From aacf3497e035bed4efc293f5ce667fbe42c9afe7 Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 9 Jan 2026 17:18:39 +0800 Subject: [PATCH] Add no_update_feedback option. --- docs/conf.py | 4 +- docs/developer_guide/action_includes.md | 1024 +---------------------- docs/requirements.txt | 4 + unilabos/app/main.py | 6 + unilabos/app/ws_client.py | 6 +- unilabos/config/config.py | 1 + unilabos/ros/nodes/base_device_node.py | 17 +- 7 files changed, 62 insertions(+), 1000 deletions(-) diff --git a/docs/conf.py b/docs/conf.py index f15f0e6..60a22b6 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -24,7 +24,7 @@ extensions = [ "sphinx.ext.autodoc", "sphinx.ext.napoleon", # 如果您使用 Google 或 NumPy 风格的 docstrings "sphinx_rtd_theme", - "sphinxcontrib.mermaid" + "sphinxcontrib.mermaid", ] source_suffix = { @@ -58,7 +58,7 @@ html_theme = "sphinx_rtd_theme" # sphinx-book-theme 主题选项 html_theme_options = { - "repository_url": "https://github.com/用户名/Uni-Lab", + "repository_url": "https://github.com/deepmodeling/Uni-Lab-OS", "use_repository_button": True, "use_issues_button": True, "use_edit_page_button": True, diff --git a/docs/developer_guide/action_includes.md b/docs/developer_guide/action_includes.md index 206f94e..be1316c 100644 --- a/docs/developer_guide/action_includes.md +++ b/docs/developer_guide/action_includes.md @@ -1,4 +1,5 @@ -## 基础通用操作 +## 简单单变量动作函数 + ### `SendCmd` @@ -6,343 +7,49 @@ :language: yaml ``` ---- +---- +## 常量有机化学操作 -### `FloatSingleInput` +Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。 -```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action -:language: yaml -``` ---- -### `IntSingleInput` - -```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action -:language: yaml -``` - ---- - -### `Point3DSeparateInput` - -```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action -:language: yaml -``` - ---- - -### `StrSingleInput` - -```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action -:language: yaml -``` - ---- - -### `Wait` - -```{literalinclude} ../../unilabos_msgs/action/Wait.action -:language: yaml -``` - ---- - -## 化学实验操作 - -Uni-Lab 化学操作指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作。 - -### 物料添加 - -#### `Add` - -```{literalinclude} ../../unilabos_msgs/action/Add.action -:language: yaml -``` - ---- - -#### `AddSolid` - -```{literalinclude} ../../unilabos_msgs/action/AddSolid.action -:language: yaml -``` - ---- - -### 液体转移与泵控制 - -#### `PumpTransfer` - -```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action -:language: yaml -``` - ---- - -#### `SetPumpPosition` - -```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action -:language: yaml -``` - ---- - -#### `Transfer` - -```{literalinclude} ../../unilabos_msgs/action/Transfer.action -:language: yaml -``` - ---- - -### 温度控制 - -#### `HeatChill` - -```{literalinclude} ../../unilabos_msgs/action/HeatChill.action -:language: yaml -``` - ---- - -#### `HeatChillStart` - -```{literalinclude} ../../unilabos_msgs/action/HeatChillStart.action -:language: yaml -``` - ---- - -#### `HeatChillStop` - -```{literalinclude} ../../unilabos_msgs/action/HeatChillStop.action -:language: yaml -``` - ---- - -### 搅拌控制 - -#### `StartStir` - -```{literalinclude} ../../unilabos_msgs/action/StartStir.action -:language: yaml -``` - ---- - -#### `Stir` - -```{literalinclude} ../../unilabos_msgs/action/Stir.action -:language: yaml -``` - ---- - -#### `StopStir` - -```{literalinclude} ../../unilabos_msgs/action/StopStir.action -:language: yaml -``` - ---- - -### 气体与真空控制 - -#### `EvacuateAndRefill` - -```{literalinclude} ../../unilabos_msgs/action/EvacuateAndRefill.action -:language: yaml -``` - ---- - -#### `Purge` - -```{literalinclude} ../../unilabos_msgs/action/Purge.action -:language: yaml -``` - ---- - -#### `StartPurge` - -```{literalinclude} ../../unilabos_msgs/action/StartPurge.action -:language: yaml -``` - ---- - -#### `StopPurge` - -```{literalinclude} ../../unilabos_msgs/action/StopPurge.action -:language: yaml -``` - ---- - -### 分离与过滤 - -#### `Centrifuge` - -```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action -:language: yaml -``` - ---- - -#### `Filter` - -```{literalinclude} ../../unilabos_msgs/action/Filter.action -:language: yaml -``` - ---- - -#### `FilterThrough` - -```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action -:language: yaml -``` - ---- - -#### `RunColumn` - -```{literalinclude} ../../unilabos_msgs/action/RunColumn.action -:language: yaml -``` - ---- - -#### `Separate` - -```{literalinclude} ../../unilabos_msgs/action/Separate.action -:language: yaml -``` - ---- - -### 化学处理 - -#### `AdjustPH` - -```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action -:language: yaml -``` - ---- - -#### `Crystallize` - -```{literalinclude} ../../unilabos_msgs/action/Crystallize.action -:language: yaml -``` - ---- - -#### `Dissolve` - -```{literalinclude} ../../unilabos_msgs/action/Dissolve.action -:language: yaml -``` - ---- - -#### `Dry` - -```{literalinclude} ../../unilabos_msgs/action/Dry.action -:language: yaml -``` - ---- - -#### `Evaporate` - -```{literalinclude} ../../unilabos_msgs/action/Evaporate.action -:language: yaml -``` - ---- - -#### `Hydrogenate` - -```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action -:language: yaml -``` - ---- - -#### `Recrystallize` - -```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action -:language: yaml -``` - ---- - -#### `WashSolid` - -```{literalinclude} ../../unilabos_msgs/action/WashSolid.action -:language: yaml -``` - ---- - -### 清洁与维护 - -#### `Clean` +### `Clean` ```{literalinclude} ../../unilabos_msgs/action/Clean.action :language: yaml ``` ---- +---- -#### `CleanVessel` +### `HeatChillStart` -```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action +```{literalinclude} ../../unilabos_msgs/action/HeatChillStart.action :language: yaml ``` ---- +---- -#### `EmptyIn` +### `HeatChillStop` -```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action +```{literalinclude} ../../unilabos_msgs/action/HeatChillStop.action :language: yaml ``` ---- +---- -#### `ResetHandling` +### `PumpTransfer` -```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action +```{literalinclude} ../../unilabos_msgs/action/PumpTransfer.action :language: yaml ``` ---- +---- +## 移液工作站及相关生物自动化设备操作 -## 生物自动化操作 +Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。 -Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含移液工作站的各类操作。 -### `LiquidHandlerAdd` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action -:language: yaml -``` - ---- - -### `LiquidHandlerAspirate` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action -:language: yaml -``` - ---- ### `LiquidHandlerDiscardTips` @@ -350,15 +57,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerDispense` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerDispense.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerDropTips` @@ -366,7 +65,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerDropTips96` @@ -374,31 +73,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerIncubateBiomek` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action -:language: yaml -``` - ---- - -### `LiquidHandlerMix` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action -:language: yaml -``` - ---- - -### `LiquidHandlerMoveBiomek` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerMoveLid` @@ -406,7 +81,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerMovePlate` @@ -414,7 +89,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerMoveResource` @@ -422,23 +97,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerMoveTo` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action -:language: yaml -``` - ---- - -### `LiquidHandlerOscillateBiomek` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerPickUpTips` @@ -446,7 +105,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerPickUpTips96` @@ -454,23 +113,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerProtocolCreation` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action -:language: yaml -``` - ---- - -### `LiquidHandlerRemove` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerReturnTips` @@ -478,7 +121,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- ### `LiquidHandlerReturnTips96` @@ -486,31 +129,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- - -### `LiquidHandlerSetGroup` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action -:language: yaml -``` - ---- - -### `LiquidHandlerSetLiquid` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action -:language: yaml -``` - ---- - -### `LiquidHandlerSetTipRack` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action -:language: yaml -``` - ---- +---- ### `LiquidHandlerStamp` @@ -518,597 +137,22 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o :language: yaml ``` ---- +---- +## 多工作站及小车运行、物料转移 -### `LiquidHandlerTransfer` -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransfer.action -:language: yaml -``` - ---- - -### `LiquidHandlerTransferBiomek` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action -:language: yaml -``` - ---- - -### `LiquidHandlerTransferGroup` - -```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action -:language: yaml -``` - ---- - -## 专用工作站操作 - -### 反应工作站 - -#### `ReactionStationDripBack` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationDripBack.action -:language: yaml -``` - ---- - -#### `ReactionStationLiquidFeedBeaker` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedBeaker.action -:language: yaml -``` - ---- - -#### `ReactionStationLiquidFeedSolvents` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedSolvents.action -:language: yaml -``` - ---- - -#### `ReactionStationLiquidFeedTitration` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedTitration.action -:language: yaml -``` - ---- - -#### `ReactionStationLiquidFeedVialsNonTitration` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationLiquidFeedVialsNonTitration.action -:language: yaml -``` - ---- - -#### `ReactionStationProExecu` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationProExecu.action -:language: yaml -``` - ---- - -#### `ReactionStationReactorTakenOut` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationReactorTakenOut.action -:language: yaml -``` - ---- - -#### `ReactionStationReaTackIn` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationReaTackIn.action -:language: yaml -``` - ---- - -#### `ReactionStationSolidFeedVial` - -```{literalinclude} ../../unilabos_msgs/action/ReactionStationSolidFeedVial.action -:language: yaml -``` - ---- - -### 固体分配站 - -#### `SolidDispenseAddPowderTube` - -```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action -:language: yaml -``` - ---- - -### 分液工作站 - -#### `DispenStationSolnPrep` - -```{literalinclude} ../../unilabos_msgs/action/DispenStationSolnPrep.action -:language: yaml -``` - ---- - -#### `DispenStationVialFeed` - -```{literalinclude} ../../unilabos_msgs/action/DispenStationVialFeed.action -:language: yaml -``` - ---- - -### 后处理工作站 - -#### `PostProcessGrab` - -```{literalinclude} ../../unilabos_msgs/action/PostProcessGrab.action -:language: yaml -``` - ---- - -#### `PostProcessTriggerClean` - -```{literalinclude} ../../unilabos_msgs/action/PostProcessTriggerClean.action -:language: yaml -``` - ---- - -#### `PostProcessTriggerPostPro` - -```{literalinclude} ../../unilabos_msgs/action/PostProcessTriggerPostPro.action -:language: yaml -``` - ---- - -## 系统管理与资源调度 - -### 资源与布局管理 - -#### `DefaultLayoutRecommendLayout` - -```{literalinclude} ../../unilabos_msgs/action/DefaultLayoutRecommendLayout.action -:language: yaml -``` - ---- - -#### `ResourceCreateFromOuter` - -```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action -:language: yaml -``` - ---- - -#### `ResourceCreateFromOuterEasy` - -```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action -:language: yaml -``` - ---- - -### 多工作站协调 - -#### `AGVTransfer` +### `AGVTransfer` ```{literalinclude} ../../unilabos_msgs/action/AGVTransfer.action :language: yaml ``` ---- +---- -#### `WorkStationRun` +### `WorkStationRun` ```{literalinclude} ../../unilabos_msgs/action/WorkStationRun.action :language: yaml ``` ---- - -## 机器人控制（ROS2 标准） - -Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`。 - -### 机械臂与关节控制 - -#### `FollowJointTrajectory` - -```yaml -# The trajectory for all revolute, continuous or prismatic joints -trajectory_msgs/JointTrajectory trajectory -# The trajectory for all planar or floating joints (i.e. individual joints with more than one DOF) -trajectory_msgs/MultiDOFJointTrajectory multi_dof_trajectory - -# Tolerances for the trajectory. If the measured joint values fall -# outside the tolerances the trajectory goal is aborted. Any -# tolerances that are not specified (by being omitted or set to 0) are -# set to the defaults for the action server (often taken from the -# parameter server). - -# Tolerances applied to the joints as the trajectory is executed. If -# violated, the goal aborts with error_code set to -# PATH_TOLERANCE_VIOLATED. -JointTolerance[] path_tolerance -JointComponentTolerance[] component_path_tolerance - -# To report success, the joints must be within goal_tolerance of the -# final trajectory value. The goal must be achieved by time the -# trajectory ends plus goal_time_tolerance. (goal_time_tolerance -# allows some leeway in time, so that the trajectory goal can still -# succeed even if the joints reach the goal some time after the -# precise end time of the trajectory). -# -# If the joints are not within goal_tolerance after "trajectory finish -# time" + goal_time_tolerance, the goal aborts with error_code set to -# GOAL_TOLERANCE_VIOLATED -JointTolerance[] goal_tolerance -JointComponentTolerance[] component_goal_tolerance -builtin_interfaces/Duration goal_time_tolerance - ---- -int32 error_code -int32 SUCCESSFUL = 0 -int32 INVALID_GOAL = -1 -int32 INVALID_JOINTS = -2 -int32 OLD_HEADER_TIMESTAMP = -3 -int32 PATH_TOLERANCE_VIOLATED = -4 -int32 GOAL_TOLERANCE_VIOLATED = -5 - -# Human readable description of the error code. Contains complementary -# information that is especially useful when execution fails, for instance: -# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested -# trajectory is in the past). -# - INVALID_JOINTS: The mismatch between the expected controller joints -# and those provided in the goal. -# - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint -# violated which tolerance, and by how much. -string error_string - ---- -std_msgs/Header header -string[] joint_names -trajectory_msgs/JointTrajectoryPoint desired -trajectory_msgs/JointTrajectoryPoint actual -trajectory_msgs/JointTrajectoryPoint error - -string[] multi_dof_joint_names -trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_desired -trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_actual -trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error - -``` - ---- - -#### `JointTrajectory` - -```yaml -trajectory_msgs/JointTrajectory trajectory ---- - ---- -``` - ---- - -#### `PointHead` - -```yaml -geometry_msgs/PointStamped target -geometry_msgs/Vector3 pointing_axis -string pointing_frame -builtin_interfaces/Duration min_duration -float64 max_velocity ---- - ---- -float64 pointing_angle_error -``` - ---- - -#### `SingleJointPosition` - -```yaml -float64 position -builtin_interfaces/Duration min_duration -float64 max_velocity ---- - ---- -std_msgs/Header header -float64 position -float64 velocity -float64 error -``` - ---- - -### 夹爪控制 - -#### `GripperCommand` - -```yaml -GripperCommand command ---- -float64 position # The current gripper gap size (in meters) -float64 effort # The current effort exerted (in Newtons) -bool stalled # True iff the gripper is exerting max effort and not moving -bool reached_goal # True iff the gripper position has reached the commanded setpoint ---- -float64 position # The current gripper gap size (in meters) -float64 effort # The current effort exerted (in Newtons) -bool stalled # True iff the gripper is exerting max effort and not moving -bool reached_goal # True iff the gripper position has reached the commanded setpoint - -``` - ---- - -#### `ParallelGripperCommand` - -```yaml -# Parallel grippers refer to an end effector where two opposing fingers grasp an object from opposite sides. -sensor_msgs/JointState command -# name: the name(s) of the joint this command is requesting -# position: desired position of each gripper joint (radians or meters) -# velocity: (optional, not used if empty) max velocity of the joint allowed while moving (radians or meters / second) -# effort: (optional, not used if empty) max effort of the joint allowed while moving (Newtons or Newton-meters) ---- -sensor_msgs/JointState state # The current gripper state. -# position of each joint (radians or meters) -# optional: velocity of each joint (radians or meters / second) -# optional: effort of each joint (Newtons or Newton-meters) -bool stalled # True if the gripper is exerting max effort and not moving -bool reached_goal # True if the gripper position has reached the commanded setpoint ---- -sensor_msgs/JointState state # The current gripper state. -# position of each joint (radians or meters) -# optional: velocity of each joint (radians or meters / second) -# optional: effort of each joint (Newtons or Newton-meters) - -``` - ---- - -### 导航与路径规划 - -#### `AssistedTeleop` - -```yaml -#goal definition -builtin_interfaces/Duration time_allowance ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback -builtin_interfaces/Duration current_teleop_duration -``` - ---- - -#### `BackUp` - -```yaml -#goal definition -geometry_msgs/Point target -float32 speed -builtin_interfaces/Duration time_allowance ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -float32 distance_traveled -``` - ---- - -#### `ComputePathThroughPoses` - -```yaml -#goal definition -geometry_msgs/PoseStamped[] goals -geometry_msgs/PoseStamped start -string planner_id -bool use_start # If false, use current robot pose as path start, if true, use start above instead ---- -#result definition -nav_msgs/Path path -builtin_interfaces/Duration planning_time ---- -#feedback definition -``` - ---- - -#### `ComputePathToPose` - -```yaml -#goal definition -geometry_msgs/PoseStamped goal -geometry_msgs/PoseStamped start -string planner_id -bool use_start # If false, use current robot pose as path start, if true, use start above instead ---- -#result definition -nav_msgs/Path path -builtin_interfaces/Duration planning_time ---- -#feedback definition -``` - ---- - -#### `DriveOnHeading` - -```yaml -#goal definition -geometry_msgs/Point target -float32 speed -builtin_interfaces/Duration time_allowance ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -float32 distance_traveled -``` - ---- - -#### `DummyBehavior` - -```yaml -#goal definition -std_msgs/String command ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -``` - ---- - -#### `FollowPath` - -```yaml -#goal definition -nav_msgs/Path path -string controller_id -string goal_checker_id ---- -#result definition -std_msgs/Empty result ---- -#feedback definition -float32 distance_to_goal -float32 speed -``` - ---- - -#### `FollowWaypoints` - -```yaml -#goal definition -geometry_msgs/PoseStamped[] poses ---- -#result definition -int32[] missed_waypoints ---- -#feedback definition -uint32 current_waypoint -``` - ---- - -#### `NavigateThroughPoses` - -```yaml -#goal definition -geometry_msgs/PoseStamped[] poses -string behavior_tree ---- -#result definition -std_msgs/Empty result ---- -#feedback definition -geometry_msgs/PoseStamped current_pose -builtin_interfaces/Duration navigation_time -builtin_interfaces/Duration estimated_time_remaining -int16 number_of_recoveries -float32 distance_remaining -int16 number_of_poses_remaining -``` - ---- - -#### `NavigateToPose` - -```yaml -#goal definition -geometry_msgs/PoseStamped pose -string behavior_tree ---- -#result definition -std_msgs/Empty result ---- -#feedback definition -geometry_msgs/PoseStamped current_pose -builtin_interfaces/Duration navigation_time -builtin_interfaces/Duration estimated_time_remaining -int16 number_of_recoveries -float32 distance_remaining -``` - ---- - -#### `SmoothPath` - -```yaml -#goal definition -nav_msgs/Path path -string smoother_id -builtin_interfaces/Duration max_smoothing_duration -bool check_for_collisions ---- -#result definition -nav_msgs/Path path -builtin_interfaces/Duration smoothing_duration -bool was_completed ---- -#feedback definition -``` - ---- - -#### `Spin` - -```yaml -#goal definition -float32 target_yaw -builtin_interfaces/Duration time_allowance ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -float32 angular_distance_traveled -``` - ---- - -#### `Wait` (Nav2) - -> **注意**：这是 ROS2 nav2_msgs 的标准 Wait action，与 unilabos_msgs 的 Wait action 不同。 - -```yaml -#goal definition -builtin_interfaces/Duration time ---- -#result definition -builtin_interfaces/Duration total_elapsed_time ---- -#feedback definition -builtin_interfaces/Duration time_left -``` - ---- +---- diff --git a/docs/requirements.txt b/docs/requirements.txt index 1cc9247..591cc07 100644 --- a/docs/requirements.txt +++ b/docs/requirements.txt @@ -12,3 +12,7 @@ sphinx-copybutton>=0.5.0 # 用于自动摘要生成 sphinx-autobuild>=2024.2.4 + +# 用于PDF导出 (rinohtype方案，纯Python无需LaTeX) +rinohtype>=0.5.4 +sphinx-simplepdf>=1.6.0 \ No newline at end of file diff --git a/unilabos/app/main.py b/unilabos/app/main.py index 6738b2f..3ad7310 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -156,6 +156,11 @@ def parse_args(): default=False, help="Complete registry information", ) + parser.add_argument( + "--no_update_feedback", + action="store_true", + help="Disable sending update feedback to server", + ) # workflow upload subcommand workflow_parser = subparsers.add_parser( "workflow_upload", @@ -297,6 +302,7 @@ def main(): BasicConfig.is_host_mode = not args_dict.get("is_slave", False) BasicConfig.slave_no_host = args_dict.get("slave_no_host", False) BasicConfig.upload_registry = args_dict.get("upload_registry", False) + BasicConfig.no_update_feedback = args_dict.get("no_update_feedback", False) BasicConfig.communication_protocol = "websocket" machine_name = os.popen("hostname").read().strip() machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name]) diff --git a/unilabos/app/ws_client.py b/unilabos/app/ws_client.py index 8a00a9e..4933b61 100644 --- a/unilabos/app/ws_client.py +++ b/unilabos/app/ws_client.py @@ -488,7 +488,11 @@ class MessageProcessor: async for message in self.websocket: try: data = json.loads(message) - await self._process_message(data) + if self.session_id and self.session_id == data.get("edge_session"): + await self._process_message(data) + else: + logger.trace(f"[MessageProcessor] 收到一条归属 {data.get('edge_session')} 的旧消息：{data}") + logger.debug(f"[MessageProcessor] 跳过了一条归属 {data.get('edge_session')} 的旧消息: {data.get('action')}") except json.JSONDecodeError: logger.error(f"[MessageProcessor] Invalid JSON received: {message}") except Exception as e: diff --git a/unilabos/config/config.py b/unilabos/config/config.py index 1e40966..f3dba5d 100644 --- a/unilabos/config/config.py +++ b/unilabos/config/config.py @@ -16,6 +16,7 @@ class BasicConfig: upload_registry = False machine_name = "undefined" vis_2d_enable = False + no_update_feedback = False enable_resource_load = True communication_protocol = "websocket" startup_json_path = None # 填写绝对路径 diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 5d7379e..89c4d39 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -20,6 +20,8 @@ from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.service import Service from unilabos_msgs.action import SendCmd from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response + +from unilabos.config.config import BasicConfig from unilabos.utils.decorator import get_topic_config, get_all_subscriptions from unilabos.resources.container import RegularContainer @@ -911,13 +913,14 @@ class BaseROS2DeviceNode(Node, Generic[T]): else: plr_resources.append(ResourceTreeSet([tree]).to_plr_resources()[0]) result, original_instances = _handle_update(plr_resources, tree_set, additional_add_params) - # new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) - # r = SerialCommand.Request() - # r.command = json.dumps( - # {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 - # response: SerialCommand_Response = await self._resource_clients[ - # "c2s_update_resource_tree"].call_async(r) # type: ignore - # self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}") + if not BasicConfig.no_update_feedback: + new_tree_set = ResourceTreeSet.from_plr_resources(original_instances) + r = SerialCommand.Request() + r.command = json.dumps( + {"data": {"data": new_tree_set.dump()}, "action": "update"}) # 和Update Resource一致 + response: SerialCommand_Response = await self._resource_clients[ + "c2s_update_resource_tree"].call_async(r) # type: ignore + self.lab_logger().info(f"确认资源云端 Update 结果: {response.response}") results.append(result) elif action == "remove": result = _handle_remove(resources_uuid)