sync main

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 (
+    elif not config_path and (not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))):
-        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(
+            shutil.copy(os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path)
-                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)

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 = "",

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", 

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

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

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

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

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: []

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

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"