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Ready for open source (#47)

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* Create app/main API

* create example device

* create ROS backend and example device SDK Wrapper

* Add ROS host and host starting from app.py

* Add gripper device and mock implementation

* add "status_types" & "action_types" to ROS device decorator

* add ActionServer debug example

* [bugfix] complete mock gripper example

* ROS Backend Host for Device action calling and Resource management

* add conda/mamba ENV file

* add host_node communication with app/main.py

* add action message value mappings and converters

* Update ilabos.yaml

* Update issue templates

* example devices.json and resources.json

* Fix Device wrapper to use async property and actions (#7)

* Fix Device wrapper to use async property and actions

* Resolve #1 : support async get methods and actions. Give new examples.

* add both sync/async GRBL controller SDK

* 2 call device actions from appmainpy api to ros hostpy (#8)

* feature: add job

* fix:node start

* feature:add get job status

* fix:get device

* clean

* Resolve #5 device connection diagram and workflow compilation support (#9)

* add syringe pump device and its compilation using device connection diagram

* add RunzeSyringePump real device with ROS2 example

* Prototype machine with 1 pump and 1 CNC

* add ROS2ProtocolNode and related functions

* add ilabos_msgs (to use PumpTransfer action)

* add example device connection graph

* refactor protocol_node code into separate file

* add ROS2SerialNode

* add SerialCommand srv in ilabos_msgs

* add pump_protocol example, and fix bugs

* [fix] serial service: avoid async service deadlock by directly call serial `send_command`

* use SendCmd instead of SingleJointPosition for valve control

* initialize device connection graph when server starts

* Fix #5: async workflow execution (#16)

* add rclpyx and protocol example for async-native workflow

* use async in ROS2ProtocolNode, and host initialization

* add examples of "ros-async" protocol implementation, and `run_in_event_loop` for using native async functions

* use "ros-async" in protocols and device nodes

* fix pump_protocol: push to 0.0 μL

* Envs, docs, and conda recipes (#19)

* update ENV: use python 3.11 and deprecate ros-humble-gazebo-ros

* add ilabos-msgs conda recipe

* Update ilabos.yaml

* fix recipe and env yaml

* Add sphinx docs

* add aichemeco

* add bioyong

* add bioyong

* Support XDL devices & protocols (#20)

* [Feature] support multiple protocols in a single ProtocolNode

* add Junjie's code

* Support "Clean" protocol

* Update Grignard_flow_batchreact_single_pumpvalve.json

* test_grignard_add

* add stir device node and example

* Update device_node.py

add print_publish flag to control the node's log output

* NH4Cl_add

* add "HeaterStirrer" device and "HeatChill" action

* add wait time after each pump action for equilibration

* fix stir

* add Separate protocol

* Refactor Separator device and Stir action

* add rotavap_node

* fix stir

* add chiller node

* Move rinsings into PumpTransfer

* Fix SeparateProtocol under refactored Separator device and Stir action

* Supports automatically add new protocol action_types

* fix PumpTransfer protocol because of rinsing

* Add Rotavap and Chiller devices

* fix SeparateProtocol

* add EvaporateProtocol

* add rotavap devices config

* fix HeaterStirrer and SeparatorController IO

* Fix automatically add new protocol action_types

* Add HeaterStirrer and SeparatorController device config

* fix pump protocols

* Fix Evaporate action

* Update evaporate_protocol.py

* add temp_sensor node and add function remap

* update docs

---------

Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>
Co-authored-by: q434343 <554662886@qq.com>

* fix aichemeco

* [Bugfix] fix Windows conda packaging

* add file upload api

* update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64

* update dependencies: force to use 3.11 and remove conflict in WIN64 and OSX64

* Create aichemeco_simple.py

* fix

* update

* add aichemeco file

* MQTT [1/2]: action start (#25)

* add mq

* fix

* clean

* add class

* fix excel

* update bioyong

* add api

* fix

---------

Co-authored-by: caok@dp.tech <xiaoyeqiannian@163.com>

* motor & grasp

* Add Grasp motor support and enhance EleGripper class

- Introduced a new motor configuration for Grasp in sjtu.json.
- Updated EleGripper class to inherit from UniversalDriver and added status property.
- Implemented move_and_rotate method for coordinated movement.
- Adjusted threading logic in EleGripper initialization.
- Registered Grasp motor in ROS2 device node configuration.

This commit enhances the motor control capabilities by integrating the Grasp motor and improving the existing EleGripper functionality.

* fix read data lenth

* Update Grasp.py

* MQTT (2/2): publish Device Status, Action Feedback & Results (#27)

* Add bridges in HostNode for device_status publishing

* Add "bridges" selection (fastapi & mqtt) when app start

* add MQ feedback & result publisher, and fix message converter

* fix UUID converting between ROS and MQ

* lint api model.py

* Continuous controllers: PID, MPC, custom controllers etc. (#23)

* add controller config & wrapper

* add controller setup at app.main

* control loop example

* fix com port

* add agv , ur_arm and raman

* MQTT (3/4): Unified Resources and Sync when starting the server (#28)

* update http upload api

* generate uuid when init device

* example resource json

* fix

* add new example full-content json (device, resource, graph)

* fix full-content json and related reading code

* fix

* add json_schema when initialize resources

* fix

* update schema

* refactor heaterstirrer.dalong

* fix

* fix refactor heaterstirrer.dalong

* refactor syringepump.runze: use ml instead of μL

* Update ilabos/ros/host.py

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

---------

Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>

* Distributed initialization with self-organizing network (#29)

* add distributed launching option "--without_host"

* fix

---------

Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>

* Refactor Workstation: Add resource service and tracking (#30)

* move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices

* add Resource srv and message_converter

* move graphio to ilabos/resources

* refactor resources type conversion

* add resource clients in device_node

* add mock resources service

* pass Gripper1 resource test

* update http resource services

* add AGV compile function

* add AGV transfer protocol

* update full mock_gripper edit_id example

* update full mock_gripper edit_id example

* get and update resource also in protocol_node

* mock resource update in AichemecoHiwo

* Create HT_hiwo.json

* add children in resources

* bugfixes

* fix rpc

* add Revvity winprep

---------

Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com>
Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com>

* Distributed launch (2/2): distributed resource create (#32)

* add resource_add request to host for slave mode

* add AGV

* fix protocol resources

* optimize host callbacks

* bugfixes

* add revvity registry

---------

Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>
Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com>

* Refactor Driver Files Structure (#33)

* Integration with pywinauto & recorder
Added execute run and initialize procdure

* 酶标仪状态检测、使用示例，整体流程待测试

* nivo ready version

* Add HPLC driver and example script

- Introduced HPLCDriver class for managing HPLC device status and operations.
- Implemented device status monitoring and command execution via ROS2 actions.
- Added example script (hplc.py) demonstrating how to run commands on the HPLC device.
- Created PlayerUtil and UniversalDriver classes for shared functionality across devices.
- Refactored NivoDriver to utilize the new UniversalDriver structure.
- Enhanced error handling and process management in the NivoDriver.

* 修复start的错误定位

* hplc tested ok

* relative path to build msgs

* template_driver & jiageng devices

* fetch correct status type and action type

* fix mtype fetch

* gpc bus integration

* ilab build

* remove chs

* recipe rename

* modbus update 1

* json available

* hplc & modbus rewrite

* Update AgilentHPLC.py

hplc datafile reader

* move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices

* modbus分设备

* gpc

* gpc 2

* fix address

* default register node

* fix MainScreenGPC

* add Resource srv and message_converter

* move graphio to ilabos/resources

* refactor resources type conversion

* add resource clients in device_node

* add mock resources service

* pass Gripper1 resource test

* update http resource services

* add AGV compile function

* add AGV transfer protocol

* update recipe.yaml

* update full mock_gripper edit_id example

* update full mock_gripper edit_id example

* get and update resource also in protocol_node

* mock resource update in AichemecoHiwo

* feat: add other jiageng PLC device code

* ilabos compile

* correct format

* correct recipe format

* correct setup.py format

* remove unnecessary files

* remove unnecessary files

* Create HT_hiwo.json

* add children in resources

* hplc support sample_id

* correct hplc sample_id

* correct hplc sample_id

* hplc upload

* fix type hint

* oss upload tested ver

* recipe yaml fix for linux

* update installation yaml

* refactor: moved all driver files according to its feat

* merge main to dev

---------

Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: jiawei <miaojiawei@dp.tech>

* add: NMR LH and RU device control (#34)

* Add Registry for device drivers and Support GraphML (#35)

* read chemputer graphml

* read graphml in app/main

* add devices in ros/devices

* add schema for devices

* read registry directory and initialize when entry from main

* Delete devices.py

* Update add_protocol.md

* delete unecessary files

* feat: 2278 devices registry yaml (#36)

* read chemputer graphml

* read graphml in app/main

* add devices in ros/devices

* add schema for devices

* read registry directory and initialize when entry from main

* Delete devices.py

* add: NMR LH and RU device control

* fix: modify jiageng devices registry

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>

* Device/Resource Registry and GraphML support (#37)

* add resource type conversion to PLR

* add resource registry and test

* add docs

* fix registry

* add solenoid_valve_mock, its registry and test

* fix registry for directly using examples

* add EvacuateAndRefillProtocol and testcases

* allow function sequence call in ACTION

* add read & write & extra_info for hardware_interface

* Update device_node.py

* add solenoid valve

* add doc developer guide yaml

* fixes for starting IK station

* add graphml grouping parser

* fix graphml grouping parser

* add communication edge parser

* fix io solenoid valve

* Update .gitignore

* Update plates.yaml

---------

Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn>

* Uni-Lab Doc v0.2 (#39)

* add Uni-Lab docs

* change doc name

* Dev (#41)

* Integration with pywinauto & recorder
Added execute run and initialize procdure

* 酶标仪状态检测、使用示例，整体流程待测试

* nivo ready version

* Add HPLC driver and example script

- Introduced HPLCDriver class for managing HPLC device status and operations.
- Implemented device status monitoring and command execution via ROS2 actions.
- Added example script (hplc.py) demonstrating how to run commands on the HPLC device.
- Created PlayerUtil and UniversalDriver classes for shared functionality across devices.
- Refactored NivoDriver to utilize the new UniversalDriver structure.
- Enhanced error handling and process management in the NivoDriver.

* 修复start的错误定位

* hplc tested ok

* relative path to build msgs

* template_driver & jiageng devices

* fetch correct status type and action type

* fix mtype fetch

* gpc bus integration

* ilab build

* remove chs

* recipe rename

* modbus update 1

* json available

* hplc & modbus rewrite

* Update AgilentHPLC.py

hplc datafile reader

* move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices

* modbus分设备

* gpc

* gpc 2

* fix address

* default register node

* fix MainScreenGPC

* add Resource srv and message_converter

* move graphio to ilabos/resources

* refactor resources type conversion

* add resource clients in device_node

* add mock resources service

* pass Gripper1 resource test

* update http resource services

* add AGV compile function

* add AGV transfer protocol

* update recipe.yaml

* update full mock_gripper edit_id example

* update full mock_gripper edit_id example

* get and update resource also in protocol_node

* mock resource update in AichemecoHiwo

* feat: add other jiageng PLC device code

* ilabos compile

* correct format

* correct recipe format

* correct setup.py format

* remove unnecessary files

* remove unnecessary files

* Create HT_hiwo.json

* add children in resources

* hplc support sample_id

* correct hplc sample_id

* correct hplc sample_id

* hplc upload

* fix type hint

* oss upload tested ver

* recipe yaml fix for linux

* update installation yaml

* refactor: moved all driver files according to its feat

* merge main to dev

* add HPLC registry and json

* 升级 ros2-distro-mutex 依赖版本至 0.6

* 修改 ros2-distro-mutex 依赖版本为通配符匹配

* 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间

* add resource type conversion to PLR

* add resource registry and test

* feat: 更新oss上传

* fix device id

* add docs

* fix registry

* add solenoid_valve_mock, its registry and test

* fix registry for directly using examples

* add EvacuateAndRefillProtocol and testcases

* allow function sequence call in ACTION

* add read & write & extra_info for hardware_interface

* Update device_node.py

* add solenoid valve

* add doc developer guide yaml

* use robostack-staging

* rclpy version test

* lower rclpy

* ensure 0.6* env

* fixes for starting IK station

* add graphml grouping parser

* fix graphml grouping parser

* add communication edge parser

* fix io solenoid valve

* Update .gitignore

* Update plates.yaml

* Feature/device node later init (#40)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

---------

Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: jiawei <miaojiawei@dp.tech>
Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn>

* Dev (#45)

* Integration with pywinauto & recorder
Added execute run and initialize procdure

* 酶标仪状态检测、使用示例，整体流程待测试

* nivo ready version

* Add HPLC driver and example script

- Introduced HPLCDriver class for managing HPLC device status and operations.
- Implemented device status monitoring and command execution via ROS2 actions.
- Added example script (hplc.py) demonstrating how to run commands on the HPLC device.
- Created PlayerUtil and UniversalDriver classes for shared functionality across devices.
- Refactored NivoDriver to utilize the new UniversalDriver structure.
- Enhanced error handling and process management in the NivoDriver.

* 修复start的错误定位

* hplc tested ok

* relative path to build msgs

* template_driver & jiageng devices

* fetch correct status type and action type

* fix mtype fetch

* gpc bus integration

* ilab build

* remove chs

* recipe rename

* modbus update 1

* json available

* hplc & modbus rewrite

* Update AgilentHPLC.py

hplc datafile reader

* move ilabos/ros/rpc to ilabos/device_comms/rpc, and merge bioyond/aichemeco files under /devices

* modbus分设备

* gpc

* gpc 2

* fix address

* default register node

* fix MainScreenGPC

* add Resource srv and message_converter

* move graphio to ilabos/resources

* refactor resources type conversion

* add resource clients in device_node

* add mock resources service

* pass Gripper1 resource test

* update http resource services

* add AGV compile function

* add AGV transfer protocol

* update recipe.yaml

* update full mock_gripper edit_id example

* update full mock_gripper edit_id example

* get and update resource also in protocol_node

* mock resource update in AichemecoHiwo

* feat: add other jiageng PLC device code

* ilabos compile

* correct format

* correct recipe format

* correct setup.py format

* remove unnecessary files

* remove unnecessary files

* Create HT_hiwo.json

* add children in resources

* hplc support sample_id

* correct hplc sample_id

* correct hplc sample_id

* hplc upload

* fix type hint

* oss upload tested ver

* recipe yaml fix for linux

* update installation yaml

* refactor: moved all driver files according to its feat

* merge main to dev

* add HPLC registry and json

* 升级 ros2-distro-mutex 依赖版本至 0.6

* 修改 ros2-distro-mutex 依赖版本为通配符匹配

* 更新 ros-humble-ilabos-msgs 依赖为 robostack-humble 命名空间

* add resource type conversion to PLR

* add resource registry and test

* feat: 更新oss上传

* fix device id

* add docs

* fix registry

* add solenoid_valve_mock, its registry and test

* fix registry for directly using examples

* add EvacuateAndRefillProtocol and testcases

* allow function sequence call in ACTION

* add read & write & extra_info for hardware_interface

* Update device_node.py

* add solenoid valve

* add doc developer guide yaml

* use robostack-staging

* rclpy version test

* lower rclpy

* ensure 0.6* env

* fixes for starting IK station

* add graphml grouping parser

* fix graphml grouping parser

* add communication edge parser

* fix io solenoid valve

* Update .gitignore

* Update plates.yaml

* Feature/device node later init (#40)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

* Feature/device node later init (#42)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

* action

* plr suc

* plr suc!!

* plr suc!!

* plr suc!!

* plr msgs

* Feature/device node later init (#43)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

* action

* plr suc

* plr suc!!

* plr suc!!

* plr suc!!

* plr msgs

* plr

* action

* plr reg fix

* Feature/device node later init (#44)

* 修改config路径，方便后续打包
增加device_node打印

* 支持plr序列化/init创建

* 统一命名

* import mgr
logger optimize
banner print

* 日志OK

* fix unicorn frame

* banner print

* correct import format

* file path changes

* 取消后补全，在加载设备的时候直接替换

* converter update

* web page update

* 在线device更新，node继承替换

* 修复动作、状态的类型缺失 和 命令提示

* web功能实现结束

* host节点更改完成
新增status时间戳管理
新增每10s动态发现其他node

* ros2类型的节点也应该被包一次

* 修复类型提示

* websocket 动态显示状态

* add workflow & book theme for docs

* add workflow & book theme for docs

* fix workflow build

* fix workflow build

* 理清启动关系

* stm32 example

* mac . name

* device_instance device_cls

* 新增config添加方式
更新mqtt提示

* plr test

* 移动is_host_mode
新增slave_no_host

* 确保config优先修改生效

* fix graph io

* 支持带参数传入

* 支持物料解析

* 支持物料解析

* device为空的时候不进行绑定或初始化

* protocol node new

* protocol node runnable

* protocol node runnable

* action

* plr suc

* plr suc!!

* plr suc!!

* plr suc!!

* plr msgs

* plr

* fix convert error
fix async logic error
added async error print

* new device test

* test resource add

* test resource add

* test resource add

* test resource add

* local env setup

* node type fix
temp fix root_node error
fix convert res from type error

* resource tracker

* fix bug from qhh

* fix bug from qhh

* fix bug from qhh

* fix bug from qhh

* refactor MQTT client logging and connection handling; update group ID in config

* driver_params allow empty

* allow other init param

* fix driver param and enhance type hint

* refactor MQConfig to use double quotes for string literals

* fix wrong function calling

* fix wrong function calling

* fix log for mac

* fix networkx compatibility

* add mqtt loggers

* add action to jsonschema converter

* random client id

* type converter & registry

* correct conversion

* fix action publish only from discovered devices

* add "Bio" tag for action doc generation

* 改进module提示

* Fix doc

* mqtt不连接也可用
性价样例提示

* add docs

* 更新plr test案例

* Update intro.md

* 更新有机案例

* skip

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: Junhan Chang <1700011741@pku.edu.cn>

---------

Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: jiawei <miaojiawei@dp.tech>
Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: Junhan Chang <1700011741@pku.edu.cn>

* Canonicalize before Open Source (#46)

* big big refactor try01

* refactor 02

---------

Co-authored-by: ck <xiaoyeqiannian@163.com>
Co-authored-by: 王俊杰 <1800011822@pku.edu.cn>
Co-authored-by: q434343 <554662886@qq.com>
Co-authored-by: Xuwznln <xuwznln@gmail.com>
Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
Co-authored-by: wjjxxx <43375851+wjjxxx@users.noreply.github.com>
Co-authored-by: 3218923350 <105201755+3218923350@users.noreply.github.com>
Co-authored-by: Xuwznln <1023025701@qq.com>
Co-authored-by: 王俊杰 <2201110460@stu.pku.edu.cn>
Co-authored-by: jiawei <miaojiawei@dp.tech>
Co-authored-by: Jiawei <91898272+jiawei723@users.noreply.github.com>
Co-authored-by: ColumbiaCC <2100011801@stu.pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
This commit is contained in:
Junhan Chang
2025-04-17 15:09:58 +08:00
committed by GitHub
parent 7ccb425e39
commit a62a695812
266 changed files with 40772 additions and 2 deletions
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0
unilabos/app/__init__.py Normal file
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35
unilabos/app/backend.py Normal file
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import threading
from unilabos.utils import logger
# 根据选择的 backend 启动相应的功能
def start_backend(
backend: str,
devices_config: dict = {},
resources_config: dict = {},
graph=None,
controllers_config: dict = {},
bridges=[],
without_host: bool = False,
**kwargs
):
if backend == "ros":
# 假设 ros_main, simple_main, automancer_main 是不同 backend 的启动函数
from unilabos.ros.main_slave_run import main, slave # 如果选择 'ros' 作为 backend
elif backend == 'simple':
# 这里假设 simple_backend 和 automancer_backend 是你定义的其他两个后端
# from simple_backend import main as simple_main
pass
elif backend == 'automancer':
# from automancer_backend import main as automancer_main
pass
else:
raise ValueError(f"Unsupported backend: {backend}")
backend_thread = threading.Thread(
target=main if not without_host else slave,
args=(devices_config, resources_config, graph, controllers_config, bridges)
)
backend_thread.start()
logger.info(f"Backend {backend} started.")

34
unilabos/app/controler.py Normal file
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import json
import uuid
from unilabos.app.model import JobAddReq, JobData
from unilabos.ros.nodes.presets.host_node import HostNode
def get_resources() -> tuple:
if HostNode.get_instance() is None:
return False, "Host node not initialized"
return True, HostNode.get_instance().resources_config
def devices() -> tuple:
if HostNode.get_instance() is None:
return False, "Host node not initialized"
return True, HostNode.get_instance().devices_config
def job_info(id: str):
get_goal_status = HostNode.get_instance().get_goal_status(id)
return JobData(jobId=id, status=get_goal_status)
def job_add(req: JobAddReq) -> JobData:
if req.job_id is None:
req.job_id = str(uuid.uuid4())
action_name = req.data["action"]
action_kwargs = req.data["action_kwargs"]
req.data['action'] = action_name
if action_name == "execute_command_from_outer":
action_kwargs = {"command": json.dumps(action_kwargs)}
print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id)
return JobData(jobId=req.job_id)

155
unilabos/app/main.py Normal file
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import argparse
import os
import signal
import sys
import json
import yaml
from copy import deepcopy
# 首先添加项目根目录到路径
current_dir = os.path.dirname(os.path.abspath(__file__))
ilabos_dir = os.path.dirname(os.path.dirname(current_dir))
if ilabos_dir not in sys.path:
sys.path.append(ilabos_dir)
from unilabos.config.config import load_config, BasicConfig
from unilabos.utils.banner_print import print_status, print_unilab_banner
def parse_args():
"""解析命令行参数"""
parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
parser.add_argument("-g", "--graph", help="Physical setup graph.")
parser.add_argument("-d", "--devices", help="Devices config file.")
parser.add_argument("-r", "--resources", help="Resources config file.")
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
parser.add_argument(
"--registry_path",
type=str,
default=None,
action="append",
help="Path to the registry",
)
parser.add_argument(
"--backend",
choices=["ros", "simple", "automancer"],
default="ros",
help="Choose the backend to run with: 'ros', 'simple', or 'automancer'.",
)
parser.add_argument(
"--app_bridges",
nargs="+",
default=["mqtt", "fastapi"],
help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.",
)
parser.add_argument(
"--without_host",
action="store_true",
help="Run the backend as slave (without host).",
)
parser.add_argument(
"--slave_no_host",
action="store_true",
help="Slave模式下跳过等待host服务",
)
parser.add_argument(
"--config",
type=str,
default=None,
help="配置文件路径，支持.py格式的Python配置文件",
)
return parser.parse_args()
def main():
"""主函数"""
# 解析命令行参数
args = parse_args()
args_dict = vars(args)
# 加载配置文件 - 这里保持最先加载配置的逻辑
if args_dict.get("config"):
config_path = args_dict["config"]
if not os.path.exists(config_path):
print_status(f"配置文件 {config_path} 不存在", "error")
elif not config_path.endswith(".py"):
print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
else:
load_config(config_path)
# 设置BasicConfig参数
BasicConfig.is_host_mode = not args_dict.get("without_host", False)
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
from unilabos.resources.graphio import (
read_node_link_json,
read_graphml,
dict_from_graph,
dict_to_nested_dict,
initialize_resources,
)
from unilabos.app.mq import mqtt_client
from unilabos.registry.registry import build_registry
from unilabos.app.backend import start_backend
from unilabos.web import http_client
from unilabos.web import start_server
# 显示启动横幅
print_unilab_banner(args_dict)
# 注册表
build_registry(args_dict["registry_path"])
if args_dict["graph"] is not None:
import unilabos.resources.graphio as graph_res
graph_res.physical_setup_graph = (
read_node_link_json(args_dict["graph"])
if args_dict["graph"].endswith(".json")
else read_graphml(args_dict["graph"])
)
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
args_dict["graph"] = graph_res.physical_setup_graph
else:
if args_dict["devices"] is None or args_dict["resources"] is None:
print_status("Either graph or devices and resources must be provided.", "error")
sys.exit(1)
args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
args_dict["resources_config"] = initialize_resources(
list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
)
print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
for i in args_dict["resources_config"]:
print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
if args_dict["controllers"] is not None:
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
else:
args_dict["controllers_config"] = None
args_dict["bridges"] = []
if "mqtt" in args_dict["app_bridges"]:
args_dict["bridges"].append(mqtt_client)
if "fastapi" in args_dict["app_bridges"]:
args_dict["bridges"].append(http_client)
if "mqtt" in args_dict["app_bridges"]:
def _exit(signum, frame):
mqtt_client.stop()
sys.exit(0)
signal.signal(signal.SIGINT, _exit)
signal.signal(signal.SIGTERM, _exit)
mqtt_client.start()
start_backend(**args_dict)
start_server()
if __name__ == "__main__":
main()

137
unilabos/app/model.py Normal file
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from pydantic import BaseModel, Field
class RespCode:
Success = 0
ErrorHostNotInit = 2001 # Host node not initialized
ErrorInvalidReq = 2002 # Invalid request data
class DeviceAction(BaseModel):
x: str
y: str
action: str
class Device(BaseModel):
id: str
name: str
action: DeviceAction
class DeviceList(BaseModel):
items: list[Device] = []
page: int
pageSize: int
class DevicesResponse(BaseModel):
code: int
data: DeviceList
class DeviceInfoResponse(BaseModel):
code: int
data: Device
class PageResp(BaseModel):
item: list = []
page: int = 1
pageSize: int = 10
class Resp(BaseModel):
code: int = RespCode.Success
data: dict = {}
message: str = "success"
class JobAddReq(BaseModel):
device_id: str = Field(examples=["Gripper"], description="device id")
data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
job_id: str = Field(examples=["sfsfsfeq"], description="goal uuid")
node_id: str = Field(examples=["sfsfsfeq"], description="node uuid")
class JobStepFinishReq(BaseModel):
token: str = Field(examples=["030944"], description="token")
request_time: str = Field(
examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
)
data: dict = Field(
examples=[
{
"orderCode": "任务号。字符串",
"orderName": "任务名称。字符串",
"stepName": "步骤名称。字符串",
"stepId": "步骤Id。GUID",
"sampleId": "通量Id。GUID",
"startTime": "开始时间。时间格式",
"endTime": "完成时间。时间格式",
}
]
)
class JobPreintakeFinishReq(BaseModel):
token: str = Field(examples=["030944"], description="token")
request_time: str = Field(
examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
)
data: dict = Field(
examples=[
{
"orderCode": "任务号。字符串",
"orderName": "任务名称。字符串",
"sampleId": "通量Id。GUID",
"startTime": "开始时间。时间格式",
"endTime": "完成时间。时间格式",
"Status": "通量状态,0待生产、2进样、10开始、完成20、异常停止-2、人工停止或取消-3",
}
]
)
class JobFinishReq(BaseModel):
token: str = Field(examples=["030944"], description="token")
request_time: str = Field(
examples=["2024-12-12 12:12:12.xxx"], description="requestTime"
)
data: dict = Field(
examples=[
{
"orderCode": "任务号。字符串",
"orderName": "任务名称。字符串",
"startTime": "开始时间。时间格式",
"endTime": "完成时间。时间格式",
"status": "通量状态,完成30、异常停止-11、人工停止或取消-12",
"usedMaterials": [
{
"materialId": "物料Id。GUID",
"locationId": "库位Id。GUID",
"typeMode": "物料类型。 样品1、试剂2、耗材0",
"usedQuantity": "使用的数量。 数字",
}
],
}
]
)
class JobData(BaseModel):
jobId: str = Field(examples=["sfsfsfeq"], description="goal uuid")
status: int = Field(
examples=[0, 1],
default=0,
description="0:UNKNOWN, 1:ACCEPTED, 2:EXECUTING, 3:CANCELING, 4:SUCCEEDED, 5:CANCELED, 6:ABORTED",
)
class JobStatusResp(Resp):
data: JobData
class JobAddResp(Resp):
data: JobData

177
unilabos/app/mq.py Normal file
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import json
import time
import uuid
import paho.mqtt.client as mqtt
import ssl, base64, hmac
from hashlib import sha1
import tempfile
import os
from unilabos.config.config import MQConfig
from unilabos.app.controler import devices, job_add
from unilabos.app.model import JobAddReq, JobAddResp
from unilabos.utils import logger
from unilabos.utils.type_check import TypeEncoder
class MQTTClient:
mqtt_disable = True
def __init__(self):
self.mqtt_disable = not MQConfig.lab_id
self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
self.client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
self._setup_callbacks()
def _setup_callbacks(self):
self.client.on_log = self._on_log
self.client.on_connect = self._on_connect
self.client.on_message = self._on_message
self.client.on_disconnect = self._on_disconnect
def _on_log(self, client, userdata, level, buf):
logger.info(f"[MQTT] log: {buf}")
def _on_connect(self, client, userdata, flags, rc, properties=None):
logger.info("[MQTT] Connected with result code " + str(rc))
client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
isok, data = devices()
if not isok:
logger.error("[MQTT] on_connect ErrorHostNotInit")
return
def _on_message(self, client, userdata, msg):
logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
try:
payload_str = msg.payload.decode("utf-8")
payload_json = json.loads(payload_str)
logger.debug(f"Topic: {msg.topic}")
logger.debug("Payload:", json.dumps(payload_json, indent=2, ensure_ascii=False))
if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
logger.debug("job_add", type(payload_json), payload_json)
job_req = JobAddReq.model_validate(payload_json)
data = job_add(job_req)
return JobAddResp(data=data)
except json.JSONDecodeError as e:
logger.error(f"[MQTT] JSON 解析错误: {e}")
logger.error(f"[MQTT] Raw message: {msg.payload}")
except Exception as e:
logger.error(f"[MQTT] 处理消息时出错: {e}")
def _on_disconnect(self, client, userdata, rc, reasonCode=None, properties=None):
if rc != 0:
logger.error(f"[MQTT] Unexpected disconnection {rc}")
def _setup_ssl_context(self):
temp_files = []
try:
with tempfile.NamedTemporaryFile(mode="w", delete=False) as ca_temp:
ca_temp.write(MQConfig.ca_content)
temp_files.append(ca_temp.name)
with tempfile.NamedTemporaryFile(mode="w", delete=False) as cert_temp:
cert_temp.write(MQConfig.cert_content)
temp_files.append(cert_temp.name)
with tempfile.NamedTemporaryFile(mode="w", delete=False) as key_temp:
key_temp.write(MQConfig.key_content)
temp_files.append(key_temp.name)
context = ssl.create_default_context(ssl.Purpose.SERVER_AUTH)
context.load_verify_locations(cafile=temp_files[0])
context.load_cert_chain(certfile=temp_files[1], keyfile=temp_files[2])
self.client.tls_set_context(context)
finally:
for temp_file in temp_files:
try:
os.unlink(temp_file)
except:
pass
def start(self):
if self.mqtt_disable:
logger.warning("MQTT is disabled, skipping connection.")
return
userName = f"Signature|{MQConfig.access_key}|{MQConfig.instance_id}"
password = base64.b64encode(
hmac.new(MQConfig.secret_key.encode(), self.client_id.encode(), sha1).digest()
).decode()
self.client.username_pw_set(userName, password)
self._setup_ssl_context()
# 创建连接线程
def connect_thread_func():
try:
self.client.connect(MQConfig.broker_url, MQConfig.port, 60)
self.client.loop_start()
# 添加连接超时检测
max_attempts = 5
attempt = 0
while not self.client.is_connected() and attempt < max_attempts:
logger.info(
f"[MQTT] 正在连接到 {MQConfig.broker_url}:{MQConfig.port}，尝试 {attempt+1}/{max_attempts}"
)
time.sleep(3)
attempt += 1
if self.client.is_connected():
logger.info(f"[MQTT] 已成功连接到 {MQConfig.broker_url}:{MQConfig.port}")
else:
logger.error(f"[MQTT] 连接超时，可能是账号密码错误或网络问题")
self.client.loop_stop()
except Exception as e:
logger.error(f"[MQTT] 连接失败: {str(e)}")
connect_thread_func()
# connect_thread = threading.Thread(target=connect_thread_func)
# connect_thread.daemon = True
# connect_thread.start()
def stop(self):
if self.mqtt_disable:
return
self.client.disconnect()
self.client.loop_stop()
def publish_device_status(self, device_status: dict, device_id, property_name):
# status = device_status.get(device_id, {})
if self.mqtt_disable:
return
status = {"data": device_status.get(device_id, {}), "device_id": device_id}
address = f"labs/{MQConfig.lab_id}/devices"
self.client.publish(address, json.dumps(status), qos=2)
logger.critical(f"Device status published: address: {address}, {status}")
def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
if self.mqtt_disable:
return
jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
def publish_registry(self, device_id: str, device_info: dict):
if self.mqtt_disable:
return
address = f"labs/{MQConfig.lab_id}/registry/"
registry_data = json.dumps({device_id: device_info}, ensure_ascii = False, cls = TypeEncoder)
self.client.publish(address, registry_data, qos=2)
logger.debug(f"Registry data published: address: {address}, {registry_data}")
def publish_actions(self, action_id: str, action_info: dict):
if self.mqtt_disable:
return
address = f"labs/{MQConfig.lab_id}/actions/"
action_type_name = action_info["title"]
action_info["title"] = action_id
action_data = json.dumps({action_type_name: action_info}, ensure_ascii=False)
self.client.publish(address, action_data, qos=2)
logger.debug(f"Action data published: address: {address}, {action_data}")
mqtt_client = MQTTClient()
if __name__ == "__main__":
mqtt_client.start()

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unilabos/app/oss_upload.py Normal file
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import argparse
import os
import time
from typing import Dict, Optional, Tuple
import requests
from unilabos.config.config import OSSUploadConfig
def _init_upload(file_path: str, oss_path: str, filename: Optional[str] = None,
process_key: str = "file-upload", device_id: str = "default",
expires_hours: int = 1) -> Tuple[bool, Dict]:
"""
初始化上传过程
Args:
file_path: 本地文件路径
oss_path: OSS目标路径
filename: 文件名，如果为None则使用file_path的文件名
process_key: 处理键
device_id: 设备ID
expires_hours: 链接过期小时数
Returns:
(成功标志, 响应数据)
"""
if filename is None:
filename = os.path.basename(file_path)
# 构造初始化请求
url = f"{OSSUploadConfig.api_host}{OSSUploadConfig.init_endpoint}"
headers = {
"Authorization": OSSUploadConfig.authorization,
"Content-Type": "application/json"
}
payload = {
"device_id": device_id,
"process_key": process_key,
"filename": filename,
"path": oss_path,
"expires_hours": expires_hours
}
try:
response = requests.post(url, headers=headers, json=payload)
if response.status_code == 201:
result = response.json()
if result.get("code") == "10000":
return True, result.get("data", {})
print(f"初始化上传失败: {response.status_code}, {response.text}")
return False, {}
except Exception as e:
print(f"初始化上传异常: {str(e)}")
return False, {}
def _put_upload(file_path: str, upload_url: str) -> bool:
"""
执行PUT上传
Args:
file_path: 本地文件路径
upload_url: 上传URL
Returns:
是否成功
"""
try:
with open(file_path, "rb") as f:
response = requests.put(upload_url, data=f)
if response.status_code == 200:
return True
print(f"PUT上传失败: {response.status_code}, {response.text}")
return False
except Exception as e:
print(f"PUT上传异常: {str(e)}")
return False
def _complete_upload(uuid: str) -> bool:
"""
完成上传过程
Args:
uuid: 上传的UUID
Returns:
是否成功
"""
url = f"{OSSUploadConfig.api_host}{OSSUploadConfig.complete_endpoint}"
headers = {
"Authorization": OSSUploadConfig.authorization,
"Content-Type": "application/json"
}
payload = {
"uuid": uuid
}
try:
response = requests.post(url, headers=headers, json=payload)
if response.status_code == 200:
result = response.json()
if result.get("code") == "10000":
return True
print(f"完成上传失败: {response.status_code}, {response.text}")
return False
except Exception as e:
print(f"完成上传异常: {str(e)}")
return False
def oss_upload(file_path: str, oss_path: str, filename: Optional[str] = None,
process_key: str = "file-upload", device_id: str = "default") -> bool:
"""
文件上传主函数，包含重试机制
Args:
file_path: 本地文件路径
oss_path: OSS目标路径
filename: 文件名，如果为None则使用file_path的文件名
process_key: 处理键
device_id: 设备ID
Returns:
是否成功上传
"""
max_retries = OSSUploadConfig.max_retries
retry_count = 0
while retry_count < max_retries:
try:
# 步骤1：初始化上传
init_success, init_data = _init_upload(
file_path=file_path,
oss_path=oss_path,
filename=filename,
process_key=process_key,
device_id=device_id
)
if not init_success:
print(f"初始化上传失败，重试 {retry_count + 1}/{max_retries}")
retry_count += 1
time.sleep(1) # 等待1秒后重试
continue
# 获取UUID和上传URL
uuid = init_data.get("uuid")
upload_url = init_data.get("upload_url")
if not uuid or not upload_url:
print(f"初始化上传返回数据不完整，重试 {retry_count + 1}/{max_retries}")
retry_count += 1
time.sleep(1)
continue
# 步骤2：PUT上传文件
put_success = _put_upload(file_path, upload_url)
if not put_success:
print(f"PUT上传失败，重试 {retry_count + 1}/{max_retries}")
retry_count += 1
time.sleep(1)
continue
# 步骤3：完成上传
complete_success = _complete_upload(uuid)
if not complete_success:
print(f"完成上传失败，重试 {retry_count + 1}/{max_retries}")
retry_count += 1
time.sleep(1)
continue
# 所有步骤都成功
print(f"文件 {file_path} 上传成功")
return True
except Exception as e:
print(f"上传过程异常: {str(e)}，重试 {retry_count + 1}/{max_retries}")
retry_count += 1
time.sleep(1)
print(f"文件 {file_path} 上传失败，已达到最大重试次数 {max_retries}")
return False
if __name__ == "__main__":
# python -m unilabos.app.oss_upload -f /path/to/your/file.txt
# 命令行参数解析
parser = argparse.ArgumentParser(description='文件上传测试工具')
parser.add_argument('--file', '-f', type=str, required=True, help='要上传的本地文件路径')
parser.add_argument('--path', '-p', type=str, default='/HPLC1/Any', help='OSS目标路径')
parser.add_argument('--device', '-d', type=str, default='test-device', help='设备ID')
parser.add_argument('--process', '-k', type=str, default='HPLC-txt-result', help='处理键')
args = parser.parse_args()
# 检查文件是否存在
if not os.path.exists(args.file):
print(f"错误：文件 {args.file} 不存在")
exit(1)
print("=" * 50)
print(f"开始上传文件: {args.file}")
print(f"目标路径: {args.path}")
print(f"设备ID: {args.device}")
print(f"处理键: {args.process}")
print("=" * 50)
# 执行上传
success = oss_upload(
file_path=args.file,
oss_path=args.path,
filename=None, # 使用默认文件名
process_key=args.process,
device_id=args.device
)
# 输出结果
if success:
print("\n√ 文件上传成功！")
exit(0)
else:
print("\n× 文件上传失败！")
exit(1)