diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml index fb4f1b8f..9fd0e765 100644 --- a/.conda/recipe.yaml +++ b/.conda/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: 0.10.7 + version: 0.10.9 source: path: ../unilabos diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index 1ce1efe1..b91ed597 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.7 + version: 0.10.9 source: path: ../../unilabos_msgs target_directory: src diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 7ac0781a..8b45ed7f 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.7" + version: "0.10.9" source: path: ../.. diff --git a/setup.py b/setup.py index 508ff337..7b570566 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.7', + version='0.10.9', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/__init__.py b/unilabos/__init__.py index 5b0f7f2f..dd1de00d 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.7" +__version__ = "0.10.9" diff --git a/unilabos/devices/liquid_handling/prcxi/deck.json b/unilabos/devices/liquid_handling/prcxi/deck.json index a892941b..bc52e1db 100644 --- a/unilabos/devices/liquid_handling/prcxi/deck.json +++ b/unilabos/devices/liquid_handling/prcxi/deck.json @@ -41151,5 +41151,6 @@ "uuid": "730067cf07ae43849ddf4034299030e9" } } - } -] \ No newline at end of file + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/registry/devices/bioyond.yaml b/unilabos/registry/devices/bioyond.yaml index 9c647952..c88e64f7 100644 --- a/unilabos/registry/devices/bioyond.yaml +++ b/unilabos/registry/devices/bioyond.yaml @@ -4,6 +4,85 @@ workstation.bioyond_dispensing_station: - bioyond class: action_value_mappings: + auto-batch_create_90_10_vial_feeding_tasks: + feedback: {} + goal: {} + goal_default: + delay_time: null + hold_m_name: null + liquid_material_name: NMP + speed: null + temperature: null + titration: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + delay_time: + type: string + hold_m_name: + type: string + liquid_material_name: + default: NMP + type: string + speed: + type: string + temperature: + type: string + titration: + type: string + required: + - titration + type: object + result: {} + required: + - goal + title: batch_create_90_10_vial_feeding_tasks参数 + type: object + type: UniLabJsonCommand + auto-batch_create_diamine_solution_tasks: + feedback: {} + goal: {} + goal_default: + delay_time: null + liquid_material_name: NMP + solutions: null + speed: null + temperature: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + delay_time: + type: string + liquid_material_name: + default: NMP + type: string + solutions: + type: string + speed: + type: string + temperature: + type: string + required: + - solutions + type: object + result: {} + required: + - goal + title: batch_create_diamine_solution_tasks参数 + type: object + type: UniLabJsonCommand create_90_10_vial_feeding_task: feedback: {} goal: @@ -242,8 +321,11 @@ workstation.bioyond_dispensing_station: properties: config: type: string + deck: + type: string required: - config + - deck type: object data: properties: {} diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml index 50a94be9..c0aaf3be 100644 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml @@ -394,8 +394,11 @@ bioyond_dispensing_station: properties: config: type: string + deck: + type: string required: - config + - deck type: object data: properties: {} diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 99c92333..6c3a51e9 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -654,6 +654,31 @@ liquid_handler: title: iter_tips参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: string + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-set_group: feedback: {} goal: {} @@ -6170,6 +6195,31 @@ liquid_handler.prcxi: title: move_to参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-run_protocol: feedback: {} goal: {} @@ -8270,6 +8320,9 @@ liquid_handler.prcxi: simulator: default: false type: string + step_mode: + default: false + type: string timeout: type: number required: diff --git a/unilabos/registry/devices/opsky_ATR30007.yaml b/unilabos/registry/devices/opsky_ATR30007.yaml index a2a1532e..ee8b8871 100644 --- a/unilabos/registry/devices/opsky_ATR30007.yaml +++ b/unilabos/registry/devices/opsky_ATR30007.yaml @@ -4,6 +4,43 @@ opsky_ATR30007: - opsky_ATR30007 class: action_value_mappings: + auto-ensure_connected: + feedback: {} + goal: {} + goal_default: + client: null + ip: null + name: null + port: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + client: + type: string + ip: + type: string + name: + type: string + port: + type: string + required: + - client + - name + - ip + - port + type: object + result: {} + required: + - goal + title: ensure_connected参数 + type: object + type: UniLabJsonCommand auto-run_once: feedback: {} goal: {} @@ -15,6 +52,7 @@ opsky_ATR30007: save_csv: 'true' save_plot: 'true' handles: {} + placeholder_keys: {} result: {} schema: description: 执行一次站控-扫码-拉曼流程的大函数入口，参数以字符串形式传入。 @@ -43,8 +81,124 @@ opsky_ATR30007: required: [] type: object result: {} - required: [] - title: run_once 参数 + required: + - goal + title: run_once参数 + type: object + type: UniLabJsonCommand + auto-safe_read: + feedback: {} + goal: {} + goal_default: + client: null + delay: 0.3 + func: null + name: null + retries: 3 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + client: + type: string + delay: + default: 0.3 + type: string + func: + type: string + name: + type: string + retries: + default: 3 + type: string + required: + - client + - name + - func + type: object + result: {} + required: + - goal + title: safe_read参数 + type: object + type: UniLabJsonCommand + auto-safe_write: + feedback: {} + goal: {} + goal_default: + client: null + delay: 0.3 + func: null + name: null + retries: 3 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + client: + type: string + delay: + default: 0.3 + type: string + func: + type: string + name: + type: string + retries: + default: 3 + type: string + required: + - client + - name + - func + type: object + result: {} + required: + - goal + title: safe_write参数 + type: object + type: UniLabJsonCommand + auto-wait_with_quit_check: + feedback: {} + goal: {} + goal_default: + addr_quit: 270 + robot: null + seconds: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + addr_quit: + default: 270 + type: string + robot: + type: string + seconds: + type: string + required: + - robot + - seconds + type: object + result: {} + required: + - goal + title: wait_with_quit_check参数 type: object type: UniLabJsonCommand module: unilabos.devices.opsky_Raman.opsky_ATR30007:opsky_ATR30007 @@ -72,12 +226,7 @@ opsky_ATR30007: scan_csv_file: default: scan_results.csv type: string - required: - - plc_ip - - plc_port - - robot_ip - - robot_port - - scan_csv_file + required: [] type: object data: properties: {} diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index 68007cb3..84918b3d 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -4,6 +4,106 @@ reaction_station.bioyond: - reaction_station_bioyond class: action_value_mappings: + auto-create_order: + feedback: {} + goal: {} + goal_default: + json_str: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + json_str: + type: string + required: + - json_str + type: object + result: {} + required: + - goal + title: create_order参数 + type: object + type: UniLabJsonCommand + auto-merge_workflow_with_parameters: + feedback: {} + goal: {} + goal_default: + json_str: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + json_str: + type: string + required: + - json_str + type: object + result: {} + required: + - goal + title: merge_workflow_with_parameters参数 + type: object + type: UniLabJsonCommand + auto-process_web_workflows: + feedback: {} + goal: {} + goal_default: + web_workflow_json: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + web_workflow_json: + type: string + required: + - web_workflow_json + type: object + result: {} + required: + - goal + title: process_web_workflows参数 + type: object + type: UniLabJsonCommand + auto-workflow_step_query: + feedback: {} + goal: {} + goal_default: + workflow_id: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + workflow_id: + type: string + required: + - workflow_id + type: object + result: {} + required: + - goal + title: workflow_step_query参数 + type: object + type: UniLabJsonCommand drip_back: feedback: {} goal: @@ -446,9 +546,7 @@ reaction_station.bioyond: module: unilabos.devices.workstation.bioyond_studio.reaction_station:BioyondReactionStation protocol_type: [] status_types: - all_workflows: dict - bioyond_status: dict - workstation_status: dict + workflow_sequence: String type: python config_info: [] description: Bioyond反应站 @@ -460,20 +558,18 @@ reaction_station.bioyond: config: type: object deck: - type: object + type: string + protocol_type: + type: string required: [] type: object data: properties: - all_workflows: - type: object - bioyond_status: - type: object - workstation_status: - type: object + workflow_sequence: + items: + type: string + type: array required: - - bioyond_status - - all_workflows - - workstation_status + - workflow_sequence type: object version: 1.0.0 diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 18575821..77ac5336 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -45,6 +45,31 @@ virtual_centrifuge: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand centrifuge: feedback: current_speed: current_speed @@ -335,6 +360,31 @@ virtual_column: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand run_column: feedback: current_status: current_status @@ -732,6 +782,31 @@ virtual_filter: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand filter: feedback: current_status: current_status @@ -1358,6 +1433,31 @@ virtual_heatchill: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand heat_chill: feedback: status: status @@ -2358,6 +2458,31 @@ virtual_rotavap: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand evaporate: feedback: current_device: current_device @@ -2690,6 +2815,31 @@ virtual_separator: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand separate: feedback: current_status: status @@ -3600,6 +3750,31 @@ virtual_solenoid_valve: title: is_closed参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-reset: feedback: {} goal: {} @@ -4177,6 +4352,31 @@ virtual_solid_dispenser: title: parse_mol_string参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser status_types: current_reagent: str @@ -4278,6 +4478,31 @@ virtual_stirrer: title: initialize参数 type: object type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand start_stir: feedback: status: status @@ -4995,6 +5220,31 @@ virtual_transfer_pump: title: is_full参数 type: object type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand auto-pull_plunger: feedback: {} goal: {} diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index 7efdfd22..380c3f64 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -6120,31 +6120,6 @@ workstation.bioyond: title: load_bioyond_data_from_file参数 type: object type: UniLabJsonCommand - auto-merge_workflow_with_parameters: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: merge_workflow_with_parameters参数 - type: object - type: UniLabJsonCommand auto-post_init: feedback: {} goal: {} @@ -6460,6 +6435,7 @@ workstation.bioyond: status_types: all_workflows: dict bioyond_status: dict + station_info: dict workstation_status: dict type: python config_info: [] @@ -6473,8 +6449,6 @@ workstation.bioyond: type: string deck: type: string - station_config: - type: string required: [] type: object data: @@ -6483,11 +6457,14 @@ workstation.bioyond: type: object bioyond_status: type: object + station_info: + type: object workstation_status: type: object required: - bioyond_status - all_workflows + - station_info - workstation_status type: object version: 1.0.0 diff --git a/unilabos/registry/devices/xrd_d7mate.yaml b/unilabos/registry/devices/xrd_d7mate.yaml index 9e6ee670..cbdf8aa8 100644 --- a/unilabos/registry/devices/xrd_d7mate.yaml +++ b/unilabos/registry/devices/xrd_d7mate.yaml @@ -8,6 +8,7 @@ xrd_d7mate: goal: {} goal_default: {} handles: {} + placeholder_keys: {} result: {} schema: description: 安全关闭与XRD D7-Mate设备的TCP连接，释放网络资源。 @@ -28,6 +29,7 @@ xrd_d7mate: goal: {} goal_default: {} handles: {} + placeholder_keys: {} result: {} schema: description: 与XRD D7-Mate设备建立TCP连接，配置超时参数。 @@ -49,6 +51,7 @@ xrd_d7mate: goal_default: ros_node: null handles: {} + placeholder_keys: {} result: {} schema: description: '' @@ -67,6 +70,31 @@ xrd_d7mate: title: post_init参数 type: object type: UniLabJsonCommand + auto-start_from_string: + feedback: {} + goal: {} + goal_default: + params: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + params: + type: string + required: + - params + type: object + result: {} + required: + - goal + title: start_from_string参数 + type: object + type: UniLabJsonCommand get_current_acquire_data: feedback: {} goal: {} @@ -530,7 +558,11 @@ xrd_d7mate: type: object type: UniLabJsonCommand module: unilabos.devices.xrd_d7mate.xrd_d7mate:XRDClient - status_types: {} + status_types: + current_acquire_data: dict + sample_down: dict + sample_request: dict + sample_status: dict type: python config_info: [] description: XRD D7-Mate X射线衍射分析设备，通过TCP通信实现远程控制与状态监控，支持自动模式控制、上样流程、数据获取、下样流程和高压电源控制等功能。 @@ -551,7 +583,19 @@ xrd_d7mate: required: [] type: object data: - properties: {} - required: [] + properties: + current_acquire_data: + type: object + sample_down: + type: object + sample_request: + type: object + sample_status: + type: object + required: + - sample_request + - current_acquire_data + - sample_status + - sample_down type: object version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index b3438ccf..155765a6 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -8,6 +8,17 @@ BIOYOND_PolymerStation_Liquid_Vial: icon: '' init_param_schema: {} version: 1.0.0 +BIOYOND_PolymerStation_Reactor: + category: + - bottles + - reactors + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 BIOYOND_PolymerStation_Reagent_Bottle: category: - bottles @@ -59,14 +70,3 @@ BIOYOND_PolymerStation_TipBox: icon: '' init_param_schema: {} version: 1.0.0 -BIOYOND_PolymerStation_Reactor: - category: - - bottles - - reactors - class: - module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor - type: pylabrobot - handles: [] - icon: '' - init_param_schema: {} - version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml index 24c6dd48..bc158508 100644 --- a/unilabos/registry/resources/bioyond/deck.yaml +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -22,7 +22,6 @@ BIOYOND_PolymerReactionStation_Deck: init_param_schema: {} registry_type: resource version: 1.0.0 - YB_Deck11: category: - deck @@ -35,8 +34,3 @@ YB_Deck11: init_param_schema: {} registry_type: resource version: 1.0.0 - - - - - diff --git a/unilabos/registry/resources/prcxi/tip_racks.yaml b/unilabos/registry/resources/prcxi/tip_racks.yaml index 7caff53d..f97a3d02 100644 --- a/unilabos/registry/resources/prcxi/tip_racks.yaml +++ b/unilabos/registry/resources/prcxi/tip_racks.yaml @@ -10,17 +10,16 @@ prcxi_opentrons_96_tiprack_10ul: init_param_schema: {} registry_type: resource version: 1.0.0 - - tip_adaptor_1250ul_2: category: - - prcxi + - prcxi + - tip_racks class: module: unilabos.devices.liquid_handling.prcxi.prcxi_materials:tip_adaptor_1250ul type: pylabrobot description: Tip头适配器 1250uL - handles: [ ] + handles: [] icon: '' - init_param_schema: { } + init_param_schema: {} registry_type: resource - version: 1.0.0 \ No newline at end of file + version: 1.0.0 diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index c6e274a2..9dd3b60a 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.7 + 0.10.9 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln