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Device Visualization & Mock Devices (#44) [37-biomek-i5i7 (#40), Device visualization (#39), Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43)]

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* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* 37-biomek-i5i7 (#40)

* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* Refine biomek

* Refine copy issue

* Refine

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>

* Device visualization (#39)

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>

* Device visualization (#41)

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* add biomek.py demo implementation

* 更新LiquidHandlerBiomek类，添加资源创建功能，优化协议创建方法，修复部分代码格式问题，更新YAML配置以支持新功能。

* Test

* fix biomek success type

* Convert LH action to biomek.

* Update biomek.py

* 注册表上报handle和schema (param input)

* 修复biomek缺少的字段

* delete 's'

* Remove warnings

* Update biomek.py

* Biomek test

* Update biomek.py

* 新增transfer_biomek的msg

* New transfer_biomek

* Updated transfer_biomek

* 更新transfer_biomek的msg

* 更新transfer_biomek的msg

* 支持Biomek创建

* new action

* fix key name typo

* New parameter for biomek to run.

* Refine

* Update

* new actions

* new actions

* 1

* registry

* fix biomek startup
add action handles

* fix handles not as default entry

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* biomek_test.py

biomek_test.py是最新的版本，运行它会生成complete_biomek_protocol.json

* Update biomek.py

* biomek_test.py

* fix liquid_handler.biomek handles

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* host node新增resource add时间统计
create_resource新增handle
bump version to 0.9.2

* 修正物料上传时间
改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

* 正确发送return_info结果

* 同步执行状态信息

* 取消raiseValueError提示

* Update biomek_test.py

* 0608 DONE

* 同步了Biomek.py 现在应可用

* biomek switch back to non-test

* temp disable initialize resource

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

* change arm's name

* change name

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>

* fix move it

* fix move it

* create_resource

* bump ver
modify slot type

* 增加modbus支持
调整protocol node以更好支持多种类型的read和write

* 调整protocol node以更好支持多种类型的read和write

* 补充日志

* Device visualization (#42)

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* 提取lh的joint发布

* unify liquid_handler definition

* 修改物料跟随与物料添加逻辑

修改物料跟随与物料添加逻辑
将joint_publisher类移出lh的backends，但仍需要对lh的backends进行一些改写

* Revert "修改物料跟随与物料添加逻辑"

This reverts commit 498c997ad7.

* Reapply "修改物料跟随与物料添加逻辑"

This reverts commit 3a60d2ae81.

* Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization"

This reverts commit fa727220af, reversing
changes made to 498c997ad7.

* 修改物料放下时的方法，如果选择

修改物料放下时的方法，
如果选择drop_trash，则删除物料显示
如果选择drop，则让其解除连接

* unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

* 修改物体attach时，多次赋值当前时间导致卡顿问题，

* Revert "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 56d45b94f5.

* Reapply "修改物体attach时，多次赋值当前时间导致卡顿问题，"

This reverts commit 07d9db20c3.

* 添加缺少物料："plate_well_G12",

* add

* fix tip resource data

* liquid states

* change to debug level

* Revert "change to debug level"

This reverts commit 5d9953c3e5.

* Reapply "change to debug level"

This reverts commit 2487bb6ffc.

* fix tip resource data

* add full device

* add moveit yaml

* 修复moveit
增加post_init阶段，给予ros_node反向

* remove necessary node

* fix moveit action client

* remove necessary imports

* Update moveit_interface.py

* fix handler_key uppercase

* json add liquids

* fix setup

* add

* change to "sources" and "targets" for lh

* bump version

* remove parent's parent link

* change arm's name

* change name

* fix ik error

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>

* Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43)

* Add Device MockChiller

Add device MockChiller

* Add Device MockFilter

* Add Device MockPump

* Add Device MockRotavap

* Add Device MockSeparator

* Add Device MockStirrer

* Add Device MockHeater

* Add Device MockVacuum

* Add Device MockSolenoidValve

* Add Device Mock \_init_.py

* 规范模拟设备代码与注册表信息

* 更改Mock大写文件夹名

* 删除大写目录

* Edited Mock device json

* Match mock device with action

* Edit mock device yaml

* Add new action

* Add Virtual Device, Action, YAML, Protocol for Organic Syn

* 单独分类测试的protocol文件夹

* 更名Action

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com>
Co-authored-by: qxw138 <qxw@stu.pku.edu.cn>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn>
This commit is contained in:
Xuwznln
2025-06-12 21:01:04 +08:00
committed by GitHub
parent 3470a1cb69
commit aa1c67de29
264 changed files with 48914 additions and 2955 deletions
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0
unilabos/devices/virtual/__init__.py Normal file
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158
unilabos/devices/virtual/virtual_centrifuge.py Normal file
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import asyncio
import logging
from typing import Dict, Any
class VirtualCentrifuge:
"""Virtual centrifuge device for CentrifugeProtocol testing"""
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
# 设置默认值
self.device_id = device_id or "unknown_centrifuge"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualCentrifuge.{self.device_id}")
self.data = {}
# 添加调试信息
print(f"=== VirtualCentrifuge {self.device_id} is being created! ===")
print(f"=== Config: {self.config} ===")
print(f"=== Kwargs: {kwargs} ===")
# 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 15000.0)
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 40.0)
self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', 4.0)
# 处理其他kwargs参数，但跳过已知的配置参数
skip_keys = {'port', 'max_speed', 'max_temp', 'min_temp'}
for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value)
async def initialize(self) -> bool:
"""Initialize virtual centrifuge"""
print(f"=== VirtualCentrifuge {self.device_id} initialize() called! ===")
self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
self.data.update({
"status": "Idle",
"current_speed": 0.0,
"target_speed": 0.0,
"current_temp": 25.0,
"target_temp": 25.0,
"max_speed": self._max_speed,
"max_temp": self._max_temp,
"min_temp": self._min_temp,
"centrifuge_state": "Stopped",
"time_remaining": 0.0,
"progress": 0.0,
"message": ""
})
return True
async def cleanup(self) -> bool:
"""Cleanup virtual centrifuge"""
self.logger.info(f"Cleaning up virtual centrifuge {self.device_id}")
return True
async def centrifuge(self, vessel: str, speed: float, time: float, temp: float = 25.0) -> bool:
"""Execute centrifuge action - matches Centrifuge action"""
self.logger.info(f"Centrifuge: vessel={vessel}, speed={speed} RPM, time={time}s, temp={temp}°C")
# 验证参数
if speed > self._max_speed:
self.logger.error(f"Speed {speed} exceeds maximum {self._max_speed}")
self.data["message"] = f"速度 {speed} 超过最大值 {self._max_speed}"
return False
if temp > self._max_temp or temp < self._min_temp:
self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
self.data["message"] = f"温度 {temp} 超出范围 {self._min_temp}-{self._max_temp}"
return False
# 开始离心
self.data.update({
"status": "Running",
"centrifuge_state": "Centrifuging",
"target_speed": speed,
"current_speed": speed,
"target_temp": temp,
"current_temp": temp,
"time_remaining": time,
"vessel": vessel,
"progress": 0.0,
"message": f"离心中: {vessel} at {speed} RPM"
})
# 模拟离心过程
simulation_time = min(time, 5.0) # 最多等待5秒用于测试
await asyncio.sleep(simulation_time)
# 离心完成
self.data.update({
"status": "Idle",
"centrifuge_state": "Stopped",
"current_speed": 0.0,
"target_speed": 0.0,
"time_remaining": 0.0,
"progress": 100.0,
"message": f"离心完成: {vessel}"
})
self.logger.info(f"Centrifuge completed for vessel {vessel}")
return True
# 状态属性
@property
def status(self) -> str:
return self.data.get("status", "Unknown")
@property
def current_speed(self) -> float:
return self.data.get("current_speed", 0.0)
@property
def target_speed(self) -> float:
return self.data.get("target_speed", 0.0)
@property
def current_temp(self) -> float:
return self.data.get("current_temp", 25.0)
@property
def target_temp(self) -> float:
return self.data.get("target_temp", 25.0)
@property
def max_speed(self) -> float:
return self.data.get("max_speed", self._max_speed)
@property
def max_temp(self) -> float:
return self.data.get("max_temp", self._max_temp)
@property
def min_temp(self) -> float:
return self.data.get("min_temp", self._min_temp)
@property
def centrifuge_state(self) -> str:
return self.data.get("centrifuge_state", "Unknown")
@property
def time_remaining(self) -> float:
return self.data.get("time_remaining", 0.0)
@property
def progress(self) -> float:
return self.data.get("progress", 0.0)
@property
def message(self) -> str:
return self.data.get("message", "")

132
unilabos/devices/virtual/virtual_column.py Normal file
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import asyncio
import logging
from typing import Dict, Any, Optional
class VirtualColumn:
"""Virtual column device for RunColumn protocol"""
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
# 设置默认值
self.device_id = device_id or "unknown_column"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualColumn.{self.device_id}")
self.data = {}
# 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
self._max_flow_rate = self.config.get('max_flow_rate') or kwargs.get('max_flow_rate', 10.0)
self._column_length = self.config.get('column_length') or kwargs.get('column_length', 25.0)
self._column_diameter = self.config.get('column_diameter') or kwargs.get('column_diameter', 2.0)
print(f"=== VirtualColumn {self.device_id} created with max_flow_rate={self._max_flow_rate}, length={self._column_length}cm ===")
async def initialize(self) -> bool:
"""Initialize virtual column"""
self.logger.info(f"Initializing virtual column {self.device_id}")
self.data.update({
"status": "Idle",
"column_state": "Ready",
"current_flow_rate": 0.0,
"max_flow_rate": self._max_flow_rate,
"column_length": self._column_length,
"column_diameter": self._column_diameter,
"processed_volume": 0.0,
"progress": 0.0,
"current_status": "Ready"
})
return True
async def cleanup(self) -> bool:
"""Cleanup virtual column"""
self.logger.info(f"Cleaning up virtual column {self.device_id}")
return True
async def run_column(self, from_vessel: str, to_vessel: str, column: str) -> bool:
"""Execute column chromatography run - matches RunColumn action"""
self.logger.info(f"Running column separation: {from_vessel} -> {to_vessel} using {column}")
# 更新设备状态
self.data.update({
"status": "Running",
"column_state": "Separating",
"current_status": "Column separation in progress",
"progress": 0.0,
"processed_volume": 0.0
})
# 模拟柱层析分离过程
# 假设处理时间基于流速和柱子长度
separation_time = (self._column_length * 2) / self._max_flow_rate # 简化计算
steps = 20 # 分20个步骤模拟分离过程
step_time = separation_time / steps
for i in range(steps):
await asyncio.sleep(step_time)
progress = (i + 1) / steps * 100
volume_processed = (i + 1) * 5.0 # 假设每步处理5mL
# 更新状态
self.data.update({
"progress": progress,
"processed_volume": volume_processed,
"current_status": f"Column separation: {progress:.1f}% - Processing {volume_processed:.1f}mL"
})
self.logger.info(f"Column separation progress: {progress:.1f}%")
# 分离完成
self.data.update({
"status": "Idle",
"column_state": "Ready",
"current_status": "Column separation completed",
"progress": 100.0
})
self.logger.info(f"Column separation completed: {from_vessel} -> {to_vessel}")
return True
# 状态属性
@property
def status(self) -> str:
return self.data.get("status", "Unknown")
@property
def column_state(self) -> str:
return self.data.get("column_state", "Unknown")
@property
def current_flow_rate(self) -> float:
return self.data.get("current_flow_rate", 0.0)
@property
def max_flow_rate(self) -> float:
return self.data.get("max_flow_rate", 0.0)
@property
def column_length(self) -> float:
return self.data.get("column_length", 0.0)
@property
def column_diameter(self) -> float:
return self.data.get("column_diameter", 0.0)
@property
def processed_volume(self) -> float:
return self.data.get("processed_volume", 0.0)
@property
def progress(self) -> float:
return self.data.get("progress", 0.0)
@property
def current_status(self) -> str:
return self.data.get("current_status", "Ready")

151
unilabos/devices/virtual/virtual_filter.py Normal file
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import asyncio
import logging
from typing import Dict, Any
class VirtualFilter:
"""Virtual filter device for FilterProtocol testing"""
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
# 设置默认值
self.device_id = device_id or "unknown_filter"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualFilter.{self.device_id}")
self.data = {}
# 添加调试信息
print(f"=== VirtualFilter {self.device_id} is being created! ===")
print(f"=== Config: {self.config} ===")
print(f"=== Kwargs: {kwargs} ===")
# 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
# 处理其他kwargs参数，但跳过已知的配置参数
skip_keys = {'port', 'max_temp', 'max_stir_speed'}
for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value)
async def initialize(self) -> bool:
"""Initialize virtual filter"""
print(f"=== VirtualFilter {self.device_id} initialize() called! ===")
self.logger.info(f"Initializing virtual filter {self.device_id}")
self.data.update({
"status": "Idle",
"filter_state": "Ready",
"current_temp": 25.0,
"target_temp": 25.0,
"max_temp": self._max_temp,
"stir_speed": 0.0,
"max_stir_speed": self._max_stir_speed,
"filtered_volume": 0.0,
"progress": 0.0,
"message": ""
})
return True
async def cleanup(self) -> bool:
"""Cleanup virtual filter"""
self.logger.info(f"Cleaning up virtual filter {self.device_id}")
return True
async def filter_sample(self, vessel: str, filtrate_vessel: str = "", stir: bool = False,
stir_speed: float = 300.0, temp: float = 25.0,
continue_heatchill: bool = False, volume: float = 0.0) -> bool:
"""Execute filter action - matches Filter action"""
self.logger.info(f"Filter: vessel={vessel}, filtrate_vessel={filtrate_vessel}, stir={stir}, volume={volume}")
# 验证参数
if temp > self._max_temp:
self.logger.error(f"Temperature {temp} exceeds maximum {self._max_temp}")
self.data["message"] = f"温度 {temp} 超过最大值 {self._max_temp}"
return False
if stir and stir_speed > self._max_stir_speed:
self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_stir_speed}")
self.data["message"] = f"搅拌速度 {stir_speed} 超过最大值 {self._max_stir_speed}"
return False
# 开始过滤
self.data.update({
"status": "Running",
"filter_state": "Filtering",
"target_temp": temp,
"current_temp": temp,
"stir_speed": stir_speed if stir else 0.0,
"vessel": vessel,
"filtrate_vessel": filtrate_vessel,
"target_volume": volume,
"progress": 0.0,
"message": f"过滤中: {vessel}"
})
# 模拟过滤过程
simulation_time = min(volume / 10.0 if volume > 0 else 5.0, 10.0)
await asyncio.sleep(simulation_time)
# 过滤完成
filtered_vol = volume if volume > 0 else 50.0 # 默认过滤量
self.data.update({
"status": "Idle",
"filter_state": "Ready",
"current_temp": 25.0 if not continue_heatchill else temp,
"target_temp": 25.0 if not continue_heatchill else temp,
"stir_speed": 0.0 if not stir else stir_speed,
"filtered_volume": filtered_vol,
"progress": 100.0,
"message": f"过滤完成: {filtered_vol}mL"
})
self.logger.info(f"Filter completed: {filtered_vol}mL from {vessel}")
return True
# 状态属性
@property
def status(self) -> str:
return self.data.get("status", "Unknown")
@property
def filter_state(self) -> str:
return self.data.get("filter_state", "Unknown")
@property
def current_temp(self) -> float:
return self.data.get("current_temp", 25.0)
@property
def target_temp(self) -> float:
return self.data.get("target_temp", 25.0)
@property
def max_temp(self) -> float:
return self.data.get("max_temp", self._max_temp)
@property
def stir_speed(self) -> float:
return self.data.get("stir_speed", 0.0)
@property
def max_stir_speed(self) -> float:
return self.data.get("max_stir_speed", self._max_stir_speed)
@property
def filtered_volume(self) -> float:
return self.data.get("filtered_volume", 0.0)
@property
def progress(self) -> float:
return self.data.get("progress", 0.0)
@property
def message(self) -> str:
return self.data.get("message", "")

107
unilabos/devices/virtual/virtual_heatchill.py Normal file
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import asyncio
import logging
from typing import Dict, Any
class VirtualHeatChill:
"""Virtual heat chill device for HeatChillProtocol testing"""
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
# 设置默认值
self.device_id = device_id or "unknown_heatchill"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualHeatChill.{self.device_id}")
self.data = {}
# 添加调试信息
print(f"=== VirtualHeatChill {self.device_id} is being created! ===")
print(f"=== Config: {self.config} ===")
print(f"=== Kwargs: {kwargs} ===")
# 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 200.0)
self._min_temp = self.config.get('min_temp') or kwargs.get('min_temp', -80.0)
self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0)
# 处理其他kwargs参数，但跳过已知的配置参数
skip_keys = {'port', 'max_temp', 'min_temp', 'max_stir_speed'}
for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value)
async def initialize(self) -> bool:
"""Initialize virtual heat chill"""
print(f"=== VirtualHeatChill {self.device_id} initialize() called! ===")
self.logger.info(f"Initializing virtual heat chill {self.device_id}")
self.data.update({
"status": "Idle"
})
return True
async def cleanup(self) -> bool:
"""Cleanup virtual heat chill"""
self.logger.info(f"Cleaning up virtual heat chill {self.device_id}")
return True
async def heat_chill(self, vessel: str, temp: float, time: float, stir: bool,
stir_speed: float, purpose: str) -> bool:
"""Execute heat chill action - matches HeatChill action exactly"""
self.logger.info(f"HeatChill: vessel={vessel}, temp={temp}°C, time={time}s, stir={stir}, stir_speed={stir_speed}, purpose={purpose}")
# 验证参数
if temp > self._max_temp or temp < self._min_temp:
self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
self.data["status"] = f"温度 {temp} 超出范围"
return False
if stir and stir_speed > self._max_stir_speed:
self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_stir_speed}")
self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
return False
# 开始加热/冷却
self.data.update({
"status": f"加热/冷却中: {vessel} 至 {temp}°C"
})
# 模拟加热/冷却时间
simulation_time = min(time, 10.0) # 最多等待10秒用于测试
await asyncio.sleep(simulation_time)
# 加热/冷却完成
self.data["status"] = f"完成: {vessel} 已达到 {temp}°C"
self.logger.info(f"HeatChill completed for vessel {vessel} at {temp}°C")
return True
async def heat_chill_start(self, vessel: str, temp: float, purpose: str) -> bool:
"""Start heat chill - matches HeatChillStart action exactly"""
self.logger.info(f"HeatChillStart: vessel={vessel}, temp={temp}°C, purpose={purpose}")
# 验证参数
if temp > self._max_temp or temp < self._min_temp:
self.logger.error(f"Temperature {temp} outside range {self._min_temp}-{self._max_temp}")
self.data["status"] = f"温度 {temp} 超出范围"
return False
self.data["status"] = f"开始加热/冷却: {vessel} 至 {temp}°C"
return True
async def heat_chill_stop(self, vessel: str) -> bool:
"""Stop heat chill - matches HeatChillStop action exactly"""
self.logger.info(f"HeatChillStop: vessel={vessel}")
self.data["status"] = f"停止加热/冷却: {vessel}"
return True
# 状态属性 - 只保留 action 中定义的 feedback
@property
def status(self) -> str:
return self.data.get("status", "Idle")

197
unilabos/devices/virtual/virtual_pump.py Normal file
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import asyncio
import logging
from typing import Dict, Any, Optional
class VirtualPump:
"""Virtual pump device for transfer and cleaning operations"""
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
# 设置默认值
self.device_id = device_id or "unknown_pump"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualPump.{self.device_id}")
self.data = {}
# 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 50.0)
self._transfer_rate = self.config.get('transfer_rate') or kwargs.get('transfer_rate', 10.0)
print(f"=== VirtualPump {self.device_id} created with max_volume={self._max_volume}, transfer_rate={self._transfer_rate} ===")
async def initialize(self) -> bool:
"""Initialize virtual pump"""
self.logger.info(f"Initializing virtual pump {self.device_id}")
self.data.update({
"status": "Idle",
"valve_position": 0,
"current_volume": 0.0,
"max_volume": self._max_volume,
"transfer_rate": self._transfer_rate,
"from_vessel": "",
"to_vessel": "",
"progress": 0.0,
"transferred_volume": 0.0,
"current_status": "Ready"
})
return True
async def cleanup(self) -> bool:
"""Cleanup virtual pump"""
self.logger.info(f"Cleaning up virtual pump {self.device_id}")
return True
async def transfer(self, from_vessel: str, to_vessel: str, volume: float,
amount: str = "", time: float = 0.0, viscous: bool = False,
rinsing_solvent: str = "", rinsing_volume: float = 0.0,
rinsing_repeats: int = 0, solid: bool = False) -> bool:
"""Execute transfer operation"""
self.logger.info(f"Transferring {volume}mL from {from_vessel} to {to_vessel}")
# 计算转移时间
transfer_time = volume / self._transfer_rate if time == 0 else time
self.data.update({
"status": "Running",
"from_vessel": from_vessel,
"to_vessel": to_vessel,
"current_status": "Transferring",
"progress": 0.0,
"transferred_volume": 0.0
})
# 模拟转移过程
steps = 10
step_time = transfer_time / steps
step_volume = volume / steps
for i in range(steps):
await asyncio.sleep(step_time)
progress = (i + 1) / steps * 100
current_volume = step_volume * (i + 1)
self.data.update({
"progress": progress,
"transferred_volume": current_volume,
"current_status": f"Transferring: {progress:.1f}%"
})
self.logger.info(f"Transfer progress: {progress:.1f}%")
self.data.update({
"status": "Idle",
"current_status": "Transfer completed",
"progress": 100.0,
"transferred_volume": volume
})
return True
async def clean_vessel(self, vessel: str, solvent: str, volume: float,
temp: float, repeats: int = 1) -> bool:
"""Execute vessel cleaning operation - matches CleanVessel action"""
self.logger.info(f"Starting vessel cleaning: {vessel} with {solvent} ({volume}mL at {temp}°C, {repeats} repeats)")
# 更新设备状态
self.data.update({
"status": "Running",
"from_vessel": f"flask_{solvent}",
"to_vessel": vessel,
"current_status": "Cleaning in progress",
"progress": 0.0,
"transferred_volume": 0.0
})
# 计算清洗时间（基于体积和重复次数）
# 假设清洗速度为 transfer_rate 的一半（因为需要加载和排放）
cleaning_rate = self._transfer_rate / 2
cleaning_time_per_cycle = volume / cleaning_rate
total_cleaning_time = cleaning_time_per_cycle * repeats
# 模拟清洗过程
steps_per_repeat = 10 # 每次重复清洗分10个步骤
total_steps = steps_per_repeat * repeats
step_time = total_cleaning_time / total_steps
for repeat in range(repeats):
self.logger.info(f"Starting cleaning cycle {repeat + 1}/{repeats}")
for step in range(steps_per_repeat):
await asyncio.sleep(step_time)
# 计算当前进度
current_step = repeat * steps_per_repeat + step + 1
progress = (current_step / total_steps) * 100
# 计算已处理的体积
volume_processed = (current_step / total_steps) * volume * repeats
# 更新状态
self.data.update({
"progress": progress,
"transferred_volume": volume_processed,
"current_status": f"Cleaning cycle {repeat + 1}/{repeats} - Step {step + 1}/{steps_per_repeat} ({progress:.1f}%)"
})
self.logger.info(f"Cleaning progress: {progress:.1f}% (Cycle {repeat + 1}/{repeats})")
# 清洗完成
self.data.update({
"status": "Idle",
"current_status": "Cleaning completed successfully",
"progress": 100.0,
"transferred_volume": volume * repeats,
"from_vessel": "",
"to_vessel": ""
})
self.logger.info(f"Vessel cleaning completed: {vessel}")
return True
# 状态属性
@property
def status(self) -> str:
return self.data.get("status", "Unknown")
@property
def valve_position(self) -> int:
return self.data.get("valve_position", 0)
@property
def current_volume(self) -> float:
return self.data.get("current_volume", 0.0)
@property
def max_volume(self) -> float:
return self.data.get("max_volume", 0.0)
@property
def transfer_rate(self) -> float:
return self.data.get("transfer_rate", 0.0)
@property
def from_vessel(self) -> str:
return self.data.get("from_vessel", "")
@property
def to_vessel(self) -> str:
return self.data.get("to_vessel", "")
@property
def progress(self) -> float:
return self.data.get("progress", 0.0)
@property
def transferred_volume(self) -> float:
return self.data.get("transferred_volume", 0.0)
@property
def current_status(self) -> str:
return self.data.get("current_status", "Ready")

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unilabos/devices/virtual/virtual_stirrer.py Normal file
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import asyncio
import logging
from typing import Dict, Any
class VirtualStirrer:
"""Virtual stirrer device for StirProtocol testing"""
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
# 设置默认值
self.device_id = device_id or "unknown_stirrer"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualStirrer.{self.device_id}")
self.data = {}
# 添加调试信息
print(f"=== VirtualStirrer {self.device_id} is being created! ===")
print(f"=== Config: {self.config} ===")
print(f"=== Kwargs: {kwargs} ===")
# 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0)
self._max_speed = self.config.get('max_speed') or kwargs.get('max_speed', 1000.0)
# 处理其他kwargs参数，但跳过已知的配置参数
skip_keys = {'port', 'max_temp', 'max_speed'}
for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value)
async def initialize(self) -> bool:
"""Initialize virtual stirrer"""
print(f"=== VirtualStirrer {self.device_id} initialize() called! ===")
self.logger.info(f"Initializing virtual stirrer {self.device_id}")
self.data.update({
"status": "Idle"
})
return True
async def cleanup(self) -> bool:
"""Cleanup virtual stirrer"""
self.logger.info(f"Cleaning up virtual stirrer {self.device_id}")
return True
async def stir(self, stir_time: float, stir_speed: float, settling_time: float) -> bool:
"""Execute stir action - matches Stir action exactly"""
self.logger.info(f"Stir: speed={stir_speed} RPM, time={stir_time}s, settling={settling_time}s")
# 验证参数
if stir_speed > self._max_speed:
self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
return False
# 开始搅拌
self.data["status"] = f"搅拌中: {stir_speed} RPM, {stir_time}s"
# 模拟搅拌时间
simulation_time = min(stir_time, 10.0) # 最多等待10秒用于测试
await asyncio.sleep(simulation_time)
# 搅拌完成，开始沉降
if settling_time > 0:
self.data["status"] = f"沉降中: {settling_time}s"
settling_simulation = min(settling_time, 5.0) # 最多等待5秒
await asyncio.sleep(settling_simulation)
# 操作完成
self.data["status"] = "搅拌完成"
self.logger.info(f"Stir completed: {stir_speed} RPM for {stir_time}s")
return True
async def start_stir(self, vessel: str, stir_speed: float, purpose: str) -> bool:
"""Start stir action - matches StartStir action exactly"""
self.logger.info(f"StartStir: vessel={vessel}, speed={stir_speed} RPM, purpose={purpose}")
# 验证参数
if stir_speed > self._max_speed:
self.logger.error(f"Stir speed {stir_speed} exceeds maximum {self._max_speed}")
self.data["status"] = f"搅拌速度 {stir_speed} 超出范围"
return False
self.data["status"] = f"开始搅拌: {vessel} at {stir_speed} RPM"
return True
async def stop_stir(self, vessel: str) -> bool:
"""Stop stir action - matches StopStir action exactly"""
self.logger.info(f"StopStir: vessel={vessel}")
self.data["status"] = f"停止搅拌: {vessel}"
return True
# 状态属性 - 只保留 action 中定义的 feedback
@property
def status(self) -> str:
return self.data.get("status", "Idle")

149
unilabos/devices/virtual/virtual_transferpump.py Normal file
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import asyncio
import logging
from typing import Dict, Any, Optional
class VirtualTransferPump:
"""Virtual pump device specifically for Transfer protocol"""
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
# 设置默认值
self.device_id = device_id or "unknown_transfer_pump"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
self.data = {}
# 添加调试信息
print(f"=== VirtualTransferPump {self.device_id} is being created! ===")
print(f"=== Config: {self.config} ===")
print(f"=== Kwargs: {kwargs} ===")
# 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL')
self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 50.0)
self._transfer_rate = self.config.get('transfer_rate') or kwargs.get('transfer_rate', 5.0)
self._current_volume = 0.0
self.is_running = False
async def initialize(self) -> bool:
"""Initialize virtual transfer pump"""
print(f"=== VirtualTransferPump {self.device_id} initialize() called! ===")
self.logger.info(f"Initializing virtual transfer pump {self.device_id}")
self.data.update({
"status": "Idle",
"current_volume": 0.0,
"max_volume": self._max_volume,
"transfer_rate": self._transfer_rate,
"from_vessel": "",
"to_vessel": "",
"progress": 0.0,
"transferred_volume": 0.0,
"current_status": "Ready"
})
return True
async def cleanup(self) -> bool:
"""Cleanup virtual transfer pump"""
self.logger.info(f"Cleaning up virtual transfer pump {self.device_id}")
return True
async def transfer(self, from_vessel: str, to_vessel: str, volume: float,
amount: str = "", time: float = 0, viscous: bool = False,
rinsing_solvent: str = "", rinsing_volume: float = 0.0,
rinsing_repeats: int = 0, solid: bool = False) -> bool:
"""Execute liquid transfer - matches Transfer action"""
self.logger.info(f"Transfer: {volume}mL from {from_vessel} to {to_vessel}")
# 计算转移时间
if time > 0:
transfer_time = time
else:
# 如果是粘性液体，降低转移速率
rate = self._transfer_rate * 0.5 if viscous else self._transfer_rate
transfer_time = volume / rate
self.data.update({
"status": "Running",
"from_vessel": from_vessel,
"to_vessel": to_vessel,
"current_status": "Transferring",
"progress": 0.0,
"transferred_volume": 0.0
})
# 模拟转移过程
steps = 10
step_time = transfer_time / steps
step_volume = volume / steps
for i in range(steps):
await asyncio.sleep(step_time)
progress = (i + 1) / steps * 100
transferred = (i + 1) * step_volume
self.data.update({
"progress": progress,
"transferred_volume": transferred,
"current_status": f"Transferring {progress:.1f}%"
})
self.logger.info(f"Transfer progress: {progress:.1f}% ({transferred:.1f}/{volume}mL)")
# 如果需要冲洗
if rinsing_solvent and rinsing_volume > 0 and rinsing_repeats > 0:
self.data["current_status"] = "Rinsing"
for repeat in range(rinsing_repeats):
self.logger.info(f"Rinsing cycle {repeat + 1}/{rinsing_repeats} with {rinsing_solvent}")
await asyncio.sleep(1) # 模拟冲洗时间
self.data.update({
"status": "Idle",
"current_status": "Transfer completed",
"progress": 100.0,
"transferred_volume": volume
})
return True
# 添加所有在virtual_device.yaml中定义的状态属性
@property
def status(self) -> str:
return self.data.get("status", "Unknown")
@property
def current_volume(self) -> float:
return self.data.get("current_volume", 0.0)
@property
def max_volume(self) -> float:
return self.data.get("max_volume", self._max_volume)
@property
def transfer_rate(self) -> float:
return self.data.get("transfer_rate", self._transfer_rate)
@property
def from_vessel(self) -> str:
return self.data.get("from_vessel", "")
@property
def to_vessel(self) -> str:
return self.data.get("to_vessel", "")
@property
def progress(self) -> float:
return self.data.get("progress", 0.0)
@property
def transferred_volume(self) -> float:
return self.data.get("transferred_volume", 0.0)
@property
def current_status(self) -> str:
return self.data.get("current_status", "Ready")

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unilabos/devices/virtual/virtual_valve.py Normal file
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import asyncio
import logging
from typing import Dict, Any
class VirtualValve:
"""Virtual valve device for AddProtocol testing"""
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式
if device_id is None and 'id' in kwargs:
device_id = kwargs.pop('id')
if config is None and 'config' in kwargs:
config = kwargs.pop('config')
# 设置默认值
self.device_id = device_id or "unknown_valve"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualValve.{self.device_id}")
self.data = {}
print(f"=== VirtualValve {self.device_id} is being created! ===")
print(f"=== Config: {self.config} ===")
print(f"=== Kwargs: {kwargs} ===")
# 处理所有配置参数，包括port
self.port = self.config.get('port', 'VIRTUAL')
self.positions = self.config.get('positions', 6)
self.current_position = 0
# 忽略其他可能的kwargs参数
for key, value in kwargs.items():
if not hasattr(self, key):
setattr(self, key, value)
async def initialize(self) -> bool:
"""Initialize virtual valve"""
print(f"=== VirtualValve {self.device_id} initialize() called! ===")
self.logger.info(f"Initializing virtual valve {self.device_id}")
self.data.update({
"status": "Idle",
"valve_state": "Closed",
"current_position": 0,
"target_position": 0,
"max_positions": self.positions
})
return True
async def cleanup(self) -> bool:
"""Cleanup virtual valve"""
self.logger.info(f"Cleaning up virtual valve {self.device_id}")
return True
async def set_position(self, position: int) -> bool:
"""Set valve position - matches SendCmd action"""
if 0 <= position <= self.positions:
self.logger.info(f"Setting valve position to {position}")
self.data.update({
"target_position": position,
"current_position": position,
"valve_state": "Open" if position > 0 else "Closed"
})
return True
else:
self.logger.error(f"Invalid position {position}. Must be 0-{self.positions}")
return False
async def open(self) -> bool:
"""Open valve - matches EmptyIn action"""
self.logger.info("Opening valve")
self.data.update({
"valve_state": "Open",
"current_position": 1
})
return True
async def close(self) -> bool:
"""Close valve - matches EmptyIn action"""
self.logger.info("Closing valve")
self.data.update({
"valve_state": "Closed",
"current_position": 0
})
return True
# 状态属性
@property
def status(self) -> str:
return self.data.get("status", "Unknown")
@property
def valve_state(self) -> str:
return self.data.get("valve_state", "Unknown")
@property
def current_position(self) -> int:
return self.data.get("current_position", 0)
@property
def target_position(self) -> int:
return self.data.get("target_position", 0)
@property
def max_positions(self) -> int:
return self.data.get("max_positions", 6)