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61
.conda/base/recipe.yaml
Normal file
61
.conda/base/recipe.yaml
Normal file
@@ -0,0 +1,61 @@
|
|||||||
|
# unilabos: Production package (depends on unilabos-env + pip unilabos)
|
||||||
|
# For production deployment
|
||||||
|
|
||||||
|
package:
|
||||||
|
name: unilabos
|
||||||
|
version: 0.10.16
|
||||||
|
|
||||||
|
source:
|
||||||
|
path: ../../unilabos
|
||||||
|
target_directory: unilabos
|
||||||
|
|
||||||
|
build:
|
||||||
|
python:
|
||||||
|
entry_points:
|
||||||
|
- unilab = unilabos.app.main:main
|
||||||
|
script:
|
||||||
|
- set PIP_NO_INDEX=
|
||||||
|
- if: win
|
||||||
|
then:
|
||||||
|
- copy %RECIPE_DIR%\..\..\MANIFEST.in %SRC_DIR%
|
||||||
|
- copy %RECIPE_DIR%\..\..\setup.cfg %SRC_DIR%
|
||||||
|
- copy %RECIPE_DIR%\..\..\setup.py %SRC_DIR%
|
||||||
|
- pip install %SRC_DIR%
|
||||||
|
- if: unix
|
||||||
|
then:
|
||||||
|
- cp $RECIPE_DIR/../../MANIFEST.in $SRC_DIR
|
||||||
|
- cp $RECIPE_DIR/../../setup.cfg $SRC_DIR
|
||||||
|
- cp $RECIPE_DIR/../../setup.py $SRC_DIR
|
||||||
|
- uv pip install $SRC_DIR
|
||||||
|
|
||||||
|
requirements:
|
||||||
|
host:
|
||||||
|
- python ==3.11.14
|
||||||
|
- pip
|
||||||
|
- setuptools
|
||||||
|
- zstd
|
||||||
|
- zstandard
|
||||||
|
run:
|
||||||
|
- zstd
|
||||||
|
- zstandard
|
||||||
|
- networkx
|
||||||
|
- typing_extensions
|
||||||
|
- websockets
|
||||||
|
- opentrons_shared_data
|
||||||
|
- pint
|
||||||
|
- fastapi
|
||||||
|
- jinja2
|
||||||
|
- requests
|
||||||
|
- uvicorn
|
||||||
|
- opcua
|
||||||
|
- pyserial
|
||||||
|
- pandas
|
||||||
|
- pymodbus
|
||||||
|
- matplotlib
|
||||||
|
- pylibftdi
|
||||||
|
- uni-lab::unilabos-env ==0.10.16
|
||||||
|
|
||||||
|
about:
|
||||||
|
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||||
|
license: GPL-3.0-only
|
||||||
|
description: "UniLabOS - Production package with minimal ROS2 dependencies"
|
||||||
39
.conda/environment/recipe.yaml
Normal file
39
.conda/environment/recipe.yaml
Normal file
@@ -0,0 +1,39 @@
|
|||||||
|
# unilabos-env: conda environment dependencies (ROS2 + conda packages)
|
||||||
|
|
||||||
|
package:
|
||||||
|
name: unilabos-env
|
||||||
|
version: 0.10.16
|
||||||
|
|
||||||
|
build:
|
||||||
|
noarch: generic
|
||||||
|
|
||||||
|
requirements:
|
||||||
|
run:
|
||||||
|
# Python
|
||||||
|
- zstd
|
||||||
|
- zstandard
|
||||||
|
- conda-forge::python ==3.11.14
|
||||||
|
- conda-forge::opencv
|
||||||
|
# ROS2 dependencies (from ci-check.yml)
|
||||||
|
- robostack-staging::ros-humble-ros-core
|
||||||
|
- robostack-staging::ros-humble-action-msgs
|
||||||
|
- robostack-staging::ros-humble-std-msgs
|
||||||
|
- robostack-staging::ros-humble-geometry-msgs
|
||||||
|
- robostack-staging::ros-humble-control-msgs
|
||||||
|
- robostack-staging::ros-humble-nav2-msgs
|
||||||
|
- robostack-staging::ros-humble-cv-bridge
|
||||||
|
- robostack-staging::ros-humble-vision-opencv
|
||||||
|
- robostack-staging::ros-humble-tf-transformations
|
||||||
|
- robostack-staging::ros-humble-moveit-msgs
|
||||||
|
- robostack-staging::ros-humble-tf2-ros
|
||||||
|
- robostack-staging::ros-humble-tf2-ros-py
|
||||||
|
- conda-forge::transforms3d
|
||||||
|
- conda-forge::uv
|
||||||
|
|
||||||
|
# UniLabOS custom messages
|
||||||
|
- uni-lab::ros-humble-unilabos-msgs
|
||||||
|
|
||||||
|
about:
|
||||||
|
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||||
|
license: GPL-3.0-only
|
||||||
|
description: "UniLabOS Environment - ROS2 and conda dependencies (for developers: pip install -e .)"
|
||||||
42
.conda/full/recipe.yaml
Normal file
42
.conda/full/recipe.yaml
Normal file
@@ -0,0 +1,42 @@
|
|||||||
|
# unilabos-full: Full package with all features
|
||||||
|
# Depends on unilabos + complete ROS2 desktop + dev tools
|
||||||
|
|
||||||
|
package:
|
||||||
|
name: unilabos-full
|
||||||
|
version: 0.10.16
|
||||||
|
|
||||||
|
build:
|
||||||
|
noarch: generic
|
||||||
|
|
||||||
|
requirements:
|
||||||
|
run:
|
||||||
|
# Base unilabos package (includes unilabos-env)
|
||||||
|
- uni-lab::unilabos ==0.10.16
|
||||||
|
# Documentation tools
|
||||||
|
- sphinx
|
||||||
|
- sphinx_rtd_theme
|
||||||
|
# Web UI
|
||||||
|
- gradio
|
||||||
|
- flask
|
||||||
|
# Interactive development
|
||||||
|
- ipython
|
||||||
|
- jupyter
|
||||||
|
- jupyros
|
||||||
|
- colcon-common-extensions
|
||||||
|
# ROS2 full desktop (includes rviz2, gazebo, etc.)
|
||||||
|
- robostack-staging::ros-humble-desktop-full
|
||||||
|
# Navigation and motion control
|
||||||
|
- ros-humble-navigation2
|
||||||
|
- ros-humble-ros2-control
|
||||||
|
- ros-humble-robot-state-publisher
|
||||||
|
- ros-humble-joint-state-publisher
|
||||||
|
# MoveIt motion planning
|
||||||
|
- ros-humble-moveit
|
||||||
|
- ros-humble-moveit-servo
|
||||||
|
# Simulation
|
||||||
|
- ros-humble-simulation
|
||||||
|
|
||||||
|
about:
|
||||||
|
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
||||||
|
license: GPL-3.0-only
|
||||||
|
description: "UniLabOS Full - Complete package with ROS2 Desktop, MoveIt, Navigation2, Gazebo, Jupyter"
|
||||||
@@ -1,91 +0,0 @@
|
|||||||
package:
|
|
||||||
name: unilabos
|
|
||||||
version: 0.10.15
|
|
||||||
|
|
||||||
source:
|
|
||||||
path: ../unilabos
|
|
||||||
target_directory: unilabos
|
|
||||||
|
|
||||||
build:
|
|
||||||
python:
|
|
||||||
entry_points:
|
|
||||||
- unilab = unilabos.app.main:main
|
|
||||||
script:
|
|
||||||
- set PIP_NO_INDEX=
|
|
||||||
- if: win
|
|
||||||
then:
|
|
||||||
- copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
|
|
||||||
- copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
|
|
||||||
- copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
|
|
||||||
- call %PYTHON% -m pip install %SRC_DIR%
|
|
||||||
- if: unix
|
|
||||||
then:
|
|
||||||
- cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
|
|
||||||
- cp $RECIPE_DIR/../setup.cfg $SRC_DIR
|
|
||||||
- cp $RECIPE_DIR/../setup.py $SRC_DIR
|
|
||||||
- $PYTHON -m pip install $SRC_DIR
|
|
||||||
|
|
||||||
requirements:
|
|
||||||
host:
|
|
||||||
- python ==3.11.11
|
|
||||||
- pip
|
|
||||||
- setuptools
|
|
||||||
- zstd
|
|
||||||
- zstandard
|
|
||||||
run:
|
|
||||||
- conda-forge::python ==3.11.11
|
|
||||||
- compilers
|
|
||||||
- cmake
|
|
||||||
- zstd
|
|
||||||
- zstandard
|
|
||||||
- ninja
|
|
||||||
- if: unix
|
|
||||||
then:
|
|
||||||
- make
|
|
||||||
- sphinx
|
|
||||||
- sphinx_rtd_theme
|
|
||||||
- numpy
|
|
||||||
- scipy
|
|
||||||
- pandas
|
|
||||||
- networkx
|
|
||||||
- matplotlib
|
|
||||||
- pint
|
|
||||||
- pyserial
|
|
||||||
- pyusb
|
|
||||||
- pylibftdi
|
|
||||||
- pymodbus
|
|
||||||
- python-can
|
|
||||||
- pyvisa
|
|
||||||
- opencv
|
|
||||||
- pydantic
|
|
||||||
- fastapi
|
|
||||||
- uvicorn
|
|
||||||
- gradio
|
|
||||||
- flask
|
|
||||||
- websockets
|
|
||||||
- ipython
|
|
||||||
- jupyter
|
|
||||||
- jupyros
|
|
||||||
- colcon-common-extensions
|
|
||||||
- robostack-staging::ros-humble-desktop-full
|
|
||||||
- robostack-staging::ros-humble-control-msgs
|
|
||||||
- robostack-staging::ros-humble-sensor-msgs
|
|
||||||
- robostack-staging::ros-humble-trajectory-msgs
|
|
||||||
- ros-humble-navigation2
|
|
||||||
- ros-humble-ros2-control
|
|
||||||
- ros-humble-robot-state-publisher
|
|
||||||
- ros-humble-joint-state-publisher
|
|
||||||
- ros-humble-rosbridge-server
|
|
||||||
- ros-humble-cv-bridge
|
|
||||||
- ros-humble-tf2
|
|
||||||
- ros-humble-moveit
|
|
||||||
- ros-humble-moveit-servo
|
|
||||||
- ros-humble-simulation
|
|
||||||
- ros-humble-tf-transformations
|
|
||||||
- transforms3d
|
|
||||||
- uni-lab::ros-humble-unilabos-msgs
|
|
||||||
|
|
||||||
about:
|
|
||||||
repository: https://github.com/deepmodeling/Uni-Lab-OS
|
|
||||||
license: GPL-3.0-only
|
|
||||||
description: "Uni-Lab-OS"
|
|
||||||
77
.github/workflows/ci-check.yml
vendored
77
.github/workflows/ci-check.yml
vendored
@@ -8,14 +8,19 @@ on:
|
|||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
registry-check:
|
registry-check:
|
||||||
runs-on: ubuntu-latest
|
runs-on: windows-latest
|
||||||
|
|
||||||
|
env:
|
||||||
|
# Fix Unicode encoding issue on Windows runner (cp1252 -> utf-8)
|
||||||
|
PYTHONIOENCODING: utf-8
|
||||||
|
PYTHONUTF8: 1
|
||||||
|
|
||||||
defaults:
|
defaults:
|
||||||
run:
|
run:
|
||||||
shell: bash -l {0}
|
shell: cmd
|
||||||
|
|
||||||
steps:
|
steps:
|
||||||
- uses: actions/checkout@v4
|
- uses: actions/checkout@v6
|
||||||
with:
|
with:
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
@@ -27,73 +32,31 @@ jobs:
|
|||||||
channels: robostack-staging,conda-forge,uni-lab
|
channels: robostack-staging,conda-forge,uni-lab
|
||||||
channel-priority: flexible
|
channel-priority: flexible
|
||||||
activate-environment: check-env
|
activate-environment: check-env
|
||||||
auto-activate-base: false
|
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
show-channel-urls: true
|
show-channel-urls: true
|
||||||
|
|
||||||
- name: Install ROS dependencies and unilabos-msgs
|
- name: Install ROS dependencies, uv and unilabos-msgs
|
||||||
run: |
|
run: |
|
||||||
# Install all packages together for proper dependency resolution
|
echo Installing ROS dependencies...
|
||||||
# Use mamba for faster and more reliable solving
|
mamba install -n check-env conda-forge::uv conda-forge::opencv robostack-staging::ros-humble-ros-core robostack-staging::ros-humble-action-msgs robostack-staging::ros-humble-std-msgs robostack-staging::ros-humble-geometry-msgs robostack-staging::ros-humble-control-msgs robostack-staging::ros-humble-nav2-msgs uni-lab::ros-humble-unilabos-msgs robostack-staging::ros-humble-cv-bridge robostack-staging::ros-humble-vision-opencv robostack-staging::ros-humble-tf-transformations robostack-staging::ros-humble-moveit-msgs robostack-staging::ros-humble-tf2-ros robostack-staging::ros-humble-tf2-ros-py conda-forge::transforms3d -c robostack-staging -c conda-forge -c uni-lab -y
|
||||||
mamba install -n check-env \
|
|
||||||
python=3.11.14 \
|
|
||||||
robostack-staging::ros-humble-ros-core \
|
|
||||||
robostack-staging::ros-humble-action-msgs \
|
|
||||||
robostack-staging::ros-humble-std-msgs \
|
|
||||||
robostack-staging::ros-humble-geometry-msgs \
|
|
||||||
robostack-staging::ros-humble-control-msgs \
|
|
||||||
robostack-staging::ros-humble-nav2-msgs \
|
|
||||||
uni-lab::ros-humble-unilabos-msgs \
|
|
||||||
robostack-staging::ros-humble-cv-bridge \
|
|
||||||
robostack-staging::ros-humble-vision-opencv \
|
|
||||||
robostack-staging::ros-humble-tf-transformations \
|
|
||||||
robostack-staging::ros-humble-moveit-msgs \
|
|
||||||
robostack-staging::ros-humble-tf2-ros \
|
|
||||||
robostack-staging::ros-humble-tf2-ros-py \
|
|
||||||
conda-forge::transforms3d \
|
|
||||||
-c robostack-staging -c conda-forge -c uni-lab -y
|
|
||||||
|
|
||||||
- name: Install pip dependencies and unilabos
|
- name: Install pip dependencies and unilabos
|
||||||
run: |
|
run: |
|
||||||
# Activate the environment
|
call conda activate check-env
|
||||||
conda activate check-env
|
echo Installing pip dependencies...
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt
|
||||||
# Core dependencies for devices
|
uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
|
||||||
pip install uv
|
uv pip uninstall enum34 || echo enum34 not installed, skipping
|
||||||
uv pip install networkx \
|
uv pip install -e .
|
||||||
typing_extensions \
|
|
||||||
websockets \
|
|
||||||
msgcenterpy \
|
|
||||||
opentrons_shared_data \
|
|
||||||
pint \
|
|
||||||
fastapi \
|
|
||||||
jinja2 \
|
|
||||||
requests \
|
|
||||||
uvicorn \
|
|
||||||
git+https://github.com/Xuwznln/pylabrobot.git \
|
|
||||||
opencv-python \
|
|
||||||
pyautogui \
|
|
||||||
opcua \
|
|
||||||
pyserial \
|
|
||||||
pandas \
|
|
||||||
crcmod-plus \
|
|
||||||
pymodbus \
|
|
||||||
pywinauto_recorder \
|
|
||||||
matplotlib \
|
|
||||||
|
|
||||||
|
|
||||||
# PyLabRobot (custom fork)
|
|
||||||
pip install
|
|
||||||
|
|
||||||
# Install unilabos in editable mode
|
|
||||||
pip install -e .
|
|
||||||
|
|
||||||
- name: Run check mode (complete_registry)
|
- name: Run check mode (complete_registry)
|
||||||
run: |
|
run: |
|
||||||
conda activate check-env
|
call conda activate check-env
|
||||||
|
echo Running check mode...
|
||||||
python -m unilabos --check_mode --skip_env_check
|
python -m unilabos --check_mode --skip_env_check
|
||||||
|
|
||||||
- name: Check for uncommitted changes
|
- name: Check for uncommitted changes
|
||||||
|
shell: bash
|
||||||
run: |
|
run: |
|
||||||
if ! git diff --exit-code; then
|
if ! git diff --exit-code; then
|
||||||
echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
|
echo "::error::检测到文件变化！请先在本地运行 'python -m unilabos --complete_registry' 并提交变更"
|
||||||
|
|||||||
39
.github/workflows/conda-pack-build.yml
vendored
39
.github/workflows/conda-pack-build.yml
vendored
@@ -13,6 +13,11 @@ on:
|
|||||||
required: false
|
required: false
|
||||||
default: 'win-64'
|
default: 'win-64'
|
||||||
type: string
|
type: string
|
||||||
|
build_full:
|
||||||
|
description: '是否构建完整版 unilabos-full (默认构建轻量版 unilabos)'
|
||||||
|
required: false
|
||||||
|
default: false
|
||||||
|
type: boolean
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
build-conda-pack:
|
build-conda-pack:
|
||||||
@@ -57,7 +62,7 @@ jobs:
|
|||||||
echo "should_build=false" >> $GITHUB_OUTPUT
|
echo "should_build=false" >> $GITHUB_OUTPUT
|
||||||
fi
|
fi
|
||||||
|
|
||||||
- uses: actions/checkout@v4
|
- uses: actions/checkout@v6
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
with:
|
with:
|
||||||
ref: ${{ github.event.inputs.branch }}
|
ref: ${{ github.event.inputs.branch }}
|
||||||
@@ -69,7 +74,7 @@ jobs:
|
|||||||
with:
|
with:
|
||||||
miniforge-version: latest
|
miniforge-version: latest
|
||||||
use-mamba: true
|
use-mamba: true
|
||||||
python-version: '3.11.11'
|
python-version: '3.11.14'
|
||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||||
channel-priority: flexible
|
channel-priority: flexible
|
||||||
activate-environment: unilab
|
activate-environment: unilab
|
||||||
@@ -81,7 +86,14 @@ jobs:
|
|||||||
run: |
|
run: |
|
||||||
echo Installing unilabos and dependencies to unilab environment...
|
echo Installing unilabos and dependencies to unilab environment...
|
||||||
echo Using mamba for faster and more reliable dependency resolution...
|
echo Using mamba for faster and more reliable dependency resolution...
|
||||||
|
echo Build full: ${{ github.event.inputs.build_full }}
|
||||||
|
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||||
|
echo Installing unilabos-full ^(complete package^)...
|
||||||
|
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||||
|
) else (
|
||||||
|
echo Installing unilabos ^(minimal package^)...
|
||||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||||
|
)
|
||||||
|
|
||||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||||
@@ -89,7 +101,14 @@ jobs:
|
|||||||
run: |
|
run: |
|
||||||
echo "Installing unilabos and dependencies to unilab environment..."
|
echo "Installing unilabos and dependencies to unilab environment..."
|
||||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||||
|
echo "Build full: ${{ github.event.inputs.build_full }}"
|
||||||
|
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||||
|
echo "Installing unilabos-full (complete package)..."
|
||||||
|
mamba install -n unilab uni-lab::unilabos-full conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||||
|
else
|
||||||
|
echo "Installing unilabos (minimal package)..."
|
||||||
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
mamba install -n unilab uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||||
|
fi
|
||||||
|
|
||||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||||
@@ -293,7 +312,7 @@ jobs:
|
|||||||
|
|
||||||
- name: Upload distribution package
|
- name: Upload distribution package
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: actions/upload-artifact@v4
|
uses: actions/upload-artifact@v6
|
||||||
with:
|
with:
|
||||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||||
path: dist-package/
|
path: dist-package/
|
||||||
@@ -308,7 +327,12 @@ jobs:
|
|||||||
echo ==========================================
|
echo ==========================================
|
||||||
echo Platform: ${{ matrix.platform }}
|
echo Platform: ${{ matrix.platform }}
|
||||||
echo Branch: ${{ github.event.inputs.branch }}
|
echo Branch: ${{ github.event.inputs.branch }}
|
||||||
echo Python version: 3.11.11
|
echo Python version: 3.11.14
|
||||||
|
if "${{ github.event.inputs.build_full }}"=="true" (
|
||||||
|
echo Package: unilabos-full ^(complete^)
|
||||||
|
) else (
|
||||||
|
echo Package: unilabos ^(minimal^)
|
||||||
|
)
|
||||||
echo.
|
echo.
|
||||||
echo Distribution package contents:
|
echo Distribution package contents:
|
||||||
dir dist-package
|
dir dist-package
|
||||||
@@ -328,7 +352,12 @@ jobs:
|
|||||||
echo "=========================================="
|
echo "=========================================="
|
||||||
echo "Platform: ${{ matrix.platform }}"
|
echo "Platform: ${{ matrix.platform }}"
|
||||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||||
echo "Python version: 3.11.11"
|
echo "Python version: 3.11.14"
|
||||||
|
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||||
|
echo "Package: unilabos-full (complete)"
|
||||||
|
else
|
||||||
|
echo "Package: unilabos (minimal)"
|
||||||
|
fi
|
||||||
echo ""
|
echo ""
|
||||||
echo "Distribution package contents:"
|
echo "Distribution package contents:"
|
||||||
ls -lh dist-package/
|
ls -lh dist-package/
|
||||||
|
|||||||
37
.github/workflows/deploy-docs.yml
vendored
37
.github/workflows/deploy-docs.yml
vendored
@@ -1,10 +1,12 @@
|
|||||||
name: Deploy Docs
|
name: Deploy Docs
|
||||||
|
|
||||||
on:
|
on:
|
||||||
push:
|
# 在 CI Check 成功后自动触发（仅 main 分支）
|
||||||
branches: [main]
|
workflow_run:
|
||||||
pull_request:
|
workflows: ["CI Check"]
|
||||||
|
types: [completed]
|
||||||
branches: [main]
|
branches: [main]
|
||||||
|
# 手动触发
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
branch:
|
branch:
|
||||||
@@ -33,12 +35,19 @@ concurrency:
|
|||||||
jobs:
|
jobs:
|
||||||
# Build documentation
|
# Build documentation
|
||||||
build:
|
build:
|
||||||
|
# 只在以下情况运行：
|
||||||
|
# 1. workflow_run 触发且 CI Check 成功
|
||||||
|
# 2. 手动触发
|
||||||
|
if: |
|
||||||
|
github.event_name == 'workflow_dispatch' ||
|
||||||
|
(github.event_name == 'workflow_run' && github.event.workflow_run.conclusion == 'success')
|
||||||
runs-on: ubuntu-latest
|
runs-on: ubuntu-latest
|
||||||
steps:
|
steps:
|
||||||
- name: Checkout code
|
- name: Checkout code
|
||||||
uses: actions/checkout@v4
|
uses: actions/checkout@v6
|
||||||
with:
|
with:
|
||||||
ref: ${{ github.event.inputs.branch || github.ref }}
|
# workflow_run 时使用触发工作流的分支，手动触发时使用输入的分支
|
||||||
|
ref: ${{ github.event.workflow_run.head_branch || github.event.inputs.branch || github.ref }}
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Setup Miniforge (with mamba)
|
- name: Setup Miniforge (with mamba)
|
||||||
@@ -46,7 +55,7 @@ jobs:
|
|||||||
with:
|
with:
|
||||||
miniforge-version: latest
|
miniforge-version: latest
|
||||||
use-mamba: true
|
use-mamba: true
|
||||||
python-version: '3.11.11'
|
python-version: '3.11.14'
|
||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||||
channel-priority: flexible
|
channel-priority: flexible
|
||||||
activate-environment: unilab
|
activate-environment: unilab
|
||||||
@@ -75,8 +84,10 @@ jobs:
|
|||||||
|
|
||||||
- name: Setup Pages
|
- name: Setup Pages
|
||||||
id: pages
|
id: pages
|
||||||
uses: actions/configure-pages@v4
|
uses: actions/configure-pages@v5
|
||||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
if: |
|
||||||
|
github.event.workflow_run.head_branch == 'main' ||
|
||||||
|
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||||
|
|
||||||
- name: Build Sphinx documentation
|
- name: Build Sphinx documentation
|
||||||
run: |
|
run: |
|
||||||
@@ -94,14 +105,18 @@ jobs:
|
|||||||
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
|
||||||
|
|
||||||
- name: Upload build artifacts
|
- name: Upload build artifacts
|
||||||
uses: actions/upload-pages-artifact@v3
|
uses: actions/upload-pages-artifact@v4
|
||||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
if: |
|
||||||
|
github.event.workflow_run.head_branch == 'main' ||
|
||||||
|
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||||
with:
|
with:
|
||||||
path: docs/_build/html
|
path: docs/_build/html
|
||||||
|
|
||||||
# Deploy to GitHub Pages
|
# Deploy to GitHub Pages
|
||||||
deploy:
|
deploy:
|
||||||
if: github.ref == 'refs/heads/main' || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
if: |
|
||||||
|
github.event.workflow_run.head_branch == 'main' ||
|
||||||
|
(github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')
|
||||||
environment:
|
environment:
|
||||||
name: github-pages
|
name: github-pages
|
||||||
url: ${{ steps.deployment.outputs.page_url }}
|
url: ${{ steps.deployment.outputs.page_url }}
|
||||||
|
|||||||
46
.github/workflows/multi-platform-build.yml
vendored
46
.github/workflows/multi-platform-build.yml
vendored
@@ -1,11 +1,16 @@
|
|||||||
name: Multi-Platform Conda Build
|
name: Multi-Platform Conda Build
|
||||||
|
|
||||||
on:
|
on:
|
||||||
|
# 在 CI Check 工作流完成后触发（仅限 main/dev 分支）
|
||||||
|
workflow_run:
|
||||||
|
workflows: ["CI Check"]
|
||||||
|
types:
|
||||||
|
- completed
|
||||||
|
branches: [main, dev]
|
||||||
|
# 支持 tag 推送（不依赖 CI Check）
|
||||||
push:
|
push:
|
||||||
branches: [main, dev]
|
|
||||||
tags: ['v*']
|
tags: ['v*']
|
||||||
pull_request:
|
# 手动触发
|
||||||
branches: [main, dev]
|
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
platforms:
|
platforms:
|
||||||
@@ -17,9 +22,37 @@ on:
|
|||||||
required: false
|
required: false
|
||||||
default: false
|
default: false
|
||||||
type: boolean
|
type: boolean
|
||||||
|
skip_ci_check:
|
||||||
|
description: '跳过等待 CI Check (手动触发时可选)'
|
||||||
|
required: false
|
||||||
|
default: false
|
||||||
|
type: boolean
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
|
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||||
|
wait-for-ci:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
if: github.event_name == 'workflow_run'
|
||||||
|
outputs:
|
||||||
|
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||||
|
steps:
|
||||||
|
- name: Check CI status
|
||||||
|
id: check
|
||||||
|
run: |
|
||||||
|
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||||
|
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||||
|
echo "CI Check passed, proceeding with build"
|
||||||
|
else
|
||||||
|
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||||
|
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||||
|
fi
|
||||||
|
|
||||||
build:
|
build:
|
||||||
|
needs: [wait-for-ci]
|
||||||
|
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||||
|
if: |
|
||||||
|
always() &&
|
||||||
|
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||||
strategy:
|
strategy:
|
||||||
fail-fast: false
|
fail-fast: false
|
||||||
matrix:
|
matrix:
|
||||||
@@ -44,8 +77,10 @@ jobs:
|
|||||||
shell: bash -l {0}
|
shell: bash -l {0}
|
||||||
|
|
||||||
steps:
|
steps:
|
||||||
- uses: actions/checkout@v4
|
- uses: actions/checkout@v6
|
||||||
with:
|
with:
|
||||||
|
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||||
|
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Check if platform should be built
|
- name: Check if platform should be built
|
||||||
@@ -69,7 +104,6 @@ jobs:
|
|||||||
channels: conda-forge,robostack-staging,defaults
|
channels: conda-forge,robostack-staging,defaults
|
||||||
channel-priority: strict
|
channel-priority: strict
|
||||||
activate-environment: build-env
|
activate-environment: build-env
|
||||||
auto-activate-base: false
|
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
show-channel-urls: true
|
show-channel-urls: true
|
||||||
|
|
||||||
@@ -115,7 +149,7 @@ jobs:
|
|||||||
|
|
||||||
- name: Upload conda package artifacts
|
- name: Upload conda package artifacts
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: actions/upload-artifact@v4
|
uses: actions/upload-artifact@v6
|
||||||
with:
|
with:
|
||||||
name: conda-package-${{ matrix.platform }}
|
name: conda-package-${{ matrix.platform }}
|
||||||
path: conda-packages-temp
|
path: conda-packages-temp
|
||||||
|
|||||||
77
.github/workflows/unilabos-conda-build.yml
vendored
77
.github/workflows/unilabos-conda-build.yml
vendored
@@ -1,25 +1,62 @@
|
|||||||
name: UniLabOS Conda Build
|
name: UniLabOS Conda Build
|
||||||
|
|
||||||
on:
|
on:
|
||||||
|
# 在 CI Check 成功后自动触发
|
||||||
|
workflow_run:
|
||||||
|
workflows: ["CI Check"]
|
||||||
|
types: [completed]
|
||||||
|
branches: [main, dev]
|
||||||
|
# 标签推送时直接触发（发布版本）
|
||||||
push:
|
push:
|
||||||
branches: [main, dev]
|
|
||||||
tags: ['v*']
|
tags: ['v*']
|
||||||
pull_request:
|
# 手动触发
|
||||||
branches: [main, dev]
|
|
||||||
workflow_dispatch:
|
workflow_dispatch:
|
||||||
inputs:
|
inputs:
|
||||||
platforms:
|
platforms:
|
||||||
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
|
||||||
required: false
|
required: false
|
||||||
default: 'linux-64'
|
default: 'linux-64'
|
||||||
|
build_full:
|
||||||
|
description: '是否构建 unilabos-full 完整包 (默认只构建 unilabos 基础包)'
|
||||||
|
required: false
|
||||||
|
default: false
|
||||||
|
type: boolean
|
||||||
upload_to_anaconda:
|
upload_to_anaconda:
|
||||||
description: '是否上传到Anaconda.org'
|
description: '是否上传到Anaconda.org'
|
||||||
required: false
|
required: false
|
||||||
default: false
|
default: false
|
||||||
type: boolean
|
type: boolean
|
||||||
|
skip_ci_check:
|
||||||
|
description: '跳过等待 CI Check (手动触发时可选)'
|
||||||
|
required: false
|
||||||
|
default: false
|
||||||
|
type: boolean
|
||||||
|
|
||||||
jobs:
|
jobs:
|
||||||
|
# 等待 CI Check 完成的 job (仅用于 workflow_run 触发)
|
||||||
|
wait-for-ci:
|
||||||
|
runs-on: ubuntu-latest
|
||||||
|
if: github.event_name == 'workflow_run'
|
||||||
|
outputs:
|
||||||
|
should_continue: ${{ steps.check.outputs.should_continue }}
|
||||||
|
steps:
|
||||||
|
- name: Check CI status
|
||||||
|
id: check
|
||||||
|
run: |
|
||||||
|
if [[ "${{ github.event.workflow_run.conclusion }}" == "success" ]]; then
|
||||||
|
echo "should_continue=true" >> $GITHUB_OUTPUT
|
||||||
|
echo "CI Check passed, proceeding with build"
|
||||||
|
else
|
||||||
|
echo "should_continue=false" >> $GITHUB_OUTPUT
|
||||||
|
echo "CI Check did not succeed (status: ${{ github.event.workflow_run.conclusion }}), skipping build"
|
||||||
|
fi
|
||||||
|
|
||||||
build:
|
build:
|
||||||
|
needs: [wait-for-ci]
|
||||||
|
# 运行条件：workflow_run 触发且 CI 成功，或者其他触发方式
|
||||||
|
if: |
|
||||||
|
always() &&
|
||||||
|
(needs.wait-for-ci.result == 'skipped' || needs.wait-for-ci.outputs.should_continue == 'true')
|
||||||
strategy:
|
strategy:
|
||||||
fail-fast: false
|
fail-fast: false
|
||||||
matrix:
|
matrix:
|
||||||
@@ -40,8 +77,10 @@ jobs:
|
|||||||
shell: bash -l {0}
|
shell: bash -l {0}
|
||||||
|
|
||||||
steps:
|
steps:
|
||||||
- uses: actions/checkout@v4
|
- uses: actions/checkout@v6
|
||||||
with:
|
with:
|
||||||
|
# 如果是 workflow_run 触发，使用触发 CI Check 的 commit
|
||||||
|
ref: ${{ github.event.workflow_run.head_sha || github.ref }}
|
||||||
fetch-depth: 0
|
fetch-depth: 0
|
||||||
|
|
||||||
- name: Check if platform should be built
|
- name: Check if platform should be built
|
||||||
@@ -65,7 +104,6 @@ jobs:
|
|||||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||||
channel-priority: strict
|
channel-priority: strict
|
||||||
activate-environment: build-env
|
activate-environment: build-env
|
||||||
auto-activate-base: false
|
|
||||||
auto-update-conda: false
|
auto-update-conda: false
|
||||||
show-channel-urls: true
|
show-channel-urls: true
|
||||||
|
|
||||||
@@ -81,12 +119,33 @@ jobs:
|
|||||||
conda list | grep -E "(rattler-build|anaconda-client)"
|
conda list | grep -E "(rattler-build|anaconda-client)"
|
||||||
echo "Platform: ${{ matrix.platform }}"
|
echo "Platform: ${{ matrix.platform }}"
|
||||||
echo "OS: ${{ matrix.os }}"
|
echo "OS: ${{ matrix.os }}"
|
||||||
echo "Building UniLabOS package"
|
echo "Build full package: ${{ github.event.inputs.build_full || 'false' }}"
|
||||||
|
echo "Building packages:"
|
||||||
|
echo " - unilabos-env (environment dependencies)"
|
||||||
|
echo " - unilabos (with pip package)"
|
||||||
|
if [[ "${{ github.event.inputs.build_full }}" == "true" ]]; then
|
||||||
|
echo " - unilabos-full (complete package)"
|
||||||
|
fi
|
||||||
|
|
||||||
- name: Build conda package
|
- name: Build unilabos-env (conda environment only, noarch)
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
run: |
|
run: |
|
||||||
rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
echo "Building unilabos-env (conda environment dependencies)..."
|
||||||
|
rattler-build build -r .conda/environment/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
|
||||||
|
|
||||||
|
- name: Build unilabos (with pip package)
|
||||||
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
|
run: |
|
||||||
|
echo "Building unilabos package..."
|
||||||
|
rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||||
|
|
||||||
|
- name: Build unilabos-full - Only when explicitly requested
|
||||||
|
if: |
|
||||||
|
steps.should_build.outputs.should_build == 'true' &&
|
||||||
|
github.event.inputs.build_full == 'true'
|
||||||
|
run: |
|
||||||
|
echo "Building unilabos-full package on ${{ matrix.platform }}..."
|
||||||
|
rattler-build build -r .conda/full/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
|
||||||
|
|
||||||
- name: List built packages
|
- name: List built packages
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
@@ -108,7 +167,7 @@ jobs:
|
|||||||
|
|
||||||
- name: Upload conda package artifacts
|
- name: Upload conda package artifacts
|
||||||
if: steps.should_build.outputs.should_build == 'true'
|
if: steps.should_build.outputs.should_build == 'true'
|
||||||
uses: actions/upload-artifact@v4
|
uses: actions/upload-artifact@v6
|
||||||
with:
|
with:
|
||||||
name: conda-package-unilabos-${{ matrix.platform }}
|
name: conda-package-unilabos-${{ matrix.platform }}
|
||||||
path: conda-packages-temp
|
path: conda-packages-temp
|
||||||
|
|||||||
@@ -1,4 +1,5 @@
|
|||||||
recursive-include unilabos/test *
|
recursive-include unilabos/test *
|
||||||
|
recursive-include unilabos/utils *
|
||||||
recursive-include unilabos/registry *.yaml
|
recursive-include unilabos/registry *.yaml
|
||||||
recursive-include unilabos/app/web/static *
|
recursive-include unilabos/app/web/static *
|
||||||
recursive-include unilabos/app/web/templates *
|
recursive-include unilabos/app/web/templates *
|
||||||
|
|||||||
38
README.md
38
README.md
@@ -31,26 +31,46 @@ Detailed documentation can be found at:
|
|||||||
|
|
||||||
## Quick Start
|
## Quick Start
|
||||||
|
|
||||||
1. Setup Conda Environment
|
### 1. Setup Conda Environment
|
||||||
|
|
||||||
Uni-Lab-OS recommends using `mamba` for environment management:
|
Uni-Lab-OS recommends using `mamba` for environment management. Choose the package that fits your needs:
|
||||||
|
|
||||||
|
| Package | Use Case | Contents |
|
||||||
|
|---------|----------|----------|
|
||||||
|
| `unilabos` | **Recommended for most users** | Complete package, ready to use |
|
||||||
|
| `unilabos-env` | Developers (editable install) | Environment only, install unilabos via pip |
|
||||||
|
| `unilabos-full` | Simulation/Visualization | unilabos + ROS2 Desktop + Gazebo + MoveIt |
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# Create new environment
|
# Create new environment
|
||||||
mamba create -n unilab python=3.11.11
|
mamba create -n unilab python=3.11.14
|
||||||
mamba activate unilab
|
mamba activate unilab
|
||||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
|
||||||
|
# Option A: Standard installation (recommended for most users)
|
||||||
|
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
|
|
||||||
|
# Option B: For developers (editable mode development)
|
||||||
|
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||||
|
# Then install unilabos and dependencies:
|
||||||
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||||
|
pip install -e .
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt
|
||||||
|
|
||||||
|
# Option C: Full installation (simulation/visualization)
|
||||||
|
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||||
```
|
```
|
||||||
|
|
||||||
2. Install Dev Uni-Lab-OS
|
**When to use which?**
|
||||||
|
- **unilabos**: Standard installation for production deployment and general usage (recommended)
|
||||||
|
- **unilabos-env**: For developers who need `pip install -e .` editable mode, modify source code
|
||||||
|
- **unilabos-full**: For simulation (Gazebo), visualization (rviz2), and Jupyter notebooks
|
||||||
|
|
||||||
|
### 2. Clone Repository (Optional, for developers)
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# Clone the repository
|
# Clone the repository (only needed for development or examples)
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||||
cd Uni-Lab-OS
|
cd Uni-Lab-OS
|
||||||
|
|
||||||
# Install Uni-Lab-OS
|
|
||||||
pip install .
|
|
||||||
```
|
```
|
||||||
|
|
||||||
3. Start Uni-Lab System
|
3. Start Uni-Lab System
|
||||||
|
|||||||
38
README_zh.md
38
README_zh.md
@@ -31,26 +31,46 @@ Uni-Lab-OS 是一个用于实验室自动化的综合平台，旨在连接和控
|
|||||||
|
|
||||||
## 快速开始
|
## 快速开始
|
||||||
|
|
||||||
1. 配置 Conda 环境
|
### 1. 配置 Conda 环境
|
||||||
|
|
||||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适当的环境文件:
|
Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的需求选择合适的安装包：
|
||||||
|
|
||||||
|
| 安装包 | 适用场景 | 包含内容 |
|
||||||
|
|--------|----------|----------|
|
||||||
|
| `unilabos` | **推荐大多数用户** | 完整安装包，开箱即用 |
|
||||||
|
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||||
|
| `unilabos-full` | 仿真/可视化 | unilabos + ROS2 桌面版 + Gazebo + MoveIt |
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 创建新环境
|
# 创建新环境
|
||||||
mamba create -n unilab python=3.11.11
|
mamba create -n unilab python=3.11.14
|
||||||
mamba activate unilab
|
mamba activate unilab
|
||||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
|
||||||
|
# 方案 A：标准安装（推荐大多数用户）
|
||||||
|
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
|
|
||||||
|
# 方案 B：开发者环境（可编辑模式开发）
|
||||||
|
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||||
|
# 然后安装 unilabos 和依赖：
|
||||||
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||||
|
pip install -e .
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt
|
||||||
|
|
||||||
|
# 方案 C：完整安装（仿真/可视化）
|
||||||
|
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||||
```
|
```
|
||||||
|
|
||||||
2. 安装开发版 Uni-Lab-OS:
|
**如何选择？**
|
||||||
|
- **unilabos**：标准安装，适用于生产部署和日常使用（推荐）
|
||||||
|
- **unilabos-env**：开发者使用，支持 `pip install -e .` 可编辑模式，可修改源代码
|
||||||
|
- **unilabos-full**：需要仿真（Gazebo）、可视化（rviz2）或 Jupyter Notebook
|
||||||
|
|
||||||
|
### 2. 克隆仓库（可选，供开发者使用）
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 克隆仓库
|
# 克隆仓库（仅开发或查看示例时需要）
|
||||||
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||||
cd Uni-Lab-OS
|
cd Uni-Lab-OS
|
||||||
|
|
||||||
# 安装 Uni-Lab-OS
|
|
||||||
pip install .
|
|
||||||
```
|
```
|
||||||
|
|
||||||
3. 启动 Uni-Lab 系统
|
3. 启动 Uni-Lab 系统
|
||||||
|
|||||||
@@ -31,6 +31,14 @@
|
|||||||
|
|
||||||
详细的安装步骤请参考 [安装指南](installation.md)。
|
详细的安装步骤请参考 [安装指南](installation.md)。
|
||||||
|
|
||||||
|
**选择合适的安装包：**
|
||||||
|
|
||||||
|
| 安装包 | 适用场景 | 包含组件 |
|
||||||
|
|--------|----------|----------|
|
||||||
|
| `unilabos` | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 |
|
||||||
|
| `unilabos-env` | 开发者（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos |
|
||||||
|
| `unilabos-full` | 仿真/可视化 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt |
|
||||||
|
|
||||||
**关键步骤：**
|
**关键步骤：**
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
@@ -38,15 +46,30 @@
|
|||||||
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
# 下载 Miniforge: https://github.com/conda-forge/miniforge/releases
|
||||||
|
|
||||||
# 2. 创建 Conda 环境
|
# 2. 创建 Conda 环境
|
||||||
mamba create -n unilab python=3.11.11
|
mamba create -n unilab python=3.11.14
|
||||||
|
|
||||||
# 3. 激活环境
|
# 3. 激活环境
|
||||||
mamba activate unilab
|
mamba activate unilab
|
||||||
|
|
||||||
# 4. 安装 Uni-Lab-OS
|
# 4. 安装 Uni-Lab-OS（选择其一）
|
||||||
|
|
||||||
|
# 方案 A：标准安装（推荐大多数用户）
|
||||||
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
|
|
||||||
|
# 方案 B：开发者环境（可编辑模式开发）
|
||||||
|
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||||
|
pip install -e /path/to/Uni-Lab-OS # 可编辑安装
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt # 安装 pip 依赖
|
||||||
|
|
||||||
|
# 方案 C：完整版（仿真/可视化）
|
||||||
|
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||||
```
|
```
|
||||||
|
|
||||||
|
**选择建议：**
|
||||||
|
- **日常使用/生产部署**：使用 `unilabos`（推荐），完整功能，开箱即用
|
||||||
|
- **开发者**：使用 `unilabos-env` + `pip install -e .` + `uv pip install -r unilabos/utils/requirements.txt`，代码修改立即生效
|
||||||
|
- **仿真/可视化**：使用 `unilabos-full`，含 Gazebo、rviz2、MoveIt
|
||||||
|
|
||||||
#### 1.2 验证安装
|
#### 1.2 验证安装
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
@@ -768,7 +791,43 @@ Waiting for host service...
|
|||||||
|
|
||||||
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
详细的设备驱动编写指南请参考 [添加设备驱动](../developer_guide/add_device.md)。
|
||||||
|
|
||||||
#### 9.1 为什么需要自定义设备？
|
#### 9.1 开发环境准备
|
||||||
|
|
||||||
|
**推荐使用 `unilabos-env` + `pip install -e .` + `uv pip install`** 进行设备开发：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 1. 创建环境并安装 unilabos-env（ROS2 + conda 依赖 + uv）
|
||||||
|
mamba create -n unilab python=3.11.14
|
||||||
|
conda activate unilab
|
||||||
|
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||||
|
|
||||||
|
# 2. 克隆代码
|
||||||
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||||
|
cd Uni-Lab-OS
|
||||||
|
|
||||||
|
# 3. 以可编辑模式安装（推荐使用脚本，自动检测中文环境）
|
||||||
|
python scripts/dev_install.py
|
||||||
|
|
||||||
|
# 或手动安装：
|
||||||
|
pip install -e .
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt
|
||||||
|
```
|
||||||
|
|
||||||
|
**为什么使用这种方式？**
|
||||||
|
- `unilabos-env` 提供 ROS2 核心组件和 uv（通过 conda 安装，避免编译）
|
||||||
|
- `unilabos/utils/requirements.txt` 包含所有运行时需要的 pip 依赖
|
||||||
|
- `dev_install.py` 自动检测中文环境，中文系统自动使用清华镜像
|
||||||
|
- 使用 `uv` 替代 `pip`，安装速度更快
|
||||||
|
- 可编辑模式：代码修改**立即生效**，无需重新安装
|
||||||
|
|
||||||
|
**如果安装失败或速度太慢**，可以手动执行（使用清华镜像）：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||||
|
```
|
||||||
|
|
||||||
|
#### 9.2 为什么需要自定义设备？
|
||||||
|
|
||||||
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要集成：
|
||||||
|
|
||||||
@@ -777,7 +836,7 @@ Uni-Lab-OS 内置了常见设备，但您的实验室可能有特殊设备需要
|
|||||||
- 特殊的实验流程
|
- 特殊的实验流程
|
||||||
- 第三方设备集成
|
- 第三方设备集成
|
||||||
|
|
||||||
#### 9.2 创建 Python 包
|
#### 9.3 创建 Python 包
|
||||||
|
|
||||||
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
为了方便开发和管理，建议为您的实验室创建独立的 Python 包。
|
||||||
|
|
||||||
@@ -814,7 +873,7 @@ touch my_lab_devices/my_lab_devices/__init__.py
|
|||||||
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
touch my_lab_devices/my_lab_devices/devices/__init__.py
|
||||||
```
|
```
|
||||||
|
|
||||||
#### 9.3 创建 setup.py
|
#### 9.4 创建 setup.py
|
||||||
|
|
||||||
```python
|
```python
|
||||||
# my_lab_devices/setup.py
|
# my_lab_devices/setup.py
|
||||||
@@ -845,7 +904,7 @@ setup(
|
|||||||
)
|
)
|
||||||
```
|
```
|
||||||
|
|
||||||
#### 9.4 开发安装
|
#### 9.5 开发安装
|
||||||
|
|
||||||
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
使用 `-e` 参数进行可编辑安装，这样代码修改后立即生效：
|
||||||
|
|
||||||
@@ -860,7 +919,7 @@ pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
|||||||
- 方便调试和测试
|
- 方便调试和测试
|
||||||
- 支持版本控制（git）
|
- 支持版本控制（git）
|
||||||
|
|
||||||
#### 9.5 编写设备驱动
|
#### 9.6 编写设备驱动
|
||||||
|
|
||||||
创建设备驱动文件：
|
创建设备驱动文件：
|
||||||
|
|
||||||
@@ -1001,7 +1060,7 @@ class MyPump:
|
|||||||
- **返回 Dict**：所有动作方法返回字典类型
|
- **返回 Dict**：所有动作方法返回字典类型
|
||||||
- **文档字符串**：详细说明参数和功能
|
- **文档字符串**：详细说明参数和功能
|
||||||
|
|
||||||
#### 9.6 测试设备驱动
|
#### 9.7 测试设备驱动
|
||||||
|
|
||||||
创建简单的测试脚本：
|
创建简单的测试脚本：
|
||||||
|
|
||||||
|
|||||||
@@ -13,15 +13,26 @@
|
|||||||
- 开发者需要 Git 和基本的 Python 开发知识
|
- 开发者需要 Git 和基本的 Python 开发知识
|
||||||
- 自定义 msgs 需要 GitHub 账号
|
- 自定义 msgs 需要 GitHub 账号
|
||||||
|
|
||||||
|
## 安装包选择
|
||||||
|
|
||||||
|
Uni-Lab-OS 提供三个安装包版本，根据您的需求选择：
|
||||||
|
|
||||||
|
| 安装包 | 适用场景 | 包含组件 | 磁盘占用 |
|
||||||
|
|--------|----------|----------|----------|
|
||||||
|
| **unilabos** | **推荐大多数用户**，生产部署 | 完整安装包，开箱即用 | ~2-3 GB |
|
||||||
|
| **unilabos-env** | 开发者环境（可编辑安装） | 仅环境依赖，通过 pip 安装 unilabos | ~2 GB |
|
||||||
|
| **unilabos-full** | 仿真可视化、完整功能体验 | unilabos + 完整 ROS2 桌面版 + Gazebo + MoveIt | ~8-10 GB |
|
||||||
|
|
||||||
## 安装方式选择
|
## 安装方式选择
|
||||||
|
|
||||||
根据您的使用场景，选择合适的安装方式：
|
根据您的使用场景，选择合适的安装方式：
|
||||||
|
|
||||||
| 安装方式 | 适用人群 | 特点 | 安装时间 |
|
| 安装方式 | 适用人群 | 推荐安装包 | 特点 | 安装时间 |
|
||||||
| ---------------------- | -------------------- | ------------------------------ | ---------------------------- |
|
| ---------------------- | -------------------- | ----------------- | ------------------------------ | ---------------------------- |
|
||||||
| **方式一：一键安装** | 实验室用户、快速体验 | 预打包环境，离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
| **方式一：一键安装** | 快速体验、演示 | 预打包环境 | 离线可用，无需配置 | 5-10 分钟 (网络良好的情况下) |
|
||||||
| **方式二：手动安装** | 标准用户、生产环境 | 灵活配置，版本可控 | 10-20 分钟 |
|
| **方式二：手动安装** | **大多数用户** | `unilabos` | 完整功能，开箱即用 | 10-20 分钟 |
|
||||||
| **方式三：开发者安装** | 开发者、需要修改源码 | 可编辑模式，支持自定义 msgs | 20-30 分钟 |
|
| **方式三：开发者安装** | 开发者、需要修改源码 | `unilabos-env` | 可编辑模式，支持自定义开发 | 20-30 分钟 |
|
||||||
|
| **仿真/可视化** | 仿真测试、可视化调试 | `unilabos-full` | 含 Gazebo、rviz2、MoveIt | 30-60 分钟 |
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
@@ -144,17 +155,38 @@ bash Miniforge3-$(uname)-$(uname -m).sh
|
|||||||
使用以下命令创建 Uni-Lab 专用环境：
|
使用以下命令创建 Uni-Lab 专用环境：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
mamba create -n unilab python=3.11.11 # 目前ros2组件依赖版本大多为3.11.11
|
mamba create -n unilab python=3.11.14 # 目前ros2组件依赖版本大多为3.11.14
|
||||||
mamba activate unilab
|
mamba activate unilab
|
||||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
|
||||||
|
# 选择安装包（三选一）：
|
||||||
|
|
||||||
|
# 方案 A：标准安装（推荐大多数用户）
|
||||||
|
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
|
|
||||||
|
# 方案 B：开发者环境（可编辑模式开发）
|
||||||
|
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||||
|
# 然后安装 unilabos 和 pip 依赖：
|
||||||
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git && cd Uni-Lab-OS
|
||||||
|
pip install -e .
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt
|
||||||
|
|
||||||
|
# 方案 C：完整版（含仿真和可视化工具）
|
||||||
|
mamba install uni-lab::unilabos-full -c robostack-staging -c conda-forge
|
||||||
```
|
```
|
||||||
|
|
||||||
**参数说明**:
|
**参数说明**:
|
||||||
|
|
||||||
- `-n unilab`: 创建名为 "unilab" 的环境
|
- `-n unilab`: 创建名为 "unilab" 的环境
|
||||||
- `uni-lab::unilabos`: 从 uni-lab channel 安装 unilabos 包
|
- `uni-lab::unilabos`: 安装 unilabos 完整包，开箱即用（推荐）
|
||||||
|
- `uni-lab::unilabos-env`: 仅安装环境依赖，适合开发者使用 `pip install -e .`
|
||||||
|
- `uni-lab::unilabos-full`: 安装完整包（含 ROS2 Desktop、Gazebo、MoveIt 等）
|
||||||
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
- `-c robostack-staging -c conda-forge`: 添加额外的软件源
|
||||||
|
|
||||||
|
**包选择建议**：
|
||||||
|
- **日常使用/生产部署**：安装 `unilabos`（推荐，完整功能，开箱即用）
|
||||||
|
- **开发者**：安装 `unilabos-env`，然后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖，再 `pip install -e .` 进行可编辑安装
|
||||||
|
- **仿真/可视化**：安装 `unilabos-full`（Gazebo、rviz2、MoveIt）
|
||||||
|
|
||||||
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
**如果遇到网络问题**，可以使用清华镜像源加速下载：
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
@@ -163,8 +195,14 @@ mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/m
|
|||||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/pkgs/free/
|
||||||
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
mamba config --add channels https://mirrors.tuna.tsinghua.edu.cn/anaconda/cloud/conda-forge/
|
||||||
|
|
||||||
# 然后重新执行安装命令
|
# 然后重新执行安装命令（推荐标准安装）
|
||||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
mamba create -n unilab uni-lab::unilabos -c robostack-staging
|
||||||
|
|
||||||
|
# 或完整版（仿真/可视化）
|
||||||
|
mamba create -n unilab uni-lab::unilabos-full -c robostack-staging
|
||||||
|
|
||||||
|
# pip 安装时使用清华镜像（开发者安装时使用）
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||||
```
|
```
|
||||||
|
|
||||||
### 第三步：激活环境
|
### 第三步：激活环境
|
||||||
@@ -203,58 +241,87 @@ cd Uni-Lab-OS
|
|||||||
cd Uni-Lab-OS
|
cd Uni-Lab-OS
|
||||||
```
|
```
|
||||||
|
|
||||||
### 第二步：安装基础环境
|
### 第二步：安装开发环境（unilabos-env）
|
||||||
|
|
||||||
**推荐方式**：先通过**方式一（一键安装）**或**方式二（手动安装）**完成基础环境的安装，这将包含所有必需的依赖项（ROS2、msgs 等）。
|
**重要**：开发者请使用 `unilabos-env` 包，它专为开发者设计：
|
||||||
|
- 包含 ROS2 核心组件和消息包（ros-humble-ros-core、std-msgs、geometry-msgs 等）
|
||||||
#### 选项 A：通过一键安装（推荐）
|
- 包含 transforms3d、cv-bridge、tf2 等 conda 依赖
|
||||||
|
- 包含 `uv` 工具，用于快速安装 pip 依赖
|
||||||
参考上文"方式一：一键安装"，完成基础环境的安装后，激活环境：
|
- **不包含** pip 依赖和 unilabos 包（由 `pip install -e .` 和 `uv pip install` 安装）
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
|
# 创建并激活环境
|
||||||
|
mamba create -n unilab python=3.11.14
|
||||||
conda activate unilab
|
conda activate unilab
|
||||||
|
|
||||||
|
# 安装开发者环境包（ROS2 + conda 依赖 + uv）
|
||||||
|
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||||
```
|
```
|
||||||
|
|
||||||
#### 选项 B：通过手动安装
|
### 第三步：安装 pip 依赖和可编辑模式安装
|
||||||
|
|
||||||
参考上文"方式二：手动安装"，创建并安装环境：
|
克隆代码并安装依赖：
|
||||||
|
|
||||||
```bash
|
|
||||||
mamba create -n unilab python=3.11.11
|
|
||||||
conda activate unilab
|
|
||||||
mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
|
||||||
```
|
|
||||||
|
|
||||||
**说明**：这会安装包括 Python 3.11.11、ROS2 Humble、ros-humble-unilabos-msgs 和所有必需依赖
|
|
||||||
|
|
||||||
### 第三步：切换到开发版本
|
|
||||||
|
|
||||||
现在你已经有了一个完整可用的 Uni-Lab 环境，接下来将 unilabos 包切换为开发版本：
|
|
||||||
|
|
||||||
```bash
|
```bash
|
||||||
# 确保环境已激活
|
# 确保环境已激活
|
||||||
conda activate unilab
|
conda activate unilab
|
||||||
|
|
||||||
# 卸载 pip 安装的 unilabos（保留所有 conda 依赖）
|
# 克隆仓库（如果还未克隆）
|
||||||
pip uninstall unilabos -y
|
git clone https://github.com/deepmodeling/Uni-Lab-OS.git
|
||||||
|
|
||||||
# 克隆 dev 分支（如果还未克隆）
|
|
||||||
cd /path/to/your/workspace
|
|
||||||
git clone -b dev https://github.com/deepmodeling/Uni-Lab-OS.git
|
|
||||||
# 或者如果已经克隆，切换到 dev 分支
|
|
||||||
cd Uni-Lab-OS
|
cd Uni-Lab-OS
|
||||||
|
|
||||||
|
# 切换到 dev 分支（可选）
|
||||||
git checkout dev
|
git checkout dev
|
||||||
git pull
|
git pull
|
||||||
|
|
||||||
# 以可编辑模式安装开发版 unilabos
|
|
||||||
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
|
||||||
```
|
```
|
||||||
|
|
||||||
**参数说明**：
|
**推荐：使用安装脚本**（自动检测中文环境，使用 uv 加速）：
|
||||||
|
|
||||||
- `-e`: editable mode（可编辑模式），代码修改立即生效，无需重新安装
|
```bash
|
||||||
- `-i`: 使用清华镜像源加速下载
|
# 自动检测中文环境，如果是中文系统则使用清华镜像
|
||||||
- `pip uninstall unilabos`: 只卸载 pip 安装的 unilabos 包，不影响 conda 安装的其他依赖（如 ROS2、msgs 等）
|
python scripts/dev_install.py
|
||||||
|
|
||||||
|
# 或者手动指定：
|
||||||
|
python scripts/dev_install.py --china # 强制使用清华镜像
|
||||||
|
python scripts/dev_install.py --no-mirror # 强制使用 PyPI
|
||||||
|
python scripts/dev_install.py --skip-deps # 跳过 pip 依赖安装
|
||||||
|
python scripts/dev_install.py --use-pip # 使用 pip 而非 uv
|
||||||
|
```
|
||||||
|
|
||||||
|
**手动安装**（如果脚本安装失败或速度太慢）：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 1. 安装 unilabos（可编辑模式）
|
||||||
|
pip install -e .
|
||||||
|
|
||||||
|
# 2. 使用 uv 安装 pip 依赖（推荐，速度更快）
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt
|
||||||
|
|
||||||
|
# 国内用户使用清华镜像：
|
||||||
|
pip install -e . -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
|
||||||
|
```
|
||||||
|
|
||||||
|
**注意**：
|
||||||
|
- `uv` 已包含在 `unilabos-env` 中，无需单独安装
|
||||||
|
- `unilabos/utils/requirements.txt` 包含运行 unilabos 所需的所有 pip 依赖
|
||||||
|
- 部分特殊包（如 pylabrobot）会在运行时由 unilabos 自动检测并安装
|
||||||
|
|
||||||
|
**为什么使用可编辑模式？**
|
||||||
|
|
||||||
|
- `-e` (editable mode)：代码修改**立即生效**，无需重新安装
|
||||||
|
- 适合开发调试：修改代码后直接运行测试
|
||||||
|
- 与 `unilabos-env` 配合：环境依赖由 conda 管理，unilabos 代码由 pip 管理
|
||||||
|
|
||||||
|
**验证安装**：
|
||||||
|
|
||||||
|
```bash
|
||||||
|
# 检查 unilabos 版本
|
||||||
|
python -c "import unilabos; print(unilabos.__version__)"
|
||||||
|
|
||||||
|
# 检查安装位置（应该指向你的代码目录）
|
||||||
|
pip show unilabos | grep Location
|
||||||
|
```
|
||||||
|
|
||||||
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
### 第四步：安装或自定义 ros-humble-unilabos-msgs（可选）
|
||||||
|
|
||||||
@@ -464,7 +531,45 @@ cd $CONDA_PREFIX/envs/unilab
|
|||||||
|
|
||||||
### 问题 8: 环境很大，有办法减小吗？
|
### 问题 8: 环境很大，有办法减小吗？
|
||||||
|
|
||||||
**解决方案**: 预打包的环境包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。如果空间有限，考虑使用方式二手动安装，只安装需要的组件。
|
**解决方案**:
|
||||||
|
|
||||||
|
1. **使用 `unilabos` 标准版**（推荐大多数用户）：
|
||||||
|
```bash
|
||||||
|
mamba install uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||||
|
```
|
||||||
|
标准版包含完整功能，环境大小约 2-3GB（相比完整版的 8-10GB）。
|
||||||
|
|
||||||
|
2. **使用 `unilabos-env` 开发者版**（最小化）：
|
||||||
|
```bash
|
||||||
|
mamba install uni-lab::unilabos-env -c robostack-staging -c conda-forge
|
||||||
|
# 然后手动安装依赖
|
||||||
|
pip install -e .
|
||||||
|
uv pip install -r unilabos/utils/requirements.txt
|
||||||
|
```
|
||||||
|
开发者版只包含环境依赖，体积最小约 2GB。
|
||||||
|
|
||||||
|
3. **按需安装额外组件**：
|
||||||
|
如果后续需要特定功能，可以单独安装：
|
||||||
|
```bash
|
||||||
|
# 需要 Jupyter
|
||||||
|
mamba install jupyter jupyros
|
||||||
|
|
||||||
|
# 需要可视化
|
||||||
|
mamba install matplotlib opencv
|
||||||
|
|
||||||
|
# 需要仿真（注意：这会安装大量依赖）
|
||||||
|
mamba install ros-humble-gazebo-ros
|
||||||
|
```
|
||||||
|
|
||||||
|
4. **预打包环境问题**：
|
||||||
|
预打包环境（方式一）包含所有依赖，通常较大（压缩后 2-5GB）。这是为了确保离线安装和完整功能。
|
||||||
|
|
||||||
|
**包选择建议**：
|
||||||
|
| 需求 | 推荐包 | 预估大小 |
|
||||||
|
|------|--------|----------|
|
||||||
|
| 日常使用/生产部署 | `unilabos` | ~2-3 GB |
|
||||||
|
| 开发调试（可编辑模式） | `unilabos-env` | ~2 GB |
|
||||||
|
| 仿真/可视化 | `unilabos-full` | ~8-10 GB |
|
||||||
|
|
||||||
### 问题 9: 如何更新到最新版本？
|
### 问题 9: 如何更新到最新版本？
|
||||||
|
|
||||||
@@ -511,6 +616,7 @@ mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-f
|
|||||||
|
|
||||||
**提示**:
|
**提示**:
|
||||||
|
|
||||||
- 生产环境推荐使用方式二（手动安装）的稳定版本
|
- **大多数用户**推荐使用方式二（手动安装）的 `unilabos` 标准版
|
||||||
- 开发和测试推荐使用方式三（开发者安装）
|
- **开发者**推荐使用方式三（开发者安装），安装 `unilabos-env` 后使用 `uv pip install -r unilabos/utils/requirements.txt` 安装依赖
|
||||||
- 快速体验和演示推荐使用方式一（一键安装）
|
- **仿真/可视化**推荐安装 `unilabos-full` 完整版
|
||||||
|
- **快速体验和演示**推荐使用方式一（一键安装）
|
||||||
|
|||||||
@@ -85,7 +85,7 @@ Verification:
|
|||||||
-------------
|
-------------
|
||||||
|
|
||||||
The verify_installation.py script will check:
|
The verify_installation.py script will check:
|
||||||
- Python version (3.11.11)
|
- Python version (3.11.14)
|
||||||
- ROS2 rclpy installation
|
- ROS2 rclpy installation
|
||||||
- UniLabOS installation and dependencies
|
- UniLabOS installation and dependencies
|
||||||
|
|
||||||
@@ -104,7 +104,7 @@ Build Information:
|
|||||||
|
|
||||||
Branch: {branch}
|
Branch: {branch}
|
||||||
Platform: {platform}
|
Platform: {platform}
|
||||||
Python: 3.11.11
|
Python: 3.11.14
|
||||||
Date: {build_date}
|
Date: {build_date}
|
||||||
|
|
||||||
Troubleshooting:
|
Troubleshooting:
|
||||||
|
|||||||
214
scripts/dev_install.py
Normal file
214
scripts/dev_install.py
Normal file
@@ -0,0 +1,214 @@
|
|||||||
|
#!/usr/bin/env python3
|
||||||
|
"""
|
||||||
|
Development installation script for UniLabOS.
|
||||||
|
Auto-detects Chinese locale and uses appropriate mirror.
|
||||||
|
|
||||||
|
Usage:
|
||||||
|
python scripts/dev_install.py
|
||||||
|
python scripts/dev_install.py --no-mirror # Force no mirror
|
||||||
|
python scripts/dev_install.py --china # Force China mirror
|
||||||
|
python scripts/dev_install.py --skip-deps # Skip pip dependencies installation
|
||||||
|
|
||||||
|
Flow:
|
||||||
|
1. pip install -e . (install unilabos in editable mode)
|
||||||
|
2. Detect Chinese locale
|
||||||
|
3. Use uv to install pip dependencies from requirements.txt
|
||||||
|
4. Special packages (like pylabrobot) are handled by environment_check.py at runtime
|
||||||
|
"""
|
||||||
|
|
||||||
|
import locale
|
||||||
|
import subprocess
|
||||||
|
import sys
|
||||||
|
import argparse
|
||||||
|
from pathlib import Path
|
||||||
|
|
||||||
|
# Tsinghua mirror URL
|
||||||
|
TSINGHUA_MIRROR = "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"
|
||||||
|
|
||||||
|
|
||||||
|
def is_chinese_locale() -> bool:
|
||||||
|
"""
|
||||||
|
Detect if system is in Chinese locale.
|
||||||
|
Same logic as EnvironmentChecker._is_chinese_locale()
|
||||||
|
"""
|
||||||
|
try:
|
||||||
|
lang = locale.getdefaultlocale()[0]
|
||||||
|
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
|
||||||
|
return True
|
||||||
|
except Exception:
|
||||||
|
pass
|
||||||
|
return False
|
||||||
|
|
||||||
|
|
||||||
|
def run_command(cmd: list, description: str, retry: int = 2) -> bool:
|
||||||
|
"""Run command with retry support."""
|
||||||
|
print(f"[INFO] {description}")
|
||||||
|
print(f"[CMD] {' '.join(cmd)}")
|
||||||
|
|
||||||
|
for attempt in range(retry + 1):
|
||||||
|
try:
|
||||||
|
result = subprocess.run(cmd, check=True, timeout=600)
|
||||||
|
print(f"[OK] {description}")
|
||||||
|
return True
|
||||||
|
except subprocess.CalledProcessError as e:
|
||||||
|
if attempt < retry:
|
||||||
|
print(f"[WARN] Attempt {attempt + 1} failed, retrying...")
|
||||||
|
else:
|
||||||
|
print(f"[ERROR] {description} failed: {e}")
|
||||||
|
return False
|
||||||
|
except subprocess.TimeoutExpired:
|
||||||
|
print(f"[ERROR] {description} timed out")
|
||||||
|
return False
|
||||||
|
return False
|
||||||
|
|
||||||
|
|
||||||
|
def install_editable(project_root: Path, use_mirror: bool) -> bool:
|
||||||
|
"""Install unilabos in editable mode using pip."""
|
||||||
|
cmd = [sys.executable, "-m", "pip", "install", "-e", str(project_root)]
|
||||||
|
if use_mirror:
|
||||||
|
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||||
|
|
||||||
|
return run_command(cmd, "Installing unilabos in editable mode")
|
||||||
|
|
||||||
|
|
||||||
|
def install_requirements_uv(requirements_file: Path, use_mirror: bool) -> bool:
|
||||||
|
"""Install pip dependencies using uv (installed via conda-forge::uv)."""
|
||||||
|
cmd = ["uv", "pip", "install", "-r", str(requirements_file)]
|
||||||
|
if use_mirror:
|
||||||
|
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||||
|
|
||||||
|
return run_command(cmd, "Installing pip dependencies with uv", retry=2)
|
||||||
|
|
||||||
|
|
||||||
|
def install_requirements_pip(requirements_file: Path, use_mirror: bool) -> bool:
|
||||||
|
"""Fallback: Install pip dependencies using pip."""
|
||||||
|
cmd = [sys.executable, "-m", "pip", "install", "-r", str(requirements_file)]
|
||||||
|
if use_mirror:
|
||||||
|
cmd.extend(["-i", TSINGHUA_MIRROR])
|
||||||
|
|
||||||
|
return run_command(cmd, "Installing pip dependencies with pip", retry=2)
|
||||||
|
|
||||||
|
|
||||||
|
def check_uv_available() -> bool:
|
||||||
|
"""Check if uv is available (installed via conda-forge::uv)."""
|
||||||
|
try:
|
||||||
|
subprocess.run(["uv", "--version"], capture_output=True, check=True)
|
||||||
|
return True
|
||||||
|
except (subprocess.CalledProcessError, FileNotFoundError):
|
||||||
|
return False
|
||||||
|
|
||||||
|
|
||||||
|
def main():
|
||||||
|
parser = argparse.ArgumentParser(description="Development installation script for UniLabOS")
|
||||||
|
parser.add_argument("--china", action="store_true", help="Force use China mirror (Tsinghua)")
|
||||||
|
parser.add_argument("--no-mirror", action="store_true", help="Force use default PyPI (no mirror)")
|
||||||
|
parser.add_argument(
|
||||||
|
"--skip-deps", action="store_true", help="Skip pip dependencies installation (only install unilabos)"
|
||||||
|
)
|
||||||
|
parser.add_argument("--use-pip", action="store_true", help="Use pip instead of uv for dependencies")
|
||||||
|
args = parser.parse_args()
|
||||||
|
|
||||||
|
# Determine project root
|
||||||
|
script_dir = Path(__file__).parent
|
||||||
|
project_root = script_dir.parent
|
||||||
|
requirements_file = project_root / "unilabos" / "utils" / "requirements.txt"
|
||||||
|
|
||||||
|
if not (project_root / "setup.py").exists():
|
||||||
|
print(f"[ERROR] setup.py not found in {project_root}")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
print("=" * 60)
|
||||||
|
print("UniLabOS Development Installation")
|
||||||
|
print("=" * 60)
|
||||||
|
print(f"Project root: {project_root}")
|
||||||
|
print()
|
||||||
|
|
||||||
|
# Determine mirror usage based on locale
|
||||||
|
if args.no_mirror:
|
||||||
|
use_mirror = False
|
||||||
|
print("[INFO] Mirror disabled by --no-mirror flag")
|
||||||
|
elif args.china:
|
||||||
|
use_mirror = True
|
||||||
|
print("[INFO] China mirror enabled by --china flag")
|
||||||
|
else:
|
||||||
|
use_mirror = is_chinese_locale()
|
||||||
|
if use_mirror:
|
||||||
|
print("[INFO] Chinese locale detected, using Tsinghua mirror")
|
||||||
|
else:
|
||||||
|
print("[INFO] Non-Chinese locale detected, using default PyPI")
|
||||||
|
|
||||||
|
print()
|
||||||
|
|
||||||
|
# Step 1: Install unilabos in editable mode
|
||||||
|
print("[STEP 1] Installing unilabos in editable mode...")
|
||||||
|
if not install_editable(project_root, use_mirror):
|
||||||
|
print("[ERROR] Failed to install unilabos")
|
||||||
|
print()
|
||||||
|
print("Manual fallback:")
|
||||||
|
if use_mirror:
|
||||||
|
print(f" pip install -e {project_root} -i {TSINGHUA_MIRROR}")
|
||||||
|
else:
|
||||||
|
print(f" pip install -e {project_root}")
|
||||||
|
sys.exit(1)
|
||||||
|
|
||||||
|
print()
|
||||||
|
|
||||||
|
# Step 2: Install pip dependencies
|
||||||
|
if args.skip_deps:
|
||||||
|
print("[INFO] Skipping pip dependencies installation (--skip-deps)")
|
||||||
|
else:
|
||||||
|
print("[STEP 2] Installing pip dependencies...")
|
||||||
|
|
||||||
|
if not requirements_file.exists():
|
||||||
|
print(f"[WARN] Requirements file not found: {requirements_file}")
|
||||||
|
print("[INFO] Skipping dependencies installation")
|
||||||
|
else:
|
||||||
|
# Try uv first (faster), fallback to pip
|
||||||
|
if args.use_pip:
|
||||||
|
print("[INFO] Using pip (--use-pip flag)")
|
||||||
|
success = install_requirements_pip(requirements_file, use_mirror)
|
||||||
|
elif check_uv_available():
|
||||||
|
print("[INFO] Using uv (installed via conda-forge::uv)")
|
||||||
|
success = install_requirements_uv(requirements_file, use_mirror)
|
||||||
|
if not success:
|
||||||
|
print("[WARN] uv failed, falling back to pip...")
|
||||||
|
success = install_requirements_pip(requirements_file, use_mirror)
|
||||||
|
else:
|
||||||
|
print("[WARN] uv not available (should be installed via: mamba install conda-forge::uv)")
|
||||||
|
print("[INFO] Falling back to pip...")
|
||||||
|
success = install_requirements_pip(requirements_file, use_mirror)
|
||||||
|
|
||||||
|
if not success:
|
||||||
|
print()
|
||||||
|
print("[WARN] Failed to install some dependencies automatically.")
|
||||||
|
print("You can manually install them:")
|
||||||
|
if use_mirror:
|
||||||
|
print(f" uv pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||||
|
print(" or:")
|
||||||
|
print(f" pip install -r {requirements_file} -i {TSINGHUA_MIRROR}")
|
||||||
|
else:
|
||||||
|
print(f" uv pip install -r {requirements_file}")
|
||||||
|
print(" or:")
|
||||||
|
print(f" pip install -r {requirements_file}")
|
||||||
|
|
||||||
|
print()
|
||||||
|
print("=" * 60)
|
||||||
|
print("Installation complete!")
|
||||||
|
print("=" * 60)
|
||||||
|
print()
|
||||||
|
print("Note: Some special packages (like pylabrobot) are installed")
|
||||||
|
print("automatically at runtime by unilabos if needed.")
|
||||||
|
print()
|
||||||
|
print("Verify installation:")
|
||||||
|
print(' python -c "import unilabos; print(unilabos.__version__)"')
|
||||||
|
print()
|
||||||
|
print("If you encounter issues, you can manually install dependencies:")
|
||||||
|
if use_mirror:
|
||||||
|
print(f" uv pip install -r unilabos/utils/requirements.txt -i {TSINGHUA_MIRROR}")
|
||||||
|
else:
|
||||||
|
print(" uv pip install -r unilabos/utils/requirements.txt")
|
||||||
|
print()
|
||||||
|
|
||||||
|
|
||||||
|
if __name__ == "__main__":
|
||||||
|
main()
|
||||||
@@ -7,7 +7,6 @@ import sys
|
|||||||
import threading
|
import threading
|
||||||
import time
|
import time
|
||||||
from typing import Dict, Any, List
|
from typing import Dict, Any, List
|
||||||
|
|
||||||
import networkx as nx
|
import networkx as nx
|
||||||
import yaml
|
import yaml
|
||||||
|
|
||||||
@@ -17,9 +16,9 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
|||||||
if unilabos_dir not in sys.path:
|
if unilabos_dir not in sys.path:
|
||||||
sys.path.append(unilabos_dir)
|
sys.path.append(unilabos_dir)
|
||||||
|
|
||||||
|
from unilabos.app.utils import cleanup_for_restart
|
||||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||||
from unilabos.app.utils import cleanup_for_restart
|
|
||||||
|
|
||||||
# Global restart flags (used by ws_client and web/server)
|
# Global restart flags (used by ws_client and web/server)
|
||||||
_restart_requested: bool = False
|
_restart_requested: bool = False
|
||||||
@@ -217,7 +216,10 @@ def main():
|
|||||||
args_dict = vars(args)
|
args_dict = vars(args)
|
||||||
|
|
||||||
# 环境检查 - 检查并自动安装必需的包 (可选)
|
# 环境检查 - 检查并自动安装必需的包 (可选)
|
||||||
if not args_dict.get("skip_env_check", False):
|
skip_env_check = args_dict.get("skip_env_check", False)
|
||||||
|
check_mode = args_dict.get("check_mode", False)
|
||||||
|
|
||||||
|
if not skip_env_check:
|
||||||
from unilabos.utils.environment_check import check_environment
|
from unilabos.utils.environment_check import check_environment
|
||||||
|
|
||||||
if not check_environment(auto_install=True):
|
if not check_environment(auto_install=True):
|
||||||
@@ -228,7 +230,21 @@ def main():
|
|||||||
|
|
||||||
# 加载配置文件，优先加载config，然后从env读取
|
# 加载配置文件，优先加载config，然后从env读取
|
||||||
config_path = args_dict.get("config")
|
config_path = args_dict.get("config")
|
||||||
if os.getcwd().endswith("unilabos_data"):
|
|
||||||
|
if check_mode:
|
||||||
|
args_dict["working_dir"] = os.path.abspath(os.getcwd())
|
||||||
|
# 当 skip_env_check 时，默认使用当前目录作为 working_dir
|
||||||
|
if skip_env_check and not args_dict.get("working_dir") and not config_path:
|
||||||
|
working_dir = os.path.abspath(os.getcwd())
|
||||||
|
print_status(f"跳过环境检查模式：使用当前目录作为工作目录 {working_dir}", "info")
|
||||||
|
# 检查当前目录是否有 local_config.py
|
||||||
|
local_config_in_cwd = os.path.join(working_dir, "local_config.py")
|
||||||
|
if os.path.exists(local_config_in_cwd):
|
||||||
|
config_path = local_config_in_cwd
|
||||||
|
print_status(f"发现本地配置文件: {config_path}", "info")
|
||||||
|
else:
|
||||||
|
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||||
|
elif os.getcwd().endswith("unilabos_data"):
|
||||||
working_dir = os.path.abspath(os.getcwd())
|
working_dir = os.path.abspath(os.getcwd())
|
||||||
else:
|
else:
|
||||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||||
@@ -247,7 +263,7 @@ def main():
|
|||||||
working_dir = os.path.dirname(config_path)
|
working_dir = os.path.dirname(config_path)
|
||||||
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
|
||||||
config_path = os.path.join(working_dir, "local_config.py")
|
config_path = os.path.join(working_dir, "local_config.py")
|
||||||
elif not config_path and (
|
elif not skip_env_check and not config_path and (
|
||||||
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
|
||||||
):
|
):
|
||||||
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
|
||||||
@@ -261,8 +277,10 @@ def main():
|
|||||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||||
else:
|
else:
|
||||||
os._exit(1)
|
os._exit(1)
|
||||||
# 加载配置文件
|
|
||||||
|
# 加载配置文件 (check_mode 跳过)
|
||||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||||
|
if not check_mode:
|
||||||
load_config_from_file(config_path)
|
load_config_from_file(config_path)
|
||||||
|
|
||||||
# 根据配置重新设置日志级别
|
# 根据配置重新设置日志级别
|
||||||
@@ -319,12 +337,7 @@ def main():
|
|||||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||||
BasicConfig.machine_name = machine_name
|
BasicConfig.machine_name = machine_name
|
||||||
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
|
||||||
|
|
||||||
# Check mode 处理
|
|
||||||
check_mode = args_dict.get("check_mode", False)
|
|
||||||
BasicConfig.check_mode = check_mode
|
BasicConfig.check_mode = check_mode
|
||||||
if check_mode:
|
|
||||||
print_status("Check mode 启用，将进行 complete_registry 检查", "info")
|
|
||||||
|
|
||||||
from unilabos.resources.graphio import (
|
from unilabos.resources.graphio import (
|
||||||
read_node_link_json,
|
read_node_link_json,
|
||||||
|
|||||||
@@ -4,8 +4,40 @@ UniLabOS 应用工具函数
|
|||||||
提供清理、重启等工具函数
|
提供清理、重启等工具函数
|
||||||
"""
|
"""
|
||||||
|
|
||||||
import gc
|
import glob
|
||||||
import os
|
import os
|
||||||
|
import shutil
|
||||||
|
import sys
|
||||||
|
|
||||||
|
|
||||||
|
def patch_rclpy_dll_windows():
|
||||||
|
"""在 Windows + conda 环境下为 rclpy 打 DLL 加载补丁"""
|
||||||
|
if sys.platform != "win32" or not os.environ.get("CONDA_PREFIX"):
|
||||||
|
return
|
||||||
|
try:
|
||||||
|
import rclpy
|
||||||
|
|
||||||
|
return
|
||||||
|
except ImportError as e:
|
||||||
|
if not str(e).startswith("DLL load failed"):
|
||||||
|
return
|
||||||
|
cp = os.environ["CONDA_PREFIX"]
|
||||||
|
impl = os.path.join(cp, "Lib", "site-packages", "rclpy", "impl", "implementation_singleton.py")
|
||||||
|
pyd = glob.glob(os.path.join(cp, "Lib", "site-packages", "rclpy", "_rclpy_pybind11*.pyd"))
|
||||||
|
if not os.path.exists(impl) or not pyd:
|
||||||
|
return
|
||||||
|
with open(impl, "r", encoding="utf-8") as f:
|
||||||
|
content = f.read()
|
||||||
|
lib_bin = os.path.join(cp, "Library", "bin").replace("\\", "/")
|
||||||
|
patch = f'# UniLabOS DLL Patch\nimport os,ctypes\nos.add_dll_directory("{lib_bin}") if hasattr(os,"add_dll_directory") else None\ntry: ctypes.CDLL("{pyd[0].replace(chr(92),"/")}")\nexcept: pass\n# End Patch\n'
|
||||||
|
shutil.copy2(impl, impl + ".bak")
|
||||||
|
with open(impl, "w", encoding="utf-8") as f:
|
||||||
|
f.write(patch + content)
|
||||||
|
|
||||||
|
|
||||||
|
patch_rclpy_dll_windows()
|
||||||
|
|
||||||
|
import gc
|
||||||
import threading
|
import threading
|
||||||
import time
|
import time
|
||||||
|
|
||||||
|
|||||||
@@ -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。
|
|
||||||
@@ -24,6 +24,7 @@ class EnvironmentChecker:
|
|||||||
"msgcenterpy": "msgcenterpy",
|
"msgcenterpy": "msgcenterpy",
|
||||||
"opentrons_shared_data": "opentrons_shared_data",
|
"opentrons_shared_data": "opentrons_shared_data",
|
||||||
"typing_extensions": "typing_extensions",
|
"typing_extensions": "typing_extensions",
|
||||||
|
"crcmod": "crcmod-plus",
|
||||||
}
|
}
|
||||||
|
|
||||||
# 特殊安装包（需要特殊处理的包）
|
# 特殊安装包（需要特殊处理的包）
|
||||||
|
|||||||
18
unilabos/utils/requirements.txt
Normal file
18
unilabos/utils/requirements.txt
Normal file
@@ -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
|
||||||
Reference in New Issue
Block a user