repo_position
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Clean.action

@@ -5,6 +5,7 @@ float64 volume # Optional. Volume of solvent to clean vessel with.
 float64 temp   # Optional. Temperature to heat vessel to while cleaning.
 int32 repeats  # Optional. Number of cleaning cycles to perform.
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/EmptyIn.action

@@ -1,4 +1,4 @@
 
 ---
-
+string return_info
 ---

unilabos_msgs/action/EvacuateAndRefill.action

@@ -3,6 +3,7 @@ string vessel
 string gas
 int32 repeats
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Evaporate.action

@@ -5,6 +5,7 @@ float64 temp
 float64 time
 float64 stir_speed
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/FloatSingleInput.action

@@ -1,4 +1,5 @@
 float64 float_in
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/HeatChill.action

@@ -6,6 +6,7 @@ bool stir
 float64 stir_speed
 string purpose
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/HeatChillStart.action

@@ -3,6 +3,7 @@ string vessel
 float64 temp
 string purpose
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/HeatChillStop.action

@@ -1,6 +1,7 @@
 # Organic
 string vessel
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/IntSingleInput.action

@@ -1,4 +1,5 @@
 int32 int_input
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerAdd.action

@@ -15,6 +15,7 @@ int32 mix_rate
 float64 mix_liquid_height
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerAspirate.action

@@ -7,5 +7,6 @@ float64[] liquid_height
 float64[] blow_out_air_volume
 string spread
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerDiscardTips.action

@@ -3,6 +3,7 @@
 int32[] use_channels
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDispense.action

@@ -8,6 +8,7 @@ int32[] blow_out_air_volume
 string spread
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDropTips.action

@@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDropTips96.action

@@ -5,6 +5,7 @@ geometry_msgs/Point offset
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerIncubateBiomek.action

@@ -0,0 +1,6 @@
+int32 time
+
+---
+string return_info
+bool success
+---

unilabos_msgs/action/LiquidHandlerMix.action

@@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets
 float64 mix_rate
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerMoveBiomek.action

@@ -0,0 +1,7 @@
+string source
+string target
+
+---
+string return_info
+bool success
+---

unilabos_msgs/action/LiquidHandlerMoveLid.action

@@ -12,6 +12,7 @@ string put_direction
 float64 pickup_distance_from_top
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMovePlate.action

@@ -13,6 +13,7 @@ string put_direction
 float64 pickup_distance_from_top
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMoveResource.action

@@ -12,6 +12,7 @@ string get_direction
 string put_direction
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMoveTo.action

@@ -2,6 +2,7 @@ Resource well
 float64 dis_to_top
 int32 channel
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerOscillateBiomek.action

@@ -0,0 +1,7 @@
+int32 rpm
+int32 time
+
+---
+string return_info
+bool success
+---

unilabos_msgs/action/LiquidHandlerPickUpTips.action

@@ -5,6 +5,7 @@ int32[] use_channels
 geometry_msgs/Point[] offsets
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerPickUpTips96.action

@@ -4,6 +4,7 @@ Resource tip_rack
 geometry_msgs/Point offset
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerProtocolCreation.action

@@ -0,0 +1,10 @@
+string protocol_name
+string protocol_description
+string protocol_version
+string protocol_author
+string protocol_date
+string protocol_type
+string[] none_keys
+---
+string return_info
+---

unilabos_msgs/action/LiquidHandlerRemove.action

@@ -12,6 +12,7 @@ bool is_96_well
 float64[] top
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerReturnTips.action

@@ -4,6 +4,7 @@ int32[] use_channels
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerReturnTips96.action

@@ -3,6 +3,7 @@
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerStamp.action

@@ -7,6 +7,7 @@ float64 aspiration_flow_rate
 float64 dispense_flow_rate
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -20,6 +20,7 @@ float64 mix_liquid_height
 int32[] delays
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerTransferBiomek.action

@@ -0,0 +1,11 @@
+string source
+string target
+string tip_rack
+float64 volume
+string aspirate_technique
+string dispense_technique
+
+---
+string return_info
+bool success
+---

unilabos_msgs/action/Point3DSeparateInput.action

@@ -2,5 +2,6 @@ float64 x
 float64 y
 float64 z
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/PumpTransfer.action

@@ -10,6 +10,7 @@ float64 rinsing_volume
 int32 rinsing_repeats
 bool solid
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/ResourceCreateFromOuter.action

@@ -4,5 +4,6 @@ string[] bind_parent_ids
 geometry_msgs/Point[] bind_locations
 string[] other_calling_params
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -8,5 +8,6 @@ string[] liquid_type
 float32[] liquid_volume
 int32 slot_on_deck
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/SendCmd.action

@@ -1,6 +1,7 @@
 # Simple
 string command
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Separate.action

@@ -13,6 +13,7 @@ float64 stir_time # Optional. Time stir for after adding solvent, before separat
 float64 stir_speed # Optional. Speed to stir at after adding solvent, before separation of phases.
 float64 settling_time # Optional. Time
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/SolidDispenseAddPowderTube.action

@@ -2,6 +2,7 @@ int32 powder_tube_number
 string target_tube_position
 float64 compound_mass
 ---
+string return_info
 float64 actual_mass_mg
 bool success
 ---

unilabos_msgs/action/Stir.action

@@ -3,6 +3,7 @@ float64 stir_time
 float64 stir_speed
 float64 settling_time
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/StrSingleInput.action

@@ -1,4 +1,5 @@
 string string
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/WorkStationRun.action

@@ -3,6 +3,7 @@ string wf_name
 string params
 Resource resource
 ---
+string return_info
 bool success
 ---
 string status