24 high level liquidhandler (#28)

* unify liquid_handler definition

* remove default values

* Dev Sync (#25)

* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明，为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动，通过discover机制要求slaveNode重新注册，实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化，并输出物料ID：mesh的对应关系resource_model

添加物料模型管理类，遍历物料与resource_model，完成TF数据收集

* 完成TF发布

* 修改模型方向，在yaml中添加变换属性

* 添加物料tf变化时，发送topic到前端

另外修改了物料初始化的方法，防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

* remove default behavior for visualization

* change liquidhandler name

* resource create from outer easy

* add easy resource creation

* easy resource creation logic

* remove wrongly debug msg from others

* remove wrongly debug msg from others

* add missing action clients

* fix device_id

* fix slot_on_deck

* fix registry typo

* complete require packages
msg converter support array string
implements create resource logic

* 修复port输入

* fix: remove dirty actions

---------

Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>

test/commands/resource_add.md

@@ -1,5 +1,5 @@
 使用plr_test.json启动，将Well加入Plate中
 
 ```bash
-ros2 action send_goal /devices/host_node/add_resource_from_outer unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
+ros2 action send_goal /devices/host_node/create_resource_detailed unilabos_msgs/action/_resource_create_from_outer/ResourceCreateFromOuter "{ resources: [ { 'category': '', 'children': [], 'config': { 'type': 'Well', 'size_x': 6.86, 'size_y': 6.86, 'size_z': 10.67, 'rotation': { 'x': 0, 'y': 0, 'z': 0, 'type': 'Rotation' }, 'category': 'well', 'model': null, 'max_volume': 360, 'material_z_thickness': 0.5, 'compute_volume_from_height': null, 'compute_height_from_volume': null, 'bottom_type': 'flat', 'cross_section_type': 'circle' }, 'data': { 'liquids': [], 'pending_liquids': [], 'liquid_history': [] }, 'id': 'plate_well_11_7', 'name': 'plate_well_11_7', 'pose': { 'orientation': { 'w': 1.0, 'x': 0.0, 'y': 0.0, 'z': 0.0 }, 'position': { 'x': 0.0, 'y': 0.0, 'z': 0.0 } }, 'sample_id': '', 'parent': 'plate', 'type': 'device' } ], device_ids: [ 'PLR_STATION' ], bind_parent_ids: [ 'plate' ], bind_locations: [ { 'x': 0.0, 'y': 0.0, 'z': 0.0 } ], other_calling_params: [ '{}' ] }"
 ```

unilabos-linux-64.yaml

@@ -56,6 +56,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-osx-64.yaml

@@ -56,6 +56,8 @@ dependencies:
   # - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-osx-arm64.yaml

@@ -58,6 +58,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
 #  - ros-humble-unilabos-msgs

unilabos-win64.yaml

@@ -56,6 +56,8 @@ dependencies:
   - ros-humble-moveit-servo
   # simulation
   - ros-humble-simulation # ignored because of NO python3.11 package in WIN64
+  - ros-humble-tf-transformations
+  - transforms3d
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   # ros-humble-unilabos-msgs

unilabos/app/main.py

@@ -18,7 +18,6 @@ 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():
@@ -188,11 +187,12 @@ 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)
             server_thread = threading.Thread(target=start_server, kwargs=dict(
-                open_browser=not args_dict["disable_browser"]
+                open_browser=not args_dict["disable_browser"], port=args_dict["port"],
             ))
             server_thread.start()
             asyncio.set_event_loop(asyncio.new_event_loop())
@@ -201,10 +201,10 @@ def main():
                 time.sleep(1)
         else:
             start_backend(**args_dict)
-            start_server(open_browser=not args_dict["disable_browser"])
+            start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
     else:
         start_backend(**args_dict)
-        start_server(open_browser=not args_dict["disable_browser"])
+        start_server(open_browser=not args_dict["disable_browser"], port=args_dict["port"],)
 
 
 if __name__ == "__main__":

unilabos/app/mq.py

@@ -26,6 +26,7 @@ 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()
 
@@ -52,10 +53,7 @@ class MQTTClient:
         try:
             payload_str = msg.payload.decode("utf-8")
             payload_json = json.loads(payload_str)
-            logger.debug(f"Topic: {msg.topic}")
-            logger.debug("Payload:", json.dumps(payload_json, indent=2, ensure_ascii=False))
             if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
-                logger.debug("job_add", type(payload_json), payload_json)
                 if "data" not in payload_json:
                     payload_json["data"] = {}
                 if "action" in payload_json:

unilabos/devices/liquid_handling/liquid_handler_abstract.py

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

unilabos/registry/devices/liquid_handler.yaml

@@ -1,11 +1,96 @@
 liquid_handler:
   description: Liquid handler device controlled by pylabrobot
   class:
-    module: pylabrobot.liquid_handling:LiquidHandler
+    module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
     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: LiquidHandlerMix
+        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:
@@ -170,127 +255,6 @@ liquid_handler:
     - name
     additionalProperties: false
 
-dp_liquid_handler:
-  description: 通用液体处理
-  class:
-    module: unilabos.devices.liquid_handling.action_definition:DPLiquidHandler
-    type: python
-    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:
-      name:
-        type: string
-        description: 物料名
-    required:
-    - name
-
 liquid_handler.revvity:
   class:
     module: unilabos.devices.liquid_handling.revvity:Revvity

unilabos/registry/registry.py

@@ -1,5 +1,4 @@
 import io
-import json
 import os
 import sys
 from pathlib import Path
@@ -7,10 +6,9 @@ from typing import Any
 
 import yaml
 
-from unilabos.utils import logger
 from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
+from unilabos.utils import logger
 from unilabos.utils.decorator import singleton
-from unilabos.utils.type_check import TypeEncoder
 
 DEFAULT_PATHS = [Path(__file__).absolute().parent]
 
@@ -21,10 +19,12 @@ class Registry:
         self.registry_paths = DEFAULT_PATHS.copy()  # 使用copy避免修改默认值
         if registry_paths:
             self.registry_paths.extend(registry_paths)
-        action_type = self._replace_type_with_class(
-            "ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
+        self.ResourceCreateFromOuter = self._replace_type_with_class(
+            "ResourceCreateFromOuter", "host_node", f"动作 create_resource_detailed"
+        )
+        self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
+            "ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
         )
-        schema = ros_action_to_json_schema(action_type)
         self.device_type_registry = {
             "host_node": {
                 "description": "UniLabOS主机节点",
@@ -33,7 +33,7 @@ class Registry:
                     "type": "python",
                     "status_types": {},
                     "action_value_mappings": {
-                        "add_resource_from_outer": {
+                        "create_resource_detailed": {
                             "type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
                             "goal": {
                                 "resources": "resources",
@@ -46,7 +46,26 @@ class Registry:
                             "result": {
                                 "success": "success"
                             },
-                            "schema": schema
+                            "schema": ros_action_to_json_schema(self.ResourceCreateFromOuter)
+                        },
+                        "create_resource": {
+                            "type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
+                            "goal": {
+                                "res_id": "res_id",
+                                "class_name": "class_name",
+                                "parent": "parent",
+                                "device_id": "device_id",
+                                "bind_locations": "bind_locations",
+                                "liquid_input_slot": "liquid_input_slot[]",
+                                "liquid_type": "liquid_type[]",
+                                "liquid_volume": "liquid_volume[]",
+                                "slot_on_deck": "slot_on_deck",
+                            },
+                            "feedback": {},
+                            "result": {
+                                "success": "success"
+                            },
+                            "schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy)
                         }
                     }
                 },

unilabos/registry/resources/opentrons/reservoirs.yaml

@@ -1,35 +1,35 @@
 agilent_1_reservoir_290ml:
   description: Agilent 1 reservoir 290ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:agilent_1_reservoir_290ml
+    module: pylabrobot.resources.opentrons.reservoirs:agilent_1_reservoir_290ml
     type: pylabrobot
 
 axygen_1_reservoir_90ml:
   description: Axygen 1 reservoir 90ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:axygen_1_reservoir_90ml
+    module: pylabrobot.resources.opentrons.reservoirs:axygen_1_reservoir_90ml
     type: pylabrobot
 
 nest_12_reservoir_15ml:
   description: Nest 12 reservoir 15ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:nest_12_reservoir_15ml
+    module: pylabrobot.resources.opentrons.reservoirs:nest_12_reservoir_15ml
     type: pylabrobot
 
 nest_1_reservoir_195ml:
   description: Nest 1 reservoir 195ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_195ml
+    module: pylabrobot.resources.opentrons.reservoirs:nest_1_reservoir_195ml
     type: pylabrobot
 
 nest_1_reservoir_290ml:
   description: Nest 1 reservoir 290ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_290ml
+    module: pylabrobot.resources.opentrons.reservoirs:nest_1_reservoir_290ml
     type: pylabrobot
 
 usascientific_12_reservoir_22ml:
   description: USAScientific 12 reservoir 22ml
   class: 
-    module: pylabrobot.resources.opentrons.reserviors:usascientific_12_reservoir_22ml
+    module: pylabrobot.resources.opentrons.reservoirs:usascientific_12_reservoir_22ml
     type: pylabrobot

unilabos/resources/graphio.py

@@ -189,6 +189,7 @@ def dict_from_graph(graph: nx.Graph) -> dict:
 def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
     # 将节点转换为字典，以便通过 ID 快速查找
     nodes_list = [node for node in nodes.values() if node.get("type") == "device" or not devices_only]
+    id_list = [node["id"] for node in nodes_list]
 
     # 初始化每个节点的 children 为包含节点字典的列表
     for node in nodes_list:
@@ -196,7 +197,7 @@ def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
 
     # 找到根节点并返回
     root_nodes = [
-        node for node in nodes_list if len(nodes_list) == 1 or node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan]
+        node for node in nodes_list if len(nodes_list) == 1 or node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or node.get("parent", node.get("parent_name")) not in id_list
     ]
 
     # 如果存在多个根节点，返回所有根节点
@@ -421,7 +422,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None):
     return r
 
 
-def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict]:
+def initialize_resource(resource_config: dict) -> list[dict]:
     """Initializes a resource based on its configuration.
 
     If the config is detailed, then do nothing;
@@ -433,6 +434,7 @@ def initialize_resource(resource_config: dict, lab_registry: dict) -> list[dict]
     Returns:
         None
     """
+    from unilabos.registry.registry import lab_registry
     resource_class_config = resource_config.get("class", None)
     if resource_class_config is None:
         return [resource_config]
@@ -476,11 +478,8 @@ def initialize_resources(resources_config) -> list[dict]:
         None
     """
 
-    from unilabos.registry.registry import lab_registry
     resources = []
     for resource_config in resources_config:
-        if resource_config["parent"] == "tip_rack" or resource_config["parent"] == "plate_well":
-            continue
-        resources.extend(initialize_resource(resource_config, lab_registry))
+        resources.extend(initialize_resource(resource_config))
 
     return resources

unilabos/ros/msgs/message_converter.py

@@ -348,10 +348,16 @@ def convert_to_ros_msg(ros_msg_type: Union[Type, Any], obj: Any) -> Any:
                 if isinstance(td, NamespacedType):
                     target_class = msg_converter_manager.get_class(f"{'.'.join(td.namespaces)}.{td.name}")
                     setattr(ros_msg, key, [convert_to_ros_msg(target_class, v) for v in value])
+                elif isinstance(td, UnboundedString):
+                    setattr(ros_msg, key, value)
                 else:
+                    logger.warning(f"Not Supported type: {td}")
                     setattr(ros_msg, key, [])  # FIXME
             elif "array.array" in str(type(attr)):
-                setattr(ros_msg, key, value)
+                if attr.typecode == "f":
+                    setattr(ros_msg, key, [float(i) for i in value])
+                else:
+                    setattr(ros_msg, key, value)
             else:
                 nested_ros_msg = convert_to_ros_msg(type(attr)(), value)
                 setattr(ros_msg, key, nested_ros_msg)
@@ -574,6 +580,7 @@ basic_type_map = {
     'int64': {'type': 'integer'},
     'uint64': {'type': 'integer', 'minimum': 0},
     'double': {'type': 'number'},
+    'float': {'type': 'number'},
     'float32': {'type': 'number'},
     'float64': {'type': 'number'},
     'string': {'type': 'string'},

unilabos/ros/nodes/base_device_node.py

@@ -1,3 +1,4 @@
+import copy
 import functools
 import json
 import threading
@@ -20,7 +21,7 @@ from unilabos_msgs.action import SendCmd
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
 from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
-    initialize_resources
+    initialize_resources, list_to_nested_dict, dict_to_tree, resource_plr_to_ulab, tree_to_list
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
@@ -312,7 +313,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             # 物料传输到对应的node节点
             rclient = self.create_client(ResourceAdd, "/resources/add")
             rclient.wait_for_service()
+            rclient2 = self.create_client(ResourceAdd, "/resources/add")
+            rclient2.wait_for_service()
             request = ResourceAdd.Request()
+            request2 = ResourceAdd.Request()
             command_json = json.loads(req.command)
             namespace = command_json["namespace"]
             bind_parent_id = command_json["bind_parent_id"]
@@ -321,11 +325,23 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             other_calling_param = command_json["other_calling_param"]
             resources = command_json["resource"]
             initialize_full = other_calling_param.pop("initialize_full", False)
+            # 用来增加液体
+            ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
+            LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
+            LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
+            slot = other_calling_param.pop("slot", -1)
+            if slot >= 0:  # slot为负数的时候采用assign方法
+                other_calling_param["slot"] = slot
             # 本地拿到这个物料，可能需要先做初始化?
             if isinstance(resources, list):
-                if initialize_full:
+                if len(resources) == 1 and isinstance(resources[0], list) and not initialize_full:  # 取消，不存在的情况
+                    # 预先initialize过，以整组的形式传入
+                    request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
+                elif initialize_full:
                     resources = initialize_resources(resources)
-                request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
+                    request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
+                else:
+                    request.resources = [convert_to_ros_msg(Resource, resource) for resource in resources]
             else:
                 if initialize_full:
                     resources = initialize_resources([resources])
@@ -335,20 +351,31 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             res.response = "OK"
             # 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
             resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
-            request.resources = [convert_to_ros_msg(Resource, resources)]
+            # request.resources = [convert_to_ros_msg(Resource, resources)]
 
             try:
                 from pylabrobot.resources.resource import Resource as ResourcePLR
                 from pylabrobot.resources.deck import Deck
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.resources import OTDeck
+                from pylabrobot.resources import Plate
                 contain_model = not isinstance(resource, Deck)
                 if isinstance(resource, ResourcePLR):
                     # resources.list()
-                    plr_instance = resource_ulab_to_plr(resources, contain_model)
+                    resources_tree = dict_to_tree(copy.deepcopy({r["id"]: r for r in resources}))
+                    plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
+                    if isinstance(plr_instance, Plate):
+                        empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
+                        for liquid_type, liquid_volume, liquid_input_slot in zip(ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT):
+                            empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
+                        plr_instance.set_well_liquids(empty_liquid_info_in)
                     if isinstance(resource, OTDeck) and "slot" in other_calling_param:
                         resource.assign_child_at_slot(plr_instance, **other_calling_param)
-                    resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
+                    else:
+                        _discard_slot = other_calling_param.pop("slot", -1)
+                        resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
+                    request2.resources = [convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])]
+                    rclient2.call(request2)
                 # 发送给ResourceMeshManager
                 action_client = ActionClient(
                     self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
@@ -526,7 +553,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
             self.lab_logger().debug(f"接收到原始目标: {action_kwargs}")
             # 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
-            if action_name != "add_resource_from_outer":
+            if action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         self.lab_logger().info(f"查询资源状态: Key: {k} Type: {v}")
@@ -625,7 +652,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             del future
 
             # 向Host更新物料当前状态
-            if action_name != "add_resource_from_outer":
+            if action_name not in ["create_resource_detailed", "create_resource"]:
                 for k, v in goal.get_fields_and_field_types().items():
                     if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
                         continue
@@ -764,7 +791,7 @@ class ROS2DeviceNode:
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "DPLiquidHandler"
+        use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "LiquidHandlerAbstract"
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例

unilabos/ros/nodes/presets/host_node.py

@@ -17,6 +17,7 @@ from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, Resource
 from unique_identifier_msgs.msg import UUID
 
 from unilabos.registry.registry import lab_registry
+from unilabos.resources.graphio import initialize_resource
 from unilabos.resources.registry import add_schema
 from unilabos.ros.initialize_device import initialize_device_from_dict
 from unilabos.ros.msgs.message_converter import (
@@ -100,7 +101,14 @@ class HostNode(BaseROS2DeviceNode):
         self.devices_names: Dict[str, str] = {device_id: self.namespace}  # 存储设备名称和命名空间的映射
         self.devices_instances: Dict[str, ROS2DeviceNode] = {}  # 存储设备实例
         self.device_machine_names: Dict[str, str] = {device_id: "本地", }  # 存储设备ID到机器名称的映射
-        self._action_clients: Dict[str, ActionClient] = {}  # 用来存储多个ActionClient实例
+        self._action_clients: Dict[str, ActionClient] = {  # 为了方便了解实际的数据类型，host的默认写好
+            "/devices/host_node/create_resource": ActionClient(
+                self, lab_registry.ResourceCreateFromOuterEasy, "/devices/host_node/create_resource", callback_group=self.callback_group
+            ),
+            "/devices/host_node/create_resource_detailed": ActionClient(
+                self, lab_registry.ResourceCreateFromOuter, "/devices/host_node/create_resource_detailed", callback_group=self.callback_group
+            )
+        }  # 用来存储多个ActionClient实例
         self._action_value_mappings: Dict[str, Dict] = {}  # 用来存储多个ActionClient的type, goal, feedback, result的变量名映射关系
         self._goals: Dict[str, Any] = {}  # 用来存储多个目标的状态
         self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"}  # 用于跟踪在线设备
@@ -141,6 +149,21 @@ class HostNode(BaseROS2DeviceNode):
             ].items():
                 controller_config["update_rate"] = update_rate
                 self.initialize_controller(controller_id, controller_config)
+        resources_config.insert(0, {
+            "id": "host_node",
+            "name": "host_node",
+            "parent": None,
+            "type": "device",
+            "class": "host_node",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {},
+            "data": {},
+            "children": []
+        })
         resource_with_parent_name = []
         resource_ids_to_instance = {i["id"]: i for i in resources_config}
         for res in resources_config:
@@ -278,7 +301,7 @@ class HostNode(BaseROS2DeviceNode):
                 except Exception as e:
                     self.lab_logger().error(f"[Host Node] Failed to create ActionClient for {action_id}: {str(e)}")
 
-    def add_resource_from_outer(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
+    def create_resource_detailed(self, resources: list["Resource"], device_ids: list[str], bind_parent_ids: list[str], bind_locations: list[Point], other_calling_params: list[str]):
         for resource, device_id, bind_parent_id, bind_location, other_calling_param in zip(resources, device_ids, bind_parent_ids, bind_locations, other_calling_params):
             # 这里要求device_id传入必须是edge_device_id
             namespace = "/devices/" + device_id
@@ -287,7 +310,7 @@ class HostNode(BaseROS2DeviceNode):
             sclient.wait_for_service()
             request = SerialCommand.Request()
             request.command = json.dumps({
-                "resource": resource,
+                "resource": resource,  # 单个/单组 可为 list[list[Resource]]
                 "namespace": namespace,
                 "edge_device_id": device_id,
                 "bind_parent_id": bind_parent_id,
@@ -302,6 +325,31 @@ class HostNode(BaseROS2DeviceNode):
             pass
         pass
 
+    def create_resource(self, device_id: str, res_id: str, class_name: str, parent: str, bind_locations: Point, liquid_input_slot: list[int], liquid_type: list[str], liquid_volume: list[int], slot_on_deck: int):
+        init_new_res = initialize_resource({
+            "name": res_id,
+            "class": class_name,
+            "parent": parent,
+            "position": {
+                "x": bind_locations.x,
+                "y": bind_locations.y,
+                "z": bind_locations.z,
+            }
+        })  # flatten的格式
+        resources = [init_new_res]
+        device_id = [device_id]
+        bind_parent_id = [parent]
+        bind_location = [bind_locations]
+        other_calling_param = [json.dumps({
+            "ADD_LIQUID_TYPE": liquid_type,
+            "LIQUID_VOLUME": liquid_volume,
+            "LIQUID_INPUT_SLOT": liquid_input_slot,
+            "initialize_full": False,
+            "slot": slot_on_deck
+        })]
+
+        return self.create_resource_detailed(resources, device_id, bind_parent_id, bind_location, other_calling_param)
+
     def initialize_device(self, device_id: str, device_config: Dict[str, Any]) -> None:
         """
         根据配置初始化设备，

unilabos_msgs/CMakeLists.txt

@@ -43,14 +43,10 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
-  "action/DPLiquidHandlerAddLiquid.action"
-  "action/DPLiquidHandlerCustomDelay.action"
-  "action/DPLiquidHandlerMix.action"
-  "action/DPLiquidHandlerMoveTo.action"
-  "action/DPLiquidHandlerRemoveLiquid.action"
-  "action/DPLiquidHandlerSetTiprack.action"
-  "action/DPLiquidHandlerTouchTip.action"
-  "action/DPLiquidHandlerTransferLiquid.action"
+  "action/LiquidHandlerAdd.action"
+  "action/LiquidHandlerMix.action"
+  "action/LiquidHandlerMoveTo.action"
+  "action/LiquidHandlerRemove.action"
 
   "action/EmptyIn.action"
   "action/FloatSingleInput.action"
@@ -59,9 +55,10 @@ set(action_files
   "action/Point3DSeparateInput.action"
 
   "action/ResourceCreateFromOuter.action"
+  "action/ResourceCreateFromOuterEasy.action"
 
   "action/SolidDispenseAddPowderTube.action"
-  
+
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.action"

unilabos_msgs/action/DPLiquidHandlerCustomDelay.action

@@ -1,6 +0,0 @@
-float64 seconds
-string msg
----
-bool success
----
-# 反馈

unilabos_msgs/action/DPLiquidHandlerSetTiprack.action

@@ -1,5 +0,0 @@
-Resource[] tip_racks
----
-bool success
----
-# 反馈

unilabos_msgs/action/DPLiquidHandlerTouchTip.action

@@ -1,5 +0,0 @@
-Resource[] targets
----
-bool success
----
-# 反馈

unilabos_msgs/action/DPLiquidHandlerTransferLiquid.action

@@ -1,25 +0,0 @@
-float64[] asp_vols
-float64[] dis_vols
-Resource[] sources
-Resource[] targets
-Resource[] tip_racks
-int32[] use_channels
-float64[] asp_flow_rates
-float64[] dis_flow_rates
-geometry_msgs/Point[] offsets
-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/LiquidHandlerAspirate.action

@@ -5,7 +5,7 @@ float64[] flow_rates
 geometry_msgs/Point[] offsets
 float64[] liquid_height
 float64[] blow_out_air_volume
-string spread="wide"
+string spread
 ---
 bool success
 ---

unilabos_msgs/action/LiquidHandlerDispense.action

@@ -5,7 +5,7 @@ int32[] use_channels
 float64[] flow_rates
 geometry_msgs/Point[] offsets
 int32[] blow_out_air_volume
-string spread="wide"
+string spread
 ---
 # 结果字段
 bool success

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -1,11 +1,26 @@
 # Bio
-Resource source
+float64[] asp_vols
+float64[] dis_vols
+Resource[] sources
 Resource[] targets
-float64 source_vol
-float64[] ratios
-float64[] target_vols
-float64 aspiration_flow_rate
-float64[] dispense_flow_rates
+Resource[] tip_racks
+int32[] use_channels
+float64[] asp_flow_rates
+float64[] dis_flow_rates
+geometry_msgs/Point[] offsets
+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

@@ -0,0 +1,12 @@
+string res_id
+string device_id
+string class_name
+string parent
+geometry_msgs/Point bind_locations
+int32[] liquid_input_slot
+string[] liquid_type
+float32[] liquid_volume
+int32 slot_on_deck
+---
+bool success
+---