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Merge branch '37-biomek-i5i7' into device_visualization

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This commit is contained in:
Xuwznln
2025-06-08 17:08:48 +08:00
parent 07b7835a83 6ae77e0408
commit d56e29080a
75 changed files with 20011 additions and 131 deletions
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207
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -1,5 +1,6 @@
liquid_handler:
description: Liquid handler device controlled by pylabrobot
icon: icon_yiyezhan.webp
class:
module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
type: python
@@ -22,8 +23,8 @@ liquid_handler:
is_96_well: is_96_well
top: top
none_keys: none_keys
feedback: { }
result: { }
feedback: {}
result: {}
add_liquid:
type: LiquidHandlerAdd
goal:
@@ -43,8 +44,8 @@ liquid_handler:
mix_rate: mix_rate
mix_liquid_height: mix_liquid_height
none_keys: none_keys
feedback: { }
result: { }
feedback: {}
result: {}
transfer_liquid:
type: LiquidHandlerTransfer
goal:
@@ -69,8 +70,8 @@ liquid_handler:
mix_liquid_height: mix_liquid_height
delays: delays
none_keys: none_keys
feedback: { }
result: { }
feedback: {}
result: {}
mix:
type: LiquidHandlerMix
goal:
@@ -81,16 +82,16 @@ liquid_handler:
offsets: offsets
mix_rate: mix_rate
none_keys: none_keys
feedback: { }
result: { }
feedback: {}
result: {}
move_to:
type: LiquidHandlerMoveTo
goal:
well: well
dis_to_top: dis_to_top
channel: channel
feedback: { }
result: { }
feedback: {}
result: {}
aspirate:
type: LiquidHandlerAspirate
goal:
@@ -245,6 +246,21 @@ liquid_handler:
target_vols: target_vols
aspiration_flow_rate: aspiration_flow_rate
dispense_flow_rates: dispense_flow_rates
handles:
input:
- handler_key: liquid-input
label: Liquid Input
data_type: resource
io_type: target
data_source: handle
data_key: liquid
output:
- handler_key: liquid-output
label: Liquid Output
data_type: resource
io_type: source
data_source: executor
data_key: liquid
schema:
type: object
properties:
@@ -272,3 +288,174 @@ liquid_handler.revvity:
status: status
result:
success: success
liquid_handler.biomek:
description: Biomek液体处理器设备，基于pylabrobot控制
icon: icon_yiyezhan.webp
class:
module: unilabos.devices.liquid_handling.biomek:LiquidHandlerBiomek
type: python
status_types: {}
action_value_mappings:
create_protocol:
type: LiquidHandlerProtocolCreation
goal:
protocol_name: protocol_name
protocol_description: protocol_description
protocol_version: protocol_version
protocol_author: protocol_author
protocol_date: protocol_date
protocol_type: protocol_type
none_keys: none_keys
feedback: {}
result: {}
run_protocol:
type: EmptyIn
goal: {}
feedback: {}
result: {}
transfer_liquid:
type: LiquidHandlerTransfer
goal:
asp_vols: asp_vols
dis_vols: dis_vols
sources: sources
targets: targets
tip_racks: tip_racks
use_channels: use_channels
asp_flow_rates: asp_flow_rates
dis_flow_rates: dis_flow_rates
offsets: offsets
touch_tip: touch_tip
liquid_height: liquid_height
blow_out_air_volume: blow_out_air_volume
spread: spread
is_96_well: is_96_well
mix_stage: mix_stage
mix_times: mix_times
mix_vol: mix_vol
mix_rate: mix_rate
mix_liquid_height: mix_liquid_height
delays: delays
none_keys: none_keys
feedback: {}
result: {}
handles:
input:
- handler_key: liquid-input
label: Liquid Input
data_type: resource
io_type: target
data_source: handle
data_key: liquid
output:
- handler_key: liquid-output
label: Liquid Output
data_type: resource
io_type: source
data_source: executor
data_key: liquid
transfer_biomek:
type: LiquidHandlerTransferBiomek
goal:
source: source
target: target
tip_rack: tip_rack
volume: volume
aspirate_techniques: aspirate_techniques
dispense_techniques: dispense_techniques
feedback: {}
result: {}
handles:
input:
- handler_key: sources
label: sources
data_type: resource
data_source: handle
data_key: liquid
- handler_key: targets
label: targets
data_type: resource
data_source: executor
data_key: liquid
- handler_key: tip_rack
label: tip_rack
data_type: resource
data_source: executor
data_key: liquid
output:
- handler_key: sources_out
label: sources
data_type: resource
data_source: handle
data_key: liquid
- handler_key: targets_out
label: targets
data_type: resource
data_source: executor
data_key: liquid
oscillation_biomek:
type: LiquidHandlerOscillateBiomek
goal:
rpm: rpm
time: time
feedback: {}
result: {}
handles:
input:
- handler_key: plate
label: plate
data_type: resource
data_source: handle
data_key: liquid
output:
- handler_key: plate_out
label: plate
data_type: resource
data_source: handle
data_key: liquid
move_biomek:
type: LiquidHandlerMoveBiomek
goal:
source: resource
target: target
feedback: {}
result:
name: name
handles:
input:
- handler_key: sources
label: sources
data_type: resource
data_source: handle
data_key: liquid
output:
- handler_key: targets
label: targets
data_type: resource
data_source: handle
data_key: liquid
incubation_biomek:
type: LiquidHandlerIncubateBiomek
goal:
time: time
feedback: {}
result: {}
handles:
input:
- handler_key: plate
label: plate
data_type: resource
data_source: handle
data_key: liquid
output:
- handler_key: plate_out
label: plate
data_type: resource
data_source: handle
data_key: liquid
schema:
type: object
properties: {}
required: []
additionalProperties: false

41
unilabos/registry/devices/pump_and_valve.yaml
View File

@@ -23,20 +23,51 @@ syringe_pump_with_valve.runze:
type: string
description: The position of the valve
required:
- status
- position
- valve_position
- status
- position
- valve_position
additionalProperties: false
solenoid_valve.mock:
description: Mock solenoid valve
class:
module: unilabos.devices.pump_and_valve.solenoid_valve_mock:SolenoidValveMock
type: python
status_types:
status: String
valve_position: String
action_value_mappings:
open:
type: EmptyIn
goal: {}
feedback: {}
result: {}
close:
type: EmptyIn
goal: {}
feedback: {}
result: {}
handles:
input:
- handler_key: fluid-input
label: Fluid Input
data_type: fluid
output:
- handler_key: fluid-output
label: Fluid Output
data_type: fluid
init_param_schema:
type: object
properties:
port:
type: string
description: "通信端口"
default: "COM6"
required:
- port
solenoid_valve:
description: Solenoid valve
class:
module: unilabos.devices.pump_and_valve.solenoid_valve:SolenoidValve
type: python
type: python

67
unilabos/registry/devices/vacuum_and_purge.yaml
View File

@@ -22,9 +22,76 @@ vacuum_pump.mock:
string: string
feedback: {}
result: {}
handles:
input:
- handler_key: fluid-input
label: Fluid Input
data_type: fluid
io_type: target
data_source: handle
data_key: fluid_in
output:
- handler_key: fluid-output
label: Fluid Output
data_type: fluid
io_type: source
data_source: executor
data_key: fluid_out
init_param_schema:
type: object
properties:
port:
type: string
description: "通信端口"
default: "COM6"
required:
- port
gas_source.mock:
description: Mock gas source
class:
module: unilabos.devices.pump_and_valve.vacuum_pump_mock:VacuumPumpMock
type: python
status_types:
status: String
action_value_mappings:
open:
type: EmptyIn
goal: {}
feedback: {}
result: {}
close:
type: EmptyIn
goal: {}
feedback: {}
result: {}
set_status:
type: StrSingleInput
goal:
string: string
feedback: {}
result: {}
handles:
input:
- handler_key: fluid-input
label: Fluid Input
data_type: fluid
io_type: target
data_source: handle
data_key: fluid_in
output:
- handler_key: fluid-output
label: Fluid Output
data_type: fluid
io_type: source
data_source: executor
data_key: fluid_out
init_param_schema:
type: object
properties:
port:
type: string
description: "通信端口"
default: "COM6"
required:
- port

2
unilabos/registry/devices/work_station.yaml
View File

@@ -4,4 +4,4 @@ workstation:
module: unilabos.ros.nodes.presets.protocol_node:ROS2ProtocolNode
type: ros2
schema:
properties: {}
properties: {}

27
unilabos/registry/registry.py
View File

@@ -25,9 +25,7 @@ class Registry:
self.ResourceCreateFromOuterEasy = self._replace_type_with_class(
"ResourceCreateFromOuterEasy", "host_node", f"动作 create_resource"
)
self.EmptyIn = self._replace_type_with_class(
"EmptyIn", "host_node", f""
)
self.EmptyIn = self._replace_type_with_class("EmptyIn", "host_node", f"")
self.device_type_registry = {}
self.resource_type_registry = {}
self._setup_called = False # 跟踪setup是否已调用
@@ -66,6 +64,7 @@ class Registry:
"goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuter.Goal))
),
"handles": {},
},
"create_resource": {
"type": self.ResourceCreateFromOuterEasy,
@@ -86,6 +85,15 @@ class Registry:
"goal_default": yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(self.ResourceCreateFromOuterEasy.Goal))
),
"handles": {
"output": [{
"handler_key": "Labware",
"label": "Labware",
"data_type": "resource",
"data_source": "handle",
"data_key": "liquid"
}]
},
},
"test_latency": {
"type": self.EmptyIn,
@@ -94,11 +102,14 @@ class Registry:
"result": {"latency_ms": "latency_ms", "time_diff_ms": "time_diff_ms"},
"schema": ros_action_to_json_schema(self.EmptyIn),
"goal_default": {},
"handles": {},
},
},
},
"icon": "icon_device.webp",
"registry_type": "device",
"handles": [],
"init_param_schema": {},
"schema": {"properties": {}, "additionalProperties": False, "type": "object"},
"file_path": "/",
}
@@ -132,6 +143,10 @@ class Registry:
resource_info["description"] = ""
if "icon" not in resource_info:
resource_info["icon"] = ""
if "handles" not in resource_info:
resource_info["handles"] = []
if "init_param_schema" not in resource_info:
resource_info["init_param_schema"] = {}
resource_info["registry_type"] = "resource"
self.resource_type_registry.update(data)
logger.debug(
@@ -194,6 +209,10 @@ class Registry:
device_config["description"] = ""
if "icon" not in device_config:
device_config["icon"] = ""
if "handles" not in device_config:
device_config["handles"] = []
if "init_param_schema" not in device_config:
device_config["init_param_schema"] = {}
device_config["registry_type"] = "device"
if "class" in device_config:
# 处理状态类型
@@ -206,6 +225,8 @@ class Registry:
# 处理动作值映射
if "action_value_mappings" in device_config["class"]:
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
if "handles" not in action_config:
action_config["handles"] = []
if "type" in action_config:
action_config["type"] = self._replace_type_with_class(
action_config["type"], device_id, f"动作 {action_name}"