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发版构建 (#71)
* 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 * hotfix: Add macos_sdk_config (#46) Co-authored-by: quehh <scienceol@outlook.com> * include device_mesh when pip install * 测试自动构建 * try build fix * try build * test artifacts * hotfix: Add .certs in .gitignore * create container * container 添加和更新完成 * Device registry port (#49) * 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 * unify liquid_handler definition * Update virtual_device.yaml * 更正了stir和heater的连接方式 * 区分了虚拟仪器中的八通阀和电磁阀，添加了两个阀门的驱动 * 修改了add protocol * 修复了阀门更新版的bug * 修复了添加protocol前缀导致的不能启动的bug * Fix handles * bump version to 0.9.6 * add resource edge upload * update container registry and handles * add virtual_separator virtual_rotavap fix transfer_pump * fix container value add parent_name to edge device id * 大图的问题都修复好了，添加了gassource和vacuum pump的驱动以及注册表 * default resource upload mode is false * 添加了icon的文件名在注册表里面 * 修改了json图中link的格式 * fix resource and edge upload * fix device ports * Fix edge id * 移除device的父节点关联 * separate registry sync and resource_add * 默认不进行注册表报送，通过命令unilabos-register或者增加启动参数 * 完善tip * protocol node不再嵌套显示 * bump version to 0.9.7 新增一个测试PumpTransferProtocol的teststation，亲测可以运行，将八通阀们和转移泵与pump_protocol适配 * protocol node 执行action不应携带自身device id * 添加了一套简易双八通阀工作站JSON，亲测能跑 * 修复了很多protocol，亲测能跑 * 添加了run column和filter through的protocol，亲测能跑 * fix mock_reactor * 修改了大图和小图的json，但是在前端上没看到改变 --------- 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: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@pku.edu.cn> * 更新workstation注册表 * 添加了两个protocol的检索功能 (#51) * 添加了两个protocol的检索liquid type功能 * fix workstation registry * 修复了没连接的几个仪器的link，添加了container的icon * 修改了json和注册表，现在大图全部的device都链接上了 * 修复了小图的json图，线全部连上了 * add work_station protocol handles (ports) * fix workstation action handle --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@dp.tech> * 新增注册表补全功能，修复Protocol执行失败 * 支持通过导入方式补全注册表，新增工作流unilabos_device_id字段 * 修复不启用注册表补充就无法启动的bug * 修复部分识别error * 修复静态方法识别get status，注册表支持python类型 * status types对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换 * 支持通过list[int]，list[float]进行Int64MultiArray，Float64MultiArray的替换 * 成功动态导入的不再需要使用静态导入 * Fix handle names (#55) * fix handle names * improve evacuateAndRefill gas source finding * add camera and dependency (#56) * 修复auto-的Action在protocol node下错误注册 * 匹配init param schema格式 * Add channel_sources config in conda_build_config.yaml (#58) * 修复任务执行传参 * Create 5 new protocols & bump version 0.9.8 (#59) * 添加了5个缺失的protocol，验证了可以运行 * bump version to 0.9.8 * 修复新增的Action的字段缺失 --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 转换到ros消息时，要进行基础类型转换 * Update work_station.yaml (#60) * Update work_station.yaml * Checklist里面有XDL跟protocol之间没对齐的问题，工作量有点大找时间写完 * Create prcxi.py * Update prcxi.py * Update Prcxi * 更新中析仪器，以及启动示例 * 修改moveit_interface，并在mqtt上报时发送一个时间戳，方便网页端对数据的筛选 (#62) * 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 * 修改moveit_interface，并在mqtt上报时发送一个时间戳 --------- 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> * 更新实例 * 更新实例 * 更新实例 * 修正prcxi启动 * 更新PRCXI配置，修改主机地址和设置状态，并添加示例用法 * add pickup tips for prcxi * 任意执行错误都应该返回failed * 任意执行错误都应该返回failed * Add plateT6 to PRCXI configuration and enhance error handling in liquid handling * prcxi blending * assert blending_times > 0 * update prcxi * update prcxi registry * Update prcxi.py to fit the function in unilabos. * 不生成已配置action的动作，增加prcxi的debug模式 * 增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成 * 增加注册表版本参数，支持将auto-指令人工检查后非auto，不生成人工已检查的指令，取消不必要的description生成 * Update prcxi.py * 修复了部分的protocol因为XDL更新导致的问题 (#61) * 修复了部分的protocol因为XDL更新导致的问题 但是pumptransfer，add，dissolve，separate还没修，后续还需要写virtual固体加料器 * 补充了四个action * 添加了固体加样器，丰富了json，修改了add protocol * bump version to 0.9.9 * fix bugs from new actions * protocol完整修复版本& bump version to 0.9.10 * 修补了一些单位处理，bump version to 0.9.11 * 优化了全protocol的运行时间，除了pumptransfer相关的还没 * 补充了剩下的几个protocol --------- Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 修复action移除时的报错，更新注册表 * Update prcxi.py * Update prcxi.py * 新增simulator * Update prcxi.py * Update trash * Update prcxi.py * Update prcxi.py * Update for discard tips * Update prcxi.py * Update PRCXI * 更新axis等参数 * Update 9320 * get_well_container&get_tip_rack * update * Update 9320 * update * deck * 更新注册表&增加资源，parent应为resources字段 * Update 9320 * update * 新增set liquid方法 * 新增set liquid方法 * action to resource & 0.9.12 (#64) * action to resource & 0.9.12 * stir和adjustph的中的bug修不好 * modify prcxi * 0.9.12 update registry * update * update * registry upadte * Update * update * container_for_nothing * mix * registry fix * registry fix * registry fix * Update * Update prcxi.py * SET TIP RACK * bump version * update registry version & category * update set tip rack * yaml dump支持ordered dict，支持config_info * fix devices * fix resource check serialize * fix: Protocol node resource run (#65) * stir和adjustph的中的bug修不好 * fix sub-resource query in protocol node compiling * add resource placeholder to vessels * add the rest yaml * Update work_station.yaml --------- Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn> * 采用http报送resource * 采用http报送resource * update * Update .gitignore * bump version to 0.10.0 * default param simulator * slim * Update * Update for prcxi * Update * Update * Refactor PRCXI9300Deck initialization and update plate configurations - Changed deck name from "PRCXI_Deck" to "PRCXI_Deck_9300". - Updated plate4 initialization to use get_well_container instead of get_tip_rack. - Modified plate4 material details with new UUID, code, and name. - Renamed output JSON file to "deck_9300_new.json". - Uncommented and adjusted liquid handling operations for clarity and future use. * test * update * Update prcxi_9300.json This one is good * update * fix protocol_node communication transfer * 修复注册表handles类型错误的问题 * 物料添加失败应该直接raise ValueError，不要等待 * 更正注册表中的数字类型 * Delete unnecessary files. * 新增lab_id直接传入 * fix vessel_id param passing in protocols * 新增dll预载，保证部分设备可正常使用unilabos_msgs * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 更新版本到0.10.1 修复Upload Registry镜像不匹配 * 新增用户引导 * Device visualization (#67) * 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 * 修改moveit_interface，并在mqtt上报时发送一个时间戳 * 添加机械臂和移液站 * 添加 * 添加硬件 * update * 添加 --------- 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> * 更新注册表 * fix build * 更新启动逻辑 * 更新环境变量级别 * 使用rattler-build进行构建测试 * 使用rattler-build进行构建测试 2 * 使用rattler-build进行构建测试 3 * 使用rattler-build进行构建测试 4 * 使用rattler-build进行构建测试 5 * 更新MANIFEST.in文件，调整静态文件和模板的路径，从unilabos/app更改为unilabos/web/app * 修复linux构建 * 修正recipe.yaml文件中的macOS部署目标语法 * 更新GitHub Actions工作流，修改临时目录路径并调整Anaconda上传条件，移除与标签相关的发布步骤 * 四平台构建测试 * 更正发布源 * 移除旧的recipe_new.yaml文件，更新recipe.yaml以包含新的构建步骤和依赖项，同时添加GitHub Actions工作流以支持Conda构建和上传到Anaconda.org。 * 更新recipe.yaml文件，将paho-mqtt和opentrons_shared_data的安装步骤分开，以提高构建的可读性和可维护性。 * test unilabos submit * 修复web无资源的问题 * 测试conda构建 --------- 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> Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: quehh <scienceol@outlook.com> Co-authored-by: Harvey Que <quehaohui@dp.tech> Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
This commit is contained in:
Xuwznln
GitHub
@@ -2,66 +2,83 @@ package:
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name: unilabos
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name: unilabos
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version: 0.10.1
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version: 0.10.1
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source:
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path: ../unilabos
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target_directory: unilabos
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build:
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build:
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noarch: python
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noarch: python
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number: 0
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script:
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script:
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- python -m pip install paho-mqtt opentrons_shared_data
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- set PIP_NO_INDEX=
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- python -m pip install git+https://github.com/Xuwznln/pylabrobot.git
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# - python -m pip install paho-mqtt opentrons_shared_data
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# - python -m pip install git+https://github.com/Xuwznln/pylabrobot.git
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- if: win
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then:
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- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
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- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
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- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
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- python -m pip install %SRC_DIR%
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- if: unix
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then:
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- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
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- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
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- cp $RECIPE_DIR/../setup.py $SRC_DIR
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- python -m pip install $SRC_DIR
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requirements:
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requirements:
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host:
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host:
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- python >=3.11
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- python ==3.11.11
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- pip
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- pip
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- setuptools
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- setuptools
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run:
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run:
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- conda-forge::python =3.11.11
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- conda-forge::python ==3.11.11
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- compilers
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- compilers
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- cmake
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- cmake
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- make
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- make
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- ninja
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- ninja
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- sphinx
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- sphinx
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- sphinx_rtd_theme
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- sphinx_rtd_theme
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- numpy
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- numpy
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- scipy
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- scipy
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- pandas
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- pandas
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- networkx
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- networkx
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- matplotlib
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- matplotlib
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- pint
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- pint
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- pyserial
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- pyserial
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- pyusb
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- pyusb
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- pylibftdi
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- pylibftdi
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- pymodbus
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- pymodbus
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- python-can
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- python-can
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- pyvisa
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- pyvisa
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- opencv
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- opencv
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- pydantic
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- pydantic
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- fastapi
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- fastapi
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- uvicorn
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- uvicorn
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- gradio
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- gradio
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- flask
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- flask
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- websocket
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- websocket
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- ipython
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- ipython
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- jupyter
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- jupyter
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- jupyros
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- jupyros
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- colcon-common-extensions
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- colcon-common-extensions
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- robostack-staging::ros-humble-desktop-full
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- robostack-staging::ros-humble-desktop-full
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- robostack-staging::ros-humble-control-msgs
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- robostack-staging::ros-humble-control-msgs
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- robostack-staging::ros-humble-sensor-msgs
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- robostack-staging::ros-humble-sensor-msgs
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- robostack-staging::ros-humble-trajectory-msgs
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- robostack-staging::ros-humble-trajectory-msgs
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- ros-humble-navigation2
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- ros-humble-navigation2
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- ros-humble-ros2-control
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- ros-humble-ros2-control
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- ros-humble-robot-state-publisher
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- ros-humble-robot-state-publisher
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- ros-humble-joint-state-publisher
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- ros-humble-joint-state-publisher
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- ros-humble-rosbridge-server
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- ros-humble-rosbridge-server
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- ros-humble-cv-bridge
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- ros-humble-cv-bridge
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- ros-humble-tf2
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- ros-humble-tf2
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- ros-humble-moveit
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- ros-humble-moveit
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- ros-humble-moveit-servo
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- ros-humble-moveit-servo
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- ros-humble-simulation
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- ros-humble-simulation
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- ros-humble-tf-transformations
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- ros-humble-tf-transformations
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- transforms3d
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- transforms3d
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- uni-lab::ros-humble-unilabos-msgs
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- uni-lab::ros-humble-unilabos-msgs
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about:
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about:
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repository: https://github.com/dptech-corp/Uni-Lab-OS
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repository: https://github.com/dptech-corp/Uni-Lab-OS
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@@ -1,23 +0,0 @@
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package:
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name: unilabos
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version: "0.10.1"
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source:
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path: ../..
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build:
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noarch: python
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script: |
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{{ PYTHON }} -m pip install . --no-deps --ignore-installed -vv
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# {{ PYTHON }} clean_build_dir.py
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requirements:
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host:
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- python
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- pip
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run:
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- python
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test:
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imports:
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- unilabos
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201
.github/workflows/multi-platform-build.yml
vendored
201
.github/workflows/multi-platform-build.yml
vendored
@@ -2,16 +2,21 @@ name: Multi-Platform Conda Build
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on:
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on:
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push:
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push:
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branches: [ main, dev ]
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branches: [main, dev]
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tags: [ 'v*' ]
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tags: ['v*']
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pull_request:
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pull_request:
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branches: [ main, dev ]
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branches: [main, dev]
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workflow_dispatch:
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workflow_dispatch:
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inputs:
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inputs:
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platforms:
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platforms:
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description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
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description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
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required: false
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required: false
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default: 'osx-arm64'
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default: 'osx-arm64'
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upload_to_anaconda:
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||||||
|
description: '是否上传到Anaconda.org'
|
||||||
|
required: false
|
||||||
|
default: false
|
||||||
|
type: boolean
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
build:
|
build:
|
||||||
@@ -19,18 +24,18 @@ jobs:
|
|||||||
fail-fast: false
|
fail-fast: false
|
||||||
matrix:
|
matrix:
|
||||||
include:
|
include:
|
||||||
- os: ubuntu-latest
|
- os: ubuntu-latest
|
||||||
platform: linux-64
|
platform: linux-64
|
||||||
env_file: unilabos-linux-64.yaml
|
env_file: unilabos-linux-64.yaml
|
||||||
- os: macos-13 # Intel
|
- os: macos-13 # Intel
|
||||||
platform: osx-64
|
platform: osx-64
|
||||||
env_file: unilabos-osx-64.yaml
|
env_file: unilabos-osx-64.yaml
|
||||||
- os: macos-latest # ARM64
|
- os: macos-latest # ARM64
|
||||||
platform: osx-arm64
|
platform: osx-arm64
|
||||||
env_file: unilabos-osx-arm64.yaml
|
env_file: unilabos-osx-arm64.yaml
|
||||||
- os: windows-latest
|
- os: windows-latest
|
||||||
platform: win-64
|
platform: win-64
|
||||||
env_file: unilabos-win64.yaml
|
env_file: unilabos-win64.yaml
|
||||||
|
|
||||||
runs-on: ${{ matrix.os }}
|
runs-on: ${{ matrix.os }}
|
||||||
|
|
||||||
@@ -39,94 +44,98 @@ jobs:
|
|||||||
shell: bash -l {0}
|
shell: bash -l {0}
|
||||||
|
|
||||||
steps:
|
steps:
|
||||||
- uses: actions/checkout@v4
|
- uses: actions/checkout@v4
|
||||||
with:
|
with:
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Check if platform should be built
|
- name: Check if platform should be built
|
||||||
id: should_build
|
id: should_build
|
||||||
run: |
|
run: |
|
||||||
if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
|
if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
|
||||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||||
elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||||
elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
|
elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
|
||||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||||
else
|
else
|
||||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||||
fi
|
fi
|
||||||
|
|
||||||
- name: Setup Miniconda
|
- name: Setup Miniconda
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: conda-incubator/setup-miniconda@v3
|
uses: conda-incubator/setup-miniconda@v3
|
||||||
with:
|
with:
|
||||||
miniconda-version: "latest"
|
miniconda-version: 'latest'
|
||||||
channels: conda-forge,robostack-staging,defaults
|
channels: conda-forge,robostack-staging,defaults
|
||||||
channel-priority: strict
|
channel-priority: strict
|
||||||
activate-environment: build-env
|
activate-environment: build-env
|
||||||
auto-activate-base: false
|
auto-activate-base: false
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
show-channel-urls: true
|
show-channel-urls: true
|
||||||
|
|
||||||
- name: Install boa and build tools
|
- name: Install rattler-build and anaconda-client
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
conda install -c conda-forge boa conda-build
|
conda install -c conda-forge rattler-build anaconda-client
|
||||||
|
|
||||||
- name: Show environment info
|
- name: Show environment info
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
conda info
|
conda info
|
||||||
conda list | grep -E "(boa|conda-build)"
|
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||||
echo "Platform: ${{ matrix.platform }}"
|
echo "Platform: ${{ matrix.platform }}"
|
||||||
echo "OS: ${{ matrix.os }}"
|
echo "OS: ${{ matrix.os }}"
|
||||||
|
|
||||||
- name: Build conda package
|
- name: Build conda package
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
|
if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
|
||||||
boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
|
rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
||||||
else
|
else
|
||||||
boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
|
rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
|
||||||
fi
|
fi
|
||||||
|
|
||||||
- name: List built packages
|
- name: List built packages
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
echo "Built packages in conda-bld:"
|
echo "Built packages in output directory:"
|
||||||
find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
|
find ./output -name "*.conda" | head -10
|
||||||
ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
|
ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
|
||||||
ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
|
ls -la ./output/noarch/ || echo "noarch directory not found"
|
||||||
echo "CONDA_PREFIX: $CONDA_PREFIX"
|
echo "Output directory structure:"
|
||||||
echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"
|
find ./output -type f -name "*.conda"
|
||||||
|
|
||||||
- name: Prepare artifacts for upload
|
- name: Prepare artifacts for upload
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
mkdir -p ${{ runner.temp }}/conda-packages
|
mkdir -p conda-packages-temp
|
||||||
find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
|
find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
|
||||||
echo "Copied files to temp directory:"
|
echo "Copied files to temp directory:"
|
||||||
ls -la ${{ runner.temp }}/conda-packages/
|
ls -la conda-packages-temp/
|
||||||
|
|
||||||
- name: Upload conda package artifacts
|
- name: Upload conda package artifacts
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: actions/upload-artifact@v4
|
uses: actions/upload-artifact@v4
|
||||||
with:
|
with:
|
||||||
name: conda-package-${{ matrix.platform }}
|
name: conda-package-${{ matrix.platform }}
|
||||||
path: ${{ runner.temp }}/conda-packages
|
path: conda-packages-temp
|
||||||
if-no-files-found: warn
|
if-no-files-found: warn
|
||||||
retention-days: 30
|
retention-days: 30
|
||||||
|
|
||||||
- name: Create release assets (on tags)
|
- name: Login to Anaconda with API token
|
||||||
if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
|
if: steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request'))
|
||||||
run: |
|
run: |
|
||||||
mkdir -p release-assets
|
anaconda login --token ${{ secrets.ANACONDA_API_TOKEN }}
|
||||||
find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;
|
|
||||||
|
|
||||||
- name: Upload to release
|
- name: Upload to Anaconda.org (unilab organization)
|
||||||
if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
|
if: steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request'))
|
||||||
uses: softprops/action-gh-release@v1
|
run: |
|
||||||
with:
|
for package in $(find ./output -name "*.conda"); do
|
||||||
files: release-assets/*
|
echo "Uploading $package to unilab organization..."
|
||||||
draft: false
|
anaconda upload --user uni-lab --force "$package"
|
||||||
prerelease: false
|
done
|
||||||
|
|
||||||
|
- name: Logout from Anaconda
|
||||||
|
if: always() && steps.should_build.outputs.should_build == 'true' && (github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request'))
|
||||||
|
run: |
|
||||||
|
anaconda logout || true
|
||||||
|
|||||||
94
.github/workflows/unilabos-conda-build.yml
vendored
Normal file
94
.github/workflows/unilabos-conda-build.yml
vendored
Normal file
@@ -0,0 +1,94 @@
|
|||||||
|
name: UniLabOS Conda Build
|
||||||
|
|
||||||
|
on:
|
||||||
|
push:
|
||||||
|
branches: [main, dev]
|
||||||
|
tags: ['v*']
|
||||||
|
pull_request:
|
||||||
|
branches: [main, dev]
|
||||||
|
workflow_dispatch:
|
||||||
|
inputs:
|
||||||
|
upload_to_anaconda:
|
||||||
|
description: '是否上传到Anaconda.org'
|
||||||
|
required: false
|
||||||
|
default: false
|
||||||
|
type: boolean
|
||||||
|
|
||||||
|
jobs:
|
||||||
|
build:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
|
||||||
|
defaults:
|
||||||
|
run:
|
||||||
|
shell: bash -l {0}
|
||||||
|
|
||||||
|
steps:
|
||||||
|
- uses: actions/checkout@v4
|
||||||
|
with:
|
||||||
|
fetch-depth: 0
|
||||||
|
|
||||||
|
- name: Setup Miniconda
|
||||||
|
uses: conda-incubator/setup-miniconda@v3
|
||||||
|
with:
|
||||||
|
miniconda-version: 'latest'
|
||||||
|
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||||
|
channel-priority: strict
|
||||||
|
activate-environment: build-env
|
||||||
|
auto-activate-base: false
|
||||||
|
auto-update-conda: false
|
||||||
|
show-channel-urls: true
|
||||||
|
|
||||||
|
- name: Install rattler-build and anaconda-client
|
||||||
|
run: |
|
||||||
|
conda install -c conda-forge rattler-build anaconda-client
|
||||||
|
|
||||||
|
- name: Show environment info
|
||||||
|
run: |
|
||||||
|
conda info
|
||||||
|
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||||
|
echo "Building UniLabOS package"
|
||||||
|
|
||||||
|
- name: Build conda package
|
||||||
|
run: |
|
||||||
|
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||||
|
|
||||||
|
- name: List built packages
|
||||||
|
run: |
|
||||||
|
echo "Built packages in output directory:"
|
||||||
|
find ./output -name "*.conda" | head -10
|
||||||
|
ls -la ./output/noarch/ || echo "noarch directory not found"
|
||||||
|
echo "Output directory structure:"
|
||||||
|
find ./output -type f -name "*.conda"
|
||||||
|
|
||||||
|
- name: Prepare artifacts for upload
|
||||||
|
run: |
|
||||||
|
mkdir -p conda-packages-temp
|
||||||
|
find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
|
||||||
|
echo "Copied files to temp directory:"
|
||||||
|
ls -la conda-packages-temp/
|
||||||
|
|
||||||
|
- name: Upload conda package artifacts
|
||||||
|
uses: actions/upload-artifact@v4
|
||||||
|
with:
|
||||||
|
name: conda-package-unilabos
|
||||||
|
path: conda-packages-temp
|
||||||
|
if-no-files-found: warn
|
||||||
|
retention-days: 30
|
||||||
|
|
||||||
|
- name: Login to Anaconda with API token
|
||||||
|
if: github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request')
|
||||||
|
run: |
|
||||||
|
anaconda login --token ${{ secrets.ANACONDA_API_TOKEN }}
|
||||||
|
|
||||||
|
- name: Upload to Anaconda.org (uni-lab organization)
|
||||||
|
if: github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request')
|
||||||
|
run: |
|
||||||
|
for package in $(find ./output -name "*.conda"); do
|
||||||
|
echo "Uploading $package to uni-lab organization..."
|
||||||
|
anaconda upload --user uni-lab --force "$package"
|
||||||
|
done
|
||||||
|
|
||||||
|
- name: Logout from Anaconda
|
||||||
|
if: always() && (github.event.inputs.upload_to_anaconda == 'true' || (github.ref == 'refs/heads/main' && github.event_name != 'pull_request'))
|
||||||
|
run: |
|
||||||
|
anaconda logout || true
|
||||||
@@ -1,5 +1,5 @@
|
|||||||
recursive-include unilabos/registry *.yaml
|
recursive-include unilabos/registry *.yaml
|
||||||
recursive-include unilabos/app/static *
|
recursive-include unilabos/app/web/static *
|
||||||
recursive-include unilabos/app/templates *
|
recursive-include unilabos/app/web/templates *
|
||||||
recursive-include unilabos/device_mesh/devices *
|
recursive-include unilabos/device_mesh/devices *
|
||||||
recursive-include unilabos/device_mesh/resources *
|
recursive-include unilabos/device_mesh/resources *
|
||||||
|
|||||||
@@ -1,4 +1,4 @@
|
|||||||
:: Generated by vinca http://github.com/RoboStack/vinca.
|
::Generated by vinca http://github.com/RoboStack/vinca.
|
||||||
:: DO NOT EDIT!
|
:: DO NOT EDIT!
|
||||||
setlocal EnableDelayedExpansion
|
setlocal EnableDelayedExpansion
|
||||||
|
|
||||||
@@ -19,6 +19,7 @@ set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
|
|||||||
set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
|
set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
|
||||||
|
|
||||||
set PYTHON="%PREFIX%\python.exe"
|
set PYTHON="%PREFIX%\python.exe"
|
||||||
|
set PYTHON=%PYTHON:\=\\%
|
||||||
|
|
||||||
cmake ^
|
cmake ^
|
||||||
-G "%CMAKE_GENERATOR%" ^
|
-G "%CMAKE_GENERATOR%" ^
|
||||||
@@ -34,8 +35,10 @@ cmake ^
|
|||||||
-DCMAKE_OBJECT_PATH_MAX=255 ^
|
-DCMAKE_OBJECT_PATH_MAX=255 ^
|
||||||
-DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
|
-DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
|
||||||
--compile-no-warning-as-error ^
|
--compile-no-warning-as-error ^
|
||||||
%SRC_DIR%\%PKG_NAME%\src\work
|
%SRC_DIR%\src
|
||||||
|
|
||||||
if errorlevel 1 exit 1
|
if errorlevel 1 exit 1
|
||||||
|
|
||||||
cmake --build . --config Release --target install
|
cmake --build . --config Release --target install
|
||||||
|
|
||||||
if errorlevel 1 exit 1
|
if errorlevel 1 exit 1
|
||||||
@@ -24,7 +24,7 @@ echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
|
|||||||
export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
|
export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
|
||||||
echo "Using Python ${ROS_PYTHON_VERSION}"
|
echo "Using Python ${ROS_PYTHON_VERSION}"
|
||||||
# Fix up SP_DIR which for some reason might contain a path to a wrong Python version
|
# Fix up SP_DIR which for some reason might contain a path to a wrong Python version
|
||||||
FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
|
FIXED_SP_DIR=$($PYTHON_EXECUTABLE -c "import site; print(site.getsitepackages()[0])")
|
||||||
echo "Using site-package dir ${FIXED_SP_DIR}"
|
echo "Using site-package dir ${FIXED_SP_DIR}"
|
||||||
|
|
||||||
# see https://github.com/conda-forge/cross-python-feedstock/issues/24
|
# see https://github.com/conda-forge/cross-python-feedstock/issues/24
|
||||||
@@ -66,6 +66,6 @@ cmake \
|
|||||||
-DBUILD_TESTING=OFF \
|
-DBUILD_TESTING=OFF \
|
||||||
-DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
|
-DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
|
||||||
--compile-no-warning-as-error \
|
--compile-no-warning-as-error \
|
||||||
$SRC_DIR/$PKG_NAME/src/work
|
$SRC_DIR/src
|
||||||
|
|
||||||
cmake --build . --config Release --target install
|
cmake --build . --config Release --target install
|
||||||
76
recipes/msgs/recipe.yaml
Normal file
76
recipes/msgs/recipe.yaml
Normal file
@@ -0,0 +1,76 @@
|
|||||||
|
package:
|
||||||
|
name: ros-humble-unilabos-msgs
|
||||||
|
version: 0.10.1
|
||||||
|
source:
|
||||||
|
path: ../../unilabos_msgs
|
||||||
|
target_directory: src
|
||||||
|
|
||||||
|
build:
|
||||||
|
script:
|
||||||
|
- if: win
|
||||||
|
then:
|
||||||
|
- copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
|
||||||
|
- call %SRC_DIR%\bld_ament_cmake.bat
|
||||||
|
- if: unix
|
||||||
|
then:
|
||||||
|
- cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
|
||||||
|
- bash $SRC_DIR/build_ament_cmake.sh
|
||||||
|
|
||||||
|
about:
|
||||||
|
repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||||
|
license: BSD-3-Clause
|
||||||
|
description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
|
||||||
|
|
||||||
|
requirements:
|
||||||
|
build:
|
||||||
|
- if: build_platform != target_platform
|
||||||
|
then:
|
||||||
|
- pkg-config
|
||||||
|
- python ==3.11.11
|
||||||
|
- cross-python_${{ target_platform }}
|
||||||
|
- numpy
|
||||||
|
- ${{ compiler('cxx') }}
|
||||||
|
- ${{ compiler('c') }}
|
||||||
|
- if: linux and x86_64
|
||||||
|
then:
|
||||||
|
- sysroot_linux-64 ==2.17
|
||||||
|
- ninja
|
||||||
|
- setuptools
|
||||||
|
- cython
|
||||||
|
- cmake
|
||||||
|
- if: unix
|
||||||
|
then:
|
||||||
|
- make
|
||||||
|
- coreutils
|
||||||
|
- if: osx
|
||||||
|
then:
|
||||||
|
- tapi
|
||||||
|
- if: win
|
||||||
|
then:
|
||||||
|
- vs2022_win-64
|
||||||
|
host:
|
||||||
|
- numpy
|
||||||
|
- pip
|
||||||
|
- if: build_platform == target_platform
|
||||||
|
then:
|
||||||
|
- pkg-config
|
||||||
|
- robostack-staging::ros-humble-action-msgs
|
||||||
|
- robostack-staging::ros-humble-ament-cmake
|
||||||
|
- robostack-staging::ros-humble-ament-lint-auto
|
||||||
|
- robostack-staging::ros-humble-ament-lint-common
|
||||||
|
- robostack-staging::ros-humble-ros-environment
|
||||||
|
- robostack-staging::ros-humble-ros-workspace
|
||||||
|
- robostack-staging::ros-humble-rosidl-default-generators
|
||||||
|
- robostack-staging::ros-humble-std-msgs
|
||||||
|
- robostack-staging::ros-humble-geometry-msgs
|
||||||
|
- robostack-staging::ros2-distro-mutex=0.6
|
||||||
|
run:
|
||||||
|
- robostack-staging::ros-humble-action-msgs
|
||||||
|
- robostack-staging::ros-humble-ros-workspace
|
||||||
|
- robostack-staging::ros-humble-rosidl-default-runtime
|
||||||
|
- robostack-staging::ros-humble-std-msgs
|
||||||
|
- robostack-staging::ros-humble-geometry-msgs
|
||||||
|
- robostack-staging::ros2-distro-mutex=0.6
|
||||||
|
- if: osx and x86_64
|
||||||
|
then:
|
||||||
|
- __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
||||||
@@ -1,61 +0,0 @@
|
|||||||
package:
|
|
||||||
name: ros-humble-unilabos-msgs
|
|
||||||
version: 0.10.1
|
|
||||||
source:
|
|
||||||
path: ../../unilabos_msgs
|
|
||||||
folder: ros-humble-unilabos-msgs/src/work
|
|
||||||
|
|
||||||
build:
|
|
||||||
script:
|
|
||||||
sel(win): bld_ament_cmake.bat
|
|
||||||
sel(unix): build_ament_cmake.sh
|
|
||||||
number: 5
|
|
||||||
about:
|
|
||||||
home: https://www.ros.org/
|
|
||||||
license: BSD-3-Clause
|
|
||||||
summary: |
|
|
||||||
Robot Operating System
|
|
||||||
|
|
||||||
extra:
|
|
||||||
recipe-maintainers:
|
|
||||||
- ros-forge
|
|
||||||
|
|
||||||
requirements:
|
|
||||||
build:
|
|
||||||
- "{{ compiler('cxx') }}"
|
|
||||||
- "{{ compiler('c') }}"
|
|
||||||
- sel(linux64): sysroot_linux-64 2.17
|
|
||||||
- ninja
|
|
||||||
- setuptools
|
|
||||||
- sel(unix): make
|
|
||||||
- sel(unix): coreutils
|
|
||||||
- sel(osx): tapi
|
|
||||||
- sel(build_platform != target_platform): pkg-config
|
|
||||||
- cmake
|
|
||||||
- cython
|
|
||||||
- sel(win): vs2022_win-64
|
|
||||||
- sel(build_platform != target_platform): python
|
|
||||||
- sel(build_platform != target_platform): cross-python_{{ target_platform }}
|
|
||||||
- sel(build_platform != target_platform): numpy
|
|
||||||
host:
|
|
||||||
- numpy
|
|
||||||
- pip
|
|
||||||
- sel(build_platform == target_platform): pkg-config
|
|
||||||
- robostack-staging::ros-humble-action-msgs
|
|
||||||
- robostack-staging::ros-humble-ament-cmake
|
|
||||||
- robostack-staging::ros-humble-ament-lint-auto
|
|
||||||
- robostack-staging::ros-humble-ament-lint-common
|
|
||||||
- robostack-staging::ros-humble-ros-environment
|
|
||||||
- robostack-staging::ros-humble-ros-workspace
|
|
||||||
- robostack-staging::ros-humble-rosidl-default-generators
|
|
||||||
- robostack-staging::ros-humble-std-msgs
|
|
||||||
- robostack-staging::ros-humble-geometry-msgs
|
|
||||||
- robostack-staging::ros2-distro-mutex=0.6.*
|
|
||||||
run:
|
|
||||||
- robostack-staging::ros-humble-action-msgs
|
|
||||||
- robostack-staging::ros-humble-ros-workspace
|
|
||||||
- robostack-staging::ros-humble-rosidl-default-runtime
|
|
||||||
- robostack-staging::ros-humble-std-msgs
|
|
||||||
- robostack-staging::ros-humble-geometry-msgs
|
|
||||||
# - robostack-staging::ros2-distro-mutex=0.6.*
|
|
||||||
- sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}
|
|
||||||
@@ -144,11 +144,29 @@ class ColoredFormatter(logging.Formatter):
|
|||||||
|
|
||||||
|
|
||||||
# 配置日志处理器
|
# 配置日志处理器
|
||||||
def configure_logger():
|
def configure_logger(loglevel=None):
|
||||||
"""配置日志记录器"""
|
"""配置日志记录器
|
||||||
|
|
||||||
|
Args:
|
||||||
|
loglevel: 日志级别，可以是字符串（'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'）
|
||||||
|
或logging模块的常量（如logging.DEBUG）
|
||||||
|
"""
|
||||||
# 获取根日志记录器
|
# 获取根日志记录器
|
||||||
root_logger = logging.getLogger()
|
root_logger = logging.getLogger()
|
||||||
root_logger.setLevel(logging.DEBUG) # 修改为DEBUG以显示所有级别
|
|
||||||
|
# 设置日志级别
|
||||||
|
if loglevel is not None:
|
||||||
|
if isinstance(loglevel, str):
|
||||||
|
# 将字符串转换为logging级别
|
||||||
|
numeric_level = getattr(logging, loglevel.upper(), None)
|
||||||
|
if not isinstance(numeric_level, int):
|
||||||
|
print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
|
||||||
|
numeric_level = logging.DEBUG
|
||||||
|
else:
|
||||||
|
numeric_level = loglevel
|
||||||
|
root_logger.setLevel(numeric_level)
|
||||||
|
else:
|
||||||
|
root_logger.setLevel(logging.DEBUG) # 默认级别
|
||||||
|
|
||||||
# 移除已存在的处理器
|
# 移除已存在的处理器
|
||||||
for handler in root_logger.handlers[:]:
|
for handler in root_logger.handlers[:]:
|
||||||
@@ -156,7 +174,7 @@ def configure_logger():
|
|||||||
|
|
||||||
# 创建控制台处理器
|
# 创建控制台处理器
|
||||||
console_handler = logging.StreamHandler()
|
console_handler = logging.StreamHandler()
|
||||||
console_handler.setLevel(logging.DEBUG) # 修改为DEBUG以显示所有级别
|
console_handler.setLevel(root_logger.level) # 使用与根记录器相同的级别
|
||||||
|
|
||||||
# 使用自定义的颜色格式化器
|
# 使用自定义的颜色格式化器
|
||||||
color_formatter = ColoredFormatter()
|
color_formatter = ColoredFormatter()
|
||||||
|
|||||||
@@ -2,7 +2,7 @@
|
|||||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
<package format="3">
|
<package format="3">
|
||||||
<name>unilabos_msgs</name>
|
<name>unilabos_msgs</name>
|
||||||
<version>0.0.5</version>
|
<version>0.10.1</version>
|
||||||
<description>ROS2 Messages package for unilabos devices</description>
|
<description>ROS2 Messages package for unilabos devices</description>
|
||||||
<maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
|
<maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
|
||||||
<license>MIT</license>
|
<license>MIT</license>
|
||||||
|
|||||||
Reference in New Issue
Block a user