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

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

unilabos/app/main.py

@@ -18,6 +18,7 @@ if unilabos_dir not in sys.path:
 
 from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
+from unilabos.device_mesh.resource_visalization import ResourceVisualization
 
 
 def parse_args():
@@ -187,7 +188,6 @@ def main():
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
         if devices_and_resources is not None:
-            from unilabos.device_mesh.resource_visalization import ResourceVisualization  # 此处开启后，logger会变更为INFO，有需要请调整
             resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)

unilabos/app/mq.py

@@ -26,7 +26,6 @@ class MQTTClient:
     def __init__(self):
         self.mqtt_disable = not MQConfig.lab_id
         self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
-        logger.info("[MQTT] Client_id: " + self.client_id)
         self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
         self._setup_callbacks()
 

unilabos/devices/liquid_handling/action_definition.py

@@ -14,7 +14,7 @@ from pylabrobot.resources import (
     Well
 )
 
-class LiquidHandlerAbstract(LiquidHandler):
+class DPLiquidHandler(LiquidHandler):
     """Extended LiquidHandler with additional operations."""
 
     # ---------------------------------------------------------------

unilabos/registry/devices/liquid_handler.yaml

@@ -1,96 +1,11 @@
 liquid_handler:
   description: Liquid handler device controlled by pylabrobot
   class:
-    module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
+    module: pylabrobot.liquid_handling:LiquidHandler
     type: python
     status_types:
       name: String
     action_value_mappings:
-      remove:
-        type: LiquidHandlerRemove
-        goal:
-          vols: vols
-          sources: sources
-          waste_liquid: waste_liquid
-          use_channels: use_channels
-          flow_rates: flow_rates
-          offsets: offsets
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          delays: delays
-          is_96_well: is_96_well
-          top: top
-          none_keys: none_keys
-        feedback: { }
-        result: { }
-      add_liquid:
-        type: LiquidHandlerAdd
-        goal:
-          asp_vols: asp_vols
-          dis_vols: dis_vols
-          reagent_sources: reagent_sources
-          targets: targets
-          use_channels: use_channels
-          flow_rates: flow_rates
-          offsets: offsets
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          is_96_well: is_96_well
-          mix_time: mix_time
-          mix_vol: mix_vol
-          mix_rate: mix_rate
-          mix_liquid_height: mix_liquid_height
-          none_keys: none_keys
-        feedback: { }
-        result: { }
-      transfer_liquid:
-        type: LiquidHandlerTransfer
-        goal:
-          asp_vols: asp_vols
-          dis_vols: dis_vols
-          sources: sources
-          targets: targets
-          tip_racks: tip_racks
-          use_channels: use_channels
-          asp_flow_rates: asp_flow_rates
-          dis_flow_rates: dis_flow_rates
-          offsets: offsets
-          touch_tip: touch_tip
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          is_96_well: is_96_well
-          mix_stage: mix_stage
-          mix_times: mix_times
-          mix_vol: mix_vol
-          mix_rate: mix_rate
-          mix_liquid_height: mix_liquid_height
-          delays: delays
-          none_keys: none_keys
-        feedback: { }
-        result: { }
-      mix:
-        type: DPLiquidHandlerMix
-        goal:
-          targets: targets
-          mix_time: mix_time
-          mix_vol: mix_vol
-          height_to_bottom: height_to_bottom
-          offsets: offsets
-          mix_rate: mix_rate
-          none_keys: none_keys
-        feedback: { }
-        result: { }
-      move_to:
-        type: LiquidHandlerMoveTo
-        goal:
-          well: well
-          dis_to_top: dis_to_top
-          channel: channel
-        feedback: { }
-        result: { }
       aspirate:
         type: LiquidHandlerAspirate
         goal:
@@ -263,7 +178,110 @@ dp_liquid_handler:
     status_types:
       status: String
     action_value_mappings:
-
+      remove_liquid:
+        type: DPLiquidHandlerRemoveLiquid
+        goal:
+          vols: vols
+          sources: sources
+          waste_liquid: waste_liquid
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          delays: delays
+          is_96_well: is_96_well
+          top: top
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      add_liquid:
+        type: DPLiquidHandlerAddLiquid
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          reagent_sources: reagent_sources
+          targets: targets
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_time: mix_time
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      transfer_liquid:
+        type: DPLiquidHandlerTransferLiquid
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          sources: sources
+          targets: targets
+          tip_racks: tip_racks
+          use_channels: use_channels
+          asp_flow_rates: asp_flow_rates
+          dis_flow_rates: dis_flow_rates
+          offsets: offsets
+          touch_tip: touch_tip
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          delays: delays
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      custom_delay:
+        type: DPLiquidHandlerCustomDelay
+        goal:
+          seconds: seconds
+          msg: msg
+        feedback: {}
+        result: {}
+      touch_tip:
+        type: DPLiquidHandlerTouchTip
+        goal:
+          targets: targets
+        feedback: {}
+        result: {}
+      mix:
+        type: DPLiquidHandlerMix
+        goal:
+          targets: targets
+          mix_time: mix_time
+          mix_vol: mix_vol
+          height_to_bottom: height_to_bottom
+          offsets: offsets
+          mix_rate: mix_rate
+          none_keys: none_keys
+        feedback: {}
+        result: {}
+      set_tiprack:
+        type: DPLiquidHandlerSetTiprack
+        goal:
+          tip_racks: tip_racks
+        feedback: {}
+        result: {}
+      move_to:
+        type: DPLiquidHandlerMoveTo
+        goal:
+          well: well
+          dis_to_top: dis_to_top
+          channel: channel
+        feedback: {}
+        result: {}
   schema:
     type: object
     properties:

unilabos_msgs/CMakeLists.txt

@@ -43,10 +43,14 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
-  "action/LiquidHandlerAdd.action"
+  "action/DPLiquidHandlerAddLiquid.action"
-  "action/LiquidHandlerMix.action"
+  "action/DPLiquidHandlerCustomDelay.action"
-  "action/LiquidHandlerMoveTo.action"
+  "action/DPLiquidHandlerMix.action"
-  "action/LiquidHandlerRemove.action"
+  "action/DPLiquidHandlerMoveTo.action"
+  "action/DPLiquidHandlerRemoveLiquid.action"
+  "action/DPLiquidHandlerSetTiprack.action"
+  "action/DPLiquidHandlerTouchTip.action"
+  "action/DPLiquidHandlerTransferLiquid.action"
 
   "action/EmptyIn.action"
   "action/FloatSingleInput.action"
@@ -57,7 +61,7 @@ set(action_files
   "action/ResourceCreateFromOuter.action"
 
   "action/SolidDispenseAddPowderTube.action"
-
+  
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.action"

unilabos_msgs/action/LiquidHandlerAdd.action

@@ -1,20 +0,0 @@
-float64[] asp_vols
-float64[] dis_vols
-Resource[] reagent_sources
-Resource[] targets
-int32[] use_channels
-float64[] flow_rates
-geometry_msgs/Point[] offsets
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-bool is_96_well
-int32 mix_time
-int32 mix_vol
-int32 mix_rate
-float64 mix_liquid_height
-string[] none_keys
----
-bool success
----
-# 反馈

unilabos_msgs/action/LiquidHandlerMix.action

@@ -1,11 +0,0 @@
-Resource[] targets
-int32 mix_time
-int32 mix_vol
-float64 height_to_bottom
-geometry_msgs/Point[] offsets
-float64 mix_rate
-string[] none_keys
----
-bool success
----
-# 反馈

unilabos_msgs/action/LiquidHandlerMoveTo.action

@@ -1,7 +0,0 @@
-Resource well
-float64 dis_to_top
-int32 channel
----
-bool success
----
-# 反馈

unilabos_msgs/action/LiquidHandlerRemove.action

@@ -1,17 +0,0 @@
-float64[] vols
-Resource[] sources
-Resource waste_liquid
-int32[] use_channels
-float64[] flow_rates
-geometry_msgs/Point[] offsets
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-int32[] delays
-bool is_96_well
-float64[] top
-string[] none_keys
----
-bool success
----
-# 反馈

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -1,25 +1,11 @@
-float64[] asp_vols
+# Bio
-float64[] dis_vols
+Resource source
-Resource[] sources
 Resource[] targets
-Resource[] tip_racks
+float64 source_vol
-int32[] use_channels
+float64[] ratios
-float64[] asp_flow_rates
+float64[] target_vols
-float64[] dis_flow_rates
+float64 aspiration_flow_rate
-geometry_msgs/Point[] offsets
+float64[] dispense_flow_rates
-bool touch_tip
-float64[] liquid_height
-float64[] blow_out_air_volume
-string spread
-bool is_96_well
-string mix_stage
-int32[] mix_times
-int32 mix_vol
-int32 mix_rate
-float64 mix_liquid_height
-int32[] delays
-string[] none_keys
 ---
 bool success
----
+---
-# 反馈

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -1,10 +0,0 @@
-string id
-string class
-string parent
-geometry_msgs/Point bind_locations
-int32[] liquid_input_slot
-string[] liquid_type
-float32[] liquid_volume
----
-bool success
----