Update docs

update "laiyu" missing init file.
2025-12-17 04:51:10 +00:00 · 2025-12-14 13:12:19 +08:00 · 2025-12-14 13:08:27 +08:00
6 changed files with 6 additions and 377 deletions
--- a/README.md
+++ b/README.md
@@ -39,7 +39,9 @@ Uni-Lab-OS recommends using `mamba` for environment management. Choose the appro
 ```bash
 # Create new environment
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab python=3.11.11
 mamba activate unilab
 mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 ## Install Dev Uni-Lab-OS
--- a/README_zh.md
+++ b/README_zh.md
@@ -41,7 +41,9 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
 ```bash
 # 创建新环境
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab python=3.11.11
 mamba activate unilab
 mamba install -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
 ```
 2. 安装开发版 Uni-Lab-OS:
--- a/docs/user_guide/installation.md
+++ b/docs/user_guide/installation.md
@@ -317,45 +317,6 @@ unilab --help
 如果所有命令都正常输出，说明开发环境配置成功！
 ### 开发工具推荐
 #### IDE
 - **PyCharm Professional**: 强大的 Python IDE，支持远程调试
 - **VS Code**: 轻量级，配合 Python 扩展使用
 - **Vim/Emacs**: 适合终端开发
 #### 推荐的 VS Code 扩展
 - Python
 - Pylance
 - ROS
 - URDF
 - YAML
 #### 调试工具
 ```bash
 # 安装调试工具
 pip install ipdb pytest pytest-cov -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 # 代码质量检查
 pip install black flake8 mypy -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 ```
 ### 设置 pre-commit 钩子（可选）
 ```bash
 # 安装 pre-commit
 pip install pre-commit -i https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple
 # 设置钩子
 pre-commit install
 # 手动运行检查
 pre-commit run --all-files
 ```
 ---
 ## 验证安装
--- a/unilabos/devices/laiyu_liquid_test/init.py
+++ b/unilabos/devices/laiyu_liquid_test/init.py
--- a/unilabos/devices/liquid_handling/laiyu/init.py
+++ b/unilabos/devices/liquid_handling/laiyu/init.py
@@ -1,307 +0,0 @@
 """
 LaiYu_Liquid 液体处理工作站集成模块
 该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括：
 - 硬件后端和抽象接口
 - 资源定义和管理
 - 协议执行和液体传输
 - 工作台配置和布局
 主要组件：
 - LaiYuLiquidBackend: 硬件后端实现
 - LaiYuLiquid: 液体处理器抽象接口
 - 各种资源类：枪头架、板、容器等
 - 便捷创建函数和配置管理
 使用示例：
    from unilabos.devices.laiyu_liquid import (
        LaiYuLiquid, 
        LaiYuLiquidBackend,
        create_standard_deck,
        create_tip_rack_1000ul
    )
    # 创建后端和液体处理器
    backend = LaiYuLiquidBackend()
    lh = LaiYuLiquid(backend=backend)
    # 创建工作台
    deck = create_standard_deck()
    lh.deck = deck
    # 设置和运行
    await lh.setup()
 """
 # 版本信息
 __version__ = "1.0.0"
 __author__ = "LaiYu_Liquid Integration Team"
 __description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块"
 # 驱动程序导入
 from .drivers import (
    XYZStepperController,
    SOPAPipette,
    MotorAxis,
    MotorStatus,
    SOPAConfig,
    SOPAStatusCode,
    StepperMotorDriver
 )
 # 控制器导入
 from .controllers import (
    XYZController,
    PipetteController,
 )
 # 后端导入
 from .backend.rviz_backend import (
    LiquidHandlerRvizBackend,
 )
 # 资源类和创建函数导入
 from .core.laiyu_liquid_res import (
    LaiYuLiquidDeck,
    LaiYuLiquidContainer,
    LaiYuLiquidTipRack
 )
 # 主设备类和配置
 from .core.laiyu_liquid_main import (
    LaiYuLiquid,
    LaiYuLiquidConfig,
    LaiYuLiquidDeck,
    LaiYuLiquidContainer,
    LaiYuLiquidTipRack,
    create_quick_setup
 )
 # 后端创建函数导入
 from .backend import (
    LaiYuLiquidBackend,
    create_laiyu_backend,
 )
 # 导出所有公共接口
 __all__ = [
    # 版本信息
    "__version__",
    "__author__",
    "__description__",
    # 驱动程序
    "SOPAPipette",
    "SOPAConfig", 
    "StepperMotorDriver",
    "XYZStepperController",
    # 控制器
    "PipetteController",
    "XYZController",
    # 后端
    "LiquidHandlerRvizBackend",
    # 资源创建函数
    "create_tip_rack_1000ul",
    "create_tip_rack_200ul", 
    "create_96_well_plate",
    "create_deep_well_plate",
    "create_8_tube_rack",
    "create_standard_deck",
    "create_waste_container",
    "create_wash_container",
    "create_reagent_container",
    "load_deck_config",
    # 后端创建函数
    "create_laiyu_backend",
    # 主要类
    "LaiYuLiquid",
    "LaiYuLiquidConfig", 
    "LaiYuLiquidBackend",
    "LaiYuLiquidDeck",
    # 工具函数
    "get_version",
    "get_supported_resources",
    "create_quick_setup",
    "validate_installation",
    "print_module_info",
    "setup_logging",
 ]
 # 别名定义，为了向后兼容
 LaiYuLiquidDevice = LaiYuLiquid  # 主设备类别名
 LaiYuLiquidController = XYZController  # 控制器别名
 LaiYuLiquidDriver = XYZStepperController  # 驱动器别名
 # 模块级别的便捷函数
 def get_version() -> str:
    """
    获取模块版本
    Returns:
        str: 版本号
    """
    return __version__
 def get_supported_resources() -> dict:
    """
    获取支持的资源类型
    Returns:
        dict: 支持的资源类型字典
    """
    return {
        "tip_racks": {
            "LaiYuLiquidTipRack": LaiYuLiquidTipRack,
        },
        "containers": {
            "LaiYuLiquidContainer": LaiYuLiquidContainer,
        },
        "decks": {
            "LaiYuLiquidDeck": LaiYuLiquidDeck,
        },
        "devices": {
            "LaiYuLiquid": LaiYuLiquid,
        }
    }
 def create_quick_setup() -> tuple:
    """
    快速创建基本设置
    Returns:
        tuple: (backend, controllers, resources) 的元组
    """
    # 创建后端
    backend = LiquidHandlerRvizBackend()
    # 创建控制器（使用默认端口进行演示）
    pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4)
    xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False)
    # 创建测试资源
    tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
    tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
    well_plate = create_96_well_plate("96_well_plate")
    controllers = {
        'pipette': pipette_controller,
        'xyz': xyz_controller
    }
    resources = {
        'tip_rack_1000': tip_rack_1000,
        'tip_rack_200': tip_rack_200,
        'well_plate': well_plate
    }
    return backend, controllers, resources
 def validate_installation() -> bool:
    """
    验证模块安装是否正确
    Returns:
        bool: 安装是否正确
    """
    try:
        # 检查核心类是否可以导入
        from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig
        from .backend import LaiYuLiquidBackend
        from .controllers import XYZController, PipetteController
        from .drivers import XYZStepperController, SOPAPipette
        # 尝试创建基本对象
        config = LaiYuLiquidConfig()
        backend = create_laiyu_backend("validation_test")
        print("模块安装验证成功")
        return True
    except Exception as e:
        print(f"模块安装验证失败: {e}")
        return False
 def print_module_info():
    """打印模块信息"""
    print(f"LaiYu_Liquid 集成模块")
    print(f"版本: {__version__}")
    print(f"作者: {__author__}")
    print(f"描述: {__description__}")
    print(f"")
    print(f"支持的资源类型:")
    resources = get_supported_resources()
    for category, types in resources.items():
        print(f"  {category}:")
        for type_name, type_class in types.items():
            print(f"    - {type_name}: {type_class.__name__}")
    print(f"")
    print(f"主要功能:")
    print(f"  - 硬件集成: LaiYuLiquidBackend")
    print(f"  - 抽象接口: LaiYuLiquid")
    print(f"  - 资源管理: 各种资源类和创建函数")
    print(f"  - 协议执行: transfer_liquid 和相关函数")
    print(f"  - 配置管理: deck.json 和加载函数")
 # 模块初始化时的检查
 def _check_dependencies():
    """检查依赖项"""
    try:
        import pylabrobot
        import asyncio
        import json
        import logging
        return True
    except ImportError as e:
        import logging
        logging.warning(f"缺少依赖项 {e}")
        return False
 # 执行依赖检查
 _dependencies_ok = _check_dependencies()
 if not _dependencies_ok:
    import logging
    logging.warning("某些依赖项缺失，模块功能可能受限")
 # 模块级别的日志配置
 import logging
 def setup_logging(level: str = "INFO"):
    """
    设置模块日志
    Args:
        level: 日志级别 (DEBUG, INFO, WARNING, ERROR)
    """
    logger = logging.getLogger("LaiYu_Liquid")
    logger.setLevel(getattr(logging, level.upper()))
    if not logger.handlers:
        handler = logging.StreamHandler()
        formatter = logging.Formatter(
            '%(asctime)s - %(name)s - %(levelname)s - %(message)s'
        )
        handler.setFormatter(formatter)
        logger.addHandler(handler)
    return logger
 # 默认日志设置
 _logger = setup_logging()
--- a/unilabos/registry/devices/bioyond_dispensing_station.yaml
+++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml
@@ -174,35 +174,6 @@ bioyond_dispensing_station:
          title: query_resource_by_name参数
          type: object
        type: UniLabJsonCommand
      auto-transfer_materials_to_reaction_station:
        feedback: {}
        goal: {}
        goal_default:
          target_device_id: null
          transfer_groups: null
        handles: {}
        placeholder_keys: {}
        result: {}
        schema:
          description: ''
          properties:
            feedback: {}
            goal:
              properties:
                target_device_id:
                  type: string
                transfer_groups:
                  type: array
              required:
              - target_device_id
              - transfer_groups
              type: object
            result: {}
          required:
          - goal
          title: transfer_materials_to_reaction_station参数
          type: object
        type: UniLabJsonCommand
      auto-workflow_sample_locations:
        feedback: {}
        goal: {}
Author	SHA1	Message	Date
Xuwznln	152d3a7563	Update docs	2025-12-14 13:12:19 +08:00
Xuwznln	ef14737839	update "laiyu" missing init file.	2025-12-14 13:08:27 +08:00