add unilabos_class

(cherry picked from commit 176de521b4)

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.10.16
+  version: 0.10.17
 
 source:
   path: ../../unilabos
@@ -26,7 +26,7 @@ build:
     - 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
+    - pip install $SRC_DIR
 
 requirements:
   host:
@@ -41,7 +41,6 @@ requirements:
   - networkx
   - typing_extensions
   - websockets
-  - opentrons_shared_data
   - pint
   - fastapi
   - jinja2
@@ -53,7 +52,7 @@ requirements:
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.10.16
+  - uni-lab::unilabos-env ==0.10.17
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.10.16
+  version: 0.10.17
 
 build:
   noarch: generic
@@ -36,4 +36,4 @@ requirements:
 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 .)"
+  description: "UniLabOS Environment - ROS2 and conda dependencies"

.conda/full/recipe.yaml

@@ -1,9 +1,9 @@
-# unilabos-full: Full package with all features
+# unilabos-full: Full package with all features
 # Depends on unilabos + complete ROS2 desktop + dev tools
 
 package:
   name: unilabos-full
-  version: 0.10.16
+  version: 0.10.17
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.10.16
+  - uni-lab::unilabos ==0.10.17
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

.github/workflows/ci-check.yml

@@ -47,7 +47,7 @@ jobs:
           uv pip install -r unilabos/utils/requirements.txt
           uv pip install pywinauto git+https://github.com/Xuwznln/pylabrobot.git
           uv pip uninstall enum34 || echo enum34 not installed, skipping
-          uv pip install -e .
+          uv pip install .
 
       - name: Run check mode (complete_registry)
         run: |

.github/workflows/unilabos-conda-build.yml

@@ -133,12 +133,29 @@ jobs:
           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: Upload unilabos-env to Anaconda.org (if enabled)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos-env to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-env*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
       - name: Build unilabos (with pip package)
         if: steps.should_build.outputs.should_build == 'true'
         run: |
           echo "Building unilabos package..."
+          # 如果已上传到 Anaconda，从 uni-lab channel 获取 unilabos-env；否则从本地 output 获取
           rattler-build build -r .conda/base/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge --channel ./output
 
+      - name: Upload unilabos to Anaconda.org (if enabled)
+        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-0*.conda" -o -name "unilabos-[0-9]*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
       - name: Build unilabos-full - Only when explicitly requested
         if: |
           steps.should_build.outputs.should_build == 'true' && 
@@ -147,6 +164,17 @@ jobs:
           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: Upload unilabos-full to Anaconda.org (if enabled)
+        if: |
+          steps.should_build.outputs.should_build == 'true' && 
+          github.event.inputs.build_full == 'true' &&
+          github.event.inputs.upload_to_anaconda == 'true'
+        run: |
+          echo "Uploading unilabos-full to uni-lab organization..."
+          for package in $(find ./output -name "unilabos-full*.conda"); do
+            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+          done
+
       - name: List built packages
         if: steps.should_build.outputs.should_build == 'true'
         run: |
@@ -173,11 +201,3 @@ jobs:
           path: conda-packages-temp
           if-no-files-found: warn
           retention-days: 30
-
-      - name: Upload to Anaconda.org (uni-lab organization)
-        if: github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to uni-lab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.10.16
+  version: 0.10.17
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.16"
+  version: "0.10.17"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.16',
+    version='0.10.17',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.10.16"
+__version__ = "0.10.17"

unilabos/registry/devices/liquid_handler.yaml

@@ -9745,21 +9745,21 @@ liquid_handler.prcxi:
           - 0
         handles:
           input:
-          - data_key: liquid
+          - data_key: sources
             data_source: handle
             data_type: resource
-            handler_key: sources
-            label: sources
-          - data_key: liquid
-            data_source: executor
+            handler_key: sources_identifier
+            label: 待移动液体
+          - data_key: targets
+            data_source: handle
             data_type: resource
-            handler_key: targets
-            label: targets
-          - data_key: liquid
-            data_source: executor
+            handler_key: targets_identifier
+            label: 转移目标
+          - data_key: tip_rack
+            data_source: handle
             data_type: resource
-            handler_key: tip_rack
-            label: tip_rack
+            handler_key: tip_rack_identifier
+            label: 墙头盒
           output:
           - data_key: liquid
             data_source: handle

unilabos/registry/registry.py

@@ -163,6 +163,7 @@ class Registry:
                                     "res_id": "unilabos_resources",  # 将当前实验室的全部物料id作为下拉框可选择
                                     "device_id": "unilabos_devices",  # 将当前实验室的全部设备id作为下拉框可选择
                                     "parent": "unilabos_nodes",  # 将当前实验室的设备/物料作为下拉框可选择
+                                    "class_name": "unilabos_class",
                                 },
                             },
                             "test_latency": {

unilabos/resources/graphio.py

@@ -597,6 +597,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
             "tube": "tube",
             "bottle_carrier": "bottle_carrier",
             "plate_adapter": "plate_adapter",
+            "electrode_sheet": "electrode_sheet",
+            "material_hole": "material_hole",
         }
         if source in replace_info:
             return replace_info[source]

unilabos/ros/nodes/base_device_node.py

@@ -1319,19 +1319,32 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                             resource_inputs = action_kwargs[k] if is_sequence else [action_kwargs[k]]
 
                             # 批量查询资源
-                            queried_resources = []
-                            for resource_data in resource_inputs:
+                            queried_resources: list = [None] * len(resource_inputs)
+                            uuid_indices: list[tuple[int, str, dict]] = []  # (index, uuid, resource_data)
+
+                            # 第一遍：处理没有uuid的资源，收集有uuid的资源信息
+                            for idx, resource_data in enumerate(resource_inputs):
                                 unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
                                 if unilabos_uuid is None:
                                     plr_resource = await self.get_resource_with_dir(
                                         resource_id=resource_data["id"], with_children=True
                                     )
+                                    if "sample_id" in resource_data:
+                                        plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
+                                    queried_resources[idx] = plr_resource
                                 else:
-                                    resource_tree = await self.get_resource([unilabos_uuid])
-                                    plr_resource = resource_tree.to_plr_resources()[0]
-                                if "sample_id" in resource_data:
-                                    plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
-                                queried_resources.append(plr_resource)
+                                    uuid_indices.append((idx, unilabos_uuid, resource_data))
+
+                            # 第二遍：批量查询有uuid的资源
+                            if uuid_indices:
+                                uuids = [item[1] for item in uuid_indices]
+                                resource_tree = await self.get_resource(uuids)
+                                plr_resources = resource_tree.to_plr_resources()
+                                for i, (idx, _, resource_data) in enumerate(uuid_indices):
+                                    plr_resource = plr_resources[i]
+                                    if "sample_id" in resource_data:
+                                        plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
+                                    queried_resources[idx] = plr_resource
 
                             self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源")
 

unilabos/ros/nodes/presets/host_node.py

@@ -808,6 +808,7 @@ class HostNode(BaseROS2DeviceNode):
         goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
 
         self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
+        self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {action_kwargs}")
         self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
         action_client.wait_for_server()
         goal_uuid_obj = UUID(uuid=list(u.bytes))

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.16</version>
+  <version>0.10.17</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>