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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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470
unilabos/devices/hplc/AgilentHPLC.py Normal file
View File

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import traceback
from datetime import datetime
import os
import re
from typing import TypedDict
import pyautogui
from pywinauto import Application
from pywinauto.application import WindowSpecification
from pywinauto.controls.uiawrapper import UIAWrapper
from pywinauto.uia_element_info import UIAElementInfo
from unilabos.app.oss_upload import oss_upload
from unilabos.device_comms import universal_driver as ud
from unilabos.device_comms.universal_driver import UniversalDriver
class DeviceStatusInfo(TypedDict):
name: str
name_obj: UIAWrapper
status: str
status_obj: UIAWrapper
open_btn: UIAWrapper
close_btn: UIAWrapper
sub_item: UIAWrapper
class DeviceStatus(TypedDict):
VWD: DeviceStatusInfo
JinYangQi: DeviceStatusInfo
Beng: DeviceStatusInfo
ShouJiQi: DeviceStatusInfo
class HPLCDriver(UniversalDriver):
# 设备状态
_device_status: DeviceStatus = None
_is_running: bool = False
_success: bool = False
_finished: int = None
_total_sample_number: int = None
_status_text: str = ""
# 外部传入
_wf_name: str = ""
# 暂时用不到，用来支持action name
gantt: str = ""
status: str = ""
@property
def status_text(self) -> str:
return self._status_text
@property
def device_status(self) -> str:
return f", ".join([f"{k}:{v.get('status')}" for k, v in self._device_status.items()])
@property
def could_run(self) -> bool:
return self.driver_init_ok and all([v.get('status') == "空闲" for v in self._device_status.values()])
@property
def driver_init_ok(self) -> bool:
for k, v in self._device_status.items():
if v.get("open_btn") is None:
return False
if v.get("close_btn") is None:
return False
return len(self._device_status) == 4
@property
def is_running(self) -> bool:
return self._is_running
@property
def success(self) -> bool:
return self._success
@property
def finish_status(self) -> str:
return f"{self._finished}/{self._total_sample_number}"
def try_open_sub_device(self, device_name: str = None):
if not self.driver_init_ok:
self._success = False
print(f"仪器还没有初始化完成，无法查询设备：{device_name}")
return
if device_name is None:
for k, v in self._device_status.items():
self.try_open_sub_device(k)
return
target_device_status = self._device_status[device_name]
if target_device_status["status"] == "未就绪":
print(f"尝试打开{device_name}设备")
target_device_status["open_btn"].click()
else:
print(f"{device_name}设备状态不支持打开：{target_device_status['status']}")
def try_close_sub_device(self, device_name: str = None):
if not self.driver_init_ok:
self._success = False
print(f"仪器还没有初始化完成，无法查询设备：{device_name}")
return
if device_name is None:
for k, v in self._device_status.items():
self.try_close_sub_device(k)
return
target_device_status = self._device_status[device_name]
if target_device_status["status"] == "空闲":
print(f"尝试关闭{device_name}设备")
target_device_status["close_btn"].click()
else:
print(f"{device_name}设备状态不支持关闭：{target_device_status['status']}")
def _get_resource_sample_id(self, wf_name, idx):
try:
root = list(self.resource_info[wf_name].values())[0]
# print(root)
plates = root["children"]
plate_01 = list(plates.values())[0]
pots = list(plate_01["children"].values())
return pots[idx]['sample_id']
except Exception as ex:
traceback.print_exc()
def start_sequence(self, wf_name: str, params: str = None, resource: dict = None):
print("!!!!!! 任务启动")
self.resource_info[wf_name] = resource
# 后续workflow_name将同步一下
if self.is_running:
print("设备正在运行，无法启动序列")
self._success = False
return False
if not self.driver_init_ok:
print(f"仪器还没有初始化完成，无法启动序列")
self._success = False
return False
if not self.could_run:
print(f"仪器不处于空闲状态，无法运行")
self._success = False
return False
# 参考：
# with UIPath(u"PREP-LC (联机): 方法和运行控制 ||Window"):
# with UIPath(u"panelNavTabChem||Pane->||Pane->panelControlChemStation||Pane->||Tab->仪器控制||Pane->||Pane->panelChemStation||Pane->PREP-LC (联机): 方法和运行控制 ||Pane->ViewMGR||Pane->MRC view||Pane->||Pane->||Pane->||Pane->||Custom->||Custom"):
# click(u"||Button#[0,1]")
app = Application(backend='uia').connect(title=u"PREP-LC (联机): 方法和运行控制 ")
window = app['PREP-LC (联机): 方法和运行控制']
window.allow_magic_lookup = False
panel_nav_tab = window.child_window(title="panelNavTabChem", auto_id="panelNavTabChem", control_type="Pane")
first_pane = panel_nav_tab.child_window(auto_id="uctlNavTabChem1", control_type="Pane")
panel_control_station = first_pane.child_window(title="panelControlChemStation", auto_id="panelControlChemStation", control_type="Pane")
instrument_control_tab: WindowSpecification = panel_control_station.\
child_window(auto_id="tabControlChem", control_type="Tab").\
child_window(title="仪器控制", auto_id="tabPage1", control_type="Pane").\
child_window(auto_id="uctrlChemStation", control_type="Pane").\
child_window(title="panelChemStation", auto_id="panelChemStation", control_type="Pane").\
child_window(title="PREP-LC (联机): 方法和运行控制 ", control_type="Pane").\
child_window(title="ViewMGR", control_type="Pane").\
child_window(title="MRC view", control_type="Pane").\
child_window(auto_id="mainMrcControlHost", control_type="Pane").\
child_window(control_type="Pane", found_index=0).\
child_window(control_type="Pane", found_index=0).\
child_window(control_type="Custom", found_index=0).\
child_window(control_type="Custom", found_index=0)
instrument_control_tab.dump_tree(3)
btn: UIAWrapper = instrument_control_tab.child_window(auto_id="methodButtonStartSequence", control_type="Button").wrapper_object()
self.start_time = datetime.now()
btn.click()
self._wf_name = wf_name
self._success = True
return True
def check_status(self):
app = Application(backend='uia').connect(title=u"PREP-LC (联机): 方法和运行控制 ")
window = app['PREP-LC (联机): 方法和运行控制']
ui_window = window.child_window(title="靠顶部", control_type="Group").\
child_window(title="状态", control_type="ToolBar").\
child_window(title="项目", control_type="Button", found_index=0)
# 检测pixel的颜色
element_info: UIAElementInfo = ui_window.element_info
rectangle = element_info.rectangle
point_x = int(rectangle.left + rectangle.width() * 0.15)
point_y = int(rectangle.top + rectangle.height() * 0.15)
r, g, b = pyautogui.pixel(point_x, point_y)
if 270 > r > 250 and 200 > g > 180 and b < 10: # 是黄色
self._is_running = False
self._status_text = "Not Ready"
elif r > 110 and g > 190 and 50 < b < 60:
self._is_running = False
self._status_text = "Ready"
elif 75 > r > 65 and 135 > g > 120 and 240 > b > 230:
self._is_running = True
self._status_text = "Running"
else:
print(point_x, point_y, "未知的状态", r, g, b)
def extract_data_from_txt(self, file_path):
# 打开文件
print(file_path)
with open(file_path, mode='r', encoding='utf-16') as f:
lines = f.readlines()
# 定义一个标志变量来判断是否已经找到“馏分列表”
started = False
data = []
for line in lines:
# 查找“馏分列表”，并开始提取后续行
if line.startswith("-----|-----|-----"):
started = True
continue # 跳过当前行
if started:
# 遇到"==="表示结束读取
if '=' * 80 in line:
break
# 使用正则表达式提取馏分、孔、位置和原因
res = re.split(r'\s+', line.strip())
if res:
fraction, hole, position, reason = res[0], res[1], res[2], res[-1]
data.append({
'馏分': fraction,
'孔': hole,
'位置': position,
'原因': reason.strip()
})
return data
def get_data_file(self, mat_index: str = None, after_time: datetime = None) -> tuple[str, str]:
"""
获取数据文件
after_time: 由于HPLC是启动后生成一个带时间的目录，所以会选取after_time后的文件
"""
if mat_index is None:
print(f"mat_index不能为空")
return None
if after_time is None:
after_time = self.start_time
files = [i for i in os.listdir(self.data_file_path) if i.startswith(self.using_method)]
time_to_files: list[tuple[datetime, str]] = [(datetime.strptime(i.split(" ", 1)[1], "%Y-%m-%d %H-%M-%S"), i) for i in files]
time_to_files.sort(key=lambda x: x[0])
choose_folder = None
for i in time_to_files:
if i[0] > after_time:
print(i[0], after_time)
print(f"选取时间{datetime.strftime(after_time, '%Y-%m-%d %H-%M-%S')}之后的文件夹{i[1]}")
choose_folder = i[1]
break
if choose_folder is None:
print(f"没有找到{self.using_method} {datetime.strftime(after_time, '%Y-%m-%d %H-%M-%S')}之后的文件夹")
return None
current_data_path = os.path.join(self.data_file_path, choose_folder)
# 需要匹配 数字数字数字-.* 001-P2-E1-DQJ-4-70.D
target_row = [i for i in os.listdir(current_data_path) if re.match(r"\d{3}-.*", i)]
index2filepath = {int(k.split("-")[0]): os.path.join(current_data_path, k) for k in target_row}
print(f"查找文件{mat_index}")
if int(mat_index) not in index2filepath:
print(f"没有找到{mat_index}的文件 已找到：{index2filepath}")
return None
mat_final_path = index2filepath[int(mat_index)]
pdf = os.path.join(mat_final_path, "Report.PDF")
txt = os.path.join(mat_final_path, "Report.TXT")
fractions = self.extract_data_from_txt(txt)
print(fractions)
return pdf, txt
def __init__(self, driver_debug=False):
super().__init__()
self.data_file_path = r"D:\ChemStation\1\Data"
self.using_method = f"1106-dqj-4-64"
self.start_time = datetime.now()
self._device_status = dict()
self.resource_info: dict[str, dict] = dict()
# 启动所有监控器
self.checkers = [
InstrumentChecker(self, 1),
RunningChecker(self, 1),
RunningResultChecker(self, 1),
]
if not driver_debug:
for checker in self.checkers:
checker.start_monitoring()
class DriverChecker(ud.DriverChecker):
driver: HPLCDriver
class InstrumentChecker(DriverChecker):
_instrument_control_tab = None
_instrument_control_tab_wrapper = None
def get_instrument_status(self):
if self._instrument_control_tab is not None:
return self._instrument_control_tab
# 连接到目标窗口
app = Application(backend='uia').connect(title=u"PREP-LC (联机): 方法和运行控制 ")
window = app['PREP-LC (联机): 方法和运行控制']
window.allow_magic_lookup = False
panel_nav_tab = window.child_window(title="panelNavTabChem", auto_id="panelNavTabChem", control_type="Pane")
first_pane = panel_nav_tab.child_window(auto_id="uctlNavTabChem1", control_type="Pane")
panel_control_station = first_pane.child_window(title="panelControlChemStation", auto_id="panelControlChemStation", control_type="Pane")
instrument_control_tab: WindowSpecification = panel_control_station.\
child_window(auto_id="tabControlChem", control_type="Tab").\
child_window(title="仪器控制", auto_id="tabPage1", control_type="Pane").\
child_window(auto_id="uctrlChemStation", control_type="Pane").\
child_window(title="panelChemStation", auto_id="panelChemStation", control_type="Pane").\
child_window(title="PREP-LC (联机): 方法和运行控制 ", control_type="Pane").\
child_window(title="ViewMGR", control_type="Pane").\
child_window(title="MRC view", control_type="Pane").\
child_window(auto_id="mainMrcControlHost", control_type="Pane").\
child_window(control_type="Pane", found_index=0).\
child_window(control_type="Pane", found_index=0).\
child_window(control_type="Custom", found_index=0).\
child_window(best_match="Custom6").\
child_window(auto_id="ListBox_DashboardPanel", control_type="List")
if self._instrument_control_tab is None:
self._instrument_control_tab = instrument_control_tab
self._instrument_control_tab_wrapper = instrument_control_tab.wrapper_object()
return self._instrument_control_tab
def check(self):
self.get_instrument_status()
if self._instrument_control_tab_wrapper is None or self._instrument_control_tab is None:
return
item: UIAWrapper
index = 0
keys = list(self.driver._device_status.keys())
for item in self._instrument_control_tab_wrapper.children():
info: UIAElementInfo = item.element_info
if info.control_type == "ListItem" and item.window_text() == "Agilent.RapidControl.StatusDashboard.PluginViewModel":
sub_item: WindowSpecification = self._instrument_control_tab.\
child_window(title="Agilent.RapidControl.StatusDashboard.PluginViewModel", control_type="ListItem", found_index=index).\
child_window(control_type="Custom", found_index=0)
if index < len(keys):
deviceStatusInfo = self.driver._device_status[keys[index]]
name = deviceStatusInfo["name"]
deviceStatusInfo["status"] = deviceStatusInfo["status_obj"].window_text()
print(name, index, deviceStatusInfo["status"], "刷新")
if deviceStatusInfo["open_btn"] is not None and deviceStatusInfo["close_btn"] is not None:
index += 1
continue
else:
name_obj = sub_item.child_window(control_type="Text", found_index=0).wrapper_object()
name = name_obj.window_text()
self.driver._device_status[name] = dict()
self.driver._device_status[name]["name_obj"] = name_obj
self.driver._device_status[name]["name"] = name
print(name, index)
status = sub_item.child_window(control_type="Custom", found_index=0).\
child_window(auto_id="TextBlock_StateLabel", control_type="Text")
status_obj: UIAWrapper = status.wrapper_object()
self.driver._device_status[name]["status_obj"] = status_obj
self.driver._device_status[name]["status"] = status_obj.window_text()
print(status.window_text())
sub_item = sub_item.wrapper_object()
found_index = 0
open_btn = None
close_btn = None
for btn in sub_item.children():
if btn.element_info.control_type == "Button":
found_index += 1
if found_index == 5:
open_btn = btn
elif found_index == 6:
close_btn = btn
self.driver._device_status[name]["open_btn"] = open_btn
self.driver._device_status[name]["close_btn"] = close_btn
index += 1
class RunningChecker(DriverChecker):
def check(self):
self.driver.check_status()
class RunningResultChecker(DriverChecker):
_finished: UIAWrapper = None
_total_sample_number: UIAWrapper = None
def check(self):
if self._finished is None or self._total_sample_number is None:
app = Application(backend='uia').connect(title=u"PREP-LC (联机): 方法和运行控制 ")
window = app['PREP-LC (联机): 方法和运行控制']
window.allow_magic_lookup = False
panel_nav_tab = window.child_window(title="panelNavTabChem", auto_id="panelNavTabChem", control_type="Pane")
first_pane = panel_nav_tab.child_window(auto_id="uctlNavTabChem1", control_type="Pane")
panel_control_station = first_pane.child_window(title="panelControlChemStation", auto_id="panelControlChemStation", control_type="Pane")
instrument_control_tab: WindowSpecification = panel_control_station.\
child_window(auto_id="tabControlChem", control_type="Tab").\
child_window(title="仪器控制", auto_id="tabPage1", control_type="Pane").\
child_window(auto_id="uctrlChemStation", control_type="Pane").\
child_window(title="panelChemStation", auto_id="panelChemStation", control_type="Pane").\
child_window(title="PREP-LC (联机): 方法和运行控制 ", control_type="Pane").\
child_window(title="ViewMGR", control_type="Pane").\
child_window(title="MRC view", control_type="Pane").\
child_window(auto_id="mainMrcControlHost", control_type="Pane").\
child_window(control_type="Pane", found_index=0).\
child_window(control_type="Pane", found_index=0).\
child_window(control_type="Custom", found_index=0).\
child_window(auto_id="mainControlExpanderSampleInformation", control_type="Group").\
child_window(auto_id="controlsSampleInfo", control_type="Custom")
self._finished = instrument_control_tab.child_window(best_match="Static15").wrapper_object()
self._total_sample_number = instrument_control_tab.child_window(best_match="Static16").wrapper_object()
try:
temp = int(self._finished.window_text())
if self.driver._finished is None or temp > self.driver._finished:
if self.driver._finished is None:
self.driver._finished = 0
for i in range(self.driver._finished, temp):
sample_id = self.driver._get_resource_sample_id(self.driver._wf_name, i) # 从0开始计数
pdf, txt = self.driver.get_data_file(i + 1)
device_id = self.driver.device_id if hasattr(self.driver, "device_id") else "default"
oss_upload(pdf, f"hplc/{sample_id}/{os.path.basename(pdf)}", process_key="example", device_id=device_id)
oss_upload(txt, f"hplc/{sample_id}/{os.path.basename(txt)}", process_key="HPLC-txt-result", device_id=device_id)
# self.driver.extract_data_from_txt()
except Exception as ex:
self.driver._finished = 0
print("转换数字出错", ex)
try:
self.driver._total_sample_number = int(self._total_sample_number.window_text())
except Exception as ex:
self.driver._total_sample_number = 0
print("转换数字出错", ex)
# 示例用法
if __name__ == "__main__":
# obj = HPLCDriver.__new__(HPLCDriver)
# obj.start_sequence()
# obj = HPLCDriver.__new__(HPLCDriver)
# obj.data_file_path = r"D:\ChemStation\1\Data"
# obj.using_method = r"1106-dqj-4-64"
# obj.get_data_file("001", after_time=datetime(2024, 11, 6, 19, 3, 6))
obj = HPLCDriver.__new__(HPLCDriver)
obj.data_file_path = r"D:\ChemStation\1\Data"
obj.using_method = r"1106-dqj-4-64"
obj._wf_name = "test"
obj.resource_info = {
"test": {
"1": {
"children": {
"11": {
"children": {
"111": {
"sample_id": "sample-1"
},
"112": {
"sample_id": "sample-2"
}
}
}
}
}
}
}
sample_id = obj._get_resource_sample_id("test", 0)
pdf, txt = obj.get_data_file("1", after_time=datetime(2024, 11, 6, 19, 3, 6))
oss_upload(pdf, f"hplc/{sample_id}/{os.path.basename(pdf)}", process_key="example")
oss_upload(txt, f"hplc/{sample_id}/{os.path.basename(txt)}", process_key="HPLC-txt-result")
# driver = HPLCDriver()
# for i in range(10000):
# print({k: v for k, v in driver._device_status.items() if isinstance(v, str)})
# print(driver.device_status)
# print(driver.could_run)
# print(driver.driver_init_ok)
# print(driver.is_running)
# print(driver.finish_status)
# print(driver.status_text)
# time.sleep(5)