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>
2026-02-07 07:25:15 +00:00 · 2025-06-09 16:57:42 +08:00
parent 3470a1cb69
commit 729a0fcf0c
74 changed files with 16032 additions and 131 deletions
--- a/unilabos_msgs/action/AGVTransfer.action
+++ b/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
--- a/unilabos_msgs/action/Clean.action
+++ b/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
--- a/unilabos_msgs/action/EmptyIn.action
+++ b/unilabos_msgs/action/EmptyIn.action
@@ -1,4 +1,4 @@

 ---
-
+string return_info
 ---
--- a/unilabos_msgs/action/EvacuateAndRefill.action
+++ b/unilabos_msgs/action/EvacuateAndRefill.action
@@ -3,6 +3,7 @@ string vessel
 string gas
 int32 repeats
 ---
+string return_info
 bool success
 ---
 string status
--- a/unilabos_msgs/action/Evaporate.action
+++ b/unilabos_msgs/action/Evaporate.action
@@ -5,6 +5,7 @@ float64 temp
 float64 time
 float64 stir_speed
 ---
+string return_info
 bool success
 ---
 string status
--- a/unilabos_msgs/action/FloatSingleInput.action
+++ b/unilabos_msgs/action/FloatSingleInput.action
@@ -1,4 +1,5 @@
 float64 float_in
 ---
+string return_info
 bool success
 ---
--- a/unilabos_msgs/action/HeatChill.action
+++ b/unilabos_msgs/action/HeatChill.action
@@ -6,6 +6,7 @@ bool stir
 float64 stir_speed
 string purpose
 ---
+string return_info
 bool success
 ---
 string status
--- a/unilabos_msgs/action/HeatChillStart.action
+++ b/unilabos_msgs/action/HeatChillStart.action
@@ -3,6 +3,7 @@ string vessel
 float64 temp
 string purpose
 ---
+string return_info
 bool success
 ---
 string status
--- a/unilabos_msgs/action/HeatChillStop.action
+++ b/unilabos_msgs/action/HeatChillStop.action
@@ -1,6 +1,7 @@
 # Organic
 string vessel
 ---
+string return_info
 bool success
 ---
 string status
--- a/unilabos_msgs/action/IntSingleInput.action
+++ b/unilabos_msgs/action/IntSingleInput.action
@@ -1,4 +1,5 @@
 int32 int_input
 ---
+string return_info
 bool success
 ---
--- a/unilabos_msgs/action/LiquidHandlerAdd.action
+++ b/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
--- a/unilabos_msgs/action/LiquidHandlerAspirate.action
+++ b/unilabos_msgs/action/LiquidHandlerAspirate.action
@@ -7,5 +7,6 @@ float64[] liquid_height
 float64[] blow_out_air_volume
 string spread
 ---
+string return_info
 bool success
 ---
--- a/unilabos_msgs/action/LiquidHandlerDiscardTips.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerDispense.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerDropTips.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerDropTips96.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
+++ b/unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
@@ -0,0 +1,6 @@
+int32 time
+
+---
+string return_info
+bool success
+---
--- a/unilabos_msgs/action/LiquidHandlerMix.action
+++ b/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
--- a/unilabos_msgs/action/LiquidHandlerMoveBiomek.action
+++ b/unilabos_msgs/action/LiquidHandlerMoveBiomek.action
@@ -0,0 +1,7 @@
+string source
+string target
+
+---
+string return_info
+bool success
+---
--- a/unilabos_msgs/action/LiquidHandlerMoveLid.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerMovePlate.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerMoveResource.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerMoveTo.action
+++ b/unilabos_msgs/action/LiquidHandlerMoveTo.action
@@ -2,6 +2,7 @@ Resource well
 float64 dis_to_top
 int32 channel
 ---
+string return_info
 bool success
 ---
 # 反馈
--- a/unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
+++ b/unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
@@ -0,0 +1,7 @@
+int32 rpm
+int32 time
+
+---
+string return_info
+bool success
+---
--- a/unilabos_msgs/action/LiquidHandlerPickUpTips.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerPickUpTips96.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerProtocolCreation.action
+++ b/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
+---
--- a/unilabos_msgs/action/LiquidHandlerRemove.action
+++ b/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
--- a/unilabos_msgs/action/LiquidHandlerReturnTips.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerReturnTips96.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerStamp.action
+++ b/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 
--- a/unilabos_msgs/action/LiquidHandlerTransfer.action
+++ b/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
--- a/unilabos_msgs/action/LiquidHandlerTransferBiomek.action
+++ b/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
+---
--- a/unilabos_msgs/action/Point3DSeparateInput.action
+++ b/unilabos_msgs/action/Point3DSeparateInput.action
@@ -2,5 +2,6 @@ float64 x
 float64 y
 float64 z
 ---
+string return_info
 bool success
 ---
--- a/unilabos_msgs/action/PumpTransfer.action
+++ b/unilabos_msgs/action/PumpTransfer.action
@@ -10,6 +10,7 @@ float64 rinsing_volume
 int32 rinsing_repeats
 bool solid
 ---
+string return_info
 bool success
 ---
 string status
--- a/unilabos_msgs/action/ResourceCreateFromOuter.action
+++ b/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
 ---
--- a/unilabos_msgs/action/ResourceCreateFromOuterEasy.action
+++ b/unilabos_msgs/action/ResourceCreateFromOuterEasy.action
@@ -8,5 +8,6 @@ string[] liquid_type
 float32[] liquid_volume
 int32 slot_on_deck
 ---
+string return_info
 bool success
 ---
--- a/unilabos_msgs/action/SendCmd.action
+++ b/unilabos_msgs/action/SendCmd.action
@@ -1,6 +1,7 @@
 # Simple
 string command
 ---
+string return_info
 bool success
 ---
 string status
--- a/unilabos_msgs/action/Separate.action
+++ b/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
--- a/unilabos_msgs/action/SolidDispenseAddPowderTube.action
+++ b/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
 ---
--- a/unilabos_msgs/action/Stir.action
+++ b/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
--- a/unilabos_msgs/action/StrSingleInput.action
+++ b/unilabos_msgs/action/StrSingleInput.action
@@ -1,4 +1,5 @@
 string string
 ---
+string return_info
 bool success
 ---
--- a/unilabos_msgs/action/WorkStationRun.action
+++ b/unilabos_msgs/action/WorkStationRun.action
@@ -3,6 +3,7 @@ string wf_name
 string params
 Resource resource
 ---
+string return_info
 bool success
 ---
 string status