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Dev backward (#228)

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* Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

* CI Check Fix 1

* CI Check Fix 2

* CI Check Fix 3

* CI Check Fix 4

* CI Check Fix 5

* Upgrade to py 3.11.14; ros 0.7; unilabos 0.10.16

* Update to ROS2 Humble 0.7

* Fix Build 1

* Fix Build 2

* Fix Build 3

* Fix Build 4

* Fix Build 5

* Fix Build 6

* Fix Build 7

* ci(deps): bump actions/configure-pages from 4 to 5 (#222)

Bumps [actions/configure-pages](https://github.com/actions/configure-pages) from 4 to 5.
- [Release notes](https://github.com/actions/configure-pages/releases)
- [Commits](https://github.com/actions/configure-pages/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/configure-pages
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-artifact from 4 to 6 (#224)

Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4 to 6.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](https://github.com/actions/upload-artifact/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-pages-artifact from 3 to 4 (#225)

Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 3 to 4.
- [Release notes](https://github.com/actions/upload-pages-artifact/releases)
- [Commits](https://github.com/actions/upload-pages-artifact/compare/v3...v4)

---
updated-dependencies:
- dependency-name: actions/upload-pages-artifact
  dependency-version: '4'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/checkout from 4 to 6 (#223)

Bumps [actions/checkout](https://github.com/actions/checkout) from 4 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* Fix Build 8

* Fix Build 9

* Fix Build 10

* Fix Build 11

* Fix Build 12

* Fix Build 13

* v0.10.17

(cherry picked from commit 176de521b4)

* CI Check use production mode

* Fix OT2 & ReAdd Virtual Devices

* add msg goal

* transfer liquid handles

* gather query

* add unilabos_class

* Support root node change pos

* save class name when deserialize & protocol execute test

* fix upload workflow json

* workflow upload & set liquid fix & add set liquid with plate

* speed up registry load

---------

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: hanhua@dp.tech <2509856570@qq.com>
This commit is contained in:
Xuwznln
2026-02-02 23:57:13 +08:00
committed by GitHub
parent c4a3be1498
commit e30c01d54e
65 changed files with 4603 additions and 1655 deletions
Download Patch File Download Diff File Expand all files Collapse all files

187
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -9284,7 +9284,13 @@ liquid_handler.prcxi:
data_source: handle
data_type: resource
handler_key: input_wells
label: InputWells
label: 待设定液体孔
output:
- data_key: wells.@flatten
data_source: executor
data_type: resource
handler_key: output_wells
label: 已设定液体孔
placeholder_keys:
wells: unilabos_resources
result: {}
@@ -9400,6 +9406,163 @@ liquid_handler.prcxi:
title: LiquidHandlerSetLiquid
type: object
type: LiquidHandlerSetLiquid
set_liquid_from_plate:
feedback: {}
goal: {}
goal_default:
liquid_names: null
plate: null
volumes: null
well_names: null
handles:
input:
- data_key: plate
data_source: handle
data_type: resource
handler_key: input_plate
label: 待设定液体板
output:
- data_key: plate.@flatten
data_source: executor
data_type: resource
handler_key: output_plate
label: 已设定液体板
- data_key: wells.@flatten
data_source: executor
data_type: resource
handler_key: output_wells
label: 已设定液体孔
- data_key: volumes
data_source: executor
data_type: number_array
handler_key: output_volumes
label: 各孔设定体积
placeholder_keys:
plate: unilabos_resources
result: {}
schema:
description: ''
properties:
feedback: {}
goal:
properties:
liquid_names:
items:
type: string
type: array
plate:
properties:
category:
type: string
children:
items:
type: string
type: array
config:
type: string
data:
type: string
id:
type: string
name:
type: string
parent:
type: string
pose:
properties:
orientation:
properties:
w:
type: number
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
- w
title: orientation
type: object
position:
properties:
x:
type: number
y:
type: number
z:
type: number
required:
- x
- y
- z
title: position
type: object
required:
- position
- orientation
title: pose
type: object
sample_id:
type: string
type:
type: string
required:
- id
- name
- sample_id
- children
- parent
- type
- category
- pose
- config
- data
title: plate
type: object
volumes:
items:
type: number
type: array
well_names:
items:
type: string
type: array
required:
- plate
- well_names
- liquid_names
- volumes
type: object
result:
properties:
plate:
items: {}
title: Plate
type: array
volumes:
items:
type: number
title: Volumes
type: array
wells:
items: {}
title: Wells
type: array
required:
- plate
- wells
- volumes
title: SetLiquidFromPlateReturn
type: object
required:
- goal
title: set_liquid_from_plate参数
type: object
type: UniLabJsonCommand
set_tiprack:
feedback: {}
goal:
@@ -9745,21 +9908,21 @@ liquid_handler.prcxi:
- 0
handles:
input:
- data_key: liquid
- data_key: sources
data_source: handle
data_type: resource
handler_key: sources
label: sources
- data_key: liquid
data_source: executor
handler_key: sources_identifier
label: 待移动液体
- data_key: targets
data_source: handle
data_type: resource
handler_key: targets
label: targets
- data_key: liquid
data_source: executor
handler_key: targets_identifier
label: 转移目标
- data_key: tip_rack
data_source: handle
data_type: resource
handler_key: tip_rack
label: tip_rack
handler_key: tip_rack_identifier
label: 墙头盒
output:
- data_key: liquid
data_source: handle

378
unilabos/registry/devices/virtual_device.yaml
View File

@@ -5792,3 +5792,381 @@ virtual_vacuum_pump:
- status
type: object
version: 1.0.0
virtual_workbench:
category:
- virtual_device
class:
action_value_mappings:
auto-move_to_heating_station:
feedback: {}
goal: {}
goal_default:
material_number: null
handles:
input:
- data_key: material_number
data_source: handle
data_type: workbench_material
handler_key: material_input
label: 物料编号
output:
- data_key: station_id
data_source: executor
data_type: workbench_station
handler_key: heating_station_output
label: 加热台ID
- data_key: material_number
data_source: executor
data_type: workbench_material
handler_key: material_number_output
label: 物料编号
placeholder_keys: {}
result: {}
schema:
description: 将物料从An位置移动到空闲加热台，返回分配的加热台ID
properties:
feedback: {}
goal:
properties:
material_number:
description: 物料编号，1-5，物料ID自动生成为A{n}
type: integer
required:
- material_number
type: object
result:
description: move_to_heating_station 返回类型
properties:
material_id:
title: Material Id
type: string
material_number:
title: Material Number
type: integer
message:
title: Message
type: string
station_id:
description: 分配的加热台ID
title: Station Id
type: integer
success:
title: Success
type: boolean
required:
- success
- station_id
- material_id
- material_number
- message
title: MoveToHeatingStationResult
type: object
required:
- goal
title: move_to_heating_station参数
type: object
type: UniLabJsonCommand
auto-move_to_output:
feedback: {}
goal: {}
goal_default:
material_number: null
station_id: null
handles:
input:
- data_key: station_id
data_source: handle
data_type: workbench_station
handler_key: output_station_input
label: 加热台ID
- data_key: material_number
data_source: handle
data_type: workbench_material
handler_key: output_material_input
label: 物料编号
placeholder_keys: {}
result: {}
schema:
description: 将物料从加热台移动到输出位置Cn
properties:
feedback: {}
goal:
properties:
material_number:
description: 物料编号，用于确定输出位置Cn
type: integer
station_id:
description: 加热台ID，1-3，从上一节点传入
type: integer
required:
- station_id
- material_number
type: object
result:
description: move_to_output 返回类型
properties:
material_id:
title: Material Id
type: string
station_id:
title: Station Id
type: integer
success:
title: Success
type: boolean
required:
- success
- station_id
- material_id
title: MoveToOutputResult
type: object
required:
- goal
title: move_to_output参数
type: object
type: UniLabJsonCommand
auto-prepare_materials:
feedback: {}
goal: {}
goal_default:
count: 5
handles:
output:
- data_key: material_1
data_source: executor
data_type: workbench_material
handler_key: channel_1
label: 实验1
- data_key: material_2
data_source: executor
data_type: workbench_material
handler_key: channel_2
label: 实验2
- data_key: material_3
data_source: executor
data_type: workbench_material
handler_key: channel_3
label: 实验3
- data_key: material_4
data_source: executor
data_type: workbench_material
handler_key: channel_4
label: 实验4
- data_key: material_5
data_source: executor
data_type: workbench_material
handler_key: channel_5
label: 实验5
placeholder_keys: {}
result: {}
schema:
description: 批量准备物料 - 虚拟起始节点，生成A1-A5物料，输出5个handle供后续节点使用
properties:
feedback: {}
goal:
properties:
count:
default: 5
description: 待生成的物料数量，默认5 (生成 A1-A5)
type: integer
required: []
type: object
result:
description: prepare_materials 返回类型 - 批量准备物料
properties:
count:
title: Count
type: integer
material_1:
title: Material 1
type: integer
material_2:
title: Material 2
type: integer
material_3:
title: Material 3
type: integer
material_4:
title: Material 4
type: integer
material_5:
title: Material 5
type: integer
message:
title: Message
type: string
success:
title: Success
type: boolean
required:
- success
- count
- material_1
- material_2
- material_3
- material_4
- material_5
- message
title: PrepareMaterialsResult
type: object
required:
- goal
title: prepare_materials参数
type: object
type: UniLabJsonCommand
auto-start_heating:
feedback: {}
goal: {}
goal_default:
material_number: null
station_id: null
handles:
input:
- data_key: station_id
data_source: handle
data_type: workbench_station
handler_key: station_id_input
label: 加热台ID
- data_key: material_number
data_source: handle
data_type: workbench_material
handler_key: material_number_input
label: 物料编号
output:
- data_key: station_id
data_source: executor
data_type: workbench_station
handler_key: heating_done_station
label: 加热完成-加热台ID
- data_key: material_number
data_source: executor
data_type: workbench_material
handler_key: heating_done_material
label: 加热完成-物料编号
placeholder_keys: {}
result: {}
schema:
description: 启动指定加热台的加热程序
properties:
feedback: {}
goal:
properties:
material_number:
description: 物料编号，从上一节点传入
type: integer
station_id:
description: 加热台ID，1-3，从上一节点传入
type: integer
required:
- station_id
- material_number
type: object
result:
description: start_heating 返回类型
properties:
material_id:
title: Material Id
type: string
material_number:
title: Material Number
type: integer
message:
title: Message
type: string
station_id:
title: Station Id
type: integer
success:
title: Success
type: boolean
required:
- success
- station_id
- material_id
- material_number
- message
title: StartHeatingResult
type: object
required:
- goal
title: start_heating参数
type: object
type: UniLabJsonCommand
module: unilabos.devices.virtual.workbench:VirtualWorkbench
status_types:
active_tasks_count: int
arm_current_task: str
arm_state: str
heating_station_1_material: str
heating_station_1_progress: float
heating_station_1_state: str
heating_station_2_material: str
heating_station_2_progress: float
heating_station_2_state: str
heating_station_3_material: str
heating_station_3_progress: float
heating_station_3_state: str
message: str
status: str
type: python
config_info: []
description: Virtual Workbench with 1 robotic arm and 3 heating stations for concurrent
material processing
handles: []
icon: ''
init_param_schema:
config:
properties:
config:
type: string
device_id:
type: string
required: []
type: object
data:
properties:
active_tasks_count:
type: integer
arm_current_task:
type: string
arm_state:
type: string
heating_station_1_material:
type: string
heating_station_1_progress:
type: number
heating_station_1_state:
type: string
heating_station_2_material:
type: string
heating_station_2_progress:
type: number
heating_station_2_state:
type: string
heating_station_3_material:
type: string
heating_station_3_progress:
type: number
heating_station_3_state:
type: string
message:
type: string
status:
type: string
required:
- status
- arm_state
- arm_current_task
- heating_station_1_state
- heating_station_1_material
- heating_station_1_progress
- heating_station_2_state
- heating_station_2_material
- heating_station_2_progress
- heating_station_3_state
- heating_station_3_material
- heating_station_3_progress
- active_tasks_count
- message
type: object
version: 1.0.0

608
unilabos/registry/registry.py
View File

@@ -4,6 +4,8 @@ import os
import sys
import inspect
import importlib
import threading
from concurrent.futures import ThreadPoolExecutor, as_completed
from pathlib import Path
from typing import Any, Dict, List, Union, Tuple
@@ -60,6 +62,7 @@ class Registry:
self.device_module_to_registry = {}
self.resource_type_registry = {}
self._setup_called = False # 跟踪setup是否已调用
self._registry_lock = threading.Lock() # 多线程加载时的锁
# 其他状态变量
# self.is_host_mode = False # 移至BasicConfig中
@@ -71,6 +74,20 @@ class Registry:
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
# 获取 HostNode 类的增强信息，用于自动生成 action schema
host_node_enhanced_info = get_enhanced_class_info(
"unilabos.ros.nodes.presets.host_node:HostNode", use_dynamic=True
)
# 为 test_latency 生成 schema，保留原有 description
test_latency_method_info = host_node_enhanced_info.get("action_methods", {}).get("test_latency", {})
test_latency_schema = self._generate_unilab_json_command_schema(
test_latency_method_info.get("args", []),
"test_latency",
test_latency_method_info.get("return_annotation"),
)
test_latency_schema["description"] = "用于测试延迟的动作，返回延迟时间和时间差。"
self.device_type_registry.update(
{
"host_node": {
@@ -149,17 +166,22 @@ class Registry:
"res_id": "unilabos_resources", # 将当前实验室的全部物料id作为下拉框可选择
"device_id": "unilabos_devices", # 将当前实验室的全部设备id作为下拉框可选择
"parent": "unilabos_nodes", # 将当前实验室的设备/物料作为下拉框可选择
"class_name": "unilabos_class",
},
},
"test_latency": {
"type": self.EmptyIn,
"type": (
"UniLabJsonCommandAsync"
if test_latency_method_info.get("is_async", False)
else "UniLabJsonCommand"
),
"goal": {},
"feedback": {},
"result": {},
"schema": ros_action_to_json_schema(
self.EmptyIn, "用于测试延迟的动作，返回延迟时间和时间差。"
),
"goal_default": {},
"schema": test_latency_schema,
"goal_default": {
arg["name"]: arg["default"] for arg in test_latency_method_info.get("args", [])
},
"handles": {},
},
"auto-test_resource": {
@@ -242,67 +264,115 @@ class Registry:
# 标记setup已被调用
self._setup_called = True
def _load_single_resource_file(
self, file: Path, complete_registry: bool, upload_registry: bool
) -> Tuple[Dict[str, Any], Dict[str, Any], bool]:
"""
加载单个资源文件 (线程安全)
Returns:
(data, complete_data, is_valid): 资源数据, 完整数据, 是否有效
"""
try:
with open(file, encoding="utf-8", mode="r") as f:
data = yaml.safe_load(io.StringIO(f.read()))
except Exception as e:
logger.warning(f"[UniLab Registry] 读取资源文件失败: {file}, 错误: {e}")
return {}, {}, False
if not data:
return {}, {}, False
complete_data = {}
for resource_id, resource_info in data.items():
if "version" not in resource_info:
resource_info["version"] = "1.0.0"
if "category" not in resource_info:
resource_info["category"] = [file.stem]
elif file.stem not in resource_info["category"]:
resource_info["category"].append(file.stem)
elif not isinstance(resource_info.get("category"), list):
resource_info["category"] = [resource_info["category"]]
if "config_info" not in resource_info:
resource_info["config_info"] = []
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"] = {}
if "config_info" in resource_info:
del resource_info["config_info"]
if "file_path" in resource_info:
del resource_info["file_path"]
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
if upload_registry:
class_info = resource_info.get("class", {})
if len(class_info) and "module" in class_info:
if class_info.get("type") == "pylabrobot":
res_class = get_class(class_info["module"])
if callable(res_class) and not isinstance(res_class, type):
res_instance = res_class(res_class.__name__)
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
resource_info["config_info"] = res_ulr
resource_info["registry_type"] = "resource"
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
complete_data = dict(sorted(complete_data.items()))
complete_data = copy.deepcopy(complete_data)
if complete_registry:
try:
with open(file, "w", encoding="utf-8") as f:
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
except Exception as e:
logger.warning(f"[UniLab Registry] 写入资源文件失败: {file}, 错误: {e}")
return data, complete_data, True
def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
abs_path = Path(path).absolute()
resource_path = abs_path / "resources"
files = list(resource_path.glob("*/*.yaml"))
logger.trace(f"[UniLab Registry] load resources? {resource_path.exists()}, total: {len(files)}")
current_resource_number = len(self.resource_type_registry) + 1
for i, file in enumerate(files):
with open(file, encoding="utf-8", mode="r") as f:
data = yaml.safe_load(io.StringIO(f.read()))
complete_data = {}
if data:
# 为每个资源添加文件路径信息
for resource_id, resource_info in data.items():
if "version" not in resource_info:
resource_info["version"] = "1.0.0"
if "category" not in resource_info:
resource_info["category"] = [file.stem]
elif file.stem not in resource_info["category"]:
resource_info["category"].append(file.stem)
elif not isinstance(resource_info.get("category"), list):
resource_info["category"] = [resource_info["category"]]
if "config_info" not in resource_info:
resource_info["config_info"] = []
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"] = {}
if "config_info" in resource_info:
del resource_info["config_info"]
if "file_path" in resource_info:
del resource_info["file_path"]
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
if upload_registry:
class_info = resource_info.get("class", {})
if len(class_info) and "module" in class_info:
if class_info.get("type") == "pylabrobot":
res_class = get_class(class_info["module"])
if callable(res_class) and not isinstance(
res_class, type
): # 有的是类，有的是函数，这里暂时只登记函数类的
res_instance = res_class(res_class.__name__)
res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
resource_info["config_info"] = res_ulr
resource_info["registry_type"] = "resource"
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
complete_data = dict(sorted(complete_data.items()))
complete_data = copy.deepcopy(complete_data)
if complete_registry:
with open(file, "w", encoding="utf-8") as f:
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
logger.debug(f"[UniLab Registry] resources: {resource_path.exists()}, total: {len(files)}")
if not files:
return
# 使用线程池并行加载
max_workers = min(8, len(files))
results = []
with ThreadPoolExecutor(max_workers=max_workers) as executor:
future_to_file = {
executor.submit(self._load_single_resource_file, file, complete_registry, upload_registry): file
for file in files
}
for future in as_completed(future_to_file):
file = future_to_file[future]
try:
data, complete_data, is_valid = future.result()
if is_valid:
results.append((file, data))
except Exception as e:
logger.warning(f"[UniLab Registry] 处理资源文件异常: {file}, 错误: {e}")
# 线程安全地更新注册表
current_resource_number = len(self.resource_type_registry) + 1
with self._registry_lock:
for i, (file, data) in enumerate(results):
self.resource_type_registry.update(data)
logger.trace( # type: ignore
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(files)} "
logger.trace(
f"[UniLab Registry] Resource-{current_resource_number} File-{i+1}/{len(results)} "
+ f"Add {list(data.keys())}"
)
current_resource_number += 1
else:
logger.debug(f"[UniLab Registry] Res File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}")
# 记录无效文件
valid_files = {r[0] for r in results}
for file in files:
if file not in valid_files:
logger.debug(f"[UniLab Registry] Res File Not Valid YAML File: {file.absolute()}")
def _extract_class_docstrings(self, module_string: str) -> Dict[str, str]:
"""
@@ -540,11 +610,9 @@ class Registry:
return final_schema
def _preserve_field_descriptions(
self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]
) -> None:
def _preserve_field_descriptions(self, new_schema: Dict[str, Any], previous_schema: Dict[str, Any]) -> None:
"""
保留之前 schema 中 goal/feedback/result 下一级字段的 description
保留之前 schema 中 goal/feedback/result 下一级字段的 description 和 title
Args:
new_schema: 新生成的 schema（会被修改）
@@ -566,6 +634,9 @@ class Registry:
# 保留字段的 description
if "description" in prev_field and prev_field["description"]:
field_schema["description"] = prev_field["description"]
# 保留字段的 title（用户自定义的中文名）
if "title" in prev_field and prev_field["title"]:
field_schema["title"] = prev_field["title"]
def _is_typed_dict(self, annotation: Any) -> bool:
"""
@@ -653,213 +724,244 @@ class Registry:
"handles": {},
}
def _load_single_device_file(
self, file: Path, complete_registry: bool, get_yaml_from_goal_type
) -> Tuple[Dict[str, Any], Dict[str, Any], bool, List[str]]:
"""
加载单个设备文件 (线程安全)
Returns:
(data, complete_data, is_valid, device_ids): 设备数据, 完整数据, 是否有效, 设备ID列表
"""
try:
with open(file, encoding="utf-8", mode="r") as f:
data = yaml.safe_load(io.StringIO(f.read()))
except Exception as e:
logger.warning(f"[UniLab Registry] 读取设备文件失败: {file}, 错误: {e}")
return {}, {}, False, []
if not data:
return {}, {}, False, []
complete_data = {}
action_str_type_mapping = {
"UniLabJsonCommand": "UniLabJsonCommand",
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
}
status_str_type_mapping = {}
device_ids = []
for device_id, device_config in data.items():
if "version" not in device_config:
device_config["version"] = "1.0.0"
if "category" not in device_config:
device_config["category"] = [file.stem]
elif file.stem not in device_config["category"]:
device_config["category"].append(file.stem)
if "config_info" not in device_config:
device_config["config_info"] = []
if "description" not in device_config:
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"] = {}
if "class" in device_config:
if "status_types" not in device_config["class"] or device_config["class"]["status_types"] is None:
device_config["class"]["status_types"] = {}
if (
"action_value_mappings" not in device_config["class"]
or device_config["class"]["action_value_mappings"] is None
):
device_config["class"]["action_value_mappings"] = {}
enhanced_info = {}
if complete_registry:
device_config["class"]["status_types"].clear()
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
if not enhanced_info.get("dynamic_import_success", False):
continue
device_config["class"]["status_types"].update(
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
)
for status_name, status_type in device_config["class"]["status_types"].items():
if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
status_type = "String"
device_config["class"]["status_types"][status_name] = status_type
try:
target_type = self._replace_type_with_class(status_type, device_id, f"状态 {status_name}")
except ROSMsgNotFound:
continue
if target_type in [dict, list]:
target_type = String
status_str_type_mapping[status_type] = target_type
device_config["class"]["status_types"] = dict(sorted(device_config["class"]["status_types"].items()))
if complete_registry:
old_action_configs = {}
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
old_action_configs[action_name] = action_config
device_config["class"]["action_value_mappings"] = {
k: v
for k, v in device_config["class"]["action_value_mappings"].items()
if not k.startswith("auto-")
}
device_config["class"]["action_value_mappings"].update(
{
f"auto-{k}": {
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
"goal": {},
"feedback": {},
"result": {},
"schema": self._generate_unilab_json_command_schema(
v["args"],
k,
v.get("return_annotation"),
old_action_configs.get(f"auto-{k}", {}).get("schema"),
),
"goal_default": {i["name"]: i["default"] for i in v["args"]},
"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
"placeholder_keys": {
i["name"]: (
"unilabos_resources"
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
or i["type"] == ("list", "unilabos.registry.placeholder_type:ResourceSlot")
else "unilabos_devices"
)
for i in v["args"]
if i.get("type", "")
in [
"unilabos.registry.placeholder_type:ResourceSlot",
"unilabos.registry.placeholder_type:DeviceSlot",
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
]
},
}
for k, v in enhanced_info["action_methods"].items()
if k not in device_config["class"]["action_value_mappings"]
}
)
for action_name, old_config in old_action_configs.items():
if action_name in device_config["class"]["action_value_mappings"]:
old_schema = old_config.get("schema", {})
if "description" in old_schema and old_schema["description"]:
device_config["class"]["action_value_mappings"][action_name]["schema"][
"description"
] = old_schema["description"]
device_config["init_param_schema"] = {}
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
enhanced_info["init_params"], "__init__"
)["properties"]["goal"]
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
enhanced_info["status_methods"]
)
device_config.pop("schema", None)
device_config["class"]["action_value_mappings"] = dict(
sorted(device_config["class"]["action_value_mappings"].items())
)
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
if "handles" not in action_config:
action_config["handles"] = {}
elif isinstance(action_config["handles"], list):
if len(action_config["handles"]):
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
continue
else:
action_config["handles"] = {}
if "type" in action_config:
action_type_str: str = action_config["type"]
if not action_type_str.startswith("UniLabJsonCommand"):
try:
target_type = self._replace_type_with_class(
action_type_str, device_id, f"动作 {action_name}"
)
except ROSMsgNotFound:
continue
action_str_type_mapping[action_type_str] = target_type
if target_type is not None:
action_config["goal_default"] = yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
)
action_config["schema"] = ros_action_to_json_schema(target_type)
else:
logger.warning(
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
)
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items())))
for status_name, status_type in device_config["class"]["status_types"].items():
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
if action_config["type"] not in action_str_type_mapping:
continue
action_config["type"] = action_str_type_mapping[action_config["type"]]
self._add_builtin_actions(device_config, device_id)
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
device_config["registry_type"] = "device"
device_ids.append(device_id)
complete_data = dict(sorted(complete_data.items()))
complete_data = copy.deepcopy(complete_data)
try:
with open(file, "w", encoding="utf-8") as f:
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
except Exception as e:
logger.warning(f"[UniLab Registry] 写入设备文件失败: {file}, 错误: {e}")
return data, complete_data, True, device_ids
def load_device_types(self, path: os.PathLike, complete_registry: bool):
# return
abs_path = Path(path).absolute()
devices_path = abs_path / "devices"
device_comms_path = abs_path / "device_comms"
files = list(devices_path.glob("*.yaml")) + list(device_comms_path.glob("*.yaml"))
logger.trace( # type: ignore
logger.trace(
f"[UniLab Registry] devices: {devices_path.exists()}, device_comms: {device_comms_path.exists()}, "
+ f"total: {len(files)}"
)
current_device_number = len(self.device_type_registry) + 1
if not files:
return
from unilabos.app.web.utils.action_utils import get_yaml_from_goal_type
for i, file in enumerate(files):
with open(file, encoding="utf-8", mode="r") as f:
data = yaml.safe_load(io.StringIO(f.read()))
complete_data = {}
action_str_type_mapping = {
"UniLabJsonCommand": "UniLabJsonCommand",
"UniLabJsonCommandAsync": "UniLabJsonCommandAsync",
# 使用线程池并行加载
max_workers = min(8, len(files))
results = []
with ThreadPoolExecutor(max_workers=max_workers) as executor:
future_to_file = {
executor.submit(self._load_single_device_file, file, complete_registry, get_yaml_from_goal_type): file
for file in files
}
status_str_type_mapping = {}
if data:
# 在添加到注册表前处理类型替换
for device_id, device_config in data.items():
# 添加文件路径信息 - 使用规范化的完整文件路径
if "version" not in device_config:
device_config["version"] = "1.0.0"
if "category" not in device_config:
device_config["category"] = [file.stem]
elif file.stem not in device_config["category"]:
device_config["category"].append(file.stem)
if "config_info" not in device_config:
device_config["config_info"] = []
if "description" not in device_config:
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"] = {}
if "class" in device_config:
if (
"status_types" not in device_config["class"]
or device_config["class"]["status_types"] is None
):
device_config["class"]["status_types"] = {}
if (
"action_value_mappings" not in device_config["class"]
or device_config["class"]["action_value_mappings"] is None
):
device_config["class"]["action_value_mappings"] = {}
enhanced_info = {}
if complete_registry:
device_config["class"]["status_types"].clear()
enhanced_info = get_enhanced_class_info(device_config["class"]["module"], use_dynamic=True)
if not enhanced_info.get("dynamic_import_success", False):
continue
device_config["class"]["status_types"].update(
{k: v["return_type"] for k, v in enhanced_info["status_methods"].items()}
)
for status_name, status_type in device_config["class"]["status_types"].items():
if isinstance(status_type, tuple) or status_type in ["Any", "None", "Unknown"]:
status_type = "String" # 替换成ROS的String，便于显示
device_config["class"]["status_types"][status_name] = status_type
try:
target_type = self._replace_type_with_class(
status_type, device_id, f"状态 {status_name}"
)
except ROSMsgNotFound:
continue
if target_type in [
dict,
list,
]: # 对于嵌套类型返回的对象，暂时处理成字符串，无法直接进行转换
target_type = String
status_str_type_mapping[status_type] = target_type
device_config["class"]["status_types"] = dict(
sorted(device_config["class"]["status_types"].items())
)
if complete_registry:
# 保存原有的 action 配置（用于保留 schema 的 description 和 handles 等）
old_action_configs = {}
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
old_action_configs[action_name] = action_config
for future in as_completed(future_to_file):
file = future_to_file[future]
try:
data, complete_data, is_valid, device_ids = future.result()
if is_valid:
results.append((file, data, device_ids))
except Exception as e:
logger.warning(f"[UniLab Registry] 处理设备文件异常: {file}, 错误: {e}")
device_config["class"]["action_value_mappings"] = {
k: v
for k, v in device_config["class"]["action_value_mappings"].items()
if not k.startswith("auto-")
}
# 处理动作值映射
device_config["class"]["action_value_mappings"].update(
{
f"auto-{k}": {
"type": "UniLabJsonCommandAsync" if v["is_async"] else "UniLabJsonCommand",
"goal": {},
"feedback": {},
"result": {},
"schema": self._generate_unilab_json_command_schema(
v["args"],
k,
v.get("return_annotation"),
# 传入旧的 schema 以保留字段 description
old_action_configs.get(f"auto-{k}", {}).get("schema"),
),
"goal_default": {i["name"]: i["default"] for i in v["args"]},
# 保留原有的 handles 配置
"handles": old_action_configs.get(f"auto-{k}", {}).get("handles", []),
"placeholder_keys": {
i["name"]: (
"unilabos_resources"
if i["type"] == "unilabos.registry.placeholder_type:ResourceSlot"
or i["type"]
== ("list", "unilabos.registry.placeholder_type:ResourceSlot")
else "unilabos_devices"
)
for i in v["args"]
if i.get("type", "")
in [
"unilabos.registry.placeholder_type:ResourceSlot",
"unilabos.registry.placeholder_type:DeviceSlot",
("list", "unilabos.registry.placeholder_type:ResourceSlot"),
("list", "unilabos.registry.placeholder_type:DeviceSlot"),
]
},
}
# 不生成已配置action的动作
for k, v in enhanced_info["action_methods"].items()
if k not in device_config["class"]["action_value_mappings"]
}
)
# 恢复原有的 description 信息（非 auto- 开头的动作）
for action_name, old_config in old_action_configs.items():
if action_name in device_config["class"]["action_value_mappings"]: # 有一些会被删除
old_schema = old_config.get("schema", {})
if "description" in old_schema and old_schema["description"]:
device_config["class"]["action_value_mappings"][action_name]["schema"][
"description"
] = old_schema["description"]
device_config["init_param_schema"] = {}
device_config["init_param_schema"]["config"] = self._generate_unilab_json_command_schema(
enhanced_info["init_params"], "__init__"
)["properties"]["goal"]
device_config["init_param_schema"]["data"] = self._generate_status_types_schema(
enhanced_info["status_methods"]
)
device_config.pop("schema", None)
device_config["class"]["action_value_mappings"] = dict(
sorted(device_config["class"]["action_value_mappings"].items())
)
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
if "handles" not in action_config:
action_config["handles"] = {}
elif isinstance(action_config["handles"], list):
if len(action_config["handles"]):
logger.error(f"设备{device_id} {action_name} 的handles配置错误，应该是字典类型")
continue
else:
action_config["handles"] = {}
if "type" in action_config:
action_type_str: str = action_config["type"]
# 通过Json发放指令，而不是通过特殊的ros action进行处理
if not action_type_str.startswith("UniLabJsonCommand"):
try:
target_type = self._replace_type_with_class(
action_type_str, device_id, f"动作 {action_name}"
)
except ROSMsgNotFound:
continue
action_str_type_mapping[action_type_str] = target_type
if target_type is not None:
action_config["goal_default"] = yaml.safe_load(
io.StringIO(get_yaml_from_goal_type(target_type.Goal))
)
action_config["schema"] = ros_action_to_json_schema(target_type)
else:
logger.warning(
f"[UniLab Registry] 设备 {device_id} 的动作 {action_name} 类型为空，跳过替换"
)
complete_data[device_id] = copy.deepcopy(dict(sorted(device_config.items()))) # 稍后dump到文件
for status_name, status_type in device_config["class"]["status_types"].items():
device_config["class"]["status_types"][status_name] = status_str_type_mapping[status_type]
for action_name, action_config in device_config["class"]["action_value_mappings"].items():
if action_config["type"] not in action_str_type_mapping:
continue
action_config["type"] = action_str_type_mapping[action_config["type"]]
# 添加内置的驱动命令动作
self._add_builtin_actions(device_config, device_id)
device_config["file_path"] = str(file.absolute()).replace("\\", "/")
device_config["registry_type"] = "device"
logger.trace( # type: ignore
f"[UniLab Registry] Device-{current_device_number} File-{i+1}/{len(files)} Add {device_id} "
# 线程安全地更新注册表
current_device_number = len(self.device_type_registry) + 1
with self._registry_lock:
for file, data, device_ids in results:
self.device_type_registry.update(data)
for device_id in device_ids:
logger.trace(
f"[UniLab Registry] Device-{current_device_number} Add {device_id} "
+ f"[{data[device_id].get('name', '未命名设备')}]"
)
current_device_number += 1
complete_data = dict(sorted(complete_data.items()))
complete_data = copy.deepcopy(complete_data)
with open(file, "w", encoding="utf-8") as f:
yaml.dump(complete_data, f, allow_unicode=True, default_flow_style=False, Dumper=NoAliasDumper)
self.device_type_registry.update(data)
else:
logger.debug(
f"[UniLab Registry] Device File-{i+1}/{len(files)} Not Valid YAML File: {file.absolute()}"
)
# 记录无效文件
valid_files = {r[0] for r in results}
for file in files:
if file not in valid_files:
logger.debug(f"[UniLab Registry] Device File Not Valid YAML File: {file.absolute()}")
def obtain_registry_device_info(self):
devices = []