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8 Commits
| Author | SHA1 | Message | Date | |
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Xuwznln
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2a5ddd611d |
Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16
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 Fix/workstation yb revision (#217) * Revert log change & update registry * Revert opcua client & move electrolyte node Workstation yb merge dev ready 260113 (#216) * feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数 * feat(bioyond): 添加测量小瓶功能，支持基本参数配置 * feat(bioyond): 添加测量小瓶配置，支持新设备参数 * feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈 * feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积 * feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理 * feat(bioyond): 调整反应器位置配置，统一坐标格式 * feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常 * feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置 * feat(opcua): 增强节点ID解析兼容性和数据类型处理 改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符 添加数据类型转换处理，确保写入值时类型匹配 优化错误提示信息，便于调试节点连接问题 * feat(registry): 新增后处理站的设备配置文件 添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述 * 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑 * 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置 * fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property * fix:同步工作流序列 * feat: remove commented workflow synchronization from `reaction_station.py`. * 添加时间约束功能及相关配置 * fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项 * fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存 * fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息 * feat：添加实验报告简化功能，去除冗余信息并保留关键信息 * feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态 * fix: 修复添加物料时数据格式错误 * Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations - Removed redundant action value mappings from bioyond_dispensing_station. - Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters. - Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End). - Simplified descriptions and updated measurement units from μL to mL where applicable. - Removed unused commands from reaction_station_bioyond to streamline the configuration. * fix：Change the material unit from μL to mL * fix：refresh_material_cache * feat: 动态获取工作流步骤ID，优化工作流配置 * feat: 添加清空服务端所有非核心工作流功能 * fix：修复Bottle类的序列化和反序列化方法 * feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息 * Add debug log * feat(workstation): update bioyond config migration and coin cell material search logic - Migrate bioyond_cell config to JSON structure and remove global variable dependencies - Implement material search confirmation dialog auto-handling - Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md * Refactor module paths for Bioyond devices in YAML configuration files - Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure. - Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase. * fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑 * refactor: Move config from module to instance initialization * fix: 修正 reaction_station 目录名拼写错误 * feat: Integrate material search logic and cleanup deprecated files - Update coin_cell_assembly.py with material search dialog handling - Update YB_warehouses.py with latest warehouse configurations - Remove outdated documentation and test data files * Refactor: Use instance attributes for action names and workflow step IDs * refactor: Split tipbox storage into left and right warehouses * refactor: Merge tipbox storage left and right into single warehouse --------- Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> Co-authored-by: Andy6M <xieqiming1132@qq.com> fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑 fix parent_uuid fetch when bind_parent_id == node_name 物料更新也是用父节点进行报送 Add None conversion for tube rack etc. Add set_liquid example. Add create_resource and test_resource example. Add restart. Temp allow action message. Add no_update_feedback option. Create session_id by edge. bump version to 0.10.15 temp cancel update req |
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Xuwznln
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3f80349d7d |
Force update resource when adding new resource / transfer to another resource
location not passed to ItemizedCarrier when assign child resource Fix size not pass through. |
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ZiWei
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a625a86e3e |
HR物料同步，前端展示位置修复 (#135)
* 更新Bioyond工作站配置，添加新的物料类型映射和载架定义，优化物料查询逻辑 * 添加Bioyond实验配置文件，定义物料类型映射和设备配置 * 更新bioyond_warehouse_reagent_stack方法，修正试剂堆栈尺寸和布局描述 * 更新Bioyond实验配置，修正物料类型映射，优化设备配置 * 更新Bioyond资源同步逻辑，优化物料入库流程，增强错误处理和日志记录 * 更新Bioyond资源，添加配液站和反应站专用载架，优化仓库工厂函数的排序方式 * 更新Bioyond资源，添加配液站和反应站相关载架，优化试剂瓶和样品瓶配置 * 更新Bioyond实验配置，修正试剂瓶载架ID，确保与设备匹配 * 更新Bioyond资源，移除反应站单烧杯载架，添加反应站单烧瓶载架分类 * Refactor Bioyond resource synchronization and update bottle carrier definitions - Removed traceback printing in error handling for Bioyond synchronization. - Enhanced logging for existing Bioyond material ID usage during synchronization. - Added new bottle carrier definitions for single flask and updated existing ones. - Refactored dispensing station and reaction station bottle definitions for clarity and consistency. - Improved resource mapping and error handling in graphio for Bioyond resource conversion. - Introduced layout parameter in warehouse factory for better warehouse configuration. * 更新Bioyond仓库工厂，添加排序方式支持，优化坐标计算逻辑 * 更新Bioyond载架和甲板配置，调整样品板尺寸和仓库坐标 * 更新Bioyond资源同步，增强占用位置日志信息，修正坐标转换逻辑 * 更新Bioyond反应站和分配站配置，调整材料类型映射和ID，移除不必要的项 * support name change during materials change * fix json dumps * correct tip * 优化调度器API路径，更新相关方法描述 * 更新 BIOYOND 载架相关文档，调整 API 以支持自带试剂瓶的载架类型，修复资源获取时的子物料处理逻辑 * 实现资源删除时的同步处理，优化出库操作逻辑 * 修复 ItemizedCarrier 中的可见性逻辑 * 保存 Bioyond 原始信息到 unilabos_extra，以便出库时查询 * 根据 resource.capacity 判断是试剂瓶（载架）还是多瓶载架，走不同的奔曜转换 * Fix bioyond bottle_carriers ordering * 优化 Bioyond 物料同步逻辑，增强坐标解析和位置更新处理 * disable slave connect websocket * correct remove_resource stats * change uuid logger to trace level * enable slave mode * refactor(bioyond): 统一资源命名并优化物料同步逻辑 - 将DispensingStation和ReactionStation资源统一为PolymerStation命名 - 优化物料同步逻辑，支持耗材类型(typeMode=0)的查询 - 添加物料默认参数配置功能 - 调整仓库坐标布局 - 清理废弃资源定义 * feat(warehouses): 为仓库函数添加col_offset和layout参数 * refactor: 更新实验配置中的物料类型映射命名 将DispensingStation和ReactionStation的物料类型映射统一更名为PolymerStation，保持命名一致性 * fix: 更新实验配置中的载体名称从6VialCarrier到6StockCarrier * feat(bioyond): 实现物料创建与入库分离逻辑 将物料同步流程拆分为两个独立阶段：transfer阶段只创建物料，add阶段执行入库 简化状态检查接口，仅返回连接状态 * fix(reaction_station): 修正液体进料烧杯体积单位并增强返回结果 将液体进料烧杯的体积单位从μL改为g以匹配实际使用场景 在返回结果中添加merged_workflow和order_params字段，提供更完整的工作流信息 * feat(dispensing_station): 在任务创建返回结果中添加order_params信息 在create_order方法返回结果中增加order_params字段，以便调用方获取完整的任务参数 * fix(dispensing_station): 修改90%物料分配逻辑从分成3份改为直接使用 原逻辑将主称固体平均分成3份作为90%物料，现改为直接使用main_portion * feat(bioyond): 添加任务编码和任务ID的输出，支持批量任务创建后的状态监控 * refactor(registry): 简化设备配置中的任务结果处理逻辑 将多个单独的任务编码和ID字段合并为统一的return_info字段 更新相关描述以反映新的数据结构 * feat(工作站): 添加HTTP报送服务和任务完成状态跟踪 - 在graphio.py中添加API必需字段 - 实现工作站HTTP服务启动和停止逻辑 - 添加任务完成状态跟踪字典和等待方法 - 重写任务完成报送处理方法记录状态 - 支持批量任务完成等待和报告获取 * refactor(dispensing_station): 移除wait_for_order_completion_and_get_report功能 该功能已被wait_for_multiple_orders_and_get_reports替代，简化代码结构 * fix: 更新任务报告API错误 * fix(workstation_http_service): 修复状态查询中device_id获取逻辑 处理状态查询时安全获取device_id，避免因属性不存在导致的异常 * fix(bioyond_studio): 改进物料入库失败时的错误处理和日志记录 在物料入库API调用失败时，添加更详细的错误信息打印 同时修正station.py中对空响应和失败情况的判断逻辑 * refactor(bioyond): 优化瓶架载体的分配逻辑和注释说明 重构瓶架载体的分配逻辑，使用嵌套循环替代硬编码索引分配 添加更详细的坐标映射说明，明确PLR与Bioyond坐标的对应关系 * fix(bioyond_rpc): 修复物料入库成功时无data字段返回空的问题 当API返回成功但无data字段时，返回包含success标识的字典而非空字典 --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@dp.tech> |
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ZiWei
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a2a827d7ac |
Update workstation & bioyond example
Refine descriptions in Bioyond reaction station YAML Updated and clarified field and operation descriptions in the reaction_station_bioyond.yaml file for improved accuracy and consistency. Changes include more precise terminology, clearer parameter explanations, and standardized formatting for operation schemas. refactor(workstation): 更新反应站参数描述并添加分液站配置文件 修正反应站方法参数描述，使其更准确清晰 添加bioyond_dispensing_station.yaml配置文件 add create_workflow script and test add invisible_slots to carriers fix(warehouses): 修正bioyond_warehouse_1x4x4仓库的尺寸参数 调整仓库的num_items_x和num_items_z值以匹配实际布局，并更新物品尺寸参数 save resource get data. allow empty value for layout and cross_section_type More decks&plates support for bioyond (#115) refactor(registry): 重构反应站设备配置，简化并更新操作命令 移除旧的自动操作命令，新增针对具体化学操作的命令配置 更新模块路径和配置结构，优化参数定义和描述 fix(dispensing_station): 修正物料信息查询方法调用 将直接调用material_id_query改为通过hardware_interface调用，以符合接口设计规范 |
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ZiWei
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bb3ca645a4 |
Update graphio together with workstation design.
fix(reaction_station): 为步骤参数添加Value字段传个BY后端 fix(bioyond/warehouses): 修正仓库尺寸和物品排列参数 调整仓库的x轴和z轴物品数量以及物品尺寸参数，使其符合4x1x4的规格要求 fix warehouse serialize/deserialize fix bioyond converter fix itemized_carrier.unassign_child_resource allow not-loaded MSG in registry add layout serializer & converter warehouseuse A1-D4; add warehouse layout fix(graphio): 修正bioyond到plr资源转换中的坐标计算错误 Fix resource assignment and type mapping issues Corrects resource assignment in ItemizedCarrier by using the correct spot key from _ordering. Updates graphio to use 'typeName' instead of 'name' for type mapping in resource_bioyond_to_plr. Renames DummyWorkstation to BioyondWorkstation in workstation_http_service for clarity. |
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Xuwznln
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d4415f5a35 |
Fix/update resource (#112)
* cancel upload_registry * Refactor Bioyond workstation and experiment workflow -fix (#111) * refactor(bioyond_studio): 优化材料缓存加载和参数验证逻辑 改进材料缓存加载逻辑以支持多种材料类型和详细材料处理 更新工作流参数验证中的字段名从key/value改为Key/DisplayValue 移除未使用的merge_workflow_with_parameters方法 添加get_station_info方法获取工作站基础信息 清理实验文件中的注释代码和更新导入路径 * fix: 修复资源移除时的父资源检查问题 在BaseROS2DeviceNode中，移除资源前添加对父资源是否为None的检查，避免空指针异常 同时更新Bottle和BottleCarrier类以支持**kwargs参数 修正测试文件中Liquid_feeding_beaker的大小写拼写错误 * correct return message --------- Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com> |
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Junhan Chang
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ef3f24ed48 | add plr_to_bioyond, and refactor bioyond stations | ||
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Xuwznln
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9aeffebde1 |
0.10.7 Update (#101)
* Cleanup registry to be easy-understanding (#76) * delete deprecated mock devices * rename categories * combine chromatographic devices * rename rviz simulation nodes * organic virtual devices * parse vessel_id * run registry completion before merge --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * fix: workstation handlers and vessel_id parsing * fix: working dir error when input config path feat: report publish topic when error * modify default discovery_interval to 15s * feat: add trace log level * feat: 添加ChinWe设备控制类，支持串口通信和电机控制功能 (#79) * fix: drop_tips not using auto resource select * fix: discard_tips error * fix: discard_tips * fix: prcxi_res * add: prcxi res fix: startup slow * feat: workstation example * fix pumps and liquid_handler handle * feat: 优化protocol node节点运行日志 * fix all protocol_compilers and remove deprecated devices * feat: 新增use_remote_resource参数 * fix and remove redundant info * bugfixes on organic protocols * fix filter protocol * fix protocol node * 临时兼容错误的driver写法 * fix: prcxi import error * use call_async in all service to avoid deadlock * fix: figure_resource * Update recipe.yaml * add workstation template and battery example * feat: add sk & ak * update workstation base * Create workstation_architecture.md * refactor: workstation_base 重构为仅含业务逻辑，通信和子设备管理交给 ProtocolNode * refactor: ProtocolNode→WorkstationNode * Add:msgs.action (#83) * update: Workstation dev 将版本号从 0.10.3 更新为 0.10.4 (#84) * Add:msgs.action * update: 将版本号从 0.10.3 更新为 0.10.4 * simplify resource system * uncompleted refactor * example for use WorkstationBase * feat: websocket * feat: websocket test * feat: workstation example * feat: action status * fix: station自己的方法注册错误 * fix: 还原protocol node处理方法 * fix: build * fix: missing job_id key * ws test version 1 * ws test version 2 * ws protocol * 增加物料关系上传日志 * 增加物料关系上传日志 * 修正物料关系上传 * 修复工站的tracker实例追踪失效问题 * 增加handle检测，增加material edge关系上传 * 修复event loop错误 * 修复edge上报错误 * 修复async错误 * 更新schema的title字段 * 主机节点信息等支持自动刷新 * 注册表编辑器 * 修复status密集发送时，消息出错 * 增加addr参数 * fix: addr param * fix: addr param * 取消labid 和 强制config输入 * Add action definitions for LiquidHandlerSetGroup and LiquidHandlerTransferGroup - Created LiquidHandlerSetGroup.action with fields for group name, wells, and volumes. - Created LiquidHandlerTransferGroup.action with fields for source and target group names and unit volume. - Both actions include response fields for return information and success status. * Add LiquidHandlerSetGroup and LiquidHandlerTransferGroup actions to CMakeLists * Add set_group and transfer_group methods to PRCXI9300Handler and update liquid_handler.yaml * result_info改为字典类型 * 新增uat的地址替换 * runze multiple pump support (cherry picked from commit |