From b014ab34f4e1698a7f81aa55c9b065f0ca08a07f Mon Sep 17 00:00:00 2001 From: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Date: Fri, 1 Aug 2025 21:17:20 +0800 Subject: [PATCH] sync main --- unilabos/app/main.py | 21 +- .../devices/liquid_handling/prcxi/prcxi.py | 3 - unilabos/messages/__init__.py | 25 -- unilabos/registry/devices/mock_devices.yaml | 10 - unilabos/registry/devices/pump_and_valve.yaml | 10 - unilabos/registry/devices/robot_arm.yaml | 258 ------------ unilabos/registry/devices/temperature.yaml | 2 - .../registry/devices/vacuum_and_purge.yaml | 2 - unilabos/registry/devices/work_station.yaml | 375 ------------------ unilabos_msgs/CMakeLists.txt | 5 - 10 files changed, 4 insertions(+), 707 deletions(-) diff --git a/unilabos/app/main.py b/unilabos/app/main.py index db9c325..e9d2f15 100644 --- a/unilabos/app/main.py +++ b/unilabos/app/main.py @@ -43,11 +43,10 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser): for i, arg in enumerate(sys.argv): for option_string in option_strings: if arg.startswith(option_string): - new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :] + new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):] sys.argv[i] = new_arg break - def parse_args(): """解析命令行参数""" parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.") @@ -129,13 +128,6 @@ def parse_args(): default="", help="实验室唯一ID，也可通过环境变量 UNILABOS_MQCONFIG_LABID 设置或传入--config设置", ) - parser.add_argument( - "--loglevel", - type=str, - choices=["DEBUG", "INFO", "WARNING", "ERROR", "CRITICAL"], - default="INFO", - help="设置日志级别 (DEBUG, INFO, WARNING, ERROR, CRITICAL)，默认为 INFO", - ) return parser @@ -159,22 +151,17 @@ def main(): if not os.path.exists(config_path): print_status( f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径", - "error", - ) + "error") os._exit(1) 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 ( - not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py")) - ): + elif 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") print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info") if input() != "n": os.makedirs(working_dir, exist_ok=True) config_path = os.path.join(working_dir, "local_config.py") - shutil.copy( - os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path - ) + shutil.copy(os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path) print_status(f"已创建 local_config.py 路径： {config_path}", "info") print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info") os._exit(1) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index dde2d09..10313c7 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -135,9 +135,6 @@ class PRCXI9300Handler(LiquidHandlerAbstract): def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): return super().set_liquid(wells, liquid_names, volumes) - def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): - return super().set_liquid(wells, liquid_names, volumes) - async def create_protocol( self, protocol_name: str = "", diff --git a/unilabos/messages/__init__.py b/unilabos/messages/__init__.py index b04ba0e..4ef5ac9 100644 --- a/unilabos/messages/__init__.py +++ b/unilabos/messages/__init__.py @@ -628,31 +628,6 @@ class HydrogenateProtocol(BaseModel): time: str = Field(..., description="反应时间（如 '2 h'）") vessel: dict = Field(..., description="反应容器") -class AdjustPHProtocol(BaseModel): - vessel: str = Field(..., description="目标容器") - ph_value: float = Field(..., description="目标pH值") # 改为 ph_value - reagent: str = Field(..., description="酸碱试剂名称") - # 移除其他可选参数，使用默认值 - -class ResetHandlingProtocol(BaseModel): - solvent: str = Field(..., description="溶剂名称") - -class DryProtocol(BaseModel): - compound: str = Field(..., description="化合物名称") - vessel: str = Field(..., description="目标容器") - -class RecrystallizeProtocol(BaseModel): - ratio: str = Field(..., description="溶剂比例（如 '1:1', '3:7'）") - solvent1: str = Field(..., description="第一种溶剂名称") - solvent2: str = Field(..., description="第二种溶剂名称") - vessel: str = Field(..., description="目标容器") - volume: float = Field(..., description="总体积 (mL)") - -class HydrogenateProtocol(BaseModel): - temp: str = Field(..., description="反应温度（如 '45 °C'）") - time: str = Field(..., description="反应时间（如 '2 h'）") - vessel: str = Field(..., description="反应容器") - __all__ = [ "Point3D", "PumpTransferProtocol", "CleanProtocol", "SeparateProtocol", "EvaporateProtocol", "EvacuateAndRefillProtocol", "AGVTransferProtocol", diff --git a/unilabos/registry/devices/mock_devices.yaml b/unilabos/registry/devices/mock_devices.yaml index cee5299..ec62986 100644 --- a/unilabos/registry/devices/mock_devices.yaml +++ b/unilabos/registry/devices/mock_devices.yaml @@ -319,7 +319,6 @@ mock_chiller: module: unilabos.devices.mock.mock_chiller:MockChiller status_types: current_temperature: float - get_status_info: dict is_cooling: bool is_heating: bool purpose: str @@ -738,7 +737,6 @@ mock_filter: filtered_volume: float filtrate_vessel: str flow_rate: float - get_status_info: dict is_filtering: bool pressure_drop: float progress: float @@ -1360,7 +1358,6 @@ mock_heater: module: unilabos.devices.mock.mock_heater:MockHeater status_types: current_temperature: float - get_status_info: dict heating_power: float is_heating: bool max_temperature: float @@ -1882,7 +1879,6 @@ mock_pump: current_device: str flow_rate: float from_vessel: str - get_status_info: dict is_solid: bool is_viscous: bool max_flow_rate: float @@ -2303,7 +2299,6 @@ mock_rotavap: type: EmptyIn module: unilabos.devices.mock.mock_rotavap:MockRotavap status_types: - get_status_info: dict pump_state: str pump_time: float rotate_speed: float @@ -3249,7 +3244,6 @@ mock_separator: status_types: current_device: str from_vessel: str - get_status_info: dict product_phase: str purpose: str repeats: int @@ -3504,7 +3498,6 @@ mock_solenoid_valve: type: StrSingleInput module: unilabos.devices.mock.mock_solenoid_valve:MockSolenoidValve status_types: - get_valve_status: str status: str valve_status: str type: python @@ -3767,7 +3760,6 @@ mock_stirrer: type: EmptyIn module: unilabos.devices.mock.mock_stirrer:MockStirrer status_types: - get_status_info: dict heating_power: float heating_state: str max_stir_speed: float @@ -4301,7 +4293,6 @@ mock_stirrer_new: type: StopStir module: unilabos.devices.mock.mock_stirrer_new:MockStirrer_new status_types: - get_status_info: dict max_stir_speed: float progress: float purpose: str @@ -4638,7 +4629,6 @@ mock_vacuum: type: EmptyIn module: unilabos.devices.mock.mock_vacuum:MockVacuum status_types: - get_status_info: dict max_pump_speed: float power_state: str pump_efficiency: float diff --git a/unilabos/registry/devices/pump_and_valve.yaml b/unilabos/registry/devices/pump_and_valve.yaml index 32b409e..7dcfa75 100644 --- a/unilabos/registry/devices/pump_and_valve.yaml +++ b/unilabos/registry/devices/pump_and_valve.yaml @@ -169,7 +169,6 @@ solenoid_valve: type: StrSingleInput module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve status_types: - get_valve_position: str status: str valve_position: str type: python @@ -331,7 +330,6 @@ solenoid_valve.mock: type: EmptyIn module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock status_types: - get_valve_position: str status: str valve_position: str type: python @@ -754,14 +752,6 @@ syringe_pump_with_valve.runze: write: send_command module: unilabos.devices.pump_and_valve.runze_backbone:RunzeSyringePump status_types: - get_max_velocity: String - get_plunger_position: String - get_position: String - get_status: String - get_valve_position: str - get_velocity_end: String - get_velocity_grade: String - get_velocity_init: String max_velocity: float mode: int plunger_position: String diff --git a/unilabos/registry/devices/robot_arm.yaml b/unilabos/registry/devices/robot_arm.yaml index 9518acf..64b7344 100644 --- a/unilabos/registry/devices/robot_arm.yaml +++ b/unilabos/registry/devices/robot_arm.yaml @@ -432,261 +432,3 @@ robotic_arm.elite: mesh: elite_robot type: device version: 1.0.0 -robotic_arm.elite: - category: - - robot_arm - class: - action_value_mappings: - auto-close: - feedback: {} - goal: {} - goal_default: {} - handles: [] - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: close参数 - type: object - type: UniLabJsonCommand - auto-modbus_close: - feedback: {} - goal: {} - goal_default: {} - handles: [] - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: modbus_close参数 - type: object - type: UniLabJsonCommand - auto-modbus_read_holding_registers: - feedback: {} - goal: {} - goal_default: - quantity: null - start_addr: null - unit_id: null - handles: [] - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - quantity: - type: string - start_addr: - type: string - unit_id: - type: string - required: - - unit_id - - start_addr - - quantity - type: object - result: {} - required: - - goal - title: modbus_read_holding_registers参数 - type: object - type: UniLabJsonCommand - auto-modbus_task: - feedback: {} - goal: {} - goal_default: - job_id: null - handles: [] - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - job_id: - type: string - required: - - job_id - type: object - result: {} - required: - - goal - title: modbus_task参数 - type: object - type: UniLabJsonCommand - auto-modbus_write_single_register: - feedback: {} - goal: {} - goal_default: - register_addr: null - unit_id: null - value: null - handles: [] - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - register_addr: - type: string - unit_id: - type: string - value: - type: string - required: - - unit_id - - register_addr - - value - type: object - result: {} - required: - - goal - title: modbus_write_single_register参数 - type: object - type: UniLabJsonCommand - auto-parse_success_response: - feedback: {} - goal: {} - goal_default: - response: null - handles: [] - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - response: - type: string - required: - - response - type: object - result: {} - required: - - goal - title: parse_success_response参数 - type: object - type: UniLabJsonCommand - auto-send_command: - feedback: {} - goal: {} - goal_default: - command: null - handles: [] - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - command: - type: string - required: - - command - type: object - result: {} - required: - - goal - title: send_command参数 - type: object - type: UniLabJsonCommand - modbus_task_cmd: - feedback: {} - goal: - command: command - goal_default: - command: '' - handles: [] - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: SendCmd_Feedback - type: object - goal: - properties: - command: - type: string - required: - - command - title: SendCmd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: SendCmd_Result - type: object - required: - - goal - title: SendCmd - type: object - type: SendCmd - module: unilabos.devices.arm.elite_robot:EliteRobot - status_types: - actual_joint_positions: String - arm_pose: list - type: python - config_info: [] - description: Elite robot arm - handles: [] - icon: '' - init_param_schema: - config: - properties: - device_id: - type: string - host: - type: string - required: - - device_id - - host - type: object - data: - properties: - actual_joint_positions: - type: string - arm_pose: - type: array - required: - - arm_pose - - actual_joint_positions - type: object - model: - mesh: elite_robot - type: device - version: 1.0.0 diff --git a/unilabos/registry/devices/temperature.yaml b/unilabos/registry/devices/temperature.yaml index 4783e49..95bdeed 100644 --- a/unilabos/registry/devices/temperature.yaml +++ b/unilabos/registry/devices/temperature.yaml @@ -522,8 +522,6 @@ heaterstirrer.dalong: type: SendCmd module: unilabos.devices.heaterstirrer.dalong:HeaterStirrer_DaLong status_types: - get_status: str - get_temp: String status: str stir_speed: float temp: float diff --git a/unilabos/registry/devices/vacuum_and_purge.yaml b/unilabos/registry/devices/vacuum_and_purge.yaml index b4873e7..a127a08 100644 --- a/unilabos/registry/devices/vacuum_and_purge.yaml +++ b/unilabos/registry/devices/vacuum_and_purge.yaml @@ -149,7 +149,6 @@ gas_source.mock: type: StrSingleInput module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock status_types: - get_status: str status: str type: python config_info: [] @@ -329,7 +328,6 @@ vacuum_pump.mock: type: StrSingleInput module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock status_types: - get_status: str status: str type: python config_info: [] diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml index b6257a3..c1cc5aa 100644 --- a/unilabos/registry/devices/work_station.yaml +++ b/unilabos/registry/devices/work_station.yaml @@ -6102,381 +6102,6 @@ workstation: title: initialize_device参数 type: object type: UniLabJsonCommand - AdjustPHProtocol: - feedback: {} - goal: - vessel: vessel - ph_value: ph_value - reagent: reagent - goal_default: - vessel: '' - ph_value: 7.0 - reagent: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - result: {} - schema: - description: ROS Action AdjustPH 的 JSON Schema - properties: - feedback: - description: Action 反馈 - 执行过程中从服务器发送到客户端 - properties: - status: - type: string - progress: - type: number - required: - - status - - progress - title: AdjustPH_Feedback - type: object - goal: - description: Action 目标 - 从客户端发送到服务器 - properties: - vessel: - type: string - ph_value: - type: number - reagent: - type: string - required: - - vessel - - ph_value - - reagent - title: AdjustPH_Goal - type: object - result: - description: Action 结果 - 完成后从服务器发送到客户端 - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: AdjustPH_Result - type: object - required: - - goal - title: AdjustPH - type: object - type: AdjustPH - ResetHandlingProtocol: - feedback: {} - goal: - solvent: solvent - goal_default: - solvent: '' - handles: - input: - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: [] - result: {} - schema: - description: ROS Action ResetHandling 的 JSON Schema - properties: - feedback: - description: Action 反馈 - 执行过程中从服务器发送到客户端 - properties: - status: - type: string - progress: - type: number - required: - - status - - progress - title: ResetHandling_Feedback - type: object - goal: - description: Action 目标 - 从客户端发送到服务器 - properties: - solvent: - type: string - required: - - solvent - title: ResetHandling_Goal - type: object - result: - description: Action 结果 - 完成后从服务器发送到客户端 - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: ResetHandling_Result - type: object - required: - - goal - title: ResetHandling - type: object - type: ResetHandling - DryProtocol: - feedback: {} - goal: - compound: compound - vessel: vessel - goal_default: - compound: '' - vessel: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - result: {} - schema: - description: ROS Action Dry 的 JSON Schema - properties: - feedback: - description: Action 反馈 - 执行过程中从服务器发送到客户端 - properties: - status: - type: string - progress: - type: number - required: - - status - - progress - title: Dry_Feedback - type: object - goal: - description: Action 目标 - 从客户端发送到服务器 - properties: - compound: - type: string - vessel: - type: string - required: - - compound - - vessel - title: Dry_Goal - type: object - result: - description: Action 结果 - 完成后从服务器发送到客户端 - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dry_Result - type: object - required: - - goal - title: Dry - type: object - type: Dry - HydrogenateProtocol: - feedback: {} - goal: - temp: temp - time: time - vessel: vessel - goal_default: - temp: '' - time: '' - vessel: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - result: {} - schema: - description: ROS Action Hydrogenate 的 JSON Schema - properties: - feedback: - description: Action 反馈 - 执行过程中从服务器发送到客户端 - properties: - status: - type: string - progress: - type: number - required: - - status - - progress - title: Hydrogenate_Feedback - type: object - goal: - description: Action 目标 - 从客户端发送到服务器 - properties: - temp: - type: string - time: - type: string - vessel: - type: string - required: - - temp - - time - - vessel - title: Hydrogenate_Goal - type: object - result: - description: Action 结果 - 完成后从服务器发送到客户端 - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Hydrogenate_Result - type: object - required: - - goal - title: Hydrogenate - type: object - type: Hydrogenate - RecrystallizeProtocol: - feedback: {} - goal: - ratio: ratio - solvent1: solvent1 - solvent2: solvent2 - vessel: vessel - volume: volume - goal_default: - ratio: '' - solvent1: '' - solvent2: '' - vessel: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent1 - label: Solvent 1 - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent2 - label: Solvent 2 - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - result: {} - schema: - description: ROS Action Recrystallize 的 JSON Schema - properties: - feedback: - description: Action 反馈 - 执行过程中从服务器发送到客户端 - properties: - status: - type: string - progress: - type: number - required: - - status - - progress - title: Recrystallize_Feedback - type: object - goal: - description: Action 目标 - 从客户端发送到服务器 - properties: - ratio: - type: string - solvent1: - type: string - solvent2: - type: string - vessel: - type: string - volume: - type: number - required: - - ratio - - solvent1 - - solvent2 - - vessel - - volume - title: Recrystallize_Goal - type: object - result: - description: Action 结果 - 完成后从服务器发送到客户端 - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Recrystallize_Result - type: object - required: - - goal - title: Recrystallize - type: object - type: Recrystallize module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode status_types: {} type: ros2 diff --git a/unilabos_msgs/CMakeLists.txt b/unilabos_msgs/CMakeLists.txt index 0d1851b..1c37139 100644 --- a/unilabos_msgs/CMakeLists.txt +++ b/unilabos_msgs/CMakeLists.txt @@ -74,11 +74,6 @@ set(action_files "action/LiquidHandlerMoveBiomek.action" "action/LiquidHandlerOscillateBiomek.action" - "action/LiquidHandlerTransferBiomek.action" - "action/LiquidHandlerIncubateBiomek.action" - "action/LiquidHandlerMoveBiomek.action" - "action/LiquidHandlerOscillateBiomek.action" - "action/LiquidHandlerAdd.action" "action/LiquidHandlerMix.action" "action/LiquidHandlerMoveTo.action"