host node新增resource add时间统计

create_resource新增handle
bump version to 0.9.2

README.md

@@ -45,7 +45,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 
 # Currently, you need to install the `unilabos_msgs` package
 # You can download the system-specific package from the Release page
-conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.2-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -45,7 +45,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 
 # 现阶段，需要安装 `unilabos_msgs` 包
 # 可以前往 Release 页面下载系统对应的包进行安装
-conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.2-xxxxx.tar.bz2
 
 # 安装PyLabRobot等前置
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.9.1
+  version: 0.9.2
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.1"
+  version: "0.9.2"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.1',
+    version='0.9.2',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/registry/registry.py

@@ -85,7 +85,15 @@ class Registry:
                                 "goal_default": yaml.safe_load(
                                     io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
                                 ),
-                                "handles": {},
+                                "handles": {
+                                    "output": [{
+                                        "handler_key": "Labware",
+                                        "label": "Labware",
+                                        "data_type": "resource",
+                                        "data_source": "handle",
+                                        "data_key": "liquid"
+                                    }]
+                                },
                             },
                             "test_latency": {
                                 "type": self.EmptyIn,

unilabos/ros/nodes/presets/host_node.py

@@ -203,8 +203,10 @@ class HostNode(BaseROS2DeviceNode):
         try:
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
-                    self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
+                    resource_start_time = time.time()
                     resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name))
+                    resource_end_time = time.time()
+                    self.lab_logger().info(f"[Host Node-Resource] Adding resources to bridge. {round(resource_start_time - resource_end_time, 5)} seconds")
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())

unilabos_msgs/action/AGVTransfer.action

@@ -4,6 +4,7 @@ string from_repo_position
 Resource to_repo
 string to_repo_position
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Clean.action

@@ -5,6 +5,7 @@ float64 volume # Optional. Volume of solvent to clean vessel with.
 float64 temp   # Optional. Temperature to heat vessel to while cleaning.
 int32 repeats  # Optional. Number of cleaning cycles to perform.
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/EmptyIn.action

@@ -1,4 +1,4 @@
 
 ---
-
+string return_info
 ---

unilabos_msgs/action/EvacuateAndRefill.action

@@ -3,6 +3,7 @@ string vessel
 string gas
 int32 repeats
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Evaporate.action

@@ -5,6 +5,7 @@ float64 temp
 float64 time
 float64 stir_speed
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/FloatSingleInput.action

@@ -1,4 +1,5 @@
 float64 float_in
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/HeatChill.action

@@ -6,6 +6,7 @@ bool stir
 float64 stir_speed
 string purpose
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/HeatChillStart.action

@@ -3,6 +3,7 @@ string vessel
 float64 temp
 string purpose
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/HeatChillStop.action

@@ -1,6 +1,7 @@
 # Organic
 string vessel
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/IntSingleInput.action

@@ -1,4 +1,5 @@
 int32 int_input
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerAdd.action

@@ -15,6 +15,7 @@ int32 mix_rate
 float64 mix_liquid_height
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerAspirate.action

@@ -7,5 +7,6 @@ float64[] liquid_height
 float64[] blow_out_air_volume
 string spread
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerDiscardTips.action

@@ -3,6 +3,7 @@
 int32[] use_channels
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDispense.action

@@ -8,6 +8,7 @@ int32[] blow_out_air_volume
 string spread
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDropTips.action

@@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerDropTips96.action

@@ -5,6 +5,7 @@ geometry_msgs/Point offset
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerIncubateBiomek.action

@@ -1,5 +1,6 @@
 int32 time
 
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerMix.action

@@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets
 float64 mix_rate
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerMoveBiomek.action

@@ -2,5 +2,6 @@ string source
 string target
 
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerMoveLid.action

@@ -12,6 +12,7 @@ string put_direction
 float64 pickup_distance_from_top
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMovePlate.action

@@ -13,6 +13,7 @@ string put_direction
 float64 pickup_distance_from_top
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMoveResource.action

@@ -12,6 +12,7 @@ string get_direction
 string put_direction
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerMoveTo.action

@@ -2,6 +2,7 @@ Resource well
 float64 dis_to_top
 int32 channel
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerOscillateBiomek.action

@@ -2,5 +2,6 @@ int32 rpm
 int32 time
 
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/LiquidHandlerPickUpTips.action

@@ -5,6 +5,7 @@ int32[] use_channels
 geometry_msgs/Point[] offsets
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerPickUpTips96.action

@@ -4,6 +4,7 @@ Resource tip_rack
 geometry_msgs/Point offset
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerProtocolCreation.action

@@ -6,4 +6,5 @@ string protocol_date
 string protocol_type
 string[] none_keys
 ---
+string return_info
 ---

unilabos_msgs/action/LiquidHandlerRemove.action

@@ -12,6 +12,7 @@ bool is_96_well
 float64[] top
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerReturnTips.action

@@ -4,6 +4,7 @@ int32[] use_channels
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerReturnTips96.action

@@ -3,6 +3,7 @@
 bool allow_nonzero_volume
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerStamp.action

@@ -7,6 +7,7 @@ float64 aspiration_flow_rate
 float64 dispense_flow_rate
 ---
 # 结果字段
+string return_info
 bool success
 ---
 # 反馈字段 

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -20,6 +20,7 @@ float64 mix_liquid_height
 int32[] delays
 string[] none_keys
 ---
+string return_info
 bool success
 ---
 # 反馈

unilabos_msgs/action/LiquidHandlerTransferBiomek.action

@@ -6,5 +6,6 @@ string aspirate_technique
 string dispense_technique
 
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/Point3DSeparateInput.action

@@ -2,5 +2,6 @@ float64 x
 float64 y
 float64 z
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/PumpTransfer.action

@@ -10,6 +10,7 @@ float64 rinsing_volume
 int32 rinsing_repeats
 bool solid
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/ResourceCreateFromOuter.action

@@ -4,5 +4,6 @@ string[] bind_parent_ids
 geometry_msgs/Point[] bind_locations
 string[] other_calling_params
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -8,5 +8,6 @@ string[] liquid_type
 float32[] liquid_volume
 int32 slot_on_deck
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/SendCmd.action

@@ -1,6 +1,7 @@
 # Simple
 string command
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/Separate.action

@@ -13,6 +13,7 @@ float64 stir_time # Optional. Time stir for after adding solvent, before separat
 float64 stir_speed # Optional. Speed to stir at after adding solvent, before separation of phases.
 float64 settling_time # Optional. Time
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/SolidDispenseAddPowderTube.action

@@ -2,6 +2,7 @@ int32 powder_tube_number
 string target_tube_position
 float64 compound_mass
 ---
+string return_info
 float64 actual_mass_mg
 bool success
 ---

unilabos_msgs/action/Stir.action

@@ -3,6 +3,7 @@ float64 stir_time
 float64 stir_speed
 float64 settling_time
 ---
+string return_info
 bool success
 ---
 string status

unilabos_msgs/action/StrSingleInput.action

@@ -1,4 +1,5 @@
 string string
 ---
+string return_info
 bool success
 ---

unilabos_msgs/action/WorkStationRun.action

@@ -3,6 +3,7 @@ string wf_name
 string params
 Resource resource
 ---
+string return_info
 bool success
 ---
 string status