open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2025-12-17 13:01:12 +00:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch '37-biomek-i5i7' into device_visualization

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
README.md
View File

@@ -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-0.9.1-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

2
README_zh.md
View File

@@ -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-0.9.1-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

2
recipes/ros-humble-unilabos-msgs/recipe.yaml
View File

@@ -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

2
recipes/unilabos/recipe.yaml
View File

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

2
setup.py
View File

@@ -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'],

22
test/experiments/biomek.json Normal file
View File

@@ -0,0 +1,22 @@
{
"nodes": [
{
"id": "BIOMEK",
"name": "BIOMEK",
"parent": null,
"type": "device",
"class": "liquid_handler.biomek",
"position": {
"x": 620.6111111111111,
"y": 171,
"z": 0
},
"config": {
},
"data": {},
"children": [
]
}
],
"links": []
}

1710
test/experiments/plr_test_converted_slim.json Normal file
View File

File diff suppressed because it is too large Load Diff

14
unilabos/app/main.py
View File

@@ -10,6 +10,8 @@ from copy import deepcopy
import yaml
from unilabos.resources.graphio import tree_to_list
# 首先添加项目根目录到路径
current_dir = os.path.dirname(os.path.abspath(__file__))
unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
@@ -144,19 +146,19 @@ def main():
else read_graphml(args_dict["graph"])
)
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
# args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
args_dict["resources_config"] = list(devices_and_resources.values())
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
# args_dict["resources_config"] = dict_to_tree(devices_and_resources, devices_only=False)
args_dict["graph"] = graph_res.physical_setup_graph
else:
if args_dict["devices"] is None or args_dict["resources"] is None:
print_status("Either graph or devices and resources must be provided.", "error")
sys.exit(1)
args_dict["devices_config"] = json.load(open(args_dict["devices"], encoding="utf-8"))
args_dict["resources_config"] = initialize_resources(
list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
)
# args_dict["resources_config"] = initialize_resources(
# list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
# )
args_dict["resources_config"] = list(json.load(open(args_dict["resources"], encoding="utf-8")).values())
print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
for i in args_dict["resources_config"]:

7
unilabos/app/mq.py
View File

@@ -1,6 +1,7 @@
import json
import time
import traceback
from typing import Optional
import uuid
import paho.mqtt.client as mqtt
@@ -163,10 +164,12 @@ class MQTTClient:
self.client.publish(address, json.dumps(status), qos=2)
logger.critical(f"Device status published: address: {address}, {status}")
def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
if self.mqtt_disable:
return
jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
if return_info is None:
return_info = "{}"
jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
def publish_registry(self, device_id: str, device_info: dict):

6
unilabos/app/web/client.py
View File

@@ -30,18 +30,18 @@ class HTTPClient:
self.auth = MQConfig.lab_id
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> requests.Response:
"""
添加资源
Args:
resources: 要添加的资源列表
database_process_later: 后台处理资源
Returns:
Response: API响应对象
"""
response = requests.post(
f"{self.remote_addr}/lab/resource/",
f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
json=resources,
headers={"Authorization": f"lab {self.auth}"},
timeout=5,

1106
unilabos/devices/liquid_handling/biomek.py Normal file
View File

File diff suppressed because it is too large Load Diff

642
unilabos/devices/liquid_handling/biomek.txt Normal file
View File

File diff suppressed because one or more lines are too long

2697
unilabos/devices/liquid_handling/biomek_temporary_protocol.json Normal file
View File

File diff suppressed because it is too large Load Diff

1010
unilabos/devices/liquid_handling/biomek_test.py Normal file
View File

File diff suppressed because it is too large Load Diff

3760
unilabos/devices/liquid_handling/complete_biomek_protocol.json Normal file
View File

File diff suppressed because it is too large Load Diff

4201
unilabos/devices/liquid_handling/complete_biomek_protocol_0608.json Normal file
View File

File diff suppressed because it is too large Load Diff

71
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -6,13 +6,8 @@ import asyncio
import time
from pylabrobot.liquid_handling import LiquidHandler
from pylabrobot.resources import (
Resource,
TipRack,
Container,
Coordinate,
Well
)
from pylabrobot.resources import Resource, TipRack, Container, Coordinate, Well
class LiquidHandlerAbstract(LiquidHandler):
"""Extended LiquidHandler with additional operations."""
@@ -21,6 +16,19 @@ class LiquidHandlerAbstract(LiquidHandler):
# REMOVE LIQUID --------------------------------------------------
# ---------------------------------------------------------------
async def create_protocol(
self,
protocol_name: str,
protocol_description: str,
protocol_version: str,
protocol_author: str,
protocol_date: str,
protocol_type: str,
none_keys: List[str] = [],
):
"""Create a new protocol with the given metadata."""
pass
async def remove_liquid(
self,
vols: List[float],
@@ -35,8 +43,8 @@ class LiquidHandlerAbstract(LiquidHandler):
spread: Optional[Literal["wide", "tight", "custom"]] = "wide",
delays: Optional[List[int]] = None,
is_96_well: Optional[bool] = False,
top: Optional[List(float)] = None,
none_keys: List[str] = []
top: Optional[List[float]] = None,
none_keys: List[str] = [],
):
"""A complete *remove* (aspirate → waste) operation."""
trash = self.deck.get_trash_area()
@@ -48,7 +56,7 @@ class LiquidHandlerAbstract(LiquidHandler):
raise ValueError("Length of `vols` must match `sources`.")
for src, vol in zip(sources, vols):
self.move_to(src, dis_to_top=top[0] if top else 0)
await self.move_to(src, dis_to_top=top[0] if top else 0)
tip = next(self.current_tip)
await self.pick_up_tips(tip)
await self.aspirate(
@@ -100,7 +108,7 @@ class LiquidHandlerAbstract(LiquidHandler):
mix_vol: Optional[int] = None,
mix_rate: Optional[int] = None,
mix_liquid_height: Optional[float] = None,
none_keys: List[str] = []
none_keys: List[str] = [],
):
"""A complete *add* (aspirate reagent → dispense into targets) operation."""
@@ -122,7 +130,7 @@ class LiquidHandlerAbstract(LiquidHandler):
offsets=[offsets[0]] if offsets else None,
liquid_height=[liquid_height[0]] if liquid_height else None,
blow_out_air_volume=[blow_out_air_volume[0]] if blow_out_air_volume else None,
spread=spread
spread=spread,
)
if delays is not None:
await self.custom_delay(seconds=delays[0])
@@ -144,7 +152,8 @@ class LiquidHandlerAbstract(LiquidHandler):
mix_vol=mix_vol,
offsets=offsets if offsets else None,
height_to_bottom=mix_liquid_height if mix_liquid_height else None,
mix_rate=mix_rate if mix_rate else None)
mix_rate=mix_rate if mix_rate else None,
)
if delays is not None:
await self.custom_delay(seconds=delays[1])
await self.touch_tip(targets[_])
@@ -158,13 +167,13 @@ class LiquidHandlerAbstract(LiquidHandler):
# ---------------------------------------------------------------
async def transfer_liquid(
self,
asp_vols: Union[List[float], float],
dis_vols: Union[List[float], float],
sources: Sequence[Container],
targets: Sequence[Container],
tip_racks: Sequence[TipRack],
*,
use_channels: Optional[List[int]] = None,
asp_vols: Union[List[float], float],
dis_vols: Union[List[float], float],
asp_flow_rates: Optional[List[Optional[float]]] = None,
dis_flow_rates: Optional[List[Optional[float]]] = None,
offsets: Optional[List[Coordinate]] = None,
@@ -179,7 +188,7 @@ class LiquidHandlerAbstract(LiquidHandler):
mix_rate: Optional[int] = None,
mix_liquid_height: Optional[float] = None,
delays: Optional[List[int]] = None,
none_keys: List[str] = []
none_keys: List[str] = [],
):
"""Transfer liquid from each *source* well/plate to the corresponding *target*.
@@ -207,8 +216,9 @@ class LiquidHandlerAbstract(LiquidHandler):
raise ValueError("`sources`, `targets`, and `vols` must have the same length.")
tip_iter = self.iter_tips(tip_racks)
for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in (
zip(sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates)):
for src, tgt, asp_vol, asp_flow_rate, dis_vol, dis_flow_rate in zip(
sources, targets, asp_vols, asp_flow_rates, dis_vols, dis_flow_rates
):
tip = next(tip_iter)
await self.pick_up_tips(tip)
# Aspirate from source
@@ -247,9 +257,9 @@ class LiquidHandlerAbstract(LiquidHandler):
except Exception as exc:
raise RuntimeError(f"Liquid transfer failed: {exc}") from exc
# ---------------------------------------------------------------
# Helper utilities
# ---------------------------------------------------------------
# ---------------------------------------------------------------
# Helper utilities
# ---------------------------------------------------------------
async def custom_delay(self, seconds=0, msg=None):
"""
@@ -266,28 +276,26 @@ class LiquidHandlerAbstract(LiquidHandler):
print(f"Done: {msg}")
print(f"Current time: {time.strftime('%H:%M:%S')}")
async def touch_tip(self,
targets: Sequence[Container],
):
async def touch_tip(self, targets: Sequence[Container]):
"""Touch the tip to the side of the well."""
await self.aspirate(
resources=[targets],
vols=[0],
use_channels=None,
flow_rates=None,
offsets=[Coordinate(x=-targets.get_size_x()/2,y=0,z=0)],
offsets=[Coordinate(x=-targets.get_size_x() / 2, y=0, z=0)],
liquid_height=None,
blow_out_air_volume=None
blow_out_air_volume=None,
)
#await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
# await self.custom_delay(seconds=1) # In the simulation, we do not need to wait
await self.aspirate(
resources=[targets],
vols=[0],
use_channels=None,
flow_rates=None,
offsets=[Coordinate(x=targets.get_size_x()/2,y=0,z=0)],
offsets=[Coordinate(x=targets.get_size_x() / 2, y=0, z=0)],
liquid_height=None,
blow_out_air_volume=None
blow_out_air_volume=None,
)
async def mix(
@@ -298,7 +306,7 @@ class LiquidHandlerAbstract(LiquidHandler):
height_to_bottom: Optional[float] = None,
offsets: Optional[Coordinate] = None,
mix_rate: Optional[float] = None,
none_keys: List[str] = []
none_keys: List[str] = [],
):
if mix_time is None: # No mixing required
return
@@ -333,7 +341,7 @@ class LiquidHandlerAbstract(LiquidHandler):
tip_iter = self.iter_tips(tip_racks)
self.current_tip = tip_iter
async def move_to(self, well: Well, dis_to_top: float = 0 , channel: int = 0):
async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0):
"""
Move a single channel to a specific well with a given z-height.
@@ -352,4 +360,3 @@ class LiquidHandlerAbstract(LiquidHandler):
await self.move_channel_x(channel, abs_loc.x)
await self.move_channel_y(channel, abs_loc.y)
await self.move_channel_z(channel, abs_loc.z + well_height + dis_to_top)

154
unilabos/devices/liquid_handling/test liquid handler/convert_biomek.py Normal file
View File

@@ -0,0 +1,154 @@
import json
from typing import Sequence, Optional, List, Union, Literal
json_path = "/Users/guangxinzhang/Documents/Deep Potential/opentrons/convert/protocols/enriched_steps/sci-lucif-assay4.json"
with open(json_path, "r") as f:
data = json.load(f)
transfer_example = data[0]
#print(transfer_example)
temp_protocol = []
TipLocation = "BC1025F" # Assuming this is a fixed tip location for the transfer
sources = transfer_example["sources"] # Assuming sources is a list of Container objects
targets = transfer_example["targets"] # Assuming targets is a list of Container objects
tip_racks = transfer_example["tip_racks"] # Assuming tip_racks is a list of TipRack objects
asp_vols = transfer_example["asp_vols"] # Assuming asp_vols is a list of volumes
solvent = "PBS"
def transfer_liquid(
#self,
sources,#: Sequence[Container],
targets,#: Sequence[Container],
tip_racks,#: Sequence[TipRack],
TipLocation,
# *,
# use_channels: Optional[List[int]] = None,
asp_vols: Union[List[float], float],
solvent: Optional[str] = None,
# dis_vols: Union[List[float], float],
# asp_flow_rates: Optional[List[Optional[float]]] = None,
# dis_flow_rates: Optional[List[Optional[float]]] = None,
# offsets,#: Optional[List[]] = None,
# touch_tip: bool = False,
# liquid_height: Optional[List[Optional[float]]] = None,
# blow_out_air_volume: Optional[List[Optional[float]]] = None,
# spread: Literal["wide", "tight", "custom"] = "wide",
# is_96_well: bool = False,
# mix_stage: Optional[Literal["none", "before", "after", "both"]] = "none",
# mix_times,#: Optional[list() = None,
# mix_vol: Optional[int] = None,
# mix_rate: Optional[int] = None,
# mix_liquid_height: Optional[float] = None,
# delays: Optional[List[int]] = None,
# none_keys: List[str] = []
):
# -------- Build Biomek transfer step --------
# 1) Construct default parameter scaffold (values mirror Biomek “Transfer” block).
transfer_params = {
"Span8": False,
"Pod": "Pod1",
"items": {}, # to be filled below
"Wash": False,
"Dynamic?": True,
"AutoSelectActiveWashTechnique": False,
"ActiveWashTechnique": "",
"ChangeTipsBetweenDests": False,
"ChangeTipsBetweenSources": False,
"DefaultCaption": "", # filled after we know first pair/vol
"UseExpression": False,
"LeaveTipsOn": False,
"MandrelExpression": "",
"Repeats": "1",
"RepeatsByVolume": False,
"Replicates": "1",
"ShowTipHandlingDetails": False,
"ShowTransferDetails": True,
"Solvent": "Water",
"Span8Wash": False,
"Span8WashVolume": "2",
"Span8WasteVolume": "1",
"SplitVolume": False,
"SplitVolumeCleaning": False,
"Stop": "Destinations",
"TipLocation": "BC1025F",
"UseCurrentTips": False,
"UseDisposableTips": True,
"UseFixedTips": False,
"UseJIT": True,
"UseMandrelSelection": True,
"UseProbes": [True, True, True, True, True, True, True, True],
"WashCycles": "1",
"WashVolume": "110%",
"Wizard": False
}
items: dict = {}
for idx, (src, dst) in enumerate(zip(sources, targets)):
items[str(idx)] = {
"Source": str(src),
"Destination": str(dst),
"Volume": asp_vols[idx]
}
transfer_params["items"] = items
transfer_params["Solvent"] = solvent if solvent else "Water"
transfer_params["TipLocation"] = TipLocation
if len(tip_racks) == 1:
transfer_params['UseCurrentTips'] = True
elif len(tip_racks) > 1:
transfer_params["ChangeTipsBetweenDests"] = True
return transfer_params
action = transfer_liquid(sources=sources,targets=targets,tip_racks=tip_racks, asp_vols=asp_vols,solvent = solvent, TipLocation=TipLocation)
print(json.dumps(action,indent=2))
# print(action)
"""
"transfer": {
"items": {},
"Wash": false,
"Dynamic?": true,
"AutoSelectActiveWashTechnique": false,
"ActiveWashTechnique": "",
"ChangeTipsBetweenDests": true,
"ChangeTipsBetweenSources": false,
"DefaultCaption": "Transfer 100 µL from P13 to P3",
"UseExpression": false,
"LeaveTipsOn": false,
"MandrelExpression": "",
"Repeats": "1",
"RepeatsByVolume": false,
"Replicates": "1",
"ShowTipHandlingDetails": true,
"ShowTransferDetails": true,
"Span8Wash": false,
"Span8WashVolume": "2",
"Span8WasteVolume": "1",
"SplitVolume": false,
"SplitVolumeCleaning": false,
"Stop": "Destinations",
"TipLocation": "BC1025F",
"UseCurrentTips": false,
"UseDisposableTips": false,
"UseFixedTips": false,
"UseJIT": true,
"UseMandrelSelection": true,
"UseProbes": [true, true, true, true, true, true, true, true],
"WashCycles": "3",
"WashVolume": "110%",
"Wizard": false
"""

4033
unilabos/devices/liquid_handling/test liquid handler/sci-lucif-assay4.json Normal file
View File

File diff suppressed because it is too large Load Diff

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

33
unilabos/registry/devices/pump_and_valve.yaml
View File

@@ -28,12 +28,43 @@ syringe_pump_with_valve.runze:
- 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

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

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}"

2
unilabos/ros/msgs/message_converter.py
View File

@@ -131,7 +131,7 @@ _msg_converter: Dict[Type, Any] = {
Bool: lambda x: Bool(data=bool(x)),
str: str,
String: lambda x: String(data=str(x)),
Point: lambda x: Point(x=x.x, y=x.y, z=x.z),
Point: lambda x: Point(x=x.x, y=x.y, z=x.z) if not isinstance(x, dict) else Point(x=x.get("x", 0), y=x.get("y", 0), z=x.get("z", 0)),
Resource: lambda x: Resource(
id=x.get("id", ""),
name=x.get("name", ""),

141
unilabos/ros/nodes/base_device_node.py
View File

@@ -1,5 +1,4 @@
import copy
import functools
import json
import threading
import time
@@ -20,16 +19,29 @@ from rclpy.service import Service
from unilabos_msgs.action import SendCmd
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
initialize_resources, list_to_nested_dict, dict_to_tree, resource_plr_to_ulab, tree_to_list
from unilabos.resources.graphio import (
convert_resources_to_type,
convert_resources_from_type,
resource_ulab_to_plr,
initialize_resources,
dict_to_tree,
resource_plr_to_ulab,
tree_to_list,
)
from unilabos.ros.msgs.message_converter import (
convert_to_ros_msg,
convert_from_ros_msg,
convert_from_ros_msg_with_mapping,
convert_to_ros_msg_with_mapping, ros_action_to_json_schema,
convert_to_ros_msg_with_mapping,
)
from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
SerialCommand # type: ignore
from unilabos_msgs.srv import (
ResourceAdd,
ResourceGet,
ResourceDelete,
ResourceUpdate,
ResourceList,
SerialCommand,
) # type: ignore
from unilabos_msgs.msg import Resource # type: ignore
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
@@ -37,7 +49,7 @@ from unilabos.ros.x.rclpyx import get_event_loop
from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
from unilabos.utils.async_util import run_async_func
from unilabos.utils.log import info, debug, warning, error, critical, logger
from unilabos.utils.type_check import get_type_class, TypeEncoder
from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
T = TypeVar("T")
@@ -292,7 +304,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
self.create_ros_action_server(action_name, action_value_mapping)
# 创建线程池执行器
self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
self._executor = ThreadPoolExecutor(
max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
)
# 创建资源管理客户端
self._resource_clients: Dict[str, Client] = {
@@ -334,7 +348,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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):
if len(resources) == 1 and isinstance(resources[0], list) and not initialize_full: # 取消，不存在的情况
if (
len(resources) == 1 and isinstance(resources[0], list) and not initialize_full
): # 取消，不存在的情况
# 预先initialize过，以整组的形式传入
request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
elif initialize_full:
@@ -349,6 +365,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
response = rclient.call(request)
# 应该先add_resource了
res.response = "OK"
# 如果driver自己就有assign的方法，那就使用driver自己的assign方法
if hasattr(self.driver_instance, "create_resource"):
create_resource_func = getattr(self.driver_instance, "create_resource")
create_resource_func(
resource_tracker=self.resource_tracker,
resources=request.resources,
bind_parent_id=bind_parent_id,
bind_location=location,
liquid_input_slot=LIQUID_INPUT_SLOT,
liquid_type=ADD_LIQUID_TYPE,
liquid_volume=LIQUID_VOLUME,
slot_on_deck=slot,
)
return res
# 接下来该根据bind_parent_id进行assign了，目前只有plr可以进行assign，不然没有办法输入到物料系统中
resource = self.resource_tracker.figure_resource({"name": bind_parent_id})
# request.resources = [convert_to_ros_msg(Resource, resources)]
@@ -359,6 +389,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
from pylabrobot.resources import Coordinate
from pylabrobot.resources import OTDeck
from pylabrobot.resources import Plate
contain_model = not isinstance(resource, Deck)
if isinstance(resource, ResourcePLR):
# resources.list()
@@ -366,25 +397,38 @@ class BaseROS2DeviceNode(Node, Generic[T]):
plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
if isinstance(plr_instance, Plate):
empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
for liquid_type, liquid_volume, liquid_input_slot in zip(ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT):
for liquid_type, liquid_volume, liquid_input_slot in zip(
ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
):
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:
resource.assign_child_at_slot(plr_instance, **other_calling_param)
else:
_discard_slot = other_calling_param.pop("slot", -1)
resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
request2.resources = [convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])]
resource.assign_child_resource(
plr_instance,
Coordinate(location["x"], location["y"], location["z"]),
**other_calling_param,
)
request2.resources = [
convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])
]
rclient2.call(request2)
# 发送给ResourceMeshManager
action_client = ActionClient(
self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
self,
SendCmd,
"/devices/resource_mesh_manager/add_resource_mesh",
callback_group=self.callback_group,
)
goal = SendCmd.Goal()
goal.command = json.dumps({
goal.command = json.dumps(
{
"resources": resources,
"bind_parent_id": bind_parent_id,
})
}
)
future = action_client.send_goal_async(goal, goal_uuid=uuid.uuid4())
def done_cb(*args):
@@ -401,10 +445,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# noinspection PyTypeChecker
self._service_server: Dict[str, Service] = {
"query_host_name": self.create_service(
SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
SerialCommand,
f"/srv{self.namespace}/query_host_name",
query_host_name_cb,
callback_group=self.callback_group,
),
"append_resource": self.create_service(
SerialCommand, f"/srv{self.namespace}/append_resource", append_resource, callback_group=self.callback_group
SerialCommand,
f"/srv{self.namespace}/append_resource",
append_resource,
callback_group=self.callback_group,
),
}
@@ -433,6 +483,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
registered_devices[self.device_id] = device_info
from unilabos.config.config import BasicConfig
from unilabos.ros.nodes.presets.host_node import HostNode
if not BasicConfig.is_host_mode:
sclient = self.create_client(SerialCommand, "/node_info_update")
# 启动线程执行发送任务
@@ -440,7 +491,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
target=self.send_slave_node_info,
args=(sclient,),
daemon=True,
name=f"ROSDevice{self.device_id}_send_slave_node_info"
name=f"ROSDevice{self.device_id}_send_slave_node_info",
).start()
else:
host_node = HostNode.get_instance(0)
@@ -451,12 +502,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
sclient.wait_for_service()
request = SerialCommand.Request()
from unilabos.config.config import BasicConfig
request.command = json.dumps({
request.command = json.dumps(
{
"SYNC_SLAVE_NODE_INFO": {
"machine_name": BasicConfig.machine_name,
"type": "slave",
"edge_device_id": self.device_id
}}, ensure_ascii=False, cls=TypeEncoder)
"edge_device_id": self.device_id,
}
},
ensure_ascii=False,
cls=TypeEncoder,
)
# 发送异步请求并等待结果
future = sclient.call_async(request)
@@ -529,6 +586,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
"""创建动作执行回调函数"""
async def execute_callback(goal_handle: ServerGoalHandle):
# 初始化结果信息变量
execution_error = ""
execution_success = False
action_return_value = None
self.lab_logger().info(f"执行动作: {action_name}")
goal = goal_handle.request
@@ -568,7 +630,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
current_resources.extend(response.resources)
else:
r = ResourceGet.Request()
r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
r.id = (
action_kwargs[k]["id"]
if v == "unilabos_msgs/Resource"
else action_kwargs[k][0]["id"]
)
r.with_children = True
response = await self._resource_clients["resource_get"].call_async(r)
current_resources.extend(response.resources)
@@ -591,7 +657,19 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if asyncio.iscoroutinefunction(ACTION):
try:
self.lab_logger().info(f"异步执行动作 {ACTION}")
future = ROS2DeviceNode.run_async_func(ACTION, **action_kwargs)
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
def _handle_future_exception(fut):
nonlocal execution_error, execution_success, action_return_value
try:
action_return_value = fut.result()
execution_success = True
except Exception as e:
execution_error = traceback.format_exc()
error(f"异步任务 {ACTION.__name__} 报错了")
error(traceback.format_exc())
future.add_done_callback(_handle_future_exception)
except Exception as e:
self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
raise e
@@ -600,9 +678,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
future = self._executor.submit(ACTION, **action_kwargs)
def _handle_future_exception(fut):
nonlocal execution_error, execution_success, action_return_value
try:
fut.result()
action_return_value = fut.result()
execution_success = True
except Exception as e:
execution_error = traceback.format_exc()
error(f"同步任务 {ACTION.__name__} 报错了")
error(traceback.format_exc())
@@ -693,6 +774,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for attr_name in result_msg_types.keys():
if attr_name in ["success", "reached_goal"]:
setattr(result_msg, attr_name, True)
elif attr_name == "return_info":
setattr(result_msg, attr_name, serialize_result_info(execution_error, execution_success, action_return_value))
self.lab_logger().info(f"动作 {action_name} 完成并返回结果")
return result_msg
@@ -738,8 +821,8 @@ class ROS2DeviceNode:
return cls._loop
@classmethod
def run_async_func(cls, func, **kwargs):
return run_async_func(func, loop=cls._loop, **kwargs)
def run_async_func(cls, func, trace_error=True, **kwargs):
return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
@property
def driver_instance(self):
@@ -791,7 +874,11 @@ class ROS2DeviceNode:
self.resource_tracker = DeviceNodeResourceTracker()
# use_pylabrobot_creator 使用 cls的包路径检测
use_pylabrobot_creator = driver_class.__module__.startswith("pylabrobot") or driver_class.__name__ == "LiquidHandlerAbstract"
use_pylabrobot_creator = (
driver_class.__module__.startswith("pylabrobot")
or driver_class.__name__ == "LiquidHandlerAbstract"
or driver_class.__name__ == "LiquidHandlerBiomek"
)
# TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
# 创建设备类实例

21
unilabos/ros/nodes/presets/host_node.py
View File

@@ -151,7 +151,7 @@ class HostNode(BaseROS2DeviceNode):
mqtt_client.publish_registry(device_info["id"], device_info)
for resource_info in lab_registry.obtain_registry_resource_info():
mqtt_client.publish_registry(resource_info["id"], resource_info)
time.sleep(1) # 等待MQTT连接稳定
# 首次发现网络中的设备
self._discover_devices()
@@ -203,8 +203,12 @@ 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_add_res = bridge.resource_add(add_schema(resource_with_parent_name))
resource_start_time = time.time()
resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name), True)
resource_end_time = time.time()
self.lab_logger().info(
f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
)
except Exception as ex:
self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
self.lab_logger().error(traceback.format_exc())
@@ -610,13 +614,21 @@ class HostNode(BaseROS2DeviceNode):
"""获取结果回调"""
result_msg = future.result().result
result_data = convert_from_ros_msg(result_msg)
status = "success"
try:
ret = json.loads(result_data.get("return_info", "{}")) # 确保返回信息是有效的JSON
suc = ret.get("suc", False)
if not suc:
status = "failed"
except json.JSONDecodeError:
status = "failed"
self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): success")
self.lab_logger().debug(f"[Host Node] Result data: {result_data}")
if uuid_str:
for bridge in self.bridges:
if hasattr(bridge, "publish_job_status"):
bridge.publish_job_status(result_data, uuid_str, "success")
bridge.publish_job_status(result_data, uuid_str, status, result_data.get("return_info", "{}"))
def cancel_goal(self, goal_uuid: str) -> None:
"""取消目标"""
@@ -856,7 +868,6 @@ class HostNode(BaseROS2DeviceNode):
测试网络延迟的action实现
通过5次ping-pong机制校对时间误差并计算实际延迟
"""
import time
import uuid as uuid_module
self.lab_logger().info("=" * 60)

3
unilabos/utils/async_util.py
View File

@@ -5,7 +5,7 @@ from asyncio import get_event_loop
from unilabos.utils.log import error
def run_async_func(func, *, loop=None, **kwargs):
def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
if loop is None:
loop = get_event_loop()
@@ -17,5 +17,6 @@ def run_async_func(func, *, loop=None, **kwargs):
error(traceback.format_exc())
future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
if trace_error:
future.add_done_callback(_handle_future_exception)
return future

45
unilabos/utils/type_check.py
View File

@@ -1,4 +1,4 @@
import collections
import collections.abc
import json
from typing import get_origin, get_args
@@ -21,3 +21,46 @@ class TypeEncoder(json.JSONEncoder):
return str(obj)[8:-2]
return super().default(obj)
class ResultInfoEncoder(json.JSONEncoder):
"""专门用于处理任务执行结果信息的JSON编码器"""
def default(self, obj):
# 优先处理类型对象
if isinstance(obj, type):
return str(obj)[8:-2]
# 对于无法序列化的对象，统一转换为字符串
try:
# 尝试调用 __dict__ 或者其他序列化方法
if hasattr(obj, "__dict__"):
return obj.__dict__
elif hasattr(obj, "_asdict"): # namedtuple
return obj._asdict()
elif hasattr(obj, "to_dict"):
return obj.to_dict()
elif hasattr(obj, "dict"):
return obj.dict()
else:
# 如果都不行，转换为字符串
return str(obj)
except Exception:
# 如果转换失败，直接返回字符串表示
return str(obj)
def serialize_result_info(error: str, suc: bool, return_value=None) -> str:
"""
序列化任务执行结果信息
Args:
error: 错误信息字符串
suc: 是否成功的布尔值
return_value: 返回值，可以是任何类型
Returns:
JSON字符串格式的结果信息
"""
result_info = {"error": error, "suc": suc, "return_value": return_value}
return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)

7
unilabos_msgs/CMakeLists.txt
View File

@@ -29,6 +29,8 @@ set(action_files
"action/HeatChillStart.action"
"action/HeatChillStop.action"
"action/LiquidHandlerProtocolCreation.action"
"action/LiquidHandlerAspirate.action"
"action/LiquidHandlerDiscardTips.action"
"action/LiquidHandlerDispense.action"
@@ -44,6 +46,11 @@ set(action_files
"action/LiquidHandlerStamp.action"
"action/LiquidHandlerTransfer.action"
"action/LiquidHandlerTransferBiomek.action"
"action/LiquidHandlerIncubateBiomek.action"
"action/LiquidHandlerMoveBiomek.action"
"action/LiquidHandlerOscillateBiomek.action"
"action/LiquidHandlerAdd.action"
"action/LiquidHandlerMix.action"
"action/LiquidHandlerMoveTo.action"

1
unilabos_msgs/action/AGVTransfer.action
View File

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

1
unilabos_msgs/action/Clean.action
View File

@@ -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

2
unilabos_msgs/action/EmptyIn.action
View File

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

1
unilabos_msgs/action/EvacuateAndRefill.action
View File

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

1
unilabos_msgs/action/Evaporate.action
View File

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

1
unilabos_msgs/action/FloatSingleInput.action
View File

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

1
unilabos_msgs/action/HeatChill.action
View File

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

1
unilabos_msgs/action/HeatChillStart.action
View File

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

1
unilabos_msgs/action/HeatChillStop.action
View File

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

1
unilabos_msgs/action/IntSingleInput.action
View File

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

1
unilabos_msgs/action/LiquidHandlerAdd.action
View File

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

1
unilabos_msgs/action/LiquidHandlerAspirate.action
View File

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

1
unilabos_msgs/action/LiquidHandlerDiscardTips.action
View File

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

1
unilabos_msgs/action/LiquidHandlerDispense.action
View File

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

1
unilabos_msgs/action/LiquidHandlerDropTips.action
View File

@@ -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

1
unilabos_msgs/action/LiquidHandlerDropTips96.action
View File

@@ -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

6
unilabos_msgs/action/LiquidHandlerIncubateBiomek.action Normal file
View File

@@ -0,0 +1,6 @@
int32 time
---
string return_info
bool success
---

1
unilabos_msgs/action/LiquidHandlerMix.action
View File

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

7
unilabos_msgs/action/LiquidHandlerMoveBiomek.action Normal file
View File

@@ -0,0 +1,7 @@
string source
string target
---
string return_info
bool success
---

1
unilabos_msgs/action/LiquidHandlerMoveLid.action
View File

@@ -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

1
unilabos_msgs/action/LiquidHandlerMovePlate.action
View File

@@ -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

1
unilabos_msgs/action/LiquidHandlerMoveResource.action
View File

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

1
unilabos_msgs/action/LiquidHandlerMoveTo.action
View File

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

7
unilabos_msgs/action/LiquidHandlerOscillateBiomek.action Normal file
View File

@@ -0,0 +1,7 @@
int32 rpm
int32 time
---
string return_info
bool success
---

1
unilabos_msgs/action/LiquidHandlerPickUpTips.action
View File

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

1
unilabos_msgs/action/LiquidHandlerPickUpTips96.action
View File

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

10
unilabos_msgs/action/LiquidHandlerProtocolCreation.action Normal file
View File

@@ -0,0 +1,10 @@
string protocol_name
string protocol_description
string protocol_version
string protocol_author
string protocol_date
string protocol_type
string[] none_keys
---
string return_info
---

1
unilabos_msgs/action/LiquidHandlerRemove.action
View File

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

1
unilabos_msgs/action/LiquidHandlerReturnTips.action
View File

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

1
unilabos_msgs/action/LiquidHandlerReturnTips96.action
View File

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

1
unilabos_msgs/action/LiquidHandlerStamp.action
View File

@@ -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

1
unilabos_msgs/action/LiquidHandlerTransfer.action
View File

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

11
unilabos_msgs/action/LiquidHandlerTransferBiomek.action Normal file
View File

@@ -0,0 +1,11 @@
string source
string target
string tip_rack
float64 volume
string aspirate_technique
string dispense_technique
---
string return_info
bool success
---

1
unilabos_msgs/action/Point3DSeparateInput.action
View File

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

1
unilabos_msgs/action/PumpTransfer.action
View File

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

1
unilabos_msgs/action/ResourceCreateFromOuter.action
View File

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

1
unilabos_msgs/action/ResourceCreateFromOuterEasy.action
View File

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

1
unilabos_msgs/action/SendCmd.action
View File

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

1
unilabos_msgs/action/Separate.action
View File

@@ -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

1
unilabos_msgs/action/SolidDispenseAddPowderTube.action
View File

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

1
unilabos_msgs/action/Stir.action
View File

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

1
unilabos_msgs/action/StrSingleInput.action
View File

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

1
unilabos_msgs/action/WorkStationRun.action
View File

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