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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

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