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https://github.com/dptech-corp/Uni-Lab-OS.git
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host node新增resource add时间统计
create_resource新增handle bump version to 0.9.2
This commit is contained in:
Xuwznln
@@ -45,7 +45,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n environment_name
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# Currently, you need to install the `unilabos_msgs` package
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# You can download the system-specific package from the Release page
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conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
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conda install ros-humble-unilabos-msgs-0.9.2-xxxxx.tar.bz2
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# Install PyLabRobot and other prerequisites
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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@@ -45,7 +45,7 @@ conda env update --file unilabos-[YOUR_OS].yml -n 环境名
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# 现阶段，需要安装 `unilabos_msgs` 包
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# 可以前往 Release 页面下载系统对应的包进行安装
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conda install ros-humble-unilabos-msgs-0.9.1-xxxxx.tar.bz2
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conda install ros-humble-unilabos-msgs-0.9.2-xxxxx.tar.bz2
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# 安装PyLabRobot等前置
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git clone https://github.com/PyLabRobot/pylabrobot plr_repo
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@@ -1,6 +1,6 @@
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package:
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name: ros-humble-unilabos-msgs
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version: 0.9.1
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version: 0.9.2
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source:
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path: ../../unilabos_msgs
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folder: ros-humble-unilabos-msgs/src/work
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@@ -1,6 +1,6 @@
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package:
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name: unilabos
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version: "0.9.1"
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version: "0.9.2"
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source:
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path: ../..
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2
setup.py
2
setup.py
@@ -4,7 +4,7 @@ package_name = 'unilabos'
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setup(
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name=package_name,
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version='0.9.1',
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version='0.9.2',
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packages=find_packages(),
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include_package_data=True,
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install_requires=['setuptools'],
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@@ -85,7 +85,15 @@ class Registry:
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"goal_default": yaml.safe_load(
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io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
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),
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"handles": {},
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"handles": {
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"output": [{
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"handler_key": "Labware",
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"label": "Labware",
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"data_type": "resource",
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"data_source": "handle",
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"data_key": "liquid"
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}]
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},
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},
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"test_latency": {
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"type": self.EmptyIn,
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@@ -203,8 +203,10 @@ class HostNode(BaseROS2DeviceNode):
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try:
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for bridge in self.bridges:
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if hasattr(bridge, "resource_add"):
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self.lab_logger().info("[Host Node-Resource] Adding resources to bridge.")
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resource_start_time = time.time()
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resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name))
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resource_end_time = time.time()
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self.lab_logger().info(f"[Host Node-Resource] Adding resources to bridge. {round(resource_start_time - resource_end_time, 5)} seconds")
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except Exception as ex:
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self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
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self.lab_logger().error(traceback.format_exc())
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@@ -4,6 +4,7 @@ string from_repo_position
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Resource to_repo
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string to_repo_position
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---
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string return_info
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bool success
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---
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string status
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@@ -5,6 +5,7 @@ float64 volume # Optional. Volume of solvent to clean vessel with.
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float64 temp # Optional. Temperature to heat vessel to while cleaning.
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int32 repeats # Optional. Number of cleaning cycles to perform.
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---
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string return_info
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bool success
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---
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string status
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@@ -1,4 +1,4 @@
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---
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string return_info
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---
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@@ -3,6 +3,7 @@ string vessel
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string gas
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int32 repeats
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---
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string return_info
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bool success
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---
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string status
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@@ -5,6 +5,7 @@ float64 temp
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float64 time
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float64 stir_speed
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---
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string return_info
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bool success
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---
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string status
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@@ -1,4 +1,5 @@
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float64 float_in
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---
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string return_info
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bool success
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---
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@@ -6,6 +6,7 @@ bool stir
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float64 stir_speed
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string purpose
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---
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string return_info
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bool success
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---
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string status
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@@ -3,6 +3,7 @@ string vessel
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float64 temp
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string purpose
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---
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string return_info
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bool success
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---
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string status
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@@ -1,6 +1,7 @@
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# Organic
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string vessel
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---
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string return_info
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bool success
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---
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string status
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@@ -1,4 +1,5 @@
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int32 int_input
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---
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string return_info
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bool success
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---
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@@ -15,6 +15,7 @@ int32 mix_rate
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float64 mix_liquid_height
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string[] none_keys
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---
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string return_info
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bool success
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---
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# 反馈
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@@ -7,5 +7,6 @@ float64[] liquid_height
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float64[] blow_out_air_volume
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string spread
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---
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string return_info
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bool success
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---
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@@ -3,6 +3,7 @@
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int32[] use_channels
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -8,6 +8,7 @@ int32[] blow_out_air_volume
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string spread
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets
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bool allow_nonzero_volume
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -5,6 +5,7 @@ geometry_msgs/Point offset
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bool allow_nonzero_volume
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -1,5 +1,6 @@
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int32 time
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---
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string return_info
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bool success
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---
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@@ -6,6 +6,7 @@ geometry_msgs/Point[] offsets
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float64 mix_rate
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string[] none_keys
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---
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string return_info
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bool success
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---
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# 反馈
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@@ -2,5 +2,6 @@ string source
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string target
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---
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string return_info
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bool success
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---
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@@ -12,6 +12,7 @@ string put_direction
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float64 pickup_distance_from_top
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -13,6 +13,7 @@ string put_direction
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float64 pickup_distance_from_top
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -12,6 +12,7 @@ string get_direction
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string put_direction
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -2,6 +2,7 @@ Resource well
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float64 dis_to_top
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int32 channel
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---
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string return_info
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bool success
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---
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# 反馈
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@@ -2,5 +2,6 @@ int32 rpm
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int32 time
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---
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string return_info
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bool success
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---
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@@ -5,6 +5,7 @@ int32[] use_channels
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geometry_msgs/Point[] offsets
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -4,6 +4,7 @@ Resource tip_rack
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geometry_msgs/Point offset
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -6,4 +6,5 @@ string protocol_date
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string protocol_type
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string[] none_keys
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---
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string return_info
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---
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@@ -12,6 +12,7 @@ bool is_96_well
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float64[] top
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string[] none_keys
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---
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string return_info
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bool success
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---
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# 反馈
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@@ -4,6 +4,7 @@ int32[] use_channels
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bool allow_nonzero_volume
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -3,6 +3,7 @@
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bool allow_nonzero_volume
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -7,6 +7,7 @@ float64 aspiration_flow_rate
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float64 dispense_flow_rate
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---
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# 结果字段
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string return_info
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bool success
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---
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# 反馈字段
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@@ -20,6 +20,7 @@ float64 mix_liquid_height
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int32[] delays
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string[] none_keys
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---
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string return_info
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bool success
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---
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# 反馈
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@@ -6,5 +6,6 @@ string aspirate_technique
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string dispense_technique
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---
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string return_info
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bool success
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---
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@@ -2,5 +2,6 @@ float64 x
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float64 y
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float64 z
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---
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string return_info
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bool success
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---
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@@ -10,6 +10,7 @@ float64 rinsing_volume
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int32 rinsing_repeats
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bool solid
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---
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string return_info
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bool success
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---
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string status
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@@ -4,5 +4,6 @@ string[] bind_parent_ids
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geometry_msgs/Point[] bind_locations
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string[] other_calling_params
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---
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string return_info
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bool success
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---
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@@ -8,5 +8,6 @@ string[] liquid_type
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float32[] liquid_volume
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int32 slot_on_deck
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---
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string return_info
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bool success
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---
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@@ -1,6 +1,7 @@
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# Simple
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string command
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---
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string return_info
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bool success
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---
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string status
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@@ -13,6 +13,7 @@ float64 stir_time # Optional. Time stir for after adding solvent, before separat
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float64 stir_speed # Optional. Speed to stir at after adding solvent, before separation of phases.
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float64 settling_time # Optional. Time
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---
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string return_info
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bool success
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---
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string status
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@@ -2,6 +2,7 @@ int32 powder_tube_number
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string target_tube_position
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float64 compound_mass
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---
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string return_info
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float64 actual_mass_mg
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bool success
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---
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@@ -3,6 +3,7 @@ float64 stir_time
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float64 stir_speed
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float64 settling_time
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---
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string return_info
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bool success
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---
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string status
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@@ -1,4 +1,5 @@
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string string
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---
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string return_info
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bool success
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---
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@@ -3,6 +3,7 @@ string wf_name
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string params
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Resource resource
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---
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string return_info
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bool success
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---
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string status
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