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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:
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2026-02-02 23:57:13 +08:00
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commit e30c01d54e
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187
unilabos/utils/README_LOGGING.md
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@@ -1,187 +0,0 @@
# UniLabOS 日志配置说明
> **文件位置**: `unilabos/utils/log.py`
> **最后更新**: 2026-01-11
> **维护者**: Uni-Lab-OS 开发团队
本文档说明 UniLabOS 日志系统中对第三方库和内部模块的日志级别配置，避免控制台被过多的 DEBUG 日志淹没。
---
## 📋 已屏蔽的日志
以下库/模块的日志已被设置为 **WARNING** 或 **INFO** 级别，不再显示 DEBUG 日志：
### 1. pymodbus（Modbus 通信库）
**配置位置**: `log.py` 第196-200行
```python
# pymodbus 库的日志太详细，设置为 WARNING
logging.getLogger('pymodbus').setLevel(logging.WARNING)
logging.getLogger('pymodbus.logging').setLevel(logging.WARNING)
logging.getLogger('pymodbus.logging.base').setLevel(logging.WARNING)
logging.getLogger('pymodbus.logging.decoders').setLevel(logging.WARNING)
```
**屏蔽原因**:
- pymodbus 在 DEBUG 级别会输出每一次 Modbus 通信的详细信息
- 包括 `Processing: 0x5 0x1e 0x0 0x0...` 等原始数据
- 包括 `decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...)` 等解码信息
- 这些信息对日常使用价值不大，但会快速刷屏
**典型被屏蔽的日志**:
```
[DEBUG] Processing: 0x5 0x1e 0x0 0x0 0x0 0x7 0x1 0x3 0x4 0x0 0x0 0x0 0x0 [handleFrame:72] [pymodbus.logging.base]
[DEBUG] decoded PDU function_code(3 sub -1) -> ReadHoldingRegistersResponse(...) [decode:79] [pymodbus.logging.decoders]
```
---
### 2. websockets（WebSocket 库）
**配置位置**: `log.py` 第202-205行
```python
# websockets 库的日志输出较多，设置为 WARNING
logging.getLogger('websockets').setLevel(logging.WARNING)
logging.getLogger('websockets.client').setLevel(logging.WARNING)
logging.getLogger('websockets.server').setLevel(logging.WARNING)
```
**屏蔽原因**:
- WebSocket 连接、断开、心跳等信息在 DEBUG 级别会频繁输出
- 对于长时间运行的服务，这些日志意义不大
---
### 3. ROS Host Node（设备状态更新）
**配置位置**: `log.py` 第207-208行
```python
# ROS 节点的状态更新日志过于频繁，设置为 INFO
logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.INFO)
```
**屏蔽原因**:
- 设备状态更新（如手套箱压力）每隔几秒就会更新一次
- DEBUG 日志会记录每一次状态变化，导致日志刷屏
- 这些频繁的状态更新对调试价值不大
**典型被屏蔽的日志**:
```
[DEBUG] [/devices/host_node] Status updated: BatteryStation.data_glove_box_pressure = 4.229457855224609 [property_callback:666] [unilabos.ros.nodes.presets.host_node]
```
---
### 4. asyncio 和 urllib3
**配置位置**: `log.py` 第224-225行
```python
logging.getLogger("asyncio").setLevel(logging.INFO)
logging.getLogger("urllib3").setLevel(logging.INFO)
```
**屏蔽原因**:
- asyncio: 异步 IO 的内部调试信息
- urllib3: HTTP 请求库的连接池、重试等详细信息
---
## 🔧 如何临时启用这些日志（调试用）
### 方法1: 修改 log.py（永久启用）
在 `log.py` 的 `configure_logger()` 函数中，将对应库的日志级别改为 `logging.DEBUG`:
```python
# 临时启用 pymodbus 的 DEBUG 日志
logging.getLogger('pymodbus').setLevel(logging.DEBUG)
logging.getLogger('pymodbus.logging').setLevel(logging.DEBUG)
logging.getLogger('pymodbus.logging.base').setLevel(logging.DEBUG)
logging.getLogger('pymodbus.logging.decoders').setLevel(logging.DEBUG)
```
### 方法2: 在代码中临时启用（单次调试）
在需要调试的代码文件中添加：
```python
import logging
# 临时启用 pymodbus DEBUG 日志
logging.getLogger('pymodbus').setLevel(logging.DEBUG)
# 你的 Modbus 调试代码
...
# 调试完成后恢复
logging.getLogger('pymodbus').setLevel(logging.WARNING)
```
### 方法3: 使用环境变量或配置文件（推荐）
未来可以考虑在启动参数中添加 `--debug-modbus` 等选项来动态控制。
---
## 📊 日志级别说明
| 级别 | 数值 | 用途 | 是否显示 |
|------|------|------|---------|
| TRACE | 5 | 最详细的跟踪信息 | ✅ |
| DEBUG | 10 | 调试信息 | ✅ |
| INFO | 20 | 一般信息 | ✅ |
| WARNING | 30 | 警告信息 | ✅ |
| ERROR | 40 | 错误信息 | ✅ |
| CRITICAL | 50 | 严重错误 | ✅ |
**当前配置**:
- UniLabOS 自身代码: DEBUG 及以上全部显示
- pymodbus/websockets: **WARNING** 及以上显示（屏蔽 DEBUG/INFO）
- ROS host_node: **INFO** 及以上显示（屏蔽 DEBUG）
---
## ⚠️ 重要提示
### 修改生效时间
- 修改 `log.py` 后需要 **重启 unilab 服务** 才能生效
- 不需要重新安装或重新编译
### 调试 Modbus 通信问题
如果需要调试 Modbus 通信故障，应该：
1. 临时启用 pymodbus DEBUG 日志（方法2）
2. 复现问题
3. 查看详细的通信日志
4. 调试完成后记得恢复 WARNING 级别
### 调试设备状态问题
如果需要调试设备状态更新问题：
```python
logging.getLogger('unilabos.ros.nodes.presets.host_node').setLevel(logging.DEBUG)
```
---
## 📝 维护记录
| 日期 | 修改内容 | 操作人 |
|------|---------|--------|
| 2026-01-11 | 初始创建，添加 pymodbus、websockets、ROS host_node 屏蔽 | - |
| 2026-01-07 | 添加 pymodbus 和 websockets 屏蔽（log-0107.py） | - |
---
## 🔗 相关文件
- `log.py` - 日志配置主文件
- `unilabos/devices/workstation/coin_cell_assembly/` - 使用 Modbus 的扣电工作站代码
- `unilabos/ros/nodes/presets/host_node.py` - ROS 主机节点代码
---
**维护提示**: 如果添加了新的第三方库或发现新的日志刷屏问题，请在此文档中记录并更新 `log.py` 配置。

46
unilabos/utils/decorator.py
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@@ -182,3 +182,49 @@ def get_all_subscriptions(instance) -> list:
except Exception:
pass
return subscriptions
def not_action(func: F) -> F:
"""
标记方法为非动作的装饰器
用于装饰 driver 类中的方法，使其在 complete_registry 时不被识别为动作。
适用于辅助方法、内部工具方法等不应暴露为设备动作的公共方法。
Example:
class MyDriver:
@not_action
def helper_method(self):
# 这个方法不会被注册为动作
pass
def actual_action(self, param: str):
# 这个方法会被注册为动作
self.helper_method()
Note:
- 可以与其他装饰器组合使用，@not_action 应放在最外层
- 仅影响 complete_registry 的动作识别，不影响方法的正常调用
"""
@wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
# 在函数上附加标记
wrapper._is_not_action = True # type: ignore[attr-defined]
return wrapper # type: ignore[return-value]
def is_not_action(func) -> bool:
"""
检查函数是否被标记为非动作
Args:
func: 被检查的函数
Returns:
如果函数被 @not_action 装饰则返回 True，否则返回 False
"""
return getattr(func, "_is_not_action", False)

1
unilabos/utils/environment_check.py
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@@ -24,6 +24,7 @@ class EnvironmentChecker:
"msgcenterpy": "msgcenterpy",
"opentrons_shared_data": "opentrons_shared_data",
"typing_extensions": "typing_extensions",
"crcmod": "crcmod-plus",
}
# 特殊安装包（需要特殊处理的包）

14
unilabos/utils/import_manager.py
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@@ -28,6 +28,7 @@ __all__ = [
from ast import Constant
from unilabos.utils import logger
from unilabos.utils.decorator import is_not_action
class ImportManager:
@@ -275,6 +276,9 @@ class ImportManager:
method_info = self._analyze_method_signature(method)
result["status_methods"][actual_name] = method_info
elif not name.startswith("_"):
# 检查是否被 @not_action 装饰器标记
if is_not_action(method):
continue
# 其他非_开头的方法归类为action
method_info = self._analyze_method_signature(method)
result["action_methods"][name] = method_info
@@ -330,6 +334,9 @@ class ImportManager:
if actual_name not in result["status_methods"]:
result["status_methods"][actual_name] = method_info
else:
# 检查是否被 @not_action 装饰器标记
if self._is_not_action_method(node):
continue
# 其他非_开头的方法归类为action
result["action_methods"][method_name] = method_info
return result
@@ -450,6 +457,13 @@ class ImportManager:
return True
return False
def _is_not_action_method(self, node: ast.FunctionDef) -> bool:
"""检查是否是@not_action装饰的方法"""
for decorator in node.decorator_list:
if isinstance(decorator, ast.Name) and decorator.id == "not_action":
return True
return False
def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
"""从setter装饰器中获取属性名"""
for decorator in node.decorator_list:

8
unilabos/utils/pywinauto_util.py
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@@ -1,7 +1,11 @@
import psutil
import pywinauto
from pywinauto_recorder import UIApplication
from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
try:
from pywinauto_recorder import UIApplication
from pywinauto_recorder.player import UIPath, click, focus_on_application, exists, find, get_wrapper_path
except ImportError:
print("未安装pywinauto_recorder，部分功能无法使用，安装时注意enum")
pass
from pywinauto.controls.uiawrapper import UIAWrapper
from pywinauto.application import WindowSpecification
from pywinauto import findbestmatch

18
unilabos/utils/requirements.txt Normal file
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@@ -0,0 +1,18 @@
networkx
typing_extensions
websockets
msgcenterpy>=0.1.5
opentrons_shared_data
pint
fastapi
jinja2
requests
uvicorn
pyautogui
opcua
pyserial
pandas
crcmod-plus
pymodbus
matplotlib
pylibftdi