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>

unilabos/registry/devices/characterization_optic.yaml

@@ -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

unilabos/registry/devices/liquid_handler.yaml

@@ -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
+    

unilabos/registry/devices/organic_miscellaneous.yaml

@@ -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

unilabos/registry/devices/pump_and_valve.yaml

@@ -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

unilabos/registry/devices/robot_agv.yaml

@@ -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

unilabos/registry/devices/robot_arm.yaml

@@ -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

unilabos/registry/devices/robot_gripper.yaml

@@ -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

unilabos/registry/devices/robot_linear_motion.yaml

@@ -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

unilabos/registry/devices/temperature.yaml

@@ -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

unilabos/registry/devices/vacuum_and_purge.yaml

@@ -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

unilabos/registry/devices/work_station.yaml

@@ -0,0 +1,6 @@
+workstation:
+  class:
+    module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
+    type: ros2
+  schema:
+    properties: {}