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Merge remote-tracking branch 'upstream/dev' into device_visualization

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zhangshixiang
2025-05-20 14:36:19 +08:00
parent 498c997ad7 4decd9a174
commit fa727220af
12 changed files with 182 additions and 124 deletions
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2
unilabos/app/main.py
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@@ -18,7 +18,6 @@ if unilabos_dir not in sys.path:
from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
from unilabos.utils.banner_print import print_status, print_unilab_banner
from unilabos.device_mesh.resource_visalization import ResourceVisualization
def parse_args():
@@ -188,6 +187,7 @@ def main():
if args_dict["visual"] != "disable":
enable_rviz = args_dict["visual"] == "rviz"
if devices_and_resources is not None:
from unilabos.device_mesh.resource_visalization import ResourceVisualization # 此处开启后，logger会变更为INFO，有需要请调整
resource_visualization = ResourceVisualization(devices_and_resources, args_dict["resources_config"] ,enable_rviz=enable_rviz)
args_dict["resources_mesh_config"] = resource_visualization.resource_model
start_backend(**args_dict)

1
unilabos/app/mq.py
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@@ -26,6 +26,7 @@ class MQTTClient:
def __init__(self):
self.mqtt_disable = not MQConfig.lab_id
self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
logger.info("[MQTT] Client_id: " + self.client_id)
self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
self._setup_callbacks()

0
unilabos/devices/laiyu_add_solid/__init__.py Normal file
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2
unilabos/devices/liquid_handling/action_definition.py → unilabos/devices/liquid_handling/liquid_handler_abstract.py
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@@ -14,7 +14,7 @@ from pylabrobot.resources import (
Well
)
class DPLiquidHandler(LiquidHandler):
class LiquidHandlerAbstract(LiquidHandler):
"""Extended LiquidHandler with additional operations."""
# ---------------------------------------------------------------

192
unilabos/registry/devices/liquid_handler.yaml
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@@ -1,11 +1,96 @@
liquid_handler:
description: Liquid handler device controlled by pylabrobot
class:
module: pylabrobot.liquid_handling:LiquidHandler
module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
type: python
status_types:
name: String
action_value_mappings:
remove:
type: LiquidHandlerRemove
goal:
vols: vols
sources: sources
waste_liquid: waste_liquid
use_channels: use_channels
flow_rates: flow_rates
offsets: offsets
liquid_height: liquid_height
blow_out_air_volume: blow_out_air_volume
spread: spread
delays: delays
is_96_well: is_96_well
top: top
none_keys: none_keys
feedback: { }
result: { }
add_liquid:
type: LiquidHandlerAdd
goal:
asp_vols: asp_vols
dis_vols: dis_vols
reagent_sources: reagent_sources
targets: targets
use_channels: use_channels
flow_rates: flow_rates
offsets: offsets
liquid_height: liquid_height
blow_out_air_volume: blow_out_air_volume
spread: spread
is_96_well: is_96_well
mix_time: mix_time
mix_vol: mix_vol
mix_rate: mix_rate
mix_liquid_height: mix_liquid_height
none_keys: none_keys
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: { }
mix:
type: DPLiquidHandlerMix
goal:
targets: targets
mix_time: mix_time
mix_vol: mix_vol
height_to_bottom: height_to_bottom
offsets: offsets
mix_rate: mix_rate
none_keys: none_keys
feedback: { }
result: { }
move_to:
type: LiquidHandlerMoveTo
goal:
well: well
dis_to_top: dis_to_top
channel: channel
feedback: { }
result: { }
aspirate:
type: LiquidHandlerAspirate
goal:
@@ -178,110 +263,7 @@ dp_liquid_handler:
status_types:
status: String
action_value_mappings:
remove_liquid:
type: DPLiquidHandlerRemoveLiquid
goal:
vols: vols
sources: sources
waste_liquid: waste_liquid
use_channels: use_channels
flow_rates: flow_rates
offsets: offsets
liquid_height: liquid_height
blow_out_air_volume: blow_out_air_volume
spread: spread
delays: delays
is_96_well: is_96_well
top: top
none_keys: none_keys
feedback: {}
result: {}
add_liquid:
type: DPLiquidHandlerAddLiquid
goal:
asp_vols: asp_vols
dis_vols: dis_vols
reagent_sources: reagent_sources
targets: targets
use_channels: use_channels
flow_rates: flow_rates
offsets: offsets
liquid_height: liquid_height
blow_out_air_volume: blow_out_air_volume
spread: spread
is_96_well: is_96_well
mix_time: mix_time
mix_vol: mix_vol
mix_rate: mix_rate
mix_liquid_height: mix_liquid_height
none_keys: none_keys
feedback: {}
result: {}
transfer_liquid:
type: DPLiquidHandlerTransferLiquid
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: {}
custom_delay:
type: DPLiquidHandlerCustomDelay
goal:
seconds: seconds
msg: msg
feedback: {}
result: {}
touch_tip:
type: DPLiquidHandlerTouchTip
goal:
targets: targets
feedback: {}
result: {}
mix:
type: DPLiquidHandlerMix
goal:
targets: targets
mix_time: mix_time
mix_vol: mix_vol
height_to_bottom: height_to_bottom
offsets: offsets
mix_rate: mix_rate
none_keys: none_keys
feedback: {}
result: {}
set_tiprack:
type: DPLiquidHandlerSetTiprack
goal:
tip_racks: tip_racks
feedback: {}
result: {}
move_to:
type: DPLiquidHandlerMoveTo
goal:
well: well
dis_to_top: dis_to_top
channel: channel
feedback: {}
result: {}
schema:
type: object
properties:

14
unilabos_msgs/CMakeLists.txt
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@@ -43,14 +43,10 @@ set(action_files
"action/LiquidHandlerStamp.action"
"action/LiquidHandlerTransfer.action"
"action/DPLiquidHandlerAddLiquid.action"
"action/DPLiquidHandlerCustomDelay.action"
"action/DPLiquidHandlerMix.action"
"action/DPLiquidHandlerMoveTo.action"
"action/DPLiquidHandlerRemoveLiquid.action"
"action/DPLiquidHandlerSetTiprack.action"
"action/DPLiquidHandlerTouchTip.action"
"action/DPLiquidHandlerTransferLiquid.action"
"action/LiquidHandlerAdd.action"
"action/LiquidHandlerMix.action"
"action/LiquidHandlerMoveTo.action"
"action/LiquidHandlerRemove.action"
"action/EmptyIn.action"
"action/FloatSingleInput.action"
@@ -61,7 +57,7 @@ set(action_files
"action/ResourceCreateFromOuter.action"
"action/SolidDispenseAddPowderTube.action"
"action/PumpTransfer.action"
"action/Clean.action"
"action/Separate.action"

20
unilabos_msgs/action/LiquidHandlerAdd.action Normal file
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@@ -0,0 +1,20 @@
float64[] asp_vols
float64[] dis_vols
Resource[] reagent_sources
Resource[] targets
int32[] use_channels
float64[] flow_rates
geometry_msgs/Point[] offsets
float64[] liquid_height
float64[] blow_out_air_volume
string spread
bool is_96_well
int32 mix_time
int32 mix_vol
int32 mix_rate
float64 mix_liquid_height
string[] none_keys
---
bool success
---
# 反馈

11
unilabos_msgs/action/LiquidHandlerMix.action Normal file
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@@ -0,0 +1,11 @@
Resource[] targets
int32 mix_time
int32 mix_vol
float64 height_to_bottom
geometry_msgs/Point[] offsets
float64 mix_rate
string[] none_keys
---
bool success
---
# 反馈

7
unilabos_msgs/action/LiquidHandlerMoveTo.action Normal file
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@@ -0,0 +1,7 @@
Resource well
float64 dis_to_top
int32 channel
---
bool success
---
# 反馈

17
unilabos_msgs/action/LiquidHandlerRemove.action Normal file
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@@ -0,0 +1,17 @@
float64[] vols
Resource[] sources
Resource waste_liquid
int32[] use_channels
float64[] flow_rates
geometry_msgs/Point[] offsets
float64[] liquid_height
float64[] blow_out_air_volume
string spread
int32[] delays
bool is_96_well
float64[] top
string[] none_keys
---
bool success
---
# 反馈

30
unilabos_msgs/action/LiquidHandlerTransfer.action
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@@ -1,11 +1,25 @@
# Bio
Resource source
float64[] asp_vols
float64[] dis_vols
Resource[] sources
Resource[] targets
float64 source_vol
float64[] ratios
float64[] target_vols
float64 aspiration_flow_rate
float64[] dispense_flow_rates
Resource[] tip_racks
int32[] use_channels
float64[] asp_flow_rates
float64[] dis_flow_rates
geometry_msgs/Point[] offsets
bool touch_tip
float64[] liquid_height
float64[] blow_out_air_volume
string spread
bool is_96_well
string mix_stage
int32[] mix_times
int32 mix_vol
int32 mix_rate
float64 mix_liquid_height
int32[] delays
string[] none_keys
---
bool success
---
---
# 反馈

10
unilabos_msgs/action/ResourceCreateFromOuterEasy.action Normal file
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@@ -0,0 +1,10 @@
string id
string class
string parent
geometry_msgs/Point bind_locations
int32[] liquid_input_slot
string[] liquid_type
float32[] liquid_volume
---
bool success
---