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Merge branch 'dev' into prcix9320

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This commit is contained in:
q434343
2026-01-28 14:46:26 +08:00
parent 3478bfd7ed
commit aeeb36d075
37 changed files with 1413 additions and 245 deletions
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2
unilabos/__init__.py
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@@ -1 +1 @@
__version__ = "0.10.15"
__version__ = "0.10.17"

51
unilabos/app/main.py
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@@ -7,7 +7,6 @@ import sys
import threading
import time
from typing import Dict, Any, List
import networkx as nx
import yaml
@@ -17,9 +16,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
if unilabos_dir not in sys.path:
sys.path.append(unilabos_dir)
from unilabos.app.utils import cleanup_for_restart
from unilabos.utils.banner_print import print_status, print_unilab_banner
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
from unilabos.app.utils import cleanup_for_restart
# Global restart flags (used by ws_client and web/server)
_restart_requested: bool = False
@@ -161,6 +160,12 @@ def parse_args():
default=False,
help="Complete registry information",
)
parser.add_argument(
"--check_mode",
action="store_true",
default=False,
help="Run in check mode for CI: validates registry imports and ensures no file changes",
)
parser.add_argument(
"--no_update_feedback",
action="store_true",
@@ -211,7 +216,10 @@ def main():
args_dict = vars(args)
# 环境检查 - 检查并自动安装必需的包 (可选)
if not args_dict.get("skip_env_check", False):
skip_env_check = args_dict.get("skip_env_check", False)
check_mode = args_dict.get("check_mode", False)
if not skip_env_check:
from unilabos.utils.environment_check import check_environment
if not check_environment(auto_install=True):
@@ -222,7 +230,21 @@ def main():
# 加载配置文件，优先加载config，然后从env读取
config_path = args_dict.get("config")
if os.getcwd().endswith("unilabos_data"):
if check_mode:
args_dict["working_dir"] = os.path.abspath(os.getcwd())
# 当 skip_env_check 时，默认使用当前目录作为 working_dir
if skip_env_check and not args_dict.get("working_dir") and not config_path:
working_dir = os.path.abspath(os.getcwd())
print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
# 检查当前目录是否有 local_config.py
local_config_in_cwd = os.path.join(working_dir, "local_config.py")
if os.path.exists(local_config_in_cwd):
config_path = local_config_in_cwd
print_status(f"发现本地配置文件: {config_path}", "info")
else:
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
elif os.getcwd().endswith("unilabos_data"):
working_dir = os.path.abspath(os.getcwd())
else:
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
@@ -241,7 +263,7 @@ def main():
working_dir = os.path.dirname(config_path)
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
config_path = os.path.join(working_dir, "local_config.py")
elif not config_path and (
elif not skip_env_check and not config_path and (
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
):
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
@@ -255,9 +277,11 @@ def main():
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
else:
os._exit(1)
# 加载配置文件
# 加载配置文件 (check_mode 跳过)
print_status(f"当前工作目录为 {working_dir}", "info")
load_config_from_file(config_path)
if not check_mode:
load_config_from_file(config_path)
# 根据配置重新设置日志级别
from unilabos.utils.log import configure_logger, logger
@@ -313,6 +337,7 @@ def main():
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
BasicConfig.machine_name = machine_name
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
BasicConfig.check_mode = check_mode
from unilabos.resources.graphio import (
read_node_link_json,
@@ -331,10 +356,14 @@ def main():
# 显示启动横幅
print_unilab_banner(args_dict)
# 注册表
lab_registry = build_registry(
args_dict["registry_path"], args_dict.get("complete_registry", False), BasicConfig.upload_registry
)
# 注册表 - check_mode 时强制启用 complete_registry
complete_registry = args_dict.get("complete_registry", False) or check_mode
lab_registry = build_registry(args_dict["registry_path"], complete_registry, BasicConfig.upload_registry)
# Check mode: complete_registry 完成后直接退出，git diff 检测由 CI workflow 执行
if check_mode:
print_status("Check mode: complete_registry 完成，退出", "info")
os._exit(0)
if BasicConfig.upload_registry:
# 设备注册到服务端 - 需要 ak 和 sk

34
unilabos/app/utils.py
View File

@@ -4,8 +4,40 @@ UniLabOS 应用工具函数
提供清理、重启等工具函数
"""
import gc
import glob
import os
import shutil
import sys
def patch_rclpy_dll_windows():
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
return
try:
import rclpy
return
except ImportError as e:
if not str(e).startswith("DLL load failed"):
return
cp = os.environ["CONDA_PREFIX"]
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
if not os.path.exists(impl) or not pyd:
return
with open(impl, "r", encoding="utf-8") as f:
content = f.read()
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
shutil.copy2(impl, impl + ".bak")
with open(impl, "w", encoding="utf-8") as f:
f.write(patch + content)
patch_rclpy_dll_windows()
import gc
import threading
import time

0
unilabos/devices/Qone_nmr/__init__.py Normal file
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0
unilabos/devices/neware_battery_test_system/__init__.py Normal file
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0
unilabos/devices/workstation/bioyond_studio/bioyond_cell/__init__.py Normal file
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0
unilabos/devices/workstation/bioyond_studio/dispensing_station/__init__.py Normal file
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0
unilabos/devices/workstation/bioyond_studio/reaction_station/__init__.py Normal file
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0
unilabos/devices/xrd_d7mate/__init__.py Normal file
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0
unilabos/devices/zhida_hplc/__init__.py Normal file
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22
unilabos/registry/devices/liquid_handler.yaml
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@@ -9752,21 +9752,21 @@ liquid_handler.prcxi:
- 0
handles:
input:
- data_key: liquid
- data_key: sources
data_source: handle
data_type: resource
handler_key: sources
label: sources
- data_key: liquid
data_source: executor
handler_key: sources_identifier
label: 待移动液体
- data_key: targets
data_source: handle
data_type: resource
handler_key: targets
label: targets
- data_key: liquid
data_source: executor
handler_key: targets_identifier
label: 转移目标
- data_key: tip_rack
data_source: handle
data_type: resource
handler_key: tip_rack
label: tip_rack
handler_key: tip_rack_identifier
label: 墙头盒
output:
- data_key: liquid
data_source: handle

378
unilabos/registry/devices/virtual_device.yaml
View File

@@ -5792,3 +5792,381 @@ virtual_vacuum_pump:
- status
type: object
version: 1.0.0
virtual_workbench:
category:
- virtual_device
class:
action_value_mappings:
auto-move_to_heating_station:
feedback: {}
goal: {}
goal_default:
material_number: null
handles:
input:
- data_key: material_number
data_source: handle
data_type: workbench_material
handler_key: material_input
label: 物料编号
output:
- data_key: station_id
data_source: executor
data_type: workbench_station
handler_key: heating_station_output
label: 加热台ID
- data_key: material_number
data_source: executor
data_type: workbench_material
handler_key: material_number_output
label: 物料编号
placeholder_keys: {}
result: {}
schema:
description: 将物料从An位置移动到空闲加热台，返回分配的加热台ID
properties:
feedback: {}
goal:
properties:
material_number:
description: 物料编号，1-5，物料ID自动生成为A{n}
type: integer
required:
- material_number
type: object
result:
description: move_to_heating_station 返回类型
properties:
material_id:
title: Material Id
type: string
material_number:
title: Material Number
type: integer
message:
title: Message
type: string
station_id:
description: 分配的加热台ID
title: Station Id
type: integer
success:
title: Success
type: boolean
required:
- success
- station_id
- material_id
- material_number
- message
title: MoveToHeatingStationResult
type: object
required:
- goal
title: move_to_heating_station参数
type: object
type: UniLabJsonCommand
auto-move_to_output:
feedback: {}
goal: {}
goal_default:
material_number: null
station_id: null
handles:
input:
- data_key: station_id
data_source: handle
data_type: workbench_station
handler_key: output_station_input
label: 加热台ID
- data_key: material_number
data_source: handle
data_type: workbench_material
handler_key: output_material_input
label: 物料编号
placeholder_keys: {}
result: {}
schema:
description: 将物料从加热台移动到输出位置Cn
properties:
feedback: {}
goal:
properties:
material_number:
description: 物料编号，用于确定输出位置Cn
type: integer
station_id:
description: 加热台ID，1-3，从上一节点传入
type: integer
required:
- station_id
- material_number
type: object
result:
description: move_to_output 返回类型
properties:
material_id:
title: Material Id
type: string
station_id:
title: Station Id
type: integer
success:
title: Success
type: boolean
required:
- success
- station_id
- material_id
title: MoveToOutputResult
type: object
required:
- goal
title: move_to_output参数
type: object
type: UniLabJsonCommand
auto-prepare_materials:
feedback: {}
goal: {}
goal_default:
count: 5
handles:
output:
- data_key: material_1
data_source: executor
data_type: workbench_material
handler_key: channel_1
label: 实验1
- data_key: material_2
data_source: executor
data_type: workbench_material
handler_key: channel_2
label: 实验2
- data_key: material_3
data_source: executor
data_type: workbench_material
handler_key: channel_3
label: 实验3
- data_key: material_4
data_source: executor
data_type: workbench_material
handler_key: channel_4
label: 实验4
- data_key: material_5
data_source: executor
data_type: workbench_material
handler_key: channel_5
label: 实验5
placeholder_keys: {}
result: {}
schema:
description: 批量准备物料 - 虚拟起始节点，生成A1-A5物料，输出5个handle供后续节点使用
properties:
feedback: {}
goal:
properties:
count:
default: 5
description: 待生成的物料数量，默认5 (生成 A1-A5)
type: integer
required: []
type: object
result:
description: prepare_materials 返回类型 - 批量准备物料
properties:
count:
title: Count
type: integer
material_1:
title: Material 1
type: integer
material_2:
title: Material 2
type: integer
material_3:
title: Material 3
type: integer
material_4:
title: Material 4
type: integer
material_5:
title: Material 5
type: integer
message:
title: Message
type: string
success:
title: Success
type: boolean
required:
- success
- count
- material_1
- material_2
- material_3
- material_4
- material_5
- message
title: PrepareMaterialsResult
type: object
required:
- goal
title: prepare_materials参数
type: object
type: UniLabJsonCommand
auto-start_heating:
feedback: {}
goal: {}
goal_default:
material_number: null
station_id: null
handles:
input:
- data_key: station_id
data_source: handle
data_type: workbench_station
handler_key: station_id_input
label: 加热台ID
- data_key: material_number
data_source: handle
data_type: workbench_material
handler_key: material_number_input
label: 物料编号
output:
- data_key: station_id
data_source: executor
data_type: workbench_station
handler_key: heating_done_station
label: 加热完成-加热台ID
- data_key: material_number
data_source: executor
data_type: workbench_material
handler_key: heating_done_material
label: 加热完成-物料编号
placeholder_keys: {}
result: {}
schema:
description: 启动指定加热台的加热程序
properties:
feedback: {}
goal:
properties:
material_number:
description: 物料编号，从上一节点传入
type: integer
station_id:
description: 加热台ID，1-3，从上一节点传入
type: integer
required:
- station_id
- material_number
type: object
result:
description: start_heating 返回类型
properties:
material_id:
title: Material Id
type: string
material_number:
title: Material Number
type: integer
message:
title: Message
type: string
station_id:
title: Station Id
type: integer
success:
title: Success
type: boolean
required:
- success
- station_id
- material_id
- material_number
- message
title: StartHeatingResult
type: object
required:
- goal
title: start_heating参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.virtual.workbench:VirtualWorkbench
status_types:
active_tasks_count: int
arm_current_task: str
arm_state: str
heating_station_1_material: str
heating_station_1_progress: float
heating_station_1_state: str
heating_station_2_material: str
heating_station_2_progress: float
heating_station_2_state: str
heating_station_3_material: str
heating_station_3_progress: float
heating_station_3_state: str
message: str
status: str
type: python
config_info: []
description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent
material processing
handles: []
icon: ''
init_param_schema:
config:
properties:
config:
type: string
device_id:
type: string
required: []
type: object
data:
properties:
active_tasks_count:
type: integer
arm_current_task:
type: string
arm_state:
type: string
heating_station_1_material:
type: string
heating_station_1_progress:
type: number
heating_station_1_state:
type: string
heating_station_2_material:
type: string
heating_station_2_progress:
type: number
heating_station_2_state:
type: string
heating_station_3_material:
type: string
heating_station_3_progress:
type: number
heating_station_3_state:
type: string
message:
type: string
status:
type: string
required:
- status
- arm_state
- arm_current_task
- heating_station_1_state
- heating_station_1_material
- heating_station_1_progress
- heating_station_2_state
- heating_station_2_material
- heating_station_2_progress
- heating_station_3_state
- heating_station_3_material
- heating_station_3_progress
- active_tasks_count
- message
type: object
version: 1.0.0

2
unilabos/resources/graphio.py
View File

@@ -597,6 +597,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
"tube": "tube",
"bottle_carrier": "bottle_carrier",
"plate_adapter": "plate_adapter",
"electrode_sheet": "electrode_sheet",
"material_hole": "material_hole",
}
if source in replace_info:
return replace_info[source]

27
unilabos/ros/nodes/base_device_node.py
View File

@@ -1320,19 +1320,32 @@ class BaseROS2DeviceNode(Node, Generic[T]):
resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
# 批量查询资源
queried_resources = []
for resource_data in resource_inputs:
queried_resources: list = [None] * len(resource_inputs)
uuid_indices: list[tuple[int, str, dict]] = [] # (index, uuid, resource_data)
# 第一遍：处理没有uuid的资源，收集有uuid的资源信息
for idx, resource_data in enumerate(resource_inputs):
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
if unilabos_uuid is None:
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
else:
resource_tree = await self.get_resource([unilabos_uuid])
plr_resource = resource_tree.to_plr_resources()[0]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources.append(plr_resource)
uuid_indices.append((idx, unilabos_uuid, resource_data))
# 第二遍：批量查询有uuid的资源
if uuid_indices:
uuids = [item[1] for item in uuid_indices]
resource_tree = await self.get_resource(uuids)
plr_resources = resource_tree.to_plr_resources()
for i, (idx, _, resource_data) in enumerate(uuid_indices):
plr_resource = plr_resources[i]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources[idx] = plr_resource
self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")

1
unilabos/ros/nodes/presets/host_node.py
View File

@@ -795,6 +795,7 @@ class HostNode(BaseROS2DeviceNode):
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
action_client.wait_for_server()
goal_uuid_obj = UUID(uuid=list(u.bytes))

1
unilabos/utils/environment_check.py
View File

@@ -24,6 +24,7 @@ class EnvironmentChecker:
"msgcenterpy": "msgcenterpy",
"opentrons_shared_data": "opentrons_shared_data",
"typing_extensions": "typing_extensions",
"crcmod": "crcmod-plus",
}
# 特殊安装包（需要特殊处理的包）

18
unilabos/utils/requirements.txt Normal file
View File

@@ -0,0 +1,18 @@
networkx
typing_extensions
websockets
msgcenterpy>=0.1.5
opentrons_shared_data
pint
fastapi
jinja2
requests
uvicorn
pyautogui
opcua
pyserial
pandas
crcmod-plus
pymodbus
matplotlib
pylibftdi