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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>
This commit is contained in:
Xuwznln
GitHub
@@ -1,11 +1,96 @@
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liquid_handler:
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description: Liquid handler device controlled by pylabrobot
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class:
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module: pylabrobot.liquid_handling:LiquidHandler
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module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
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type: python
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status_types:
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name: String
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action_value_mappings:
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remove:
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type: LiquidHandlerRemove
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goal:
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vols: vols
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sources: sources
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waste_liquid: waste_liquid
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use_channels: use_channels
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flow_rates: flow_rates
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offsets: offsets
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liquid_height: liquid_height
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blow_out_air_volume: blow_out_air_volume
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spread: spread
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delays: delays
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is_96_well: is_96_well
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top: top
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none_keys: none_keys
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feedback: { }
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result: { }
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add_liquid:
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type: LiquidHandlerAdd
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goal:
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asp_vols: asp_vols
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dis_vols: dis_vols
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reagent_sources: reagent_sources
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targets: targets
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use_channels: use_channels
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flow_rates: flow_rates
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offsets: offsets
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liquid_height: liquid_height
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blow_out_air_volume: blow_out_air_volume
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spread: spread
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is_96_well: is_96_well
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mix_time: mix_time
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mix_vol: mix_vol
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mix_rate: mix_rate
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mix_liquid_height: mix_liquid_height
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none_keys: none_keys
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feedback: { }
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result: { }
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transfer_liquid:
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type: LiquidHandlerTransfer
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goal:
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asp_vols: asp_vols
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dis_vols: dis_vols
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sources: sources
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targets: targets
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tip_racks: tip_racks
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use_channels: use_channels
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asp_flow_rates: asp_flow_rates
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dis_flow_rates: dis_flow_rates
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offsets: offsets
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touch_tip: touch_tip
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liquid_height: liquid_height
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blow_out_air_volume: blow_out_air_volume
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spread: spread
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is_96_well: is_96_well
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mix_stage: mix_stage
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mix_times: mix_times
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mix_vol: mix_vol
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mix_rate: mix_rate
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mix_liquid_height: mix_liquid_height
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delays: delays
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none_keys: none_keys
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feedback: { }
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result: { }
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mix:
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type: LiquidHandlerMix
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goal:
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targets: targets
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mix_time: mix_time
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mix_vol: mix_vol
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height_to_bottom: height_to_bottom
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offsets: offsets
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mix_rate: mix_rate
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none_keys: none_keys
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feedback: { }
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result: { }
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move_to:
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type: LiquidHandlerMoveTo
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goal:
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well: well
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dis_to_top: dis_to_top
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channel: channel
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feedback: { }
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result: { }
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aspirate:
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type: LiquidHandlerAspirate
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goal:
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@@ -170,127 +255,6 @@ liquid_handler:
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- name
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additionalProperties: false
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dp_liquid_handler:
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description: 通用液体处理
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class:
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module: unilabos.devices.liquid_handling.action_definition:DPLiquidHandler
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type: python
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status_types:
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status: String
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action_value_mappings:
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remove_liquid:
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type: DPLiquidHandlerRemoveLiquid
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goal:
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vols: vols
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sources: sources
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waste_liquid: waste_liquid
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use_channels: use_channels
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flow_rates: flow_rates
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offsets: offsets
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liquid_height: liquid_height
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blow_out_air_volume: blow_out_air_volume
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spread: spread
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delays: delays
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is_96_well: is_96_well
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top: top
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none_keys: none_keys
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feedback: {}
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result: {}
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add_liquid:
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type: DPLiquidHandlerAddLiquid
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goal:
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asp_vols: asp_vols
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dis_vols: dis_vols
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reagent_sources: reagent_sources
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targets: targets
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use_channels: use_channels
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flow_rates: flow_rates
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offsets: offsets
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liquid_height: liquid_height
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blow_out_air_volume: blow_out_air_volume
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spread: spread
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is_96_well: is_96_well
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mix_time: mix_time
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mix_vol: mix_vol
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mix_rate: mix_rate
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mix_liquid_height: mix_liquid_height
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none_keys: none_keys
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feedback: {}
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result: {}
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transfer_liquid:
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type: DPLiquidHandlerTransferLiquid
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goal:
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asp_vols: asp_vols
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dis_vols: dis_vols
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sources: sources
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targets: targets
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tip_racks: tip_racks
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use_channels: use_channels
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asp_flow_rates: asp_flow_rates
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dis_flow_rates: dis_flow_rates
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offsets: offsets
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touch_tip: touch_tip
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liquid_height: liquid_height
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blow_out_air_volume: blow_out_air_volume
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spread: spread
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is_96_well: is_96_well
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mix_stage: mix_stage
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mix_times: mix_times
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mix_vol: mix_vol
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mix_rate: mix_rate
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mix_liquid_height: mix_liquid_height
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delays: delays
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none_keys: none_keys
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feedback: {}
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result: {}
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custom_delay:
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type: DPLiquidHandlerCustomDelay
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goal:
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seconds: seconds
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msg: msg
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feedback: {}
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result: {}
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touch_tip:
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type: DPLiquidHandlerTouchTip
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goal:
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targets: targets
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feedback: {}
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result: {}
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mix:
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type: DPLiquidHandlerMix
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goal:
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targets: targets
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mix_time: mix_time
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mix_vol: mix_vol
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height_to_bottom: height_to_bottom
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offsets: offsets
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mix_rate: mix_rate
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none_keys: none_keys
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feedback: {}
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result: {}
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set_tiprack:
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type: DPLiquidHandlerSetTiprack
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goal:
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tip_racks: tip_racks
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feedback: {}
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result: {}
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move_to:
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type: DPLiquidHandlerMoveTo
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goal:
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well: well
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dis_to_top: dis_to_top
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channel: channel
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feedback: {}
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result: {}
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schema:
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type: object
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properties:
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name:
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type: string
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description: 物料名
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required:
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- name
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liquid_handler.revvity:
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class:
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module: unilabos.devices.liquid_handling.revvity:Revvity
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@@ -1,5 +1,4 @@
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import io
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import json
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import os
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import sys
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from pathlib import Path
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@@ -7,10 +6,9 @@ from typing import Any
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import yaml
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from unilabos.utils import logger
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from unilabos.ros.msgs.message_converter import msg_converter_manager, ros_action_to_json_schema
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from unilabos.utils import logger
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from unilabos.utils.decorator import singleton
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from unilabos.utils.type_check import TypeEncoder
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DEFAULT_PATHS = [Path(__file__).absolute().parent]
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@@ -21,10 +19,12 @@ class Registry:
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self.registry_paths = DEFAULT_PATHS.copy() # 使用copy避免修改默认值
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if registry_paths:
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self.registry_paths.extend(registry_paths)
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action_type = self._replace_type_with_class(
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"ResourceCreateFromOuter", "host_node", f"动作 add_resource_from_outer"
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self.ResourceCreateFromOuter = self._replace_type_with_class(
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"ResourceCreateFromOuter", "host_node", f"动作 create_resource_detailed"
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)
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self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
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"ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
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)
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schema = ros_action_to_json_schema(action_type)
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self.device_type_registry = {
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"host_node": {
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"description": "UniLabOS主机节点",
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@@ -33,7 +33,7 @@ class Registry:
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"type": "python",
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"status_types": {},
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"action_value_mappings": {
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"add_resource_from_outer": {
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"create_resource_detailed": {
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"type": msg_converter_manager.search_class("ResourceCreateFromOuter"),
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"goal": {
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"resources": "resources",
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@@ -46,7 +46,26 @@ class Registry:
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"result": {
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"success": "success"
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},
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"schema": schema
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"schema": ros_action_to_json_schema(self.ResourceCreateFromOuter)
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},
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"create_resource": {
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"type": msg_converter_manager.search_class("ResourceCreateFromOuterEasy"),
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"goal": {
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"res_id": "res_id",
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"class_name": "class_name",
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"parent": "parent",
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"device_id": "device_id",
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"bind_locations": "bind_locations",
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"liquid_input_slot": "liquid_input_slot[]",
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"liquid_type": "liquid_type[]",
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"liquid_volume": "liquid_volume[]",
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"slot_on_deck": "slot_on_deck",
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},
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"feedback": {},
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"result": {
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"success": "success"
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},
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"schema": ros_action_to_json_schema(self.ResourceCreateFromOuterEasy)
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}
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}
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},
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@@ -1,35 +1,35 @@
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agilent_1_reservoir_290ml:
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description: Agilent 1 reservoir 290ml
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class:
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module: pylabrobot.resources.opentrons.reserviors:agilent_1_reservoir_290ml
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module: pylabrobot.resources.opentrons.reservoirs:agilent_1_reservoir_290ml
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type: pylabrobot
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axygen_1_reservoir_90ml:
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description: Axygen 1 reservoir 90ml
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class:
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module: pylabrobot.resources.opentrons.reserviors:axygen_1_reservoir_90ml
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module: pylabrobot.resources.opentrons.reservoirs:axygen_1_reservoir_90ml
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type: pylabrobot
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nest_12_reservoir_15ml:
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description: Nest 12 reservoir 15ml
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class:
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module: pylabrobot.resources.opentrons.reserviors:nest_12_reservoir_15ml
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module: pylabrobot.resources.opentrons.reservoirs:nest_12_reservoir_15ml
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type: pylabrobot
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nest_1_reservoir_195ml:
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description: Nest 1 reservoir 195ml
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class:
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module: pylabrobot.resources.opentrons.reserviors:nest_1_reservoir_195ml
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module: pylabrobot.resources.opentrons.reservoirs:nest_1_reservoir_195ml
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type: pylabrobot
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nest_1_reservoir_290ml:
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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
|
||||
|
||||
Reference in New Issue
Block a user