bump ver

modify slot type

README.md

@@ -49,7 +49,7 @@ 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-0.9.3-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.4-xxxxx.tar.bz2
 
 # Install PyLabRobot and other prerequisites
 git clone https://github.com/PyLabRobot/pylabrobot plr_repo

README_zh.md

@@ -49,7 +49,7 @@ 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-0.9.3-xxxxx.tar.bz2
+conda install ros-humble-unilabos-msgs-0.9.4-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: 0.9.3
+  version: 0.9.4
 source:
   path: ../../unilabos_msgs
   folder: ros-humble-unilabos-msgs/src/work

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.9.3"
+  version: "0.9.4"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.9.3',
+    version='0.9.4',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/ros/nodes/base_device_node.py

@@ -343,8 +343,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             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)
+            slot = other_calling_param.pop("slot", "-1")
-            if slot >= 0:  # slot为负数的时候采用assign方法
+            if slot != "-1":  # 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):
@@ -408,9 +408,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             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:
+                        other_calling_param["slot"] = int(other_calling_param["slot"])
                         resource.assign_child_at_slot(plr_instance, **other_calling_param)
                     else:
-                        _discard_slot = other_calling_param.pop("slot", -1)
+                        _discard_slot = other_calling_param.pop("slot", "-1")
                         resource.assign_child_resource(
                             plr_instance,
                             Coordinate(location["x"], location["y"], location["z"]),

unilabos/ros/nodes/presets/host_node.py

@@ -381,7 +381,7 @@ class HostNode(BaseROS2DeviceNode):
         liquid_input_slot: list[int],
         liquid_type: list[str],
         liquid_volume: list[int],
-        slot_on_deck: int,
+        slot_on_deck: str,
     ):
         init_new_res = initialize_resource(
             {

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -6,7 +6,7 @@ geometry_msgs/Point bind_locations
 int32[] liquid_input_slot
 string[] liquid_type
 float32[] liquid_volume
-int32 slot_on_deck
+string slot_on_deck
 ---
 string return_info
 bool success