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58 Commits

Author SHA1 Message Date
q434343
a599eb70e5 3d sim (#97) 
* 修改lh的json启动

* 修改lh的json启动

* 修改backend，做成sim的通用backend

* 修改yaml的地址，3D模型适配网页生产环境

* 添加laiyu硬件连接

* 修改移液枪的状态判断方法，

修改移液枪的状态判断方法，
添加三轴的表定点与零点之间的转换
添加三轴真实移动的backend

* 修改laiyu移液站

简化移动方法，
取消软件限制位置，
修改当值使用Z轴时也需要重新复位Z轴的问题

* 更新lh以及laiyu workshop

1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写

2,修改枪头判断标准，使用枪头自身判断而不是类的判断，

3,将归零参数用毫米计算，方便手动调整，

4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉

* 修改枪头动作

* 修改虚拟仿真方法

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@dp.tech>
 2025-11-15 02:50:17 +08:00
lixinyu1011
0bf6994f95 1114物料手册定义教程byxinyu (#165) 
* 宜宾奔耀工站deck前端by_Xinyu

* 构建物料教程byxinyu

* 1114物料手册定义教程
 2025-11-15 02:49:17 +08:00
Xuwznln
0c55147ee4 prcxi example 2025-11-13 17:30:21 +08:00
Xuwznln
975e51cd96 fix regularcontainer 2025-11-11 04:44:33 +08:00
ZiWei
d0884cdbd8 bioyond_HR (#133) 
* feat: Enhance Bioyond synchronization and resource management

- Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type.
- Improved error handling and logging during synchronization processes.
- Added functionality to save Bioyond material IDs in UniLab resources for future updates.
- Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond.
- Updated warehouse configurations to support new storage types and improved layout for better resource management.
- Introduced new resource types such as reactors and tip boxes, with detailed specifications.
- Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08).
- Improved resource tracking by merging extra attributes instead of overwriting them.
- Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes.

* feat: 添加TipBox和Reactor的配置到bottles.yaml

* fix: 修复液体投料方法中的volume参数处理逻辑
 2025-10-29 12:10:05 +08:00
Xuwznln
a45d841769 remove extra key 2025-10-23 11:37:26 +08:00
Xuwznln
3ff894feee add invisible_slots to carriers 2025-10-21 17:51:30 +08:00
ZiWei
fa5896ffdb 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
 2025-10-21 17:15:51 +08:00
Xuwznln
eb504803ac save resource get data. allow empty value for layout and cross_section_type 2025-10-21 16:55:43 +08:00
lixinyu1011
8b0c845661 More decks&plates support for bioyond (#115) 2025-10-21 16:25:54 +08:00
ZiWei
9f7c3f02f9 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
 2025-10-19 08:36:40 +08:00
Junhan Chang
19dd80dcdb fix warehouse serialize/deserialize 2025-10-19 08:18:18 +08:00
Junhan Chang
9d5ed627a2 fix bioyond converter 2025-10-19 05:21:41 +08:00
Junhan Chang
2d0ff87bc8 fix itemized_carrier.unassign_child_resource 2025-10-19 05:19:19 +08:00
Junhan Chang
88ae56806c add layout serializer & converter 2025-10-18 20:53:03 +08:00
Junhan Chang
95dd8beb81 warehouseuse A1-D4; add warehouse layout 2025-10-18 20:27:50 +08:00
ZiWei
4ab3fadbec fix(graphio): 修正bioyond到plr资源转换中的坐标计算错误 2025-10-18 19:25:23 +08:00
ZiWei
229888f834 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.
 2025-10-18 18:55:16 +08:00
ZiWei
2d26c3fac6 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
 2025-10-17 02:23:58 +08:00
Xuwznln
3757bd9c58 fix state loading for regular container 2025-10-16 14:04:03 +08:00
Xuwznln
d8f3ebac15 fix comprehensive_station.json 2025-10-16 13:46:59 +08:00
Xuwznln
4a1e703a3a support no size init 2025-10-16 13:35:59 +08:00
Xuwznln
55d22a7c29 Update regular container method 2025-10-16 13:33:28 +08:00
Xuwznln
357fc038ef temp fix for resource get 2025-10-16 03:15:56 +08:00
ZiWei
4ddabdcb65 Refactor Bioyond workstation and experiment workflow (#105) 
Refactored the Bioyond workstation classes to improve parameter handling and workflow management. Updated experiment.py to use BioyondReactionStation with deck and material mappings, and enhanced workflow step parameter mapping and execution logic. Adjusted JSON experiment configs, improved workflow sequence handling, and added UUID assignment to PLR materials. Removed unused station_config and material cache logic, and added detailed docstrings and debug output for workflow methods.
 2025-10-14 02:46:31 +08:00
Xuwznln
7e8dfc2dc5 Fix children key error 2025-10-13 23:34:17 +08:00
Xuwznln
9b626489a8 Fix children key error 2025-10-13 21:20:42 +08:00
Xuwznln
aed39b648d Fix workstation startup 
Update registry
 2025-10-13 15:01:46 +08:00
Junhan Chang
bbcbcde9a4 add plr_to_bioyond, and refactor bioyond stations 2025-10-13 09:41:43 +08:00
ZiWei
b263a7e679 Workshop bj (#99) 
* Add LaiYu Liquid device integration and tests

Introduce LaiYu Liquid device implementation, including backend, controllers, drivers, configuration, and resource files. Add hardware connection, tip pickup, and simplified test scripts, as well as experiment and registry configuration for LaiYu Liquid. Documentation and .gitignore for the device are also included.

* feat(LaiYu_Liquid): 重构设备模块结构并添加硬件文档

refactor: 重新组织LaiYu_Liquid模块目录结构
docs: 添加SOPA移液器和步进电机控制指令文档
fix: 修正设备配置中的最大体积默认值
test: 新增工作台配置测试用例
chore: 删除过时的测试脚本和配置文件

* add

* 重构: 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py 并更新所有导入引用

- 使用 git mv 将 LaiYu_Liquid.py 重命名为 laiyu_liquid_main.py
- 更新所有相关文件中的导入引用
- 保持代码功能不变，仅改善命名一致性
- 测试确认所有导入正常工作

* 修复: 在 core/__init__.py 中添加 LaiYuLiquidBackend 导出

- 添加 LaiYuLiquidBackend 到导入列表
- 添加 LaiYuLiquidBackend 到 __all__ 导出列表
- 确保所有主要类都可以正确导入

* 修复大小写文件夹名字
 2025-10-12 22:54:38 +08:00
Junhan Chang
25d46dc9d5 pass the tests 2025-10-11 07:20:34 +08:00
Junhan Chang
88c4d1a9d1 modify bioyond/plr converter, bioyond resource registry, and tests 2025-10-11 04:59:59 +08:00
Xuwznln
0c42d60cf2 更新transfer_resource_to_another参数，支持spot入参 2025-10-11 02:41:37 +08:00
Xuwznln
609b6006e8 支持选择器注册表自动生成 
支持转运物料
 2025-10-11 00:57:22 +08:00
Xuwznln
a1783f489e Merge remote-tracking branch 'origin/workstation_dev_YB2' into dev 
# Conflicts:
#	unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py
#	unilabos/devices/workstation/bioyond_studio/station.py
#	unilabos/resources/graphio.py
 2025-10-10 15:38:45 +08:00
Xuwznln
5610c28b67 更新物料接口 2025-10-10 07:13:59 +08:00
Junhan Chang
cfc1ee6e79 Workstation templates: Resources and its CRUD, and workstation tasks (#95) 
* coin_cell_station draft

* refactor: rename "station_resource" to "deck"

* add standardized BIOYOND resources: bottle_carrier, bottle

* refactor and add BIOYOND resources tests

* add BIOYOND deck assignment and pass all tests

* fix: update resource with correct structure; remove deprecated liquid_handler set_group action

* feat: 将新威电池测试系统驱动与配置文件并入 workstation_dev_YB2 (#92)

* feat: 新威电池测试系统驱动与注册文件

* feat: bring neware driver & battery.json into workstation_dev_YB2

* add bioyond studio draft

* bioyond station with communication init and resource sync

* fix bioyond station and registry

* create/update resources with POST/PUT for big amount/ small amount data

* refactor: add itemized_carrier instead of carrier consists of ResourceHolder

* create warehouse by factory func

* update bioyond launch json

* add child_size for itemized_carrier

* fix bioyond resource io

---------

Co-authored-by: h840473807 <47357934+h840473807@users.noreply.github.com>
Co-authored-by: Xie Qiming <97236197+Andy6M@users.noreply.github.com>
 2025-09-30 17:23:13 +08:00
Junhan Chang
1c9d2ee98a fix bioyond resource io 2025-09-30 17:02:38 +08:00
Junhan Chang
3fe8f4ca44 add child_size for itemized_carrier 2025-09-30 12:58:42 +08:00
Junhan Chang
7b426ed5ae create warehouse by factory func 2025-09-30 11:57:34 +08:00
Junhan Chang
10aabb7592 refactor: add itemized_carrier instead of carrier consists of ResourceHolder 2025-09-29 20:36:45 +08:00
Junhan Chang
5c47cd0c8a add BIOYOND deck assignment and pass all tests 2025-09-25 08:41:41 +08:00
Junhan Chang
63ab1af45d refactor and add BIOYOND resources tests 2025-09-25 08:14:48 +08:00
Junhan Chang
a8419dc0c3 add standardized BIOYOND resources: bottle_carrier, bottle 2025-09-25 03:49:07 +08:00
Junhan Chang
f13156e792 fix dict to tree/nested-dict converter 2025-09-23 00:02:45 +08:00
Xuwznln
2889e9be2c 更新所有注册表 2025-09-19 20:28:43 +08:00
Xuwznln
091c9fa247 Merge branch 'workstation_dev' into dev 
# Conflicts:
#	.conda/recipe.yaml
#	recipes/msgs/recipe.yaml
#	recipes/unilabos/recipe.yaml
#	setup.py
#	unilabos/registry/devices/work_station.yaml
#	unilabos/ros/nodes/base_device_node.py
#	unilabos/ros/nodes/presets/protocol_node.py
#	unilabos_msgs/package.xml
 2025-09-19 19:52:53 +08:00
Xuwznln
da4bd927e0 fix protocol node log_message, added create_resource return value 2025-09-19 05:31:49 +08:00
Xuwznln
19027350fb feat: workstation example 2025-08-29 02:47:20 +08:00
Xuwznln
e570ba4976 临时兼容错误的driver写法 2025-08-12 19:20:53 +08:00