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更新注册表

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This commit is contained in:
Xuwznln
2025-08-01 01:22:28 +08:00
parent dcc970a091
commit ccf1cdc23f
4 changed files with 270 additions and 46 deletions
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204
unilabos/registry/devices/robot_arm.yaml
View File

@@ -147,7 +147,6 @@ robotic_arm.UR:
handles: [] handles: []
icon: '' icon: ''
init_param_schema: init_param_schema:
additionalProperties: false
config: config:
properties: properties:
host: host:
@@ -173,13 +172,189 @@ robotic_arm.UR:
- gripper_pose - gripper_pose
- arm_status - arm_status
- gripper_status - gripper_status
type: object type: object
version: 1.0.0 version: 1.0.0
robotic_arm.elite: robotic_arm.elite:
category: category:
- robot_arm - robot_arm
class: class:
action_value_mappings: action_value_mappings:
auto-close:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: close参数
type: object
type: UniLabJsonCommand
auto-modbus_close:
feedback: {}
goal: {}
goal_default: {}
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties: {}
required: []
type: object
result: {}
required:
- goal
title: modbus_close参数
type: object
type: UniLabJsonCommand
auto-modbus_read_holding_registers:
feedback: {}
goal: {}
goal_default:
quantity: null
start_addr: null
unit_id: null
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
quantity:
type: string
start_addr:
type: string
unit_id:
type: string
required:
- unit_id
- start_addr
- quantity
type: object
result: {}
required:
- goal
title: modbus_read_holding_registers参数
type: object
type: UniLabJsonCommand
auto-modbus_task:
feedback: {}
goal: {}
goal_default:
job_id: null
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
job_id:
type: string
required:
- job_id
type: object
result: {}
required:
- goal
title: modbus_task参数
type: object
type: UniLabJsonCommand
auto-modbus_write_single_register:
feedback: {}
goal: {}
goal_default:
register_addr: null
unit_id: null
value: null
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
register_addr:
type: string
unit_id:
type: string
value:
type: string
required:
- unit_id
- register_addr
- value
type: object
result: {}
required:
- goal
title: modbus_write_single_register参数
type: object
type: UniLabJsonCommand
auto-parse_success_response:
feedback: {}
goal: {}
goal_default:
response: null
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
response:
type: string
required:
- response
type: object
result: {}
required:
- goal
title: parse_success_response参数
type: object
type: UniLabJsonCommand
auto-send_command:
feedback: {}
goal: {}
goal_default:
command: null
handles: []
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
command:
type: string
required:
- command
type: object
result: {}
required:
- goal
title: send_command参数
type: object
type: UniLabJsonCommand
modbus_task_cmd: modbus_task_cmd:
feedback: {} feedback: {}
goal: goal:
@@ -225,13 +400,34 @@ robotic_arm.elite:
type: SendCmd type: SendCmd
module: unilabos.devices.arm.elite_robot:EliteRobot module: unilabos.devices.arm.elite_robot:EliteRobot
status_types: status_types:
arm_pose: Float64MultiArray actual_joint_positions: String
arm_pose: list
type: python type: python
config_info: [] config_info: []
description: Elite robot arm description: Elite robot arm
handles: [] handles: []
icon: '' icon: ''
init_param_schema: {} init_param_schema:
config:
properties:
device_id:
type: string
host:
type: string
required:
- device_id
- host
type: object
data:
properties:
actual_joint_positions:
type: string
arm_pose:
type: array
required:
- arm_pose
- actual_joint_positions
type: object
model: model:
mesh: elite_robot mesh: elite_robot
type: device type: device

7
unilabos/registry/registry.py
View File

@@ -180,7 +180,6 @@ class Registry:
if data: if data:
# 为每个资源添加文件路径信息 # 为每个资源添加文件路径信息
for resource_id, resource_info in data.items(): for resource_id, resource_info in data.items():
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
if "version" not in resource_info: if "version" not in resource_info:
resource_info["version"] = "1.0.0" resource_info["version"] = "1.0.0"
if "category" not in resource_info: if "category" not in resource_info:
@@ -206,9 +205,9 @@ class Registry:
res_instance = res_class(res_class.__name__) res_instance = res_class(res_class.__name__)
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)]) res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
resource_info["config_info"] = res_ulr resource_info["config_info"] = res_ulr
resource_info["registry_type"] = "resource"
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items()))) # 稍后dump到文件 complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items()))) # 稍后dump到文件
resource_info["registry_type"] = "resource"
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
complete_data = dict(sorted(complete_data.items())) complete_data = dict(sorted(complete_data.items()))
complete_data = copy.deepcopy(complete_data) complete_data = copy.deepcopy(complete_data)
if complete_registry: if complete_registry:
@@ -564,8 +563,6 @@ class Registry:
), ),
"handles": {}, "handles": {},
} }
if "registry_type" not in device_config:
device_config["registry_type"] = "device"
device_config["file_path"] = str(file.absolute()).replace("\\", "/") device_config["file_path"] = str(file.absolute()).replace("\\", "/")
device_config["registry_type"] = "device" device_config["registry_type"] = "device"
logger.debug( logger.debug(

89
unilabos/registry/resources/common/resource_container.yaml
View File

@@ -1,27 +1,16 @@
plate_96_high:
description: 96孔板
class:
module: unilabos.devices.resource_container.container:PlateContainer
type: python
model:
type: resource
mesh: plate_96_high/meshes/plate_96_high.stl
mesh_tf:
- 0
- 0.086
- 0
- 1.5708
- 0
- 1.5708
hplc_plate: hplc_plate:
description: HPLC板 category:
class: - resource_container
class:
module: unilabos.devices.resource_container.container:PlateContainer module: unilabos.devices.resource_container.container:PlateContainer
type: python type: python
config_info: []
description: HPLC板
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
handles: []
icon: ''
init_param_schema: {}
model: model:
type: resource
mesh: hplc_plate/meshes/hplc_plate.stl mesh: hplc_plate/meshes/hplc_plate.stl
mesh_tf: mesh_tf:
- 0 - 0
@@ -30,15 +19,54 @@ hplc_plate:
- 0 - 0
- 0 - 0
- 3.1416 - 3.1416
type: resource
registry_type: resource
tiprack_96_high: version: 1.0.0
plate_96_high:
category:
- resource_container
class:
module: unilabos.devices.resource_container.container:PlateContainer
type: python
config_info: []
description: 96孔板 description: 96孔板
class: file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
handles: []
icon: ''
init_param_schema: {}
model:
mesh: plate_96_high/meshes/plate_96_high.stl
mesh_tf:
- 0
- 0.086
- 0
- 1.5708
- 0
- 1.5708
type: resource
registry_type: resource
version: 1.0.0
tiprack_96_high:
category:
- resource_container
class:
module: unilabos.devices.resource_container.container:TipRackContainer module: unilabos.devices.resource_container.container:TipRackContainer
type: python type: python
config_info: []
description: 96孔板
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
handles: []
icon: ''
init_param_schema: {}
model: model:
type: resource children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
children_mesh_tf:
- 0.0018
- 0.0018
- -0.03
- -1.5708
- 0
- 0
mesh: tiprack_96_high/meshes/tiprack_96_high.stl mesh: tiprack_96_high/meshes/tiprack_96_high.stl
mesh_tf: mesh_tf:
- 0 - 0
@@ -47,11 +75,6 @@ tiprack_96_high:
- 1.5708 - 1.5708
- 0 - 0
- 1.5708 - 1.5708
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl type: resource
children_mesh_tf: registry_type: resource
- 0.0018 version: 1.0.0
- 0.0018
- -0.03
- -1.5708
- 0
- 0

16
unilabos/registry/resources/opentrons/deck.yaml
View File

@@ -15,12 +15,20 @@ OTDeck:
type: device type: device
registry_type: resource registry_type: resource
version: 1.0.0 version: 1.0.0
hplc_station: hplc_station:
description: hplc_station deck category:
class: - deck
class:
module: unilabos.devices.resource_container.container:DeckContainer module: unilabos.devices.resource_container.container:DeckContainer
type: python type: python
config_info: []
description: hplc_station deck
file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
handles: []
icon: ''
init_param_schema: {}
model: model:
mesh: hplc_station
type: device type: device
mesh: hplc_station registry_type: resource
version: 1.0.0