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Ready for open source (#47)
* 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
GitHub
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unilabos/registry/__init__.py
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unilabos/registry/__init__.py
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unilabos/registry/device_comms/modbus_ioboard.yaml
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io_snrd:
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class:
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module: unilabos.device_comms.SRND_16_IO:SRND_16_IO
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type: python
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hardware_interface:
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name: modbus_client
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extra_info: address
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read: read_io_coil
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write: write_io_coil
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serial:
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|
||||
module: unilabos.ros.nodes.presets:ROS2SerialNode
|
||||
type: ros2
|
||||
schema:
|
||||
properties: {}
|
||||
23
unilabos/registry/devices/characterization_optic.yaml
Normal file
23
unilabos/registry/devices/characterization_optic.yaml
Normal file
@@ -0,0 +1,23 @@
|
||||
# 光学表征设备：红外、紫外可见、拉曼等
|
||||
raman_home_made:
|
||||
class:
|
||||
module: unilabos.devices.raman_uv.home_made_raman:RamanObj
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
raman_cmd:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
189
unilabos/registry/devices/liquid_handler.yaml
Normal file
189
unilabos/registry/devices/liquid_handler.yaml
Normal file
@@ -0,0 +1,189 @@
|
||||
liquid_handler:
|
||||
class:
|
||||
module: pylabrobot.liquid_handling:LiquidHandler
|
||||
type: python
|
||||
status_types:
|
||||
name: String
|
||||
action_value_mappings:
|
||||
aspirate:
|
||||
type: LiquidHandlerAspirate
|
||||
goal:
|
||||
resources: resources
|
||||
vols: vols
|
||||
use_channels: use_channels
|
||||
flow_rates: flow_rates
|
||||
end_delay: end_delay
|
||||
offsets: offsets
|
||||
liquid_height: liquid_height
|
||||
blow_out_air_volume: blow_out_air_volume
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
discard_tips:
|
||||
type: LiquidHandlerDiscardTips
|
||||
goal:
|
||||
use_channels: use_channels
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
dispense:
|
||||
type: LiquidHandlerDispense
|
||||
goal:
|
||||
resources: resources
|
||||
vols: vols
|
||||
use_channels: use_channels
|
||||
flow_rates: flow_rates
|
||||
offsets: offsets
|
||||
blow_out_air_volume: blow_out_air_volume
|
||||
spread: spread
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
drop_tips:
|
||||
type: LiquidHandlerDropTips
|
||||
goal:
|
||||
tip_spots: tip_spots
|
||||
use_channels: use_channels
|
||||
offsets: offsets
|
||||
allow_nonzero_volume: allow_nonzero_volume
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
drop_tips96:
|
||||
type: LiquidHandlerDropTips96
|
||||
goal:
|
||||
tip_rack: tip_rack
|
||||
offset: offset
|
||||
allow_nonzero_volume: allow_nonzero_volume
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
move_lid:
|
||||
type: LiquidHandlerMoveLid
|
||||
goal:
|
||||
lid: lid
|
||||
to: to
|
||||
intermediate_locations: intermediate_locations
|
||||
resource_offset: resource_offset
|
||||
destination_offset: destination_offset
|
||||
pickup_direction: pickup_direction
|
||||
drop_direction: drop_direction
|
||||
get_direction: get_direction
|
||||
put_direction: put_direction
|
||||
pickup_distance_from_top: pickup_distance_from_top
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
move_plate:
|
||||
type: LiquidHandlerMovePlate
|
||||
goal:
|
||||
plate: plate
|
||||
to: to
|
||||
intermediate_locations: intermediate_locations
|
||||
resource_offset: resource_offset
|
||||
pickup_offset: pickup_offset
|
||||
destination_offset: destination_offset
|
||||
pickup_direction: pickup_direction
|
||||
drop_direction: drop_direction
|
||||
get_direction: get_direction
|
||||
put_direction: put_direction
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
move_resource:
|
||||
type: LiquidHandlerMoveResource
|
||||
goal:
|
||||
resource: resource
|
||||
to: to
|
||||
intermediate_locations: intermediate_locations
|
||||
resource_offset: resource_offset
|
||||
destination_offset: destination_offset
|
||||
pickup_distance_from_top: pickup_distance_from_top
|
||||
pickup_direction: pickup_direction
|
||||
drop_direction: drop_direction
|
||||
get_direction: get_direction
|
||||
put_direction: put_direction
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
pick_up_tips:
|
||||
type: LiquidHandlerPickUpTips
|
||||
goal:
|
||||
tip_spots: tip_spots
|
||||
use_channels: use_channels
|
||||
offsets: offsets
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
pick_up_tips96:
|
||||
type: LiquidHandlerPickUpTips96
|
||||
goal:
|
||||
tip_rack: tip_rack
|
||||
offset: offset
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
return_tips:
|
||||
type: LiquidHandlerReturnTips
|
||||
goal:
|
||||
use_channels: use_channels
|
||||
allow_nonzero_volume: allow_nonzero_volume
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
return_tips96:
|
||||
type: LiquidHandlerReturnTips96
|
||||
goal:
|
||||
allow_nonzero_volume: allow_nonzero_volume
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
stamp:
|
||||
type: LiquidHandlerStamp
|
||||
goal:
|
||||
source: source
|
||||
target: target
|
||||
volume: volume
|
||||
aspiration_flow_rate: aspiration_flow_rate
|
||||
dispense_flow_rate: dispense_flow_rate
|
||||
feedback: {}
|
||||
result:
|
||||
name: name
|
||||
transfer:
|
||||
type: LiquidHandlerTransfer
|
||||
goal:
|
||||
source: source
|
||||
targets: targets
|
||||
source_vol: source_vol
|
||||
ratios: ratios
|
||||
target_vols: target_vols
|
||||
aspiration_flow_rate: aspiration_flow_rate
|
||||
dispense_flow_rates: dispense_flow_rates
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: 液体处理仪器当前状态
|
||||
required:
|
||||
- status
|
||||
additionalProperties: false
|
||||
|
||||
liquid_handler.revvity:
|
||||
class:
|
||||
module: unilabos.devices.liquid_handling.revvity:Revvity
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
run:
|
||||
type: WorkStationRun
|
||||
goal:
|
||||
wf_name: file_path
|
||||
params: params
|
||||
resource: resource
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
|
||||
71
unilabos/registry/devices/organic_miscellaneous.yaml
Normal file
71
unilabos/registry/devices/organic_miscellaneous.yaml
Normal file
@@ -0,0 +1,71 @@
|
||||
separator.homemade:
|
||||
class:
|
||||
module: unilabos.devices.separator.homemade_grbl_conductivity:Separator_Controller
|
||||
type: python
|
||||
status_types:
|
||||
sensordata: Float64
|
||||
status: String
|
||||
action_value_mappings:
|
||||
stir:
|
||||
type: Stir
|
||||
goal:
|
||||
stir_time: stir_time,
|
||||
stir_speed: stir_speed
|
||||
settling_time": settling_time
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
valve_open_cmd:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback:
|
||||
status: status
|
||||
result":
|
||||
success: success
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
sensordata:
|
||||
type: number
|
||||
description: 电导传感器数据
|
||||
required:
|
||||
- status
|
||||
- sensordata
|
||||
additionalProperties: false
|
||||
|
||||
rotavap.one:
|
||||
class:
|
||||
module: unilabos.devices.rotavap.rotavap_one:RotavapOne
|
||||
type: python
|
||||
status_types:
|
||||
pump_time: Float64
|
||||
rotate_time: Float64
|
||||
action_value_mappings:
|
||||
set_timer:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
temperature:
|
||||
type: number
|
||||
description: 旋蒸水浴温度
|
||||
pump_time:
|
||||
type: number
|
||||
description: The pump time of the device
|
||||
rotate_time:
|
||||
type: number
|
||||
description: The rotate time of the device
|
||||
required:
|
||||
- pump_time
|
||||
- rotate_time
|
||||
additionalProperties: false
|
||||
35
unilabos/registry/devices/pump_and_valve.yaml
Normal file
35
unilabos/registry/devices/pump_and_valve.yaml
Normal file
@@ -0,0 +1,35 @@
|
||||
syringe_pump_with_valve.runze:
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump
|
||||
type: python
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
position:
|
||||
type: number
|
||||
description: The volume of the syringe
|
||||
speed_max:
|
||||
type: number
|
||||
description: The speed of the syringe
|
||||
valve_position:
|
||||
type: string
|
||||
description: The position of the valve
|
||||
required:
|
||||
- status
|
||||
- position
|
||||
- valve_position
|
||||
additionalProperties: false
|
||||
|
||||
|
||||
solenoid_valve.mock:
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
|
||||
type: python
|
||||
|
||||
solenoid_valve:
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
|
||||
type: python
|
||||
28
unilabos/registry/devices/robot_agv.yaml
Normal file
28
unilabos/registry/devices/robot_agv.yaml
Normal file
@@ -0,0 +1,28 @@
|
||||
# 仙工智能底盘（知行使用）
|
||||
agv.SEER:
|
||||
class:
|
||||
module: unilabos.devices.agv.agv_navigator:AgvNavigator
|
||||
type: python
|
||||
status_types:
|
||||
pose: Float64MultiArray
|
||||
status: String
|
||||
action_value_mappings:
|
||||
send_nav_task:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
properties:
|
||||
pose:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
status:
|
||||
type: string
|
||||
required:
|
||||
- status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
36
unilabos/registry/devices/robot_arm.yaml
Normal file
36
unilabos/registry/devices/robot_arm.yaml
Normal file
@@ -0,0 +1,36 @@
|
||||
robotic_arm.UR:
|
||||
class:
|
||||
module: unilabos.devices.agv.ur_arm_task:UrArmTask
|
||||
type: python
|
||||
status_types:
|
||||
arm_pose: Float64MultiArray
|
||||
gripper_pose: Float64
|
||||
arm_status: String
|
||||
gripper_status: String
|
||||
action_value_mappings:
|
||||
move_pos_task:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
schema:
|
||||
properties:
|
||||
arm_pose:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
gripper_pose:
|
||||
type: number
|
||||
arm_status:
|
||||
type: string
|
||||
description: 机械臂设备状态
|
||||
gripper_status:
|
||||
type: string
|
||||
description: 机械爪设备状态
|
||||
required:
|
||||
- arm_status
|
||||
- gripper_status
|
||||
additionalProperties: false
|
||||
type: object
|
||||
36
unilabos/registry/devices/robot_gripper.yaml
Normal file
36
unilabos/registry/devices/robot_gripper.yaml
Normal file
@@ -0,0 +1,36 @@
|
||||
gripper.mock:
|
||||
class:
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
type: python
|
||||
status_types:
|
||||
position: Float64
|
||||
torque: Float64
|
||||
status: String
|
||||
action_value_mappings:
|
||||
push_to:
|
||||
type: GripperCommand
|
||||
goal:
|
||||
command.position: position
|
||||
command.max_effort: torque
|
||||
feedback:
|
||||
position: position
|
||||
effort: torque
|
||||
result:
|
||||
position: position
|
||||
effort: torque
|
||||
|
||||
|
||||
gripper.misumi_rz:
|
||||
class:
|
||||
module: unilabos.devices.motor:Grasp.EleGripper
|
||||
type: python
|
||||
status_types:
|
||||
status: String
|
||||
action_value_mappings:
|
||||
execute_command_from_outer:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
55
unilabos/registry/devices/robot_linear_motion.yaml
Normal file
55
unilabos/registry/devices/robot_linear_motion.yaml
Normal file
@@ -0,0 +1,55 @@
|
||||
linear_motion.grbl:
|
||||
class:
|
||||
module: unilabos.devices.cnc.grbl_sync:GrblCNC
|
||||
type: python
|
||||
action_value_mappings:
|
||||
move_through_points: &move_through_points
|
||||
type: NavigateThroughPoses
|
||||
goal:
|
||||
poses[].pose.position: positions[]
|
||||
feedback:
|
||||
current_pose.pose.position: position
|
||||
navigation_time.sec: time_spent
|
||||
estimated_time_remaining.sec: time_remaining
|
||||
number_of_poses_remaining: pose_number_remaining
|
||||
result: {}
|
||||
set_spindle_speed:
|
||||
type: SingleJointPosition
|
||||
goal:
|
||||
position: spindle_speed
|
||||
feedback:
|
||||
position: spindle_speed
|
||||
result: {}
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
position:
|
||||
type: array
|
||||
items:
|
||||
type: number
|
||||
description: The position of the device
|
||||
spindle_speed:
|
||||
type: number
|
||||
description: The spindle speed of the device
|
||||
required:
|
||||
- position
|
||||
- spindle_speed
|
||||
additionalProperties: false
|
||||
|
||||
|
||||
motor.iCL42:
|
||||
class:
|
||||
module: unilabos.devices.motor.iCL42:iCL42Driver
|
||||
type: python
|
||||
status_types:
|
||||
motor_position: Int64
|
||||
is_executing_run: Bool
|
||||
success: Bool
|
||||
action_value_mappings:
|
||||
execute_command_from_outer:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
62
unilabos/registry/devices/temperature.yaml
Normal file
62
unilabos/registry/devices/temperature.yaml
Normal file
@@ -0,0 +1,62 @@
|
||||
heaterstirrer.dalong:
|
||||
class:
|
||||
module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong
|
||||
type: python
|
||||
status_types:
|
||||
temp: Float64
|
||||
temp_warning: Float64
|
||||
stir_speed: Float64
|
||||
action_value_mappings:
|
||||
set_temp_warning:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: temp
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
set_temp_target:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: temp
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
heatchill:
|
||||
type: HeatChill
|
||||
goal:
|
||||
vessel: vessel
|
||||
temp: temp
|
||||
time: time
|
||||
purpose: purpose
|
||||
feedback:
|
||||
status: status
|
||||
result:
|
||||
success: success
|
||||
|
||||
chiller:
|
||||
class:
|
||||
module: unilabos.devices.temperature.chiller:Chiller
|
||||
type: python
|
||||
action_value_mappings:
|
||||
set_temperature:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
tempsensor:
|
||||
class:
|
||||
module: unilabos.devices.temperature.sensor_node:TempSensorNode
|
||||
type: python
|
||||
status_types:
|
||||
value: Float64
|
||||
warning: Float64
|
||||
action_value_mappings:
|
||||
set_warning:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: command
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
9
unilabos/registry/devices/vacuum_and_purge.yaml
Normal file
9
unilabos/registry/devices/vacuum_and_purge.yaml
Normal file
@@ -0,0 +1,9 @@
|
||||
vacuum_pump.mock:
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
type: python
|
||||
|
||||
gas_source.mock:
|
||||
class:
|
||||
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
|
||||
type: python
|
||||
6
unilabos/registry/devices/work_station.yaml
Normal file
6
unilabos/registry/devices/work_station.yaml
Normal file
@@ -0,0 +1,6 @@
|
||||
workstation:
|
||||
class:
|
||||
module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
|
||||
type: ros2
|
||||
schema:
|
||||
properties: {}
|
||||
176
unilabos/registry/registry.py
Normal file
176
unilabos/registry/registry.py
Normal file
@@ -0,0 +1,176 @@
|
||||
import os
|
||||
import sys
|
||||
from pathlib import Path
|
||||
from typing import Any
|
||||
|
||||
import yaml
|
||||
|
||||
from unilabos.utils import logger
|
||||
from unilabos.ros.msgs.message_converter import msg_converter_manager
|
||||
from unilabos.utils.decorator import singleton
|
||||
|
||||
DEFAULT_PATHS = [Path(__file__).absolute().parent]
|
||||
|
||||
|
||||
@singleton
|
||||
class Registry:
|
||||
def __init__(self, registry_paths=None):
|
||||
self.registry_paths = DEFAULT_PATHS.copy() # 使用copy避免修改默认值
|
||||
if registry_paths:
|
||||
self.registry_paths.extend(registry_paths)
|
||||
self.device_type_registry = {}
|
||||
self.resource_type_registry = {}
|
||||
self._setup_called = False # 跟踪setup是否已调用
|
||||
# 其他状态变量
|
||||
# self.is_host_mode = False # 移至BasicConfig中
|
||||
|
||||
def setup(self):
|
||||
# 检查是否已调用过setup
|
||||
if self._setup_called:
|
||||
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
|
||||
return
|
||||
|
||||
# 标记setup已被调用
|
||||
self._setup_called = True
|
||||
|
||||
logger.debug(f"[UniLab Registry] ----------Setup----------")
|
||||
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
|
||||
for i, path in enumerate(self.registry_paths):
|
||||
sys_path = path.parent
|
||||
logger.debug(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
|
||||
sys.path.append(str(sys_path))
|
||||
self.load_device_types(path)
|
||||
self.load_resource_types(path)
|
||||
logger.info("[UniLab Registry] 注册表设置完成")
|
||||
|
||||
def load_resource_types(self, path: os.PathLike):
|
||||
abs_path = Path(path).absolute()
|
||||
resource_path = abs_path / "resources"
|
||||
files = list(resource_path.glob("*/*.yaml"))
|
||||
logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
|
||||
current_resource_number = len(self.resource_type_registry) + 1
|
||||
for i, file in enumerate(files):
|
||||
data = yaml.safe_load(open(file, encoding="utf-8"))
|
||||
if data:
|
||||
# 为每个资源添加文件路径信息
|
||||
for resource_id, resource_info in data.items():
|
||||
# 添加文件路径 - 使用规范化的完整文件路径
|
||||
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
|
||||
self.resource_type_registry.update(data)
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
|
||||
+ f"Add {list(data.keys())}"
|
||||
)
|
||||
current_resource_number += 1
|
||||
else:
|
||||
logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
|
||||
|
||||
def _replace_type_with_class(self, type_name: str, device_id: str, field_name: str) -> Any:
|
||||
"""
|
||||
将类型名称替换为实际的类对象
|
||||
|
||||
Args:
|
||||
type_name: 类型名称
|
||||
device_id: 设备ID，用于错误信息
|
||||
field_name: 字段名称，用于错误信息
|
||||
|
||||
Returns:
|
||||
找到的类对象或原始字符串
|
||||
|
||||
Raises:
|
||||
SystemExit: 如果找不到类型则终止程序
|
||||
"""
|
||||
# 如果类型名为空，跳过替换
|
||||
if not type_name or type_name == "":
|
||||
logger.warning(f"[UniLab Registry] 设备 {device_id} 的 {field_name} 类型为空，跳过替换")
|
||||
return type_name
|
||||
if "." in type_name:
|
||||
type_class = msg_converter_manager.get_class(type_name)
|
||||
else:
|
||||
type_class = msg_converter_manager.search_class(type_name)
|
||||
if type_class:
|
||||
return type_class
|
||||
else:
|
||||
logger.error(f"[UniLab Registry] 无法找到类型 '{type_name}' 用于设备 {device_id} 的 {field_name}")
|
||||
sys.exit(1)
|
||||
|
||||
def load_device_types(self, path: os.PathLike):
|
||||
abs_path = Path(path).absolute()
|
||||
devices_path = abs_path / "devices"
|
||||
device_comms_path = abs_path / "device_comms"
|
||||
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
|
||||
logger.debug(
|
||||
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
|
||||
+ f"total: {len(files)}"
|
||||
)
|
||||
current_device_number = len(self.device_type_registry) + 1
|
||||
for i, file in enumerate(files):
|
||||
data = yaml.safe_load(open(file, encoding="utf-8"))
|
||||
if data:
|
||||
# 在添加到注册表前处理类型替换
|
||||
for device_id, device_config in data.items():
|
||||
# 添加文件路径信息 - 使用规范化的完整文件路径
|
||||
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
|
||||
|
||||
if "class" in device_config:
|
||||
# 处理状态类型
|
||||
if "status_types" in device_config["class"]:
|
||||
for status_name, status_type in device_config["class"]["status_types"].items():
|
||||
device_config["class"]["status_types"][status_name] = self._replace_type_with_class(
|
||||
status_type, device_id, f"状态 {status_name}"
|
||||
)
|
||||
|
||||
# 处理动作值映射
|
||||
if "action_value_mappings" in device_config["class"]:
|
||||
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
|
||||
if "type" in action_config:
|
||||
action_config["type"] = self._replace_type_with_class(
|
||||
action_config["type"], device_id, f"动作 {action_name}"
|
||||
)
|
||||
|
||||
self.device_type_registry.update(data)
|
||||
|
||||
for device_id in data.keys():
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
|
||||
+ f"[{data[device_id].get('name', '未命名设备')}]"
|
||||
)
|
||||
current_device_number += 1
|
||||
else:
|
||||
logger.debug(
|
||||
f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
|
||||
)
|
||||
|
||||
|
||||
# 全局单例实例
|
||||
lab_registry = Registry()
|
||||
|
||||
|
||||
def build_registry(registry_paths=None):
|
||||
"""
|
||||
构建或获取Registry单例实例
|
||||
|
||||
Args:
|
||||
registry_paths: 额外的注册表路径列表
|
||||
|
||||
Returns:
|
||||
Registry实例
|
||||
"""
|
||||
logger.info("[UniLab Registry] 构建注册表实例")
|
||||
|
||||
# 由于使用了单例，这里不需要重新创建实例
|
||||
global lab_registry
|
||||
|
||||
# 如果有额外路径，添加到registry_paths
|
||||
if registry_paths:
|
||||
current_paths = lab_registry.registry_paths.copy()
|
||||
# 检查是否有新路径需要添加
|
||||
for path in registry_paths:
|
||||
if path not in current_paths:
|
||||
lab_registry.registry_paths.append(path)
|
||||
|
||||
# 初始化注册表
|
||||
lab_registry.setup()
|
||||
|
||||
return lab_registry
|
||||
4
unilabos/registry/resources/opentrons/deck.yaml
Normal file
4
unilabos/registry/resources/opentrons/deck.yaml
Normal file
@@ -0,0 +1,4 @@
|
||||
OTDeck:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.deck:OTDeck
|
||||
type: pylabrobot
|
||||
@@ -0,0 +1,4 @@
|
||||
Opentrons_96_adapter_Vb:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plate_adapters:Opentrons_96_adapter_Vb
|
||||
type: pylabrobot
|
||||
74
unilabos/registry/resources/opentrons/plates.yaml
Normal file
74
unilabos/registry/resources/opentrons/plates.yaml
Normal file
@@ -0,0 +1,74 @@
|
||||
corning_6_wellplate_16point8ml_flat:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:corning_6_wellplate_16point8ml_flat
|
||||
type: pylabrobot
|
||||
|
||||
corning_12_wellplate_6point9ml_flat:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:corning_12_wellplate_6point9ml_flat
|
||||
type: pylabrobot
|
||||
|
||||
corning_24_wellplate_3point4ml_flat:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:corning_24_wellplate_3point4ml_flat
|
||||
type: pylabrobot
|
||||
|
||||
corning_48_wellplate_1point6ml_flat:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:corning_48_wellplate_1point6ml_flat
|
||||
type: pylabrobot
|
||||
|
||||
corning_96_wellplate_360ul_flat:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:corning_96_wellplate_360ul_flat
|
||||
type: pylabrobot
|
||||
|
||||
corning_384_wellplate_112ul_flat:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:corning_384_wellplate_112ul_flat
|
||||
type: pylabrobot
|
||||
|
||||
nest_96_wellplate_2ml_deep:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_2ml_deep
|
||||
type: pylabrobot
|
||||
|
||||
nest_96_wellplate_200ul_flat:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_200ul_flat
|
||||
type: pylabrobot
|
||||
|
||||
nest_96_wellplate_100ul_pcr_full_skirt:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:nest_96_wellplate_100ul_pcr_full_skirt
|
||||
type: pylabrobot
|
||||
|
||||
appliedbiosystemsmicroamp_384_wellplate_40ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:appliedbiosystemsmicroamp_384_wellplate_40ul
|
||||
type: pylabrobot
|
||||
|
||||
thermoscientificnunc_96_wellplate_1300ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:thermoscientificnunc_96_wellplate_1300ul
|
||||
type: pylabrobot
|
||||
|
||||
thermoscientificnunc_96_wellplate_2000ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:thermoscientificnunc_96_wellplate_2000ul
|
||||
type: pylabrobot
|
||||
|
||||
usascientific_96_wellplate_2point4ml_deep:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:usascientific_96_wellplate_2point4ml_deep
|
||||
type: pylabrobot
|
||||
|
||||
biorad_96_wellplate_200ul_pcr:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:biorad_96_wellplate_200ul_pcr
|
||||
type: pylabrobot
|
||||
|
||||
biorad_384_wellplate_50ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.plates:biorad_384_wellplate_50ul
|
||||
type: pylabrobot
|
||||
29
unilabos/registry/resources/opentrons/reservoirs.yaml
Normal file
29
unilabos/registry/resources/opentrons/reservoirs.yaml
Normal file
@@ -0,0 +1,29 @@
|
||||
agilent_1_reservoir_290ml:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.reserviors:agilent_1_reservoir_290ml
|
||||
type: pylabrobot
|
||||
|
||||
axygen_1_reservoir_90ml:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.reserviors:axygen_1_reservoir_90ml
|
||||
type: pylabrobot
|
||||
|
||||
nest_12_reservoir_15ml:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.reserviors:nest_12_reservoir_15ml
|
||||
type: pylabrobot
|
||||
|
||||
nest_1_reservoir_195ml:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_195ml
|
||||
type: pylabrobot
|
||||
|
||||
nest_1_reservoir_290ml:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_290ml
|
||||
type: pylabrobot
|
||||
|
||||
usascientific_12_reservoir_22ml:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.reserviors:usascientific_12_reservoir_22ml
|
||||
type: pylabrobot
|
||||
64
unilabos/registry/resources/opentrons/tip_racks.yaml
Normal file
64
unilabos/registry/resources/opentrons/tip_racks.yaml
Normal file
@@ -0,0 +1,64 @@
|
||||
eppendorf_96_tiprack_1000ul_eptips:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:eppendorf_96_tiprack_1000ul_eptips
|
||||
type: pylabrobot
|
||||
|
||||
tipone_96_tiprack_200ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:tipone_96_tiprack_200ul
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_tiprack_300ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_300ul
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_tiprack_10ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_10ul
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_filtertiprack_10ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_10ul
|
||||
type: pylabrobot
|
||||
|
||||
geb_96_tiprack_10ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:geb_96_tiprack_10ul
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_filtertiprack_200ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_200ul
|
||||
type: pylabrobot
|
||||
|
||||
eppendorf_96_tiprack_10ul_eptips:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:eppendorf_96_tiprack_10ul_eptips
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_tiprack_1000ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_1000ul
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_tiprack_20ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_tiprack_20ul
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_filtertiprack_1000ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_1000ul
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_filtertiprack_20ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:opentrons_96_filtertiprack_20ul
|
||||
type: pylabrobot
|
||||
|
||||
geb_96_tiprack_1000ul:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tip_racks:geb_96_tiprack_1000ul
|
||||
type: pylabrobot
|
||||
99
unilabos/registry/resources/opentrons/tube_racks.yaml
Normal file
99
unilabos/registry/resources/opentrons/tube_racks.yaml
Normal file
@@ -0,0 +1,99 @@
|
||||
opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_2ml_safelock_snapcap_acrylic
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_6_tuberack_falcon_50ml_conical:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_6_tuberack_falcon_50ml_conical
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_15_tuberack_nest_15ml_conical:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_15_tuberack_nest_15ml_conical
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_nest_2ml_screwcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_2ml_screwcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_generic_0point75ml_snapcap_acrylic
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_10_tuberack_nest_4x50ml_6x15ml_conical:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_nest_4x50ml_6x15ml_conical
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical_acrylic
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_nest_1point5ml_screwcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_1point5ml_screwcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_nest_1point5ml_snapcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_1point5ml_snapcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_10_tuberack_falcon_4x50ml_6x15ml_conical
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_nest_2ml_snapcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_2ml_snapcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_nest_0point5ml_screwcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_nest_0point5ml_screwcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_eppendorf_1point5ml_safelock_snapcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_6_tuberack_nest_50ml_conical:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_6_tuberack_nest_50ml_conical
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_15_tuberack_falcon_15ml_conical:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_15_tuberack_falcon_15ml_conical
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_tuberack_generic_2ml_screwcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_tuberack_generic_2ml_screwcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_96_well_aluminum_block:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_96_well_aluminum_block
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_aluminumblock_generic_2ml_screwcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_aluminumblock_generic_2ml_screwcap
|
||||
type: pylabrobot
|
||||
|
||||
opentrons_24_aluminumblock_nest_1point5ml_snapcap:
|
||||
class:
|
||||
module: pylabrobot.resources.opentrons.tube_racks:opentrons_24_aluminumblock_nest_1point5ml_snapcap
|
||||
type: pylabrobot
|
||||
Reference in New Issue
Block a user