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https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-15 13:44:39 +00:00
Compare commits
1 Commits
fa9b2a08f2
...
v0.10.7
| Author | SHA1 | Date | |
|---|---|---|---|
|
9aeffebde1 |
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: 0.10.4
|
||||
version: 0.10.7
|
||||
|
||||
source:
|
||||
path: ../unilabos
|
||||
@@ -10,7 +10,6 @@ build:
|
||||
python:
|
||||
entry_points:
|
||||
- unilab = unilabos.app.main:main
|
||||
- unilab-register = unilabos.app.register:main
|
||||
script:
|
||||
- set PIP_NO_INDEX=
|
||||
- if: win
|
||||
@@ -32,11 +31,14 @@ requirements:
|
||||
- python ==3.11.11
|
||||
- pip
|
||||
- setuptools
|
||||
- zstd
|
||||
- zstandard
|
||||
run:
|
||||
- conda-forge::python ==3.11.11
|
||||
- compilers
|
||||
- cmake
|
||||
- zstd
|
||||
- zstandard
|
||||
- ninja
|
||||
- if: unix
|
||||
then:
|
||||
@@ -61,7 +63,7 @@ requirements:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- websockets
|
||||
- ipython
|
||||
- jupyter
|
||||
- jupyros
|
||||
|
||||
338
.github/workflows/conda-pack-build.yml
vendored
338
.github/workflows/conda-pack-build.yml
vendored
@@ -41,11 +41,13 @@ jobs:
|
||||
|
||||
defaults:
|
||||
run:
|
||||
shell: bash -l {0}
|
||||
# Windows uses cmd for better conda/mamba compatibility, Unix uses bash
|
||||
shell: ${{ matrix.platform == 'win-64' && 'cmd /C CALL {0}' || 'bash -el {0}' }}
|
||||
|
||||
steps:
|
||||
- name: Check if platform should be built
|
||||
id: should_build
|
||||
shell: bash
|
||||
run: |
|
||||
if [[ -z "${{ github.event.inputs.platforms }}" ]]; then
|
||||
echo "should_build=true" >> $GITHUB_OUTPUT
|
||||
@@ -61,61 +63,110 @@ jobs:
|
||||
ref: ${{ github.event.inputs.branch }}
|
||||
fetch-depth: 0
|
||||
|
||||
- name: Setup Miniconda
|
||||
- name: Setup Miniforge (with mamba)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
uses: conda-incubator/setup-miniconda@v3
|
||||
with:
|
||||
miniconda-version: 'latest'
|
||||
miniforge-version: latest
|
||||
use-mamba: true
|
||||
python-version: '3.11.11'
|
||||
channels: conda-forge,robostack-staging,uni-lab,defaults
|
||||
channel-priority: strict
|
||||
channel-priority: flexible
|
||||
activate-environment: unilab
|
||||
auto-activate-base: false
|
||||
auto-activate-base: true
|
||||
auto-update-conda: false
|
||||
show-channel-urls: true
|
||||
|
||||
- name: Install conda-pack
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Install conda-pack, unilabos and dependencies (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
conda install -c conda-forge conda-pack -y
|
||||
echo Installing unilabos and dependencies to unilab environment...
|
||||
echo Using mamba for faster and more reliable dependency resolution...
|
||||
mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Install unilabos and dependencies
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Install conda-pack, unilabos and dependencies (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Installing unilabos and dependencies to unilab environment..."
|
||||
conda install uni-lab::unilabos -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
echo "Using mamba for faster and more reliable dependency resolution..."
|
||||
mamba install uni-lab::unilabos conda-pack -c uni-lab -c robostack-staging -c conda-forge -y
|
||||
|
||||
- name: Get latest ros-humble-unilabos-msgs version
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
id: msgs_version
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
id: msgs_version_win
|
||||
run: |
|
||||
INSTALLED_VERSION=$(conda list ros-humble-unilabos-msgs | grep ros-humble-unilabos-msgs | awk '{print $2}')
|
||||
echo "installed_version=$INSTALLED_VERSION" >> $GITHUB_OUTPUT
|
||||
echo "Installed ros-humble-unilabos-msgs version: $INSTALLED_VERSION"
|
||||
echo Checking installed ros-humble-unilabos-msgs version...
|
||||
conda list ros-humble-unilabos-msgs
|
||||
for /f "tokens=2" %%i in ('conda list ros-humble-unilabos-msgs --json ^| python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')"') do set VERSION=%%i
|
||||
echo installed_version=%VERSION% >> %GITHUB_OUTPUT%
|
||||
echo Installed ros-humble-unilabos-msgs version: %VERSION%
|
||||
|
||||
- name: Check for newer ros-humble-unilabos-msgs
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Get latest ros-humble-unilabos-msgs version (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
id: msgs_version_unix
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Checking installed ros-humble-unilabos-msgs version..."
|
||||
VERSION=$(conda list ros-humble-unilabos-msgs --json | python -c "import sys, json; pkgs=json.load(sys.stdin); print(pkgs[0]['version'] if pkgs else 'not-found')")
|
||||
echo "installed_version=$VERSION" >> $GITHUB_OUTPUT
|
||||
echo "Installed ros-humble-unilabos-msgs version: $VERSION"
|
||||
|
||||
- name: Check for newer ros-humble-unilabos-msgs (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Checking for available ros-humble-unilabos-msgs versions...
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo Search completed
|
||||
echo.
|
||||
echo Updating ros-humble-unilabos-msgs to latest version...
|
||||
mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo Already at latest version
|
||||
|
||||
- name: Check for newer ros-humble-unilabos-msgs (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Checking for available ros-humble-unilabos-msgs versions..."
|
||||
conda search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge --info || echo "Search completed"
|
||||
|
||||
mamba search ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge || echo "Search completed"
|
||||
echo ""
|
||||
echo "Updating ros-humble-unilabos-msgs to latest version..."
|
||||
conda update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
|
||||
mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge -y || echo "Already at latest version"
|
||||
|
||||
- name: Install latest unilabos from source
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Install latest unilabos from source (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Uninstalling existing unilabos...
|
||||
pip uninstall unilabos -y || echo unilabos not installed via pip
|
||||
echo Installing unilabos from source (branch: ${{ github.event.inputs.branch }})...
|
||||
pip install .
|
||||
echo Verifying installation...
|
||||
pip show unilabos
|
||||
|
||||
- name: Install latest unilabos from source (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Uninstalling existing unilabos..."
|
||||
pip uninstall unilabos -y || echo "unilabos not installed via pip"
|
||||
|
||||
echo "Installing unilabos from source (branch: ${{ github.event.inputs.branch }})..."
|
||||
pip install .
|
||||
|
||||
echo "Verifying installation..."
|
||||
pip show unilabos
|
||||
|
||||
- name: Display environment info
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Display environment info (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo === Environment Information ===
|
||||
conda env list
|
||||
echo.
|
||||
echo === Installed Packages ===
|
||||
conda list | findstr /C:"unilabos" /C:"ros-humble-unilabos-msgs" || conda list
|
||||
echo.
|
||||
echo === Python Packages ===
|
||||
pip list | findstr unilabos || pip list
|
||||
|
||||
- name: Display environment info (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "=== Environment Information ==="
|
||||
conda env list
|
||||
@@ -126,34 +177,83 @@ jobs:
|
||||
echo "=== Python Packages ==="
|
||||
pip list | grep unilabos || pip list
|
||||
|
||||
- name: Verify environment integrity
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Verify environment integrity (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Verifying Python version...
|
||||
python -c "import sys; print(f'Python version: {sys.version}')"
|
||||
echo Verifying unilabos import...
|
||||
python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo Warning: Could not import unilabos
|
||||
echo Checking critical packages...
|
||||
python -c "import rclpy; print('ROS2 rclpy: OK')"
|
||||
echo Running comprehensive verification script...
|
||||
python scripts\verify_installation.py || echo Warning: Verification script reported issues
|
||||
echo Environment verification complete!
|
||||
|
||||
- name: Verify environment integrity (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Verifying Python version..."
|
||||
python -c "import sys; print(f'Python version: {sys.version}')"
|
||||
|
||||
echo "Verifying unilabos import..."
|
||||
python -c "import unilabos; print(f'UniLabOS version: {unilabos.__version__}')" || echo "Warning: Could not import unilabos"
|
||||
|
||||
echo "Checking critical packages..."
|
||||
python -c "import rclpy; print('ROS2 rclpy: OK')"
|
||||
|
||||
echo "Running comprehensive verification script..."
|
||||
python scripts/verify_installation.py || echo "Warning: Verification script reported issues"
|
||||
|
||||
echo "Environment verification complete!"
|
||||
|
||||
- name: Pack conda environment
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Pack conda environment (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo Packing unilab environment with conda-pack...
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
echo Pack file created:
|
||||
dir unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
- name: Pack conda environment (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "Packing unilab environment with conda-pack..."
|
||||
conda pack -n unilab -o unilab-env-${{ matrix.platform }}.tar.gz --ignore-missing-files
|
||||
|
||||
echo "Pack file created:"
|
||||
ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
||||
|
||||
- name: Prepare distribution package (scripts + environment)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Prepare Windows distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo ==========================================
|
||||
echo Creating distribution package...
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo ==========================================
|
||||
mkdir dist-package 2>nul || cd .
|
||||
|
||||
rem Copy packed environment
|
||||
echo Adding: unilab-env-${{ matrix.platform }}.tar.gz
|
||||
copy unilab-env-${{ matrix.platform }}.tar.gz dist-package\
|
||||
|
||||
rem Copy installation script
|
||||
echo Adding: install_unilab.bat
|
||||
copy scripts\install_unilab.bat dist-package\
|
||||
|
||||
rem Copy verification script
|
||||
echo Adding: verify_installation.py
|
||||
copy scripts\verify_installation.py dist-package\
|
||||
|
||||
rem Create README using Python script
|
||||
echo Creating: README.txt
|
||||
python scripts\create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package\README.txt
|
||||
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir /b dist-package
|
||||
echo.
|
||||
|
||||
- name: Prepare Unix/Linux distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "=========================================="
|
||||
echo "Creating distribution package..."
|
||||
@@ -165,102 +265,62 @@ jobs:
|
||||
echo "Adding: unilab-env-${{ matrix.platform }}.tar.gz"
|
||||
cp unilab-env-${{ matrix.platform }}.tar.gz dist-package/
|
||||
|
||||
# Copy installation script (platform specific)
|
||||
if [ "${{ matrix.platform }}" == "win-64" ]; then
|
||||
echo "Adding: install_unilab.bat"
|
||||
cp scripts/install_unilab.bat dist-package/
|
||||
else
|
||||
echo "Adding: install_unilab.sh"
|
||||
cp scripts/install_unilab.sh dist-package/
|
||||
chmod +x dist-package/install_unilab.sh
|
||||
fi
|
||||
# Copy installation script
|
||||
echo "Adding: install_unilab.sh"
|
||||
cp scripts/install_unilab.sh dist-package/
|
||||
chmod +x dist-package/install_unilab.sh
|
||||
|
||||
# Copy verification script
|
||||
echo "Adding: verify_installation.py"
|
||||
cp scripts/verify_installation.py dist-package/
|
||||
|
||||
# Create README
|
||||
# Create README using Python script
|
||||
echo "Creating: README.txt"
|
||||
cat > dist-package/README.txt << 'EOFREADME'
|
||||
UniLabOS Conda-Pack Environment
|
||||
================================
|
||||
|
||||
This package contains a pre-built UniLabOS environment.
|
||||
|
||||
Installation Instructions:
|
||||
--------------------------
|
||||
|
||||
Windows:
|
||||
1. Extract unilab-pack-win-64.zip
|
||||
2. Double-click install_unilab.bat (or run in cmd)
|
||||
3. Follow the prompts
|
||||
|
||||
macOS/Linux:
|
||||
1. Extract unilab-pack-{platform}.tar.gz
|
||||
2. Run: bash install_unilab.sh
|
||||
3. Follow the prompts
|
||||
|
||||
The installation script will:
|
||||
- Automatically find your conda installation
|
||||
- Extract the environment to conda's envs/unilab directory
|
||||
- Run conda-unpack to finalize setup
|
||||
|
||||
After installation:
|
||||
conda activate unilab
|
||||
python verify_installation.py
|
||||
|
||||
Package Contents:
|
||||
- install_unilab script (automatic installation)
|
||||
- unilab-env-{platform}.tar.gz (packed environment)
|
||||
- verify_installation.py (verification tool)
|
||||
- README.txt (this file)
|
||||
|
||||
Branch: ${{ github.event.inputs.branch }}
|
||||
Platform: ${{ matrix.platform }}
|
||||
Python: 3.11.11
|
||||
Build Date: $(date -u +"%Y-%m-%d %H:%M:%S UTC")
|
||||
EOFREADME
|
||||
python scripts/create_readme.py ${{ matrix.platform }} ${{ github.event.inputs.branch }} dist-package/README.txt
|
||||
|
||||
echo ""
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
|
||||
- name: Create final distribution archive (ZIP/TAR.GZ)
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Finalize Windows distribution package
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo ==========================================
|
||||
echo Windows distribution package ready
|
||||
echo.
|
||||
echo Package will be uploaded as artifact
|
||||
echo GitHub Actions will automatically create ZIP
|
||||
echo.
|
||||
echo Contents:
|
||||
dir /b dist-package
|
||||
echo.
|
||||
echo Users will download a ZIP containing:
|
||||
echo - install_unilab.bat
|
||||
echo - unilab-env-${{ matrix.platform }}.tar.gz
|
||||
echo - verify_installation.py
|
||||
echo - README.txt
|
||||
echo ==========================================
|
||||
|
||||
- name: Create Unix/Linux TAR.GZ archive
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "=========================================="
|
||||
if [ "${{ matrix.platform }}" == "win-64" ]; then
|
||||
echo "Creating Windows ZIP archive..."
|
||||
echo "Archive: unilab-pack-win-64.zip"
|
||||
echo "Contents: install_unilab.bat + unilab-env-win-64.tar.gz + extras"
|
||||
cd dist-package
|
||||
powershell -Command "Compress-Archive -Path * -DestinationPath ../unilab-pack-${{ matrix.platform }}.zip -Force"
|
||||
cd ..
|
||||
else
|
||||
echo "Creating Unix/Linux TAR.GZ archive..."
|
||||
echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
|
||||
tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
|
||||
fi
|
||||
echo "Creating Unix/Linux TAR.GZ archive..."
|
||||
echo "Archive: unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo "Contents: install_unilab.sh + unilab-env-${{ matrix.platform }}.tar.gz + extras"
|
||||
tar -czf unilab-pack-${{ matrix.platform }}.tar.gz -C dist-package .
|
||||
echo "=========================================="
|
||||
|
||||
echo ""
|
||||
echo "Final package created:"
|
||||
ls -lh unilab-pack-*
|
||||
echo ""
|
||||
|
||||
if [ "${{ matrix.platform }}" == "win-64" ]; then
|
||||
echo "Users can now:"
|
||||
echo " 1. Download unilab-pack-win-64.zip"
|
||||
echo " 2. Extract it"
|
||||
echo " 3. Run install_unilab.bat"
|
||||
else
|
||||
echo "Users can now:"
|
||||
echo " 1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " 2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " 3. Run: bash install_unilab.sh"
|
||||
fi
|
||||
echo "Users can now:"
|
||||
echo " 1. Download unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " 2. Extract it: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " 3. Run: bash install_unilab.sh"
|
||||
echo ""
|
||||
|
||||
- name: Upload distribution package
|
||||
@@ -268,12 +328,32 @@ jobs:
|
||||
uses: actions/upload-artifact@v4
|
||||
with:
|
||||
name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
path: unilab-pack-*
|
||||
path: dist-package/
|
||||
retention-days: 90
|
||||
if-no-files-found: error
|
||||
|
||||
- name: Display package info
|
||||
if: steps.should_build.outputs.should_build == 'true'
|
||||
- name: Display package info (Windows)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform == 'win-64'
|
||||
run: |
|
||||
echo ==========================================
|
||||
echo Build Summary
|
||||
echo ==========================================
|
||||
echo Platform: ${{ matrix.platform }}
|
||||
echo Branch: ${{ github.event.inputs.branch }}
|
||||
echo Python version: 3.11.11
|
||||
echo.
|
||||
echo Distribution package contents:
|
||||
dir dist-package
|
||||
echo.
|
||||
echo Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}
|
||||
echo.
|
||||
echo After download, extract the ZIP and run:
|
||||
echo install_unilab.bat
|
||||
echo ==========================================
|
||||
|
||||
- name: Display package info (Unix)
|
||||
if: steps.should_build.outputs.should_build == 'true' && matrix.platform != 'win-64'
|
||||
shell: bash
|
||||
run: |
|
||||
echo "=========================================="
|
||||
echo "Build Summary"
|
||||
@@ -282,19 +362,15 @@ jobs:
|
||||
echo "Branch: ${{ github.event.inputs.branch }}"
|
||||
echo "Python version: 3.11.11"
|
||||
echo ""
|
||||
echo "Package contents:"
|
||||
if [ "${{ matrix.platform }}" == "win-64" ]; then
|
||||
echo " - unilab-pack-${{ matrix.platform }}.zip"
|
||||
else
|
||||
echo " - unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
fi
|
||||
echo " - unilab-env-${{ matrix.platform }}.tar.gz (packed environment)"
|
||||
echo " - install_unilab script"
|
||||
echo " - verify_installation.py"
|
||||
echo " - README.txt"
|
||||
echo "Distribution package contents:"
|
||||
ls -lh dist-package/
|
||||
echo ""
|
||||
echo "Package size:"
|
||||
ls -lh unilab-pack-* 2>/dev/null || ls -lh unilab-env-${{ matrix.platform }}.tar.gz
|
||||
echo "Package size (tar.gz):"
|
||||
ls -lh unilab-pack-*.tar.gz
|
||||
echo ""
|
||||
echo "Download the artifact and run the install script!"
|
||||
echo "Artifact name: unilab-pack-${{ matrix.platform }}-${{ github.event.inputs.branch }}"
|
||||
echo ""
|
||||
echo "After download:"
|
||||
echo " - Windows/macOS: Extract ZIP, then: tar -xzf unilab-pack-${{ matrix.platform }}.tar.gz"
|
||||
echo " - Linux: Extract ZIP (or download tar.gz directly), run install_unilab.sh"
|
||||
echo "=========================================="
|
||||
|
||||
3
.gitignore
vendored
3
.gitignore
vendored
@@ -2,6 +2,7 @@ configs/
|
||||
temp/
|
||||
output/
|
||||
unilabos_data/
|
||||
pyrightconfig.json
|
||||
## Python
|
||||
|
||||
# Byte-compiled / optimized / DLL files
|
||||
@@ -246,3 +247,5 @@ local_test2.py
|
||||
ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
|
||||
*.bz2
|
||||
test_config.py
|
||||
|
||||
|
||||
|
||||
15
CONTRIBUTORS
Normal file
15
CONTRIBUTORS
Normal file
@@ -0,0 +1,15 @@
|
||||
156 Xuwznln <18435084+Xuwznln@users.noreply.github.com>
|
||||
39 Junhan Chang <changjh@dp.tech>
|
||||
9 wznln <18435084+Xuwznln@users.noreply.github.com>
|
||||
8 Guangxin Zhang <guangxin.zhang.bio@gmail.com>
|
||||
5 ZiWei <131428629+ZiWei09@users.noreply.github.com>
|
||||
2 Junhan Chang <changjh@pku.edu.cn>
|
||||
2 Xie Qiming <97236197+Andy6M@users.noreply.github.com>
|
||||
1 Harvey Que <103566763+Mile-Away@users.noreply.github.com>
|
||||
1 Junhan Chang <1700011741@pku.edu.cn>
|
||||
1 LccLink <1951855008@qq.com>
|
||||
1 h840473807 <47357934+h840473807@users.noreply.github.com>
|
||||
1 lixinyu1011 <61094742+lixinyu1011@users.noreply.github.com>
|
||||
1 shiyubo0410 <shiyubo@dp.tech>
|
||||
1 王俊杰 <1800011822@pku.edu.cn>
|
||||
1 王俊杰 <43375851+wjjxxx@users.noreply.github.com>
|
||||
@@ -13,18 +13,16 @@
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "PLR_STATION",
|
||||
"name": "PLR_LH_TEST",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "liquid_handler",
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": [
|
||||
"deck"
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "PLR_STATION",
|
||||
"name": "PLR_LH_TEST",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "liquid_handler",
|
||||
"config": {},
|
||||
"data": {},
|
||||
"children": ["deck"]
|
||||
},
|
||||
{
|
||||
"id": "deck",
|
||||
"name": "deck",
|
||||
@@ -32,12 +30,12 @@
|
||||
"class": null,
|
||||
"parent": "PLR_STATION",
|
||||
"children": [
|
||||
"trash",
|
||||
"trash_core96",
|
||||
"teaching_carrier",
|
||||
"tip_rack",
|
||||
"plate"
|
||||
]
|
||||
"trash",
|
||||
"trash_core96",
|
||||
"teaching_carrier",
|
||||
"tip_rack",
|
||||
"plate"
|
||||
]
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
@@ -45,6 +43,7 @@
|
||||
```
|
||||
|
||||
配置文件定义了移液站的组成部分，主要包括：
|
||||
|
||||
- 移液站本体（LiquidHandler）- 设备类型
|
||||
- 移液站携带物料实例（deck）- 物料类型
|
||||
|
||||
@@ -55,7 +54,7 @@
|
||||
使用以下命令启动移液站设备：
|
||||
|
||||
```bash
|
||||
unilab -g test/experiments/plr_test.json --app_bridges ""
|
||||
unilab -g test/experiments/plr_test.json --ak [通过网页获取的ak值] --sk [通过网页获取的sk值]
|
||||
```
|
||||
|
||||
### 2. 执行枪头插入操作
|
||||
@@ -66,35 +65,50 @@ unilab -g test/experiments/plr_test.json --app_bridges ""
|
||||
ros2 action send_goal /devices/PLR_STATION/pick_up_tips unilabos_msgs/action/_liquid_handler_pick_up_tips/LiquidHandlerPickUpTips "{ tip_spots: [ { id: 'tip_rack_tipspot_0_0', name: 'tip_rack_tipspot_0_0', sample_id: null, children: [], parent: 'tip_rack', type: 'device', config: { position: { x: 7.2, y: 68.3, z: -83.5 }, size_x: 9.0, size_y: 9.0, size_z: 0, rotation: { x: 0, y: 0, z: 0, type: 'Rotation' }, category: 'tip_spot', model: null, type: 'TipSpot', prototype_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } }, data: { tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' }, tip_state: { liquids: [], pending_liquids: [], liquid_history: [] }, pending_tip: { type: 'HamiltonTip', total_tip_length: 95.1, has_filter: true, maximal_volume: 1065, pickup_method: 'OUT_OF_RACK', tip_size: 'HIGH_VOLUME' } } } ], use_channels: [ 0 ], offsets: [ { x: 0.0, y: 0.0, z: 0.0 } ] }"
|
||||
```
|
||||
|
||||
此命令会通过ros通信触发移液站执行枪头插入操作，得到如下的PyLabRobot的输出日志。
|
||||
此命令会通过 ros 通信触发移液站执行枪头插入操作，得到如下的 PyLabRobot 的输出日志。
|
||||
|
||||
```log
|
||||
Picking up tips:
|
||||
pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter
|
||||
p0: tip_rack_tipspot_0_0 0.0,0.0,0.0 HamiltonTip 1065 8 95.1 Yes
|
||||
pip# resource offset tip type max volume (µL) fitting depth (mm) tip length (mm) filter
|
||||
p0: tip_rack_tipspot_0_0 0.0,0.0,0.0 HamiltonTip 1065 8 95.1 Yes
|
||||
```
|
||||
|
||||
也可以登陆网页，给`tip_spots`选择`tip_rack_tipspot_0_0`，`use_channels`为`0`，`offsets`均填写`0`，同样可观察到上面的日志
|
||||
|
||||
## 常见问题
|
||||
|
||||
1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过PyLabRobot进行测试
|
||||
1. **重复插入枪头不成功**：操作编排应该符合实际操作顺序，可自行通过 PyLabRobot 进行测试
|
||||
|
||||
## 移液站支持的操作
|
||||
|
||||
移液站支持多种操作，以下是当前系统支持的操作列表：
|
||||
|
||||
1. **LiquidHandlerAspirate** - 吸液操作
|
||||
2. **LiquidHandlerDispense** - 排液操作
|
||||
3. **LiquidHandlerDiscardTips** - 丢弃枪头
|
||||
4. **LiquidHandlerDropTips** - 卸下枪头
|
||||
5. **LiquidHandlerDropTips96** - 卸下96通道枪头
|
||||
6. **LiquidHandlerMoveLid** - 移动盖子
|
||||
7. **LiquidHandlerMovePlate** - 移动板子
|
||||
8. **LiquidHandlerMoveResource** - 移动资源
|
||||
9. **LiquidHandlerPickUpTips** - 插入枪头
|
||||
10. **LiquidHandlerPickUpTips96** - 插入96通道枪头
|
||||
11. **LiquidHandlerReturnTips** - 归还枪头
|
||||
12. **LiquidHandlerReturnTips96** - 归还96通道枪头
|
||||
13. **LiquidHandlerStamp** - 打印标记
|
||||
14. **LiquidHandlerTransfer** - 液体转移
|
||||
1. **LiquidHandlerProtocolCreation** - 协议创建
|
||||
2. **LiquidHandlerAspirate** - 吸液操作
|
||||
3. **LiquidHandlerDispense** - 排液操作
|
||||
4. **LiquidHandlerDiscardTips** - 丢弃枪头
|
||||
5. **LiquidHandlerDropTips** - 卸下枪头
|
||||
6. **LiquidHandlerDropTips96** - 卸下 96 通道枪头
|
||||
7. **LiquidHandlerMoveLid** - 移动盖子
|
||||
8. **LiquidHandlerMovePlate** - 移动板子
|
||||
9. **LiquidHandlerMoveResource** - 移动资源
|
||||
10. **LiquidHandlerPickUpTips** - 插入枪头
|
||||
11. **LiquidHandlerPickUpTips96** - 插入 96 通道枪头
|
||||
12. **LiquidHandlerReturnTips** - 归还枪头
|
||||
13. **LiquidHandlerReturnTips96** - 归还 96 通道枪头
|
||||
14. **LiquidHandlerSetLiquid** - 设置液体
|
||||
15. **LiquidHandlerSetTipRack** - 设置枪头架
|
||||
16. **LiquidHandlerStamp** - 打印标记
|
||||
17. **LiquidHandlerTransfer** - 液体转移
|
||||
18. **LiquidHandlerSetGroup** - 设置分组
|
||||
19. **LiquidHandlerTransferBiomek** - Biomek 液体转移
|
||||
20. **LiquidHandlerIncubateBiomek** - Biomek 孵育
|
||||
21. **LiquidHandlerMoveBiomek** - Biomek 移动
|
||||
22. **LiquidHandlerOscillateBiomek** - Biomek 振荡
|
||||
23. **LiquidHandlerTransferGroup** - 分组转移
|
||||
24. **LiquidHandlerAdd** - 添加操作
|
||||
25. **LiquidHandlerMix** - 混合操作
|
||||
26. **LiquidHandlerMoveTo** - 移动到指定位置
|
||||
27. **LiquidHandlerRemove** - 移除操作
|
||||
|
||||
这些操作可通过ROS2 Action接口进行调用，以实现复杂的移液流程。
|
||||
这些操作可通过 ROS2 Action 接口进行调用，以实现复杂的移液流程。
|
||||
|
||||
@@ -19,7 +19,7 @@ Uni-Lab 的组态图当前支持 node-link json 和 graphml 格式，其中包
|
||||
对用户来说，“直接操作设备执行单个指令”不是个真实需求，真正的需求是**“执行对实验有意义的单个完整动作”——加入某种液体多少量；萃取分液；洗涤仪器等等。就像实验步骤文字书写的那样。**
|
||||
|
||||
而这些对实验有意义的单个完整动作，**一般需要多个设备的协同**，还依赖于他们的**物理连接关系（管道相连；机械臂可转运）**。
|
||||
于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`ProtocolNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
|
||||
于是 Uni-Lab 实现了抽象的“工作站”，即注册表中的 `workstation` 设备（`WorkstationNode`类）来处理编译、规划操作。以泵骨架组成的自动有机实验室为例，设备管道连接关系如下：
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -1,26 +1,64 @@
|
||||
## 简单单变量动作函数
|
||||
|
||||
|
||||
### `SendCmd`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SendCmd.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `StrSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StrSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `IntSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/IntSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `FloatSingleInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/FloatSingleInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Point3DSeparateInput`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Point3DSeparateInput.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Wait`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Wait.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 常量有机化学操作
|
||||
|
||||
Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab.io/chemputer/xdl/standard/full_steps_specification.html#)，包含有机合成实验中常见的操作，如加热、搅拌、冷却等。
|
||||
|
||||
|
||||
|
||||
### `Clean`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Clean.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `EvacuateAndRefill`
|
||||
|
||||
@@ -28,7 +66,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Evaporate`
|
||||
|
||||
@@ -36,7 +74,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `HeatChill`
|
||||
|
||||
@@ -44,7 +82,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `HeatChillStart`
|
||||
|
||||
@@ -52,7 +90,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `HeatChillStop`
|
||||
|
||||
@@ -60,7 +98,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `PumpTransfer`
|
||||
|
||||
@@ -68,7 +106,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Separate`
|
||||
|
||||
@@ -76,7 +114,7 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Stir`
|
||||
|
||||
@@ -84,20 +122,179 @@ Uni-Lab 常量有机化学指令集多数来自 [XDL](https://croningroup.gitlab
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Add`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Add.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `AddSolid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AddSolid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `AdjustPH`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/AdjustPH.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Centrifuge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Centrifuge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `CleanVessel`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/CleanVessel.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Crystallize`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Crystallize.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Dissolve`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Dissolve.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Dry`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Dry.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Filter`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Filter.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `FilterThrough`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/FilterThrough.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Hydrogenate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Hydrogenate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Purge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Purge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Recrystallize`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Recrystallize.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `RunColumn`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/RunColumn.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StartPurge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StartPurge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StartStir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StartStir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StopPurge`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StopPurge.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `StopStir`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/StopStir.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `Transfer`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/Transfer.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `WashSolid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/WashSolid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 移液工作站及相关生物自动化设备操作
|
||||
|
||||
Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.org/user_guide/index.html)，包含生物实验中常见的操作，如移液、混匀、离心等。
|
||||
|
||||
|
||||
|
||||
### `LiquidHandlerAspirate`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAspirate.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDiscardTips`
|
||||
|
||||
@@ -105,7 +302,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDispense`
|
||||
|
||||
@@ -113,7 +310,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDropTips`
|
||||
|
||||
@@ -121,7 +318,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerDropTips96`
|
||||
|
||||
@@ -129,7 +326,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveLid`
|
||||
|
||||
@@ -137,7 +334,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMovePlate`
|
||||
|
||||
@@ -145,7 +342,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveResource`
|
||||
|
||||
@@ -153,7 +350,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerPickUpTips`
|
||||
|
||||
@@ -161,7 +358,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerPickUpTips96`
|
||||
|
||||
@@ -169,7 +366,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerReturnTips`
|
||||
|
||||
@@ -177,7 +374,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerReturnTips96`
|
||||
|
||||
@@ -185,7 +382,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerStamp`
|
||||
|
||||
@@ -193,7 +390,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransfer`
|
||||
|
||||
@@ -201,9 +398,113 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
## 多工作站及小车运行、物料转移
|
||||
---
|
||||
|
||||
### `LiquidHandlerAdd`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerAdd.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerIncubateBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerIncubateBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMix`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMix.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerMoveTo`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerMoveTo.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerOscillateBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerOscillateBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerProtocolCreation`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerProtocolCreation.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerRemove`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerRemove.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetGroup`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetGroup.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetLiquid`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetLiquid.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerSetTipRack`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerSetTipRack.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransferBiomek`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferBiomek.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `LiquidHandlerTransferGroup`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/LiquidHandlerTransferGroup.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 多工作站及小车运行、物料转移
|
||||
|
||||
### `AGVTransfer`
|
||||
|
||||
@@ -211,7 +512,7 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `WorkStationRun`
|
||||
|
||||
@@ -219,12 +520,64 @@ Uni-Lab 生物操作指令集多数来自 [PyLabRobot](https://docs.pylabrobot.o
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ResetHandling`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResetHandling.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResourceCreateFromOuter`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuter.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `ResourceCreateFromOuterEasy`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/ResourceCreateFromOuterEasy.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
### `SetPumpPosition`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SetPumpPosition.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 固体分配与处理设备操作
|
||||
|
||||
### `SolidDispenseAddPowderTube`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/SolidDispenseAddPowderTube.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 其他设备操作
|
||||
|
||||
### `EmptyIn`
|
||||
|
||||
```{literalinclude} ../../unilabos_msgs/action/EmptyIn.action
|
||||
:language: yaml
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 机械臂、夹爪等机器人设备
|
||||
|
||||
Uni-Lab 机械臂、机器人、夹爪和导航指令集沿用 ROS2 的 `control_msgs` 和 `nav2_msgs`：
|
||||
|
||||
|
||||
### `FollowJointTrajectory`
|
||||
|
||||
```yaml
|
||||
@@ -292,7 +645,8 @@ trajectory_msgs/MultiDOFJointTrajectoryPoint multi_dof_error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `GripperCommand`
|
||||
|
||||
```yaml
|
||||
@@ -310,17 +664,19 @@ bool reached_goal # True iff the gripper position has reached the commanded setp
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `JointTrajectory`
|
||||
|
||||
```yaml
|
||||
trajectory_msgs/JointTrajectory trajectory
|
||||
---
|
||||
---
|
||||
|
||||
---
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `PointHead`
|
||||
|
||||
```yaml
|
||||
@@ -330,12 +686,13 @@ string pointing_frame
|
||||
builtin_interfaces/Duration min_duration
|
||||
float64 max_velocity
|
||||
---
|
||||
|
||||
---
|
||||
float64 pointing_angle_error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `SingleJointPosition`
|
||||
|
||||
```yaml
|
||||
@@ -343,15 +700,16 @@ float64 position
|
||||
builtin_interfaces/Duration min_duration
|
||||
float64 max_velocity
|
||||
---
|
||||
|
||||
---
|
||||
std_msgs/Header header
|
||||
float64 position
|
||||
float64 velocity
|
||||
float64 error
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `AssistedTeleop`
|
||||
|
||||
```yaml
|
||||
@@ -363,10 +721,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback
|
||||
builtin_interfaces/Duration current_teleop_duration
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `BackUp`
|
||||
|
||||
```yaml
|
||||
@@ -380,10 +738,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ComputePathThroughPoses`
|
||||
|
||||
```yaml
|
||||
@@ -398,10 +756,10 @@ nav_msgs/Path path
|
||||
builtin_interfaces/Duration planning_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `ComputePathToPose`
|
||||
|
||||
```yaml
|
||||
@@ -416,10 +774,10 @@ nav_msgs/Path path
|
||||
builtin_interfaces/Duration planning_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `DriveOnHeading`
|
||||
|
||||
```yaml
|
||||
@@ -433,10 +791,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `DummyBehavior`
|
||||
|
||||
```yaml
|
||||
@@ -447,10 +805,10 @@ std_msgs/String command
|
||||
builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `FollowPath`
|
||||
|
||||
```yaml
|
||||
@@ -465,10 +823,10 @@ std_msgs/Empty result
|
||||
#feedback definition
|
||||
float32 distance_to_goal
|
||||
float32 speed
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `FollowWaypoints`
|
||||
|
||||
```yaml
|
||||
@@ -480,10 +838,10 @@ int32[] missed_waypoints
|
||||
---
|
||||
#feedback definition
|
||||
uint32 current_waypoint
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `NavigateThroughPoses`
|
||||
|
||||
```yaml
|
||||
@@ -501,10 +859,10 @@ builtin_interfaces/Duration estimated_time_remaining
|
||||
int16 number_of_recoveries
|
||||
float32 distance_remaining
|
||||
int16 number_of_poses_remaining
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `NavigateToPose`
|
||||
|
||||
```yaml
|
||||
@@ -521,10 +879,10 @@ builtin_interfaces/Duration navigation_time
|
||||
builtin_interfaces/Duration estimated_time_remaining
|
||||
int16 number_of_recoveries
|
||||
float32 distance_remaining
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `SmoothPath`
|
||||
|
||||
```yaml
|
||||
@@ -540,10 +898,10 @@ builtin_interfaces/Duration smoothing_duration
|
||||
bool was_completed
|
||||
---
|
||||
#feedback definition
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Spin`
|
||||
|
||||
```yaml
|
||||
@@ -556,10 +914,10 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
float32 angular_distance_traveled
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
### `Wait`
|
||||
|
||||
```yaml
|
||||
@@ -571,7 +929,6 @@ builtin_interfaces/Duration total_elapsed_time
|
||||
---
|
||||
#feedback definition
|
||||
builtin_interfaces/Duration time_left
|
||||
|
||||
```
|
||||
|
||||
----
|
||||
---
|
||||
|
||||
@@ -1,37 +1,142 @@
|
||||
# 添加新动作指令（Action）
|
||||
|
||||
1. 在 `unilabos_msgs/action` 中新建实验操作名和参数列表，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
|
||||
本指南将引导你完成添加新动作指令的整个流程，包括编写、在线构建和测试。
|
||||
|
||||
## 1. 编写新的 Action
|
||||
|
||||
### 1.1 创建 Action 文件
|
||||
|
||||
在 `unilabos_msgs/action` 目录中新建实验操作文件，如 `MyDeviceCmd.action`。一个 Action 定义由三个部分组成，分别是目标（Goal）、结果（Result）和反馈（Feedback），之间使用 `---` 分隔：
|
||||
|
||||
```action
|
||||
# 目标（Goal）
|
||||
# 目标（Goal）- 定义动作执行所需的参数
|
||||
string command
|
||||
float64 timeout
|
||||
---
|
||||
# 结果（Result）
|
||||
bool success
|
||||
# 结果（Result）- 定义动作完成后返回的结果
|
||||
bool success # 要求必须包含success，以便回传执行结果
|
||||
string return_info # 要求必须包含return_info，以便回传执行结果
|
||||
... # 其他
|
||||
---
|
||||
# 反馈（Feedback）
|
||||
# 反馈（Feedback）- 定义动作执行过程中的反馈信息
|
||||
float64 progress
|
||||
string status
|
||||
```
|
||||
|
||||
2. 在 `unilabos_msgs/CMakeLists.txt` 中添加新定义的 action
|
||||
### 1.2 更新 CMakeLists.txt
|
||||
|
||||
在 `unilabos_msgs/CMakeLists.txt` 中的 `add_action_files()` 部分添加新定义的 action：
|
||||
|
||||
```cmake
|
||||
add_action_files(
|
||||
FILES
|
||||
MyDeviceCmd.action
|
||||
# 其他已有的 action 文件...
|
||||
)
|
||||
```
|
||||
|
||||
3. 因为在指令集中新建了指令，因此调试时需要编译，并在终端环境中加载临时路径：
|
||||
## 2. 在线构建和测试
|
||||
|
||||
为了简化开发流程并确保构建环境的一致性，我们使用 GitHub Actions 进行在线构建。
|
||||
|
||||
### 2.1 Fork 仓库并创建分支
|
||||
|
||||
1. **Fork 仓库**：在 GitHub 上 fork `Uni-Lab-OS` 仓库到你的个人账户
|
||||
|
||||
2. **Clone 你的 fork**：
|
||||
|
||||
```bash
|
||||
git clone https://github.com/YOUR_USERNAME/Uni-Lab-OS.git
|
||||
cd Uni-Lab-OS
|
||||
```
|
||||
|
||||
3. **创建功能分支**：
|
||||
|
||||
```bash
|
||||
git checkout -b add-my-device-action
|
||||
```
|
||||
|
||||
4. **提交你的更改**：
|
||||
```bash
|
||||
git add unilabos_msgs/action/MyDeviceCmd.action
|
||||
git add unilabos_msgs/CMakeLists.txt
|
||||
git commit -m "Add MyDeviceCmd action for device control"
|
||||
git push origin add-my-device-action
|
||||
```
|
||||
|
||||
### 2.2 触发在线构建
|
||||
|
||||
1. **访问你的 fork 仓库**：在浏览器中打开你的 fork 仓库页面
|
||||
|
||||
2. **手动触发构建**：
|
||||
|
||||
- 点击 "Actions" 标签
|
||||
- 选择 "Multi-Platform Conda Build" 工作流
|
||||
- 点击 "Run workflow" 按钮
|
||||
|
||||
3. **监控构建状态**：
|
||||
- 构建过程大约需要 5-10 分钟
|
||||
- 在 Actions 页面可以实时查看构建日志
|
||||
- 构建完成后，可以下载生成的 conda 包进行测试
|
||||
|
||||
### 2.3 下载和测试构建包
|
||||
|
||||
1. **下载构建产物**：
|
||||
|
||||
- 在构建完成的 Action 页面，找到 "Artifacts" 部分
|
||||
- 下载对应平台的 `conda-package-*` 文件
|
||||
|
||||
2. **本地测试安装**：
|
||||
|
||||
```bash
|
||||
# 解压下载的构建产物
|
||||
unzip conda-package-linux-64.zip # 或其他平台
|
||||
|
||||
# 安装测试包
|
||||
mamba install ./ros-humble-unilabos-msgs-*.conda
|
||||
```
|
||||
|
||||
3. **验证 Action 是否正确添加**：
|
||||
```bash
|
||||
# 检查 action 是否可用
|
||||
ros2 interface show unilabos_msgs/action/MyDeviceCmd
|
||||
```
|
||||
|
||||
## 3. 提交 Pull Request
|
||||
|
||||
测试成功后，向主仓库提交 Pull Request：
|
||||
|
||||
1. **创建 Pull Request**：
|
||||
|
||||
- 在你的 fork 仓库页面，点击 "New Pull Request"
|
||||
- 选择你的功能分支作为源分支
|
||||
- 填写详细的 PR 描述，包括：
|
||||
- 添加的 Action 功能说明
|
||||
- 测试结果
|
||||
- 相关的设备或用例
|
||||
|
||||
2. **等待审核和合并**：
|
||||
- 维护者会审核你的代码
|
||||
- CI/CD 系统会自动运行完整的测试套件
|
||||
- 合并后，新的指令集会自动发布到官方 conda 仓库
|
||||
|
||||
## 4. 使用新的 Action
|
||||
|
||||
如果采用自己构建的action包，可以通过以下命令更新安装：
|
||||
|
||||
```bash
|
||||
cd unilabos_msgs
|
||||
colcon build
|
||||
source ./install/local_setup.sh
|
||||
cd ..
|
||||
mamba remove --force ros-humble-unilabos-msgs
|
||||
mamba config set safety_checks disabled # 如果没有提升版本号，会触发md5与网络上md5不一致，是正常现象，因此通过本指令关闭md5检查
|
||||
mamba install xxx.conda --offline
|
||||
```
|
||||
|
||||
调试成功后，发起 pull request，Uni-Lab 的 CI/CD 系统会自动将新的指令集编译打包，mamba执行升级即可永久生效：
|
||||
## 常见问题
|
||||
|
||||
```bash
|
||||
mamba update ros-humble-unilabos-msgs -c http://quetz.dp.tech:8088/get/unilab -c robostack-humble -c robostack-staging
|
||||
```
|
||||
**Q: 构建失败怎么办？**
|
||||
A: 检查 Actions 日志中的错误信息，通常是语法错误或依赖问题。修复后重新推送代码即可自动触发新的构建。
|
||||
|
||||
**Q: 如何测试特定平台？**
|
||||
A: 在手动触发构建时，在平台选择中只填写你需要的平台，如 `linux-64` 或 `win-64`。
|
||||
|
||||
**Q: 构建包在哪里下载？**
|
||||
A: 在 Actions 页面的构建结果中，查找 "Artifacts" 部分，每个平台都有对应的构建包可供下载。
|
||||
|
||||
147
docs/developer_guide/add_batteryPLC.md
Normal file
147
docs/developer_guide/add_batteryPLC.md
Normal file
@@ -0,0 +1,147 @@
|
||||
# 电池装配工站接入（PLC）
|
||||
|
||||
本指南将引导你完成电池装配工站（以 PLC 控制为例）的接入流程，包括新建工站文件、编写驱动与寄存器读写、生成注册表、上传及注意事项。
|
||||
|
||||
## 1. 新建工站文件
|
||||
|
||||
### 1.1 创建工站文件
|
||||
|
||||
在 `unilabos/devices/workstation/coin_cell_assembly` 目录下新建工站文件，如 `coin_cell_assembly.py`。工站类需继承 `WorkstationBase`，并在构造函数中初始化通信客户端与寄存器映射。
|
||||
|
||||
```python
|
||||
from typing import Optional
|
||||
# 工站基类
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
# Modbus 通讯与寄存器 CSV 支持
|
||||
from unilabos.device_comms.modbus_plc.client import TCPClient, BaseClient
|
||||
|
||||
class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
def __init__(
|
||||
self,
|
||||
station_resource,
|
||||
address: str = "192.168.1.20",
|
||||
port: str = "502",
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
super().__init__(station_resource=station_resource, *args, **kwargs)
|
||||
self.station_resource = station_resource # 物料台面（Deck）
|
||||
self.success: bool = False
|
||||
self.allow_data_read: bool = False
|
||||
self.csv_export_thread = None
|
||||
self.csv_export_running = False
|
||||
self.csv_export_file: Optional[str] = None
|
||||
|
||||
# 连接 PLC，并注册寄存器节点
|
||||
tcp = TCPClient(addr=address, port=port)
|
||||
tcp.client.connect()
|
||||
self.nodes = BaseClient.load_csv(".../PLC_register.csv")
|
||||
self.client = tcp.register_node_list(self.nodes)
|
||||
```
|
||||
|
||||
|
||||
|
||||
## 2. 编写驱动与寄存器读写
|
||||
|
||||
### 2.1 寄存器示例
|
||||
|
||||
- `COIL_SYS_START_CMD`（BOOL，地址 8010）：启动命令（脉冲式）
|
||||
- `COIL_SYS_START_STATUS`（BOOL，地址 8210）：启动状态
|
||||
- `REG_DATA_OPEN_CIRCUIT_VOLTAGE`（FLOAT32，地址 10002）：开路电压
|
||||
- `REG_DATA_ASSEMBLY_PRESSURE`（INT16，地址 10014）：压制扣电压力
|
||||
|
||||
### 2.2 最小驱动示例
|
||||
|
||||
```python
|
||||
from unilabos.device_comms.modbus_plc.modbus import WorderOrder
|
||||
|
||||
def start_and_read_metrics(self):
|
||||
# 1) 下发启动（置 True 再复位 False）
|
||||
self.client.use_node('COIL_SYS_START_CMD').write(True)
|
||||
self.client.use_node('COIL_SYS_START_CMD').write(False)
|
||||
|
||||
# 2) 等待进入启动状态
|
||||
while True:
|
||||
status, _ = self.client.use_node('COIL_SYS_START_STATUS').read(1)
|
||||
if bool(status[0]):
|
||||
break
|
||||
|
||||
# 3) 读取关键数据（FLOAT32 需读 2 个寄存器并指定字节序）
|
||||
voltage, _ = self.client.use_node('REG_DATA_OPEN_CIRCUIT_VOLTAGE').read(
|
||||
2, word_order=WorderOrder.LITTLE
|
||||
)
|
||||
pressure, _ = self.client.use_node('REG_DATA_ASSEMBLY_PRESSURE').read(1)
|
||||
|
||||
return {
|
||||
'open_circuit_voltage': voltage,
|
||||
'assembly_pressure': pressure,
|
||||
}
|
||||
```
|
||||
|
||||
> 提示：若需参数下发，可在 PLC 端设置标志寄存器并完成握手复位，避免粘连与竞争。
|
||||
|
||||
## 3. 本地生成注册表并校验
|
||||
|
||||
完成工站类与驱动后，需要生成（或更新）工站注册表供系统识别。
|
||||
|
||||
|
||||
### 3.1 新增工站设备（或资源）首次生成注册表
|
||||
首先通过以下命令启动unilab。进入unilab系统状态检查页面
|
||||
|
||||
```bash
|
||||
python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK>
|
||||
```
|
||||
|
||||
点击注册表编辑，进入注册表编辑页面
|
||||
|
||||
|
||||
按照图示步骤填写自动生成注册表信息：
|
||||
|
||||
|
||||
步骤说明：
|
||||
1. 选择新增的工站`coin_cell_assembly.py`文件
|
||||
2. 点击分析按钮，分析`coin_cell_assembly.py`文件
|
||||
3. 选择`coin_cell_assembly.py`文件中继承`WorkstationBase`类
|
||||
4. 填写新增的工站.py文件与`unilabos`目录的距离。例如，新增的工站文件`coin_cell_assembly.py`路径为`unilabos\devices\workstation\coin_cell_assembly\coin_cell_assembly.py`，则此处填写`unilabos.devices.workstation.coin_cell_assembly`。
|
||||
5. 此处填写新定义工站的类的名字（名称可以自拟）
|
||||
6. 填写新的工站注册表备注信息
|
||||
7. 生成注册表
|
||||
|
||||
以上操作步骤完成，则会生成的新的注册表ymal文件，如下图：
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
### 3.2 添加新生成注册表
|
||||
在`unilabos\registry\devices`目录下新建一个yaml文件，此处新建文件命名为`coincellassemblyworkstation_device.yaml`，将上面生成的新的注册表信息粘贴到`coincellassemblyworkstation_device.yaml`文件中。
|
||||
|
||||
在终端输入以下命令进行注册表补全操作。
|
||||
```bash
|
||||
python unilabos\app\register.py --complete_registry
|
||||
```
|
||||
|
||||
|
||||
### 3.3 启动并上传注册表
|
||||
|
||||
新增设备之后，启动unilab需要增加`--upload_registry`参数，来上传注册表信息。
|
||||
|
||||
```bash
|
||||
python unilabos\app\main.py -g celljson.json --ak <user的AK> --sk <user的SK> --upload_registry
|
||||
```
|
||||
|
||||
## 4. 注意事项
|
||||
|
||||
- 在新生成的 YAML 中，确认 `module` 指向新工站类，本例中需检查`coincellassemblyworkstation_device.yaml`文件中是否指向了`coin_cell_assembly.py`文件中定义的`CoinCellAssemblyWorkstation`类文件：
|
||||
|
||||
```
|
||||
module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation
|
||||
```
|
||||
|
||||
- 首次新增设备（或资源）需要在网页端新增注册表信息，`--complete_registry`补全注册表，`--upload_registry`上传注册表信息。
|
||||
|
||||
- 如果不是新增设备（或资源），仅对工站驱动的.py文件进行了修改，则不需要在网页端新增注册表信息。只需要运行补全注册表信息之后，上传注册表即可。
|
||||
|
||||
|
||||
@@ -13,36 +13,36 @@ class MockGripper:
|
||||
self._velocity: float = 2.0
|
||||
self._torque: float = 0.0
|
||||
self._status = "Idle"
|
||||
|
||||
|
||||
@property
|
||||
def position(self) -> float:
|
||||
return self._position
|
||||
|
||||
|
||||
@property
|
||||
def velocity(self) -> float:
|
||||
return self._velocity
|
||||
|
||||
|
||||
@property
|
||||
def torque(self) -> float:
|
||||
return self._torque
|
||||
|
||||
|
||||
# 会被自动识别的设备属性，接入 Uni-Lab 时会定时对外广播
|
||||
@property
|
||||
def status(self) -> str:
|
||||
return self._status
|
||||
|
||||
|
||||
# 会被自动识别的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
|
||||
@status.setter
|
||||
def status(self, target):
|
||||
self._status = target
|
||||
|
||||
|
||||
# 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
|
||||
def push_to(self, position: float, torque: float, velocity: float = 0.0):
|
||||
self._status = "Running"
|
||||
current_pos = self.position
|
||||
if velocity == 0.0:
|
||||
velocity = self.velocity
|
||||
|
||||
|
||||
move_time = abs(position - current_pos) / velocity
|
||||
for i in range(20):
|
||||
self._position = current_pos + (position - current_pos) / 20 * (i+1)
|
||||
@@ -68,7 +68,7 @@ public class MockGripper
|
||||
public double velocity { get; private set; } = 2.0;
|
||||
public double torque { get; private set; } = 0.0;
|
||||
public string status { get; private set; } = "Idle";
|
||||
|
||||
|
||||
// 需要在注册表添加的设备动作，接入 Uni-Lab 时会作为 ActionServer 接受任意控制者的指令
|
||||
public async Task PushToAsync(double Position, double Torque, double Velocity = 0.0)
|
||||
{
|
||||
@@ -94,107 +94,61 @@ public class MockGripper
|
||||
|
||||
C# 驱动设备在完成注册表后，需要调用 Uni-Lab C# 编译后才能使用，但只需一次。
|
||||
|
||||
## 注册表文件位置
|
||||
## 快速开始：使用注册表编辑器（推荐）
|
||||
|
||||
Uni-Lab 启动时会自动读取默认注册表路径 `unilabos/registry/devices` 下的所有注册设备。您也可以任意维护自己的注册表路径，只需要在 Uni-Lab 启动时使用 `--registry` 参数将路径添加即可。
|
||||
推荐使用 Uni-Lab-OS 自带的可视化编辑器，它能自动分析您的设备驱动并生成大部分配置：
|
||||
|
||||
在 `<path-to-registry>/devices` 中新建一个 yaml 文件，即可开始撰写。您可以将多个设备写到同一个 yaml 文件中。
|
||||
1. 启动 Uni-Lab-OS
|
||||
2. 在浏览器中打开"注册表编辑器"页面
|
||||
3. 选择您的 Python 设备驱动文件
|
||||
4. 点击"分析文件"，让系统读取类信息
|
||||
5. 填写基本信息（设备描述、图标等）
|
||||
6. 点击"生成注册表"，复制生成的内容
|
||||
7. 保存到 `devices/` 目录下
|
||||
|
||||
## 注册表的结构
|
||||
---
|
||||
|
||||
1. 顶层名称：每个设备的注册表以设备名称开头，例如 `new_device`, `gripper.mock`。
|
||||
1. `class` 字段：定义设备的模块路径和驱动程序语言。
|
||||
1. `status_types` 字段：定义设备定时对 Uni-Lab 实验室内发送的属性名及其类型。
|
||||
1. `action_value_mappings` 字段：定义设备支持的动作及其目标、反馈和结果。
|
||||
1. `schema` 字段：定义设备定时对 Uni-Lab 云端监控发送的属性名及其类型、描述（非必须）
|
||||
## 手动编写注册表（简化版）
|
||||
|
||||
## 创建新的注册表教程
|
||||
如果需要手动编写，只需要提供两个必需字段，系统会自动补全其余内容：
|
||||
|
||||
1. 创建文件
|
||||
在 devices 文件夹中创建一个新的 YAML 文件，例如 `new_device.yaml`。
|
||||
2. 定义设备名称
|
||||
在文件中定义设备的顶层名称，例如：`new_device` 或 `gripper.mock`
|
||||
3. 定义设备的类信息
|
||||
添加设备的模块路径和类型：
|
||||
### 最小配置示例
|
||||
|
||||
```yaml
|
||||
gripper.mock:
|
||||
class: # 定义设备的类信息
|
||||
module: unilabos.devices.gripper.mock:MockGripper
|
||||
type: python # 指定驱动语言为 Python
|
||||
status_types:
|
||||
position: Float64
|
||||
torque: Float64
|
||||
status: String
|
||||
my_device: # 设备唯一标识符
|
||||
class:
|
||||
module: unilabos.devices.your_module.my_device:MyDevice # Python 类路径
|
||||
type: python # 驱动类型
|
||||
```
|
||||
|
||||
4. 定义设备的定时发布属性。注意，对于 Python Class 来说，PROP 是 class 的 `property`，或满足能被 `getattr(cls, PROP)` 或 `cls.get_PROP` 读取到的属性值的对象。
|
||||
### 注册表文件位置
|
||||
|
||||
- 默认路径：`unilabos/registry/devices`
|
||||
- 自定义路径：启动时使用 `--registry` 参数指定
|
||||
- 可将多个设备写在同一个 yaml 文件中
|
||||
|
||||
### 系统自动生成的内容
|
||||
|
||||
系统会自动分析您的 Python 驱动类并生成：
|
||||
|
||||
- `status_types`：从 `get_*` 方法自动识别状态属性
|
||||
- `action_value_mappings`：从类方法自动生成动作映射
|
||||
- `init_param_schema`：从 `__init__` 方法分析初始化参数
|
||||
- `schema`：前端显示用的属性类型定义
|
||||
|
||||
### 完整结构概览
|
||||
|
||||
```yaml
|
||||
status_types:
|
||||
PROP: TYPE
|
||||
```
|
||||
5. 定义设备支持的动作
|
||||
添加设备支持的动作及其目标、反馈和结果：
|
||||
|
||||
```yaml
|
||||
action_value_mappings:
|
||||
set_speed:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: speed
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
my_device:
|
||||
class:
|
||||
module: unilabos.devices.your_module.my_device:MyDevice
|
||||
type: python
|
||||
status_types: {} # 自动生成
|
||||
action_value_mappings: {} # 自动生成
|
||||
description: '' # 可选：设备描述
|
||||
icon: '' # 可选：设备图标
|
||||
init_param_schema: {} # 自动生成
|
||||
schema: {} # 自动生成
|
||||
```
|
||||
|
||||
在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来将驱动内的动作函数，映射到 Uni-Lab 标准动作（actions）及其目标参数值（goal）、反馈值（feedback）和结果值（result）的映射规则。若在 Uni-Lab 指令集内找不到符合心意的，请【创建新指令】。
|
||||
|
||||
```yaml
|
||||
action_value_mappings:
|
||||
<action_name>: # <action_name>：动作的名称
|
||||
# start：启动设备或某个功能。
|
||||
# stop：停止设备或某个功能。
|
||||
# set_speed：设置设备的速度。
|
||||
# set_temperature：设置设备的温度。
|
||||
# move_to_position：移动设备到指定位置。
|
||||
# stir：执行搅拌操作。
|
||||
# heatchill：执行加热或冷却操作。
|
||||
# send_nav_task：发送导航任务（例如机器人导航）。
|
||||
# set_timer：设置设备的计时器。
|
||||
# valve_open_cmd：打开阀门。
|
||||
# valve_close_cmd：关闭阀门。
|
||||
# execute_command_from_outer：执行外部命令。
|
||||
# push_to：控制设备推送到某个位置（例如机械爪）。
|
||||
# move_through_points：导航设备通过多个点。
|
||||
|
||||
type: <ActionType> # 动作的类型，表示动作的功能
|
||||
# 根据动作的功能选择合适的类型，请查阅 Uni-Lab 已支持的指令集。
|
||||
|
||||
goal: # 定义动作的目标值映射，表示需要传递给设备的参数。
|
||||
<goal_key>: <mapped_value> #确定设备需要的输入参数，并将其映射到设备的字段。
|
||||
|
||||
feedback: # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
|
||||
<feedback_key>: <mapped_value>
|
||||
result: # 定义动作的结果值映射，表示动作完成后返回的最终结果。
|
||||
<result_key>: <mapped_value>
|
||||
```
|
||||
|
||||
6. 定义设备的网页展示属性类型，这部分会被用于在 Uni-Lab 网页端渲染成状态监控
|
||||
添加设备的属性模式，包括属性类型和描述：
|
||||
|
||||
```yaml
|
||||
schema:
|
||||
type: object
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
speed:
|
||||
type: number
|
||||
description: The speed of the device
|
||||
required:
|
||||
- status
|
||||
- speed
|
||||
additionalProperties: false
|
||||
```
|
||||
详细的注册表编写指南和高级配置，请参考{doc}`yaml 注册表编写指南 <add_yaml>`。
|
||||
|
||||
@@ -1,95 +1,610 @@
|
||||
# yaml注册表编写指南
|
||||
# yaml 注册表编写指南
|
||||
|
||||
`注册表的结构`
|
||||
## 快速开始：使用注册表编辑器
|
||||
|
||||
1. 顶层名称：每个设备的注册表以设备名称开头，例如 new_device。
|
||||
2. class 字段：定义设备的模块路径和类型。
|
||||
3. schema 字段：定义设备的属性模式，包括属性类型、描述和必需字段。
|
||||
4. action_value_mappings 字段：定义设备支持的动作及其目标、反馈和结果。
|
||||
推荐使用 UniLabOS 自带的可视化编辑器，它能帮你自动生成大部分配置，省去手写的麻烦。
|
||||
|
||||
`创建新的注册表教程`
|
||||
1. 创建文件
|
||||
在 devices 文件夹中创建一个新的 YAML 文件，例如 new_device.yaml。
|
||||
### 怎么用编辑器
|
||||
|
||||
2. 定义设备名称
|
||||
在文件中定义设备的顶层名称，例如：new_device
|
||||
1. 启动 UniLabOS
|
||||
2. 在浏览器中打开"注册表编辑器"页面
|
||||
3. 选择你的 Python 设备驱动文件
|
||||
4. 点击"分析文件"，让系统读取你的类信息
|
||||
5. 填写一些基本信息（设备描述、图标啥的）
|
||||
6. 点击"生成注册表"，复制生成的内容
|
||||
7. 把内容保存到 `devices/` 目录下
|
||||
|
||||
3. 定义设备的类信息
|
||||
添加设备的模块路径和类型：
|
||||
我们为你准备了一个测试驱动，用于在界面上尝试注册表生成，参见目录：test\registry\example_devices.py
|
||||
|
||||
```python
|
||||
new_device: # 定义一个名为 linear_motion.grbl 的设备
|
||||
---
|
||||
|
||||
## 手动编写指南
|
||||
|
||||
class: # 定义设备的类信息
|
||||
module: unilabos.devices_names.new_device:NewDeviceClass # 指定模块路径和类名
|
||||
type: python # 指定类型为 Python 类
|
||||
status_types:
|
||||
```
|
||||
4. 定义设备支持的动作
|
||||
添加设备支持的动作及其目标、反馈和结果：
|
||||
```python
|
||||
action_value_mappings:
|
||||
set_speed:
|
||||
type: SendCmd
|
||||
goal:
|
||||
command: speed
|
||||
feedback: {}
|
||||
result:
|
||||
success: success
|
||||
```
|
||||
`如何编写action_valve_mappings`
|
||||
1. 在 devices 文件夹中的 YAML 文件中，action_value_mappings 是用来定义设备支持的动作（actions）及其目标值（goal）、反馈值（feedback）和结果值（result）的映射规则。以下是规则和编写方法：
|
||||
```python
|
||||
action_value_mappings:
|
||||
<action_name>: # <action_name>：动作的名称
|
||||
# start：启动设备或某个功能。
|
||||
# stop：停止设备或某个功能。
|
||||
# set_speed：设置设备的速度。
|
||||
# set_temperature：设置设备的温度。
|
||||
# move_to_position：移动设备到指定位置。
|
||||
# stir：执行搅拌操作。
|
||||
# heatchill：执行加热或冷却操作。
|
||||
# send_nav_task：发送导航任务（例如机器人导航）。
|
||||
# set_timer：设置设备的计时器。
|
||||
# valve_open_cmd：打开阀门。
|
||||
# valve_close_cmd：关闭阀门。
|
||||
# execute_command_from_outer：执行外部命令。
|
||||
# push_to：控制设备推送到某个位置（例如机械爪）。
|
||||
# move_through_points：导航设备通过多个点。
|
||||
如果你想自己写 yaml 文件，或者想深入了解结构，查阅下方说明。
|
||||
|
||||
type: <ActionType> # 动作的类型，表示动作的功能
|
||||
# 根据动作的功能选择合适的类型：
|
||||
# SendCmd：发送简单命令。
|
||||
# NavigateThroughPoses：导航动作。
|
||||
# SingleJointPosition：设置单一关节的位置。
|
||||
# Stir：搅拌动作。
|
||||
# HeatChill：加热或冷却动作。
|
||||
## 注册表的基本结构
|
||||
|
||||
goal: # 定义动作的目标值映射，表示需要传递给设备的参数。
|
||||
<goal_key>: <mapped_value> #确定设备需要的输入参数，并将其映射到设备的字段。
|
||||
yaml 注册表就是设备的配置文件，里面定义了设备怎么用、有什么功能。好消息是系统会自动帮你填大部分内容，你只需要写两个必需的东西：设备名和 class 信息。
|
||||
|
||||
feedback: # 定义动作的反馈值映射，表示设备执行动作时返回的实时状态。
|
||||
<feedback_key>: <mapped_value>
|
||||
result: # 定义动作的结果值映射，表示动作完成后返回的最终结果。
|
||||
<result_key>: <mapped_value>
|
||||
### 各字段用途
|
||||
|
||||
| 字段名 | 类型 | 需要手写 | 说明 |
|
||||
| ----------------- | ------ | -------- | ----------------------------------- |
|
||||
| 设备标识符 | string | 是 | 设备的唯一名字，比如 `mock_chiller` |
|
||||
| class | object | 部分 | 设备的核心信息，必须写 |
|
||||
| description | string | 否 | 设备描述，系统默认给空字符串 |
|
||||
| handles | array | 否 | 连接关系，默认是空的 |
|
||||
| icon | string | 否 | 图标路径，默认为空 |
|
||||
| init_param_schema | object | 否 | 初始化参数，系统自动分析生成 |
|
||||
| version | string | 否 | 版本号，默认 "1.0.0" |
|
||||
| category | array | 否 | 设备分类，默认用文件名 |
|
||||
| config_info | array | 否 | 嵌套配置，默认为空 |
|
||||
| file_path | string | 否 | 文件路径，系统自动设置 |
|
||||
| registry_type | string | 否 | 注册表类型，自动设为 "device" |
|
||||
|
||||
### class 字段里有啥
|
||||
|
||||
class 是核心部分，包含这些内容：
|
||||
|
||||
| 字段名 | 类型 | 需要手写 | 说明 |
|
||||
| --------------------- | ------ | -------- | ---------------------------------- |
|
||||
| module | string | 是 | Python 类的路径，必须写 |
|
||||
| type | string | 是 | 驱动类型，一般写 "python" |
|
||||
| status_types | object | 否 | 状态类型，系统自动分析生成 |
|
||||
| action_value_mappings | object | 部分 | 动作配置，系统会自动生成一些基础的 |
|
||||
|
||||
## 怎么创建新的注册表
|
||||
|
||||
### 创建文件
|
||||
|
||||
在 devices 文件夹里新建一个 yaml 文件，比如 `new_device.yaml`。
|
||||
|
||||
### 完整结构是什么样的
|
||||
|
||||
```yaml
|
||||
new_device: # 设备名，要唯一
|
||||
class: # 核心配置
|
||||
action_value_mappings: # 动作配置（后面会详细说）
|
||||
action_name:
|
||||
# 具体的动作设置
|
||||
module: unilabos.devices.your_module.new_device:NewDeviceClass # 你的 Python 类
|
||||
status_types: # 状态类型（系统会自动生成）
|
||||
status: str
|
||||
temperature: float
|
||||
# 其他状态
|
||||
type: python # 驱动类型，一般就是 python
|
||||
|
||||
description: New Device Description # 设备描述
|
||||
handles: [] # 连接关系，通常是空的
|
||||
icon: '' # 图标路径
|
||||
init_param_schema: # 初始化参数（系统会自动生成）
|
||||
config: # 初始化时需要的参数
|
||||
properties:
|
||||
port:
|
||||
default: DEFAULT_PORT
|
||||
type: string
|
||||
required: []
|
||||
type: object
|
||||
data: # 前端显示用的数据类型
|
||||
properties:
|
||||
status:
|
||||
type: string
|
||||
temperature:
|
||||
type: number
|
||||
required:
|
||||
- status
|
||||
type: object
|
||||
|
||||
version: 0.0.1 # 版本号
|
||||
category:
|
||||
- device_category # 设备类别
|
||||
config_info: [] # 嵌套配置，通常为空
|
||||
```
|
||||
|
||||
6. 定义设备的属性模式
|
||||
添加设备的属性模式，包括属性类型和描述：
|
||||
```python
|
||||
schema:
|
||||
type: object
|
||||
## action_value_mappings 怎么写
|
||||
|
||||
这个部分定义设备能做哪些动作。好消息是系统会自动生成大部分动作，你通常只需要添加一些特殊的自定义动作。
|
||||
|
||||
### 系统自动生成哪些动作
|
||||
|
||||
系统会帮你生成这些：
|
||||
|
||||
1. 以 `auto-` 开头的动作：从你 Python 类的方法自动生成
|
||||
2. 通用的驱动动作：
|
||||
- `_execute_driver_command`：同步执行驱动命令（仅本地可用）
|
||||
- `_execute_driver_command_async`：异步执行驱动命令（仅本地可用）
|
||||
|
||||
### 如果要手动定义动作
|
||||
|
||||
如果你需要自定义一些特殊动作，需要这些字段：
|
||||
|
||||
| 字段名 | 需要手写 | 说明 |
|
||||
| ---------------- | -------- | -------------------------------- |
|
||||
| type | 是 | 动作类型，必须指定 |
|
||||
| goal | 是 | 输入参数怎么映射 |
|
||||
| feedback | 否 | 实时反馈，通常为空 |
|
||||
| result | 是 | 结果怎么返回 |
|
||||
| goal_default | 部分 | 参数默认值，ROS 动作会自动生成 |
|
||||
| schema | 部分 | 前端表单配置，ROS 动作会自动生成 |
|
||||
| handles | 否 | 连接关系，默认为空 |
|
||||
| placeholder_keys | 否 | 特殊输入字段配置 |
|
||||
|
||||
### 动作类型有哪些
|
||||
|
||||
| 类型 | 什么时候用 | 系统会自动生成什么 |
|
||||
| ---------------------- | -------------------- | ---------------------- |
|
||||
| UniLabJsonCommand | 自定义同步 JSON 命令 | 啥都不生成 |
|
||||
| UniLabJsonCommandAsync | 自定义异步 JSON 命令 | 啥都不生成 |
|
||||
| ROS 动作类型 | 标准 ROS 动作 | goal_default 和 schema |
|
||||
|
||||
常用的 ROS 动作类型：
|
||||
|
||||
- `SendCmd`：发送简单命令
|
||||
- `NavigateThroughPoses`：导航动作
|
||||
- `SingleJointPosition`：单关节位置控制
|
||||
- `Stir`：搅拌动作
|
||||
- `HeatChill`、`HeatChillStart`：加热冷却动作
|
||||
|
||||
### 复杂一点的例子
|
||||
|
||||
```yaml
|
||||
heat_chill_start:
|
||||
type: HeatChillStart
|
||||
goal:
|
||||
purpose: purpose
|
||||
temp: temp
|
||||
goal_default: # ROS动作会自动生成，你也可以手动覆盖
|
||||
purpose: ''
|
||||
temp: 0.0
|
||||
handles:
|
||||
output:
|
||||
- handler_key: labware
|
||||
label: Labware
|
||||
data_type: resource
|
||||
data_source: handle
|
||||
data_key: liquid
|
||||
placeholder_keys:
|
||||
purpose: unilabos_resources
|
||||
result:
|
||||
status: status
|
||||
success: success
|
||||
# schema 系统会自动生成，不用写
|
||||
```
|
||||
|
||||
### 动作名字怎么起
|
||||
|
||||
根据设备用途来起名字：
|
||||
|
||||
- 启动停止类：`start`、`stop`、`pause`、`resume`
|
||||
- 设置参数类：`set_speed`、`set_temperature`、`set_timer`
|
||||
- 移动控制类：`move_to_position`、`move_through_points`
|
||||
- 功能操作类：`stir`、`heat_chill_start`、`heat_chill_stop`
|
||||
- 开关控制类：`valve_open_cmd`、`valve_close_cmd`、`push_to`
|
||||
- 命令执行类：`send_nav_task`、`execute_command_from_outer`
|
||||
|
||||
### 常用的动作类型
|
||||
|
||||
- `UniLabJsonCommand`：自定义 JSON 命令（不走 ROS）
|
||||
- `UniLabJsonCommandAsync`：异步 JSON 命令（不走 ROS）
|
||||
- `SendCmd`：发送简单命令
|
||||
- `NavigateThroughPoses`：导航相关
|
||||
- `SingleJointPosition`：单关节控制
|
||||
- `Stir`：搅拌
|
||||
- `HeatChill`、`HeatChillStart`：加热冷却
|
||||
- 其他的 ROS 动作类型：看具体的 ROS 服务
|
||||
|
||||
### 示例：完整的动作配置
|
||||
|
||||
```yaml
|
||||
heat_chill_start:
|
||||
type: HeatChillStart
|
||||
goal:
|
||||
purpose: purpose
|
||||
temp: temp
|
||||
goal_default:
|
||||
purpose: ''
|
||||
temp: 0.0
|
||||
handles:
|
||||
output:
|
||||
- handler_key: labware
|
||||
label: Labware
|
||||
data_type: resource
|
||||
data_source: handle
|
||||
data_key: liquid
|
||||
placeholder_keys:
|
||||
purpose: unilabos_resources
|
||||
result:
|
||||
status: status
|
||||
success: success
|
||||
schema:
|
||||
description: '启动加热冷却功能'
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
purpose:
|
||||
type: string
|
||||
description: '用途说明'
|
||||
temp:
|
||||
type: number
|
||||
description: '目标温度'
|
||||
required:
|
||||
- purpose
|
||||
- temp
|
||||
title: HeatChillStart_Goal
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: HeatChillStart
|
||||
type: object
|
||||
feedback: {}
|
||||
```
|
||||
|
||||
## 系统自动生成的字段
|
||||
|
||||
### status_types
|
||||
|
||||
系统会扫描你的 Python 类，从状态方法自动生成这部分：
|
||||
|
||||
```yaml
|
||||
status_types:
|
||||
current_temperature: float # 从 get_current_temperature() 方法来的
|
||||
is_heating: bool # 从 get_is_heating() 方法来的
|
||||
status: str # 从 get_status() 方法来的
|
||||
```
|
||||
|
||||
注意几点：
|
||||
|
||||
- 系统会找所有 `get_` 开头的方法
|
||||
- 类型会自动转成 ROS 类型（比如 `str` 变成 `String`）
|
||||
- 如果类型是 `Any`、`None` 或者不知道的，就默认用 `String`
|
||||
|
||||
### init_param_schema
|
||||
|
||||
这个完全是系统自动生成的，你不用管：
|
||||
|
||||
```yaml
|
||||
init_param_schema:
|
||||
config: # 从你类的 __init__ 方法分析出来的
|
||||
properties:
|
||||
port:
|
||||
type: string
|
||||
default: '/dev/ttyUSB0'
|
||||
baudrate:
|
||||
type: integer
|
||||
default: 9600
|
||||
required: []
|
||||
type: object
|
||||
|
||||
data: # 根据 status_types 生成的前端用的类型
|
||||
properties:
|
||||
current_temperature:
|
||||
type: number
|
||||
is_heating:
|
||||
type: boolean
|
||||
status:
|
||||
type: string
|
||||
description: The status of the device
|
||||
speed:
|
||||
type: number
|
||||
description: The speed of the device
|
||||
required:
|
||||
- status
|
||||
- speed
|
||||
additionalProperties: false
|
||||
type: object
|
||||
```
|
||||
# 写完yaml注册表后需要添加到哪些其他文件？
|
||||
|
||||
生成规则很简单：
|
||||
|
||||
- `config` 部分：看你类的 `__init__` 方法有什么参数，类型和默认值是啥
|
||||
- `data` 部分：根据 `status_types` 生成前端显示用的类型定义
|
||||
|
||||
### 其他自动填充的字段
|
||||
|
||||
```yaml
|
||||
version: '1.0.0' # 默认版本
|
||||
category: ['文件名'] # 用你的 yaml 文件名当类别
|
||||
description: '' # 默认为空，你可以手动改
|
||||
icon: '' # 默认为空，你可以加图标
|
||||
handles: [] # 默认空数组
|
||||
config_info: [] # 默认空数组
|
||||
file_path: '/path/to/file' # 系统自动填文件路径
|
||||
registry_type: 'device' # 自动设为设备类型
|
||||
```
|
||||
|
||||
### handles 字段
|
||||
|
||||
这个是定义设备连接关系的，类似动作里的 handles 一样：
|
||||
|
||||
```yaml
|
||||
handles: # 大多数时候都是空的，除非设备本身需要连接啥
|
||||
- handler_key: device_output
|
||||
label: Device Output
|
||||
data_type: resource
|
||||
data_source: value
|
||||
data_key: default_value
|
||||
```
|
||||
|
||||
### 其他可以配置的字段
|
||||
|
||||
```yaml
|
||||
description: '设备的详细描述' # 写清楚设备是干啥的
|
||||
|
||||
icon: 'device_icon.webp' # 设备图标，文件名（会上传到OSS）
|
||||
|
||||
version: '0.0.1' # 版本号
|
||||
|
||||
category: # 设备分类，前端会用这个分组
|
||||
- 'heating'
|
||||
- 'cooling'
|
||||
- 'temperature_control'
|
||||
|
||||
config_info: # 嵌套配置，如果设备包含子设备
|
||||
- children:
|
||||
- opentrons_24_tuberack_nest_1point5ml_snapcap_A1
|
||||
- other_nested_component
|
||||
```
|
||||
|
||||
## 完整的例子
|
||||
|
||||
这里是一个比较完整的设备配置示例：
|
||||
|
||||
```yaml
|
||||
my_temperature_controller:
|
||||
class:
|
||||
action_value_mappings:
|
||||
heat_start:
|
||||
type: HeatChillStart
|
||||
goal:
|
||||
target_temp: temp
|
||||
vessel: vessel
|
||||
goal_default:
|
||||
target_temp: 25.0
|
||||
vessel: ''
|
||||
handles:
|
||||
output:
|
||||
- handler_key: heated_sample
|
||||
label: Heated Sample
|
||||
data_type: resource
|
||||
data_source: handle
|
||||
data_key: sample
|
||||
placeholder_keys:
|
||||
vessel: unilabos_resources
|
||||
result:
|
||||
status: status
|
||||
success: success
|
||||
schema:
|
||||
description: '启动加热功能'
|
||||
properties:
|
||||
goal:
|
||||
properties:
|
||||
target_temp:
|
||||
type: number
|
||||
description: '目标温度'
|
||||
vessel:
|
||||
type: string
|
||||
description: '容器标识'
|
||||
required:
|
||||
- target_temp
|
||||
- vessel
|
||||
title: HeatStart_Goal
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: HeatStart
|
||||
type: object
|
||||
feedback: {}
|
||||
|
||||
stop:
|
||||
type: UniLabJsonCommand
|
||||
goal: {}
|
||||
goal_default: {}
|
||||
handles: {}
|
||||
result:
|
||||
status: status
|
||||
schema:
|
||||
description: '停止设备'
|
||||
properties:
|
||||
goal:
|
||||
type: object
|
||||
title: Stop_Goal
|
||||
title: Stop
|
||||
type: object
|
||||
feedback: {}
|
||||
|
||||
module: unilabos.devices.temperature.my_controller:MyTemperatureController
|
||||
status_types:
|
||||
current_temperature: float
|
||||
target_temperature: float
|
||||
is_heating: bool
|
||||
is_cooling: bool
|
||||
status: str
|
||||
vessel: str
|
||||
type: python
|
||||
|
||||
description: '我的温度控制器设备'
|
||||
handles: []
|
||||
icon: 'temperature_controller.webp'
|
||||
init_param_schema:
|
||||
config:
|
||||
properties:
|
||||
port:
|
||||
default: '/dev/ttyUSB0'
|
||||
type: string
|
||||
baudrate:
|
||||
default: 9600
|
||||
type: number
|
||||
required: []
|
||||
type: object
|
||||
data:
|
||||
properties:
|
||||
current_temperature:
|
||||
type: number
|
||||
target_temperature:
|
||||
type: number
|
||||
is_heating:
|
||||
type: boolean
|
||||
is_cooling:
|
||||
type: boolean
|
||||
status:
|
||||
type: string
|
||||
vessel:
|
||||
type: string
|
||||
required:
|
||||
- current_temperature
|
||||
- target_temperature
|
||||
- status
|
||||
type: object
|
||||
|
||||
version: '1.0.0'
|
||||
category:
|
||||
- 'temperature_control'
|
||||
- 'heating'
|
||||
config_info: []
|
||||
```
|
||||
|
||||
## 怎么部署和使用
|
||||
|
||||
### 方法一：用编辑器（推荐）
|
||||
|
||||
1. 先写好你的 Python 驱动类
|
||||
2. 用注册表编辑器自动生成 yaml 配置
|
||||
3. 把生成的文件保存到 `devices/` 目录
|
||||
4. 重启 UniLabOS 就能用了
|
||||
|
||||
### 方法二：手动写（简化版）
|
||||
|
||||
1. 创建最简配置：
|
||||
|
||||
```yaml
|
||||
# devices/my_device.yaml
|
||||
my_device:
|
||||
class:
|
||||
module: unilabos.devices.my_module.my_device:MyDevice
|
||||
type: python
|
||||
```
|
||||
|
||||
2. 启动系统时用 `complete_registry=True` 参数，让系统自动补全
|
||||
|
||||
3. 检查一下生成的配置是不是你想要的
|
||||
|
||||
### Python 驱动类要怎么写
|
||||
|
||||
你的设备类要符合这些要求：
|
||||
|
||||
```python
|
||||
from unilabos.common.device_base import DeviceBase
|
||||
|
||||
class MyDevice(DeviceBase):
|
||||
def __init__(self, config):
|
||||
"""初始化，参数会自动分析到 init_param_schema.config"""
|
||||
super().__init__(config)
|
||||
self.port = config.get('port', '/dev/ttyUSB0')
|
||||
|
||||
# 状态方法（会自动生成到 status_types）
|
||||
def get_status(self):
|
||||
"""返回设备状态"""
|
||||
return "idle"
|
||||
|
||||
def get_temperature(self):
|
||||
"""返回当前温度"""
|
||||
return 25.0
|
||||
|
||||
# 动作方法（会自动生成 auto- 开头的动作）
|
||||
async def start_heating(self, temperature: float):
|
||||
"""开始加热到指定温度"""
|
||||
pass
|
||||
|
||||
def stop(self):
|
||||
"""停止操作"""
|
||||
pass
|
||||
```
|
||||
|
||||
### 系统集成
|
||||
|
||||
1. 把 yaml 文件放到 `devices/` 目录下
|
||||
2. 系统启动时会自动扫描并加载设备
|
||||
3. 系统会自动补全所有缺失的字段
|
||||
4. 设备马上就能在前端界面中使用
|
||||
|
||||
### 高级配置
|
||||
|
||||
如果需要特殊设置，可以手动加：
|
||||
|
||||
```yaml
|
||||
my_device:
|
||||
class:
|
||||
module: unilabos.devices.my_module.my_device:MyDevice
|
||||
type: python
|
||||
action_value_mappings:
|
||||
# 自定义动作
|
||||
special_command:
|
||||
type: UniLabJsonCommand
|
||||
goal: {}
|
||||
result: {}
|
||||
|
||||
# 可选的自定义配置
|
||||
description: '我的特殊设备'
|
||||
icon: 'my_device.webp'
|
||||
category: ['temperature', 'heating']
|
||||
```
|
||||
|
||||
## 常见问题怎么排查
|
||||
|
||||
### 设备加载不了
|
||||
|
||||
1. 检查模块路径：确认 `class.module` 路径写对了
|
||||
2. 确认类能导入：看看你的 Python 驱动类能不能正常导入
|
||||
3. 检查语法：用 yaml 验证器看看文件格式对不对
|
||||
4. 查看日志：看 UniLabOS 启动时有没有报错信息
|
||||
|
||||
### 自动生成失败了
|
||||
|
||||
1. 类分析出问题：确认你的类继承了正确的基类
|
||||
2. 方法类型不明确：确保状态方法的返回类型写清楚了
|
||||
3. 导入有问题：检查类能不能被动态导入
|
||||
4. 没开完整注册：确认启用了 `complete_registry=True`
|
||||
|
||||
### 前端显示有问题
|
||||
|
||||
1. 重新生成：删掉旧的 yaml 文件，用编辑器重新生成
|
||||
2. 清除缓存：清除浏览器缓存，重新加载页面
|
||||
3. 检查字段：确认必需的字段（比如 `schema`）都有
|
||||
4. 验证数据：检查 `goal_default` 和 `schema` 的数据类型是不是一致
|
||||
|
||||
### 动作执行出错
|
||||
|
||||
1. 方法名不对：确认动作方法名符合规范（比如 `execute_<action_name>`）
|
||||
2. 参数映射错误：检查 `goal` 字段的参数映射是否正确
|
||||
3. 返回格式不对：确认方法返回值格式符合 `result` 映射
|
||||
4. 没异常处理：在驱动类里加上异常处理
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 开发流程
|
||||
|
||||
1. **优先使用编辑器**：除非有特殊需求，否则优先使用注册表编辑器
|
||||
2. **最小化配置**：手动配置时只定义必要字段，让系统自动生成其他内容
|
||||
3. **增量开发**：先创建基本配置，后续根据需要添加特殊动作
|
||||
|
||||
### 代码规范
|
||||
|
||||
1. **方法命名**：状态方法使用 `get_` 前缀，动作方法使用动词开头
|
||||
2. **类型注解**：为方法参数和返回值添加类型注解
|
||||
3. **文档字符串**：为类和方法添加详细的文档字符串
|
||||
4. **异常处理**：实现完善的错误处理和日志记录
|
||||
|
||||
### 配置管理
|
||||
|
||||
1. **版本控制**：所有 yaml 文件纳入版本控制
|
||||
2. **命名一致性**：设备 ID、文件名、类名保持一致的命名风格
|
||||
3. **定期更新**：定期运行完整注册以更新自动生成的字段
|
||||
4. **备份配置**：在修改前备份重要的手动配置
|
||||
|
||||
### 测试验证
|
||||
|
||||
1. **本地测试**：在本地环境充分测试后再部署
|
||||
2. **渐进部署**：先部署到测试环境，验证无误后再上生产环境
|
||||
3. **监控日志**：密切监控设备加载和运行日志
|
||||
4. **回滚准备**：准备快速回滚机制，以应对紧急情况
|
||||
|
||||
### 性能优化
|
||||
|
||||
1. **按需加载**：只加载实际使用的设备类型
|
||||
2. **缓存利用**：充分利用系统的注册表缓存机制
|
||||
3. **资源管理**：合理管理设备连接和资源占用
|
||||
4. **监控指标**：设置关键性能指标的监控和告警
|
||||
|
||||
BIN
docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png
Normal file
BIN
docs/developer_guide/image_add_batteryPLC/unilab_new_yaml.png
Normal file
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|
After Width: | Height: | Size: 428 KiB |
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|
After Width: | Height: | Size: 310 KiB |
BIN
docs/developer_guide/image_add_batteryPLC/unilab_sys_status.png
Normal file
BIN
docs/developer_guide/image_add_batteryPLC/unilab_sys_status.png
Normal file
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|
After Width: | Height: | Size: 66 KiB |
409
docs/developer_guide/materials_tutorial.md
Normal file
409
docs/developer_guide/materials_tutorial.md
Normal file
@@ -0,0 +1,409 @@
|
||||
# 物料教程（Resource）
|
||||
|
||||
本教程面向 Uni-Lab-OS 的开发者，讲解“物料”的核心概念、3种物料格式（UniLab、PyLabRobot、奔耀Bioyond）及其相互转换方法，并说明4种 children 结构表现形式及使用场景。
|
||||
|
||||
---
|
||||
|
||||
## 1. 物料是什么
|
||||
|
||||
- **物料（Resource）**：指实验工作站中的实体对象，包括设备（device）、操作甲板 （deck）、试剂、实验耗材，也包括设备上承载的具体物料或者包含的容器（如container/plate/well/瓶/孔/片等）。
|
||||
- **物料基本信息**（以 UniLab list格式为例）：
|
||||
|
||||
```jsonc
|
||||
{
|
||||
"id": "plate", // 某一类物料的唯一名称
|
||||
"name": "50ml瓶装试剂托盘", // 在云端显示的名称
|
||||
"sample_id": null, // 同类物料的不同样品
|
||||
"children": [
|
||||
"50ml试剂瓶" // 表示托盘上有一个 50ml 试剂瓶
|
||||
],
|
||||
"parent": "deck", // 此物料放置在 deck 上
|
||||
"type": "plate", // 物料类型
|
||||
"class": "plate", // 物料对应的注册/类名
|
||||
"position": {
|
||||
"x": 0, // 初始放置位置
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": { // 固有配置（尺寸、旋转等）
|
||||
"size_x": 400.0,
|
||||
"size_y": 400.0,
|
||||
"size_z": 400.0,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {
|
||||
"bottle_number": 1 // 动态数据（可变化）
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
## 2. 3种物料格式概览(UniLab、PyLabRobot、奔耀Bioyond)
|
||||
|
||||
### 2.1 UniLab 物料格式（云端/项目内通用）
|
||||
|
||||
- 结构特征：顶层通常是 `nodes` 列表；每个节点是扁平字典，`children` 是子节点 `id` 列表；`parent` 为父节点 `id` 或 `null`。
|
||||
- 用途：
|
||||
- 云端数据存储、前端可视化、与图结构算法互操作
|
||||
- 在上传/下载/部署配置时作为标准交换格式
|
||||
|
||||
示例片段（UniLab 物料格式）：
|
||||
|
||||
```jsonc
|
||||
{
|
||||
"nodes": [
|
||||
|
||||
{
|
||||
"id": "a",
|
||||
"name": "name_a",
|
||||
"sample_id": 1,
|
||||
"type": "deck",
|
||||
"class": "deck",
|
||||
"parent": null,
|
||||
"children": ["b1"],
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
|
||||
"id": "b1",
|
||||
"name": "name_b1",
|
||||
"sample_id": 1,
|
||||
"type": "plate",
|
||||
"class": "plate",
|
||||
"parent": "a1",
|
||||
"children": [],
|
||||
"position": {"x": 0, "y": 0, "z": 0},
|
||||
"config": {},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
### 2.2 PyLabRobot（PLR）物料格式（实验流程运行时）
|
||||
|
||||
- 结构特征：严格的层级树，`children` 为“子资源字典列表”（每个子节点本身是完整对象）。
|
||||
- 用途：
|
||||
- 实验流程执行与调度，PLR 运行时期望的资源对象格式
|
||||
- 通过 `Resource.deserialize/serialize`、`load_all_state/serialize_all_state` 与对象交互
|
||||
|
||||
示例片段（PRL 物料格式）：：
|
||||
|
||||
```json
|
||||
{
|
||||
"name": "deck",
|
||||
"type": "Deck",
|
||||
"category": "deck",
|
||||
"location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
|
||||
"parent_name": null,
|
||||
"children": [
|
||||
{
|
||||
"name": "plate_1",
|
||||
"type": "Plate",
|
||||
"category": "plate_96",
|
||||
"location": {"x": 100, "y": 0, "z": 0, "type": "Coordinate"},
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
|
||||
"parent_name": "deck",
|
||||
"children": [
|
||||
{
|
||||
"name": "A1",
|
||||
"type": "Well",
|
||||
"category": "well",
|
||||
"location": {"x": 0, "y": 0, "z": 0, "type": "Coordinate"},
|
||||
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
|
||||
"parent_name": "plate_1",
|
||||
"children": []
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
}
|
||||
```
|
||||
|
||||
|
||||
### 2.3 奔耀 Bioyond 物料格式（第三方来源）
|
||||
一般是厂商自己定义的json格式和字段，信息需要提取和对应。以下为示例说明。
|
||||
|
||||
- 结构特征：顶层 `data` 列表，每项包含 `typeName`、`code`、`barCode`、`name`、`quantity`、`unit`、`locations`（仓位 `whName`、`x/y/z`）、`detail`（细粒度内容，如瓶内液体或孔位物料）。
|
||||
- 用途：
|
||||
- 第三方 WMS/设备的物料清单输入
|
||||
- 需要自定义映射表将 `typeName` → PLR 类名，对 `locations`/`detail` 进行落位/赋值
|
||||
|
||||
示例片段（奔耀Bioyond 物料格式）：
|
||||
|
||||
|
||||
```json
|
||||
{
|
||||
"data": [
|
||||
{
|
||||
"id": "3a1b5c10-d4f3-01ac-1e64-5b4be2add4b1",
|
||||
"typeName": "液",
|
||||
"code": "0006-00014",
|
||||
"barCode": "",
|
||||
"name": "EMC",
|
||||
"quantity": 50,
|
||||
"lockQuantity": 2.057,
|
||||
"unit": "瓶",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a19da43-57b5-5e75-552f-8dbd0ad1075f",
|
||||
"whid": "3a19da43-57b4-a2a8-3f52-91dbbeb836db",
|
||||
"whName": "配液站内试剂仓库",
|
||||
"code": "0003-0003",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"code": "0006-00014-01",
|
||||
"name": "EMC-瓶-1",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"quantity": 500.0
|
||||
}
|
||||
]
|
||||
}
|
||||
],
|
||||
"code": 1,
|
||||
"message": "",
|
||||
"timestamp": 0
|
||||
}
|
||||
```
|
||||
### 2.4 3种物料格式关键字段对应(UniLab、PyLabRobot、奔耀Bioyond)
|
||||
|
||||
| 含义 | UniLab | PyLabRobot (PLR) | 奔耀 Bioyond |
|
||||
| - | - | - | - |
|
||||
| 节点唯一名 | `id` | `name` | `name` |
|
||||
| 父节点引用 | `parent` | `parent_name` | `locations` 坐标（无直接父名，需映射坐标下的物料） |
|
||||
| 子节点集合 | `children`（id 列表或对象列表，视结构而定） | `children`（对象列表） | `detail`（明细，非严格树结构，需要自定义映射） |
|
||||
| 类型（抽象类别） | `type`（device/container/plate/deck/…） | `category`（plate/well/…），以及类名 `type` | `typeName`（厂商自定义，如“液”、“加样头(大)”） |
|
||||
| 运行/业务数据 | `data` | 通过 `serialize_all_state()`/`load_all_state()` 管理的状态 | `quantity`、`lockQuantity` 等业务数值 |
|
||||
| 固有配置 | `config`（size_x/size_y/size_z/model/ordering…） | 资源字典中的同名键（反序列化时按构造签名取用） | 厂商自定义字段（需映射入 PLR/UniLab 的 `config` 或 `data`） |
|
||||
| 空间位置 | `position`（x/y/z） | `location`（Coordinate） + `rotation`（Rotation） | `locations`（whName、x/y/z），不含旋转 |
|
||||
| 条码/标识 | `config.barcode`（可选） | 常放在配置键中（如 `barcode`） | `barCode` |
|
||||
| 数量单位 | 无固定键，通常在 `data` | 无固定键，通常在配置或状态中 | `unit` |
|
||||
| 物料编码 | 通常在 `config` 或 `data` 自定义 | 通常在配置中自定义 | `code` |
|
||||
|
||||
说明：
|
||||
- Bioyond 不提供显式的树形父子关系，通常通过 `locations` 将物料落位到某仓位/坐标。用 `detail` 表示子级明细。
|
||||
|
||||
---
|
||||
|
||||
## 3. children 的四种结构表示
|
||||
|
||||
- **list（扁平列表）**：每个节点是扁平字典，`children` 为子节点 `id` 数组。示例：UniLab `nodes` 中的单个节点。
|
||||
|
||||
```json
|
||||
{
|
||||
"nodes": [
|
||||
{ "id": "root", "parent": null, "children": ["child1"] },
|
||||
{ "id": "child1", "parent": "root", "children": [] }
|
||||
]
|
||||
}
|
||||
```
|
||||
- **dict（嵌套字典）**：节点的 `children` 是 `{ child_id: child_node_dict }` 字典。
|
||||
|
||||
```json
|
||||
{
|
||||
"id": "root",
|
||||
"parent": null,
|
||||
"children": {
|
||||
"child1": { "id": "child1", "parent": "root", "children": {} }
|
||||
}
|
||||
}
|
||||
```
|
||||
- **tree（树形列表）**：顶层是 `[root_node, ...]`，每个 `node.children` 是“子节点对象列表”（而非 id 列表）。
|
||||
|
||||
```json
|
||||
[
|
||||
{
|
||||
"id": "root",
|
||||
"parent": null,
|
||||
"children": [
|
||||
{ "id": "child1", "parent": "root", "children": [] }
|
||||
]
|
||||
}
|
||||
]
|
||||
```
|
||||
- **nestdict（顶层嵌套字典）**：顶层是 `{root_id: root_node, ...}`，或者根节点自身带 `children: {id: node}` 形态。
|
||||
|
||||
```json
|
||||
{
|
||||
"root": {
|
||||
"id": "root",
|
||||
"parent": null,
|
||||
"children": {
|
||||
"child1": { "id": "child1", "parent": "root", "children": {} }
|
||||
}
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
这些结构之间可使用 `graphio.py` 中的工具函数互转（见下一节）。
|
||||
|
||||
---
|
||||
|
||||
## 4. 转换函数及调用
|
||||
|
||||
核心代码文件：`unilabos/resources/graphio.py`
|
||||
|
||||
### 4.1 结构互转（list/dict/tree/nestdict）
|
||||
|
||||
代码引用：
|
||||
|
||||
```217:239:unilabos/resources/graphio.py
|
||||
def dict_to_tree(nodes: dict, devices_only: bool = False) -> list[dict]:
|
||||
# ... 由扁平 dict（id->node）生成树（children 为对象列表）
|
||||
```
|
||||
|
||||
```241:267:unilabos/resources/graphio.py
|
||||
def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
|
||||
# ... 由扁平 dict 生成嵌套字典（children 为 {id:node}）
|
||||
```
|
||||
|
||||
```270:273:unilabos/resources/graphio.py
|
||||
def list_to_nested_dict(nodes: list[dict]) -> dict:
|
||||
# ... 由扁平列表（children 为 id 列表）转嵌套字典
|
||||
```
|
||||
|
||||
```275:286:unilabos/resources/graphio.py
|
||||
def tree_to_list(tree: list[dict]) -> list[dict]:
|
||||
# ... 由树形列表转回扁平列表（children 还原为 id 列表）
|
||||
```
|
||||
|
||||
```289:337:unilabos/resources/graphio.py
|
||||
def nested_dict_to_list(nested_dict: dict) -> list[dict]:
|
||||
# ... 由嵌套字典转回扁平列表
|
||||
```
|
||||
|
||||
常见路径：
|
||||
|
||||
- UniLab 扁平列表 → 树：`dict_to_tree({r["id"]: r for r in resources})`
|
||||
- 树 → UniLab 扁平列表：`tree_to_list(resources_tree)`
|
||||
- 扁平列表 ↔ 嵌套字典：`list_to_nested_dict` / `nested_dict_to_list`
|
||||
|
||||
### 4.2 UniLab ↔ PyLabRobot（PLR）
|
||||
|
||||
高层封装：
|
||||
|
||||
```339:368:unilabos/resources/graphio.py
|
||||
def convert_resources_to_type(resources_list: list[dict], resource_type: Union[type, list[type]], *, plr_model: bool = False):
|
||||
# UniLab -> (NestedDict or PLR)
|
||||
```
|
||||
|
||||
```371:395:unilabos/resources/graphio.py
|
||||
def convert_resources_from_type(resources_list, resource_type: Union[type, list[type]], *, is_plr: bool = False):
|
||||
# (NestedDict or PLR) -> UniLab 扁平列表
|
||||
```
|
||||
|
||||
底层转换：
|
||||
|
||||
```398:441:unilabos/resources/graphio.py
|
||||
def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR":
|
||||
# UniLab 单节点(树根) -> PLR Resource 对象
|
||||
```
|
||||
|
||||
```443:481:unilabos/resources/graphio.py
|
||||
def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, with_children=True):
|
||||
# PLR Resource -> UniLab 单节点(dict)
|
||||
```
|
||||
|
||||
示例：
|
||||
|
||||
```python
|
||||
from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
|
||||
# UniLab 扁平列表 -> PLR 根资源对象
|
||||
plr_root = convert_resources_to_type(resources_list=ulab_list, resource_type=ResourcePLR)
|
||||
|
||||
# PLR 资源对象 -> UniLab 扁平列表（用于保存/上传）
|
||||
ulab_flat = convert_resources_from_type(resources_list=plr_root, resource_type=ResourcePLR)
|
||||
```
|
||||
|
||||
可选项：
|
||||
|
||||
- `plr_model=True`：保留 `model` 字段（默认会移除）。
|
||||
- `with_children=False`：`resource_plr_to_ulab` 仅转换当前节点。
|
||||
|
||||
### 4.3 奔耀（Bioyond）→ PLR（及进一步到 UniLab）
|
||||
|
||||
转换入口：
|
||||
|
||||
```483:527:unilabos/resources/graphio.py
|
||||
def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
|
||||
# Bioyond 列表 -> PLR 资源列表，并可根据 deck.warehouses 将资源落位
|
||||
```
|
||||
|
||||
使用示例：
|
||||
|
||||
```python
|
||||
import json
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr, convert_resources_from_type
|
||||
from pylabrobot.resources.resource import Resource as ResourcePLR
|
||||
|
||||
resp = json.load(open("unilabos/devices/workstation/bioyond_cell/bioyond_test_yibin.json", encoding="utf-8"))
|
||||
materials = resp["data"]
|
||||
|
||||
# 将第三方类型name映射到 PLR 资源类名（需根据现场定义）
|
||||
type_mapping = {
|
||||
"液": "RegularContainer",
|
||||
"加样头(大)": "RegularContainer"
|
||||
}
|
||||
|
||||
plr_list = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=None)
|
||||
|
||||
# 如需上传云端（UniLab 扁平格式）：
|
||||
ulab_flat = convert_resources_from_type(plr_list, [ResourcePLR])
|
||||
```
|
||||
|
||||
说明：
|
||||
|
||||
- `type_mapping` 必须由开发者根据设备/物料种类人工维护。
|
||||
- 如传入 `deck`，且 `deck.warehouses` 命名与 `whName` 对应，可将物料安放到仓库坐标（x/y/z）。
|
||||
|
||||
---
|
||||
|
||||
## 5. 何时使用哪种格式
|
||||
|
||||
- **云端/持久化**：使用 UniLab 物料格式（扁平 `nodes` 列表，children 为 id 列表）。便于版本化、可视化与网络传输。
|
||||
- **实验工作流执行**：使用 PyLabRobot（PLR）格式。PLR 运行时依赖严格的树形资源结构与对象 API。
|
||||
- **第三方设备/系统（Bioyond）输入**：保持来源格式不变，使用 `resource_bioyond_to_plr` + 人工 `type_mapping` 将其转换为 PLR（必要时再转 UniLab）。
|
||||
|
||||
---
|
||||
|
||||
## 6. 常见问题与注意事项
|
||||
|
||||
- **children 形态不一致**：不同函数期望不同 children 形态，注意在进入转换前先用“结构互转”工具函数标准化形态。
|
||||
- **devices_only**：`dict_to_tree/dict_to_nested_dict` 支持仅保留 `type == device` 的节点。
|
||||
- **模型/类型字段**：PLR 对象序列化参数有所差异，`resource_ulab_to_plr` 内部会根据构造签名移除不兼容字段（如 `category`）。
|
||||
- **驱动初始化**：`initialize_resource(s)` 支持从注册表/类路径创建 PLR/UniLab 资源或列表。
|
||||
|
||||
参考代码：
|
||||
|
||||
```530:577:unilabos/resources/graphio.py
|
||||
def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
|
||||
# 从注册类/模块反射创建资源，或将 UniLab 字典包装为列表
|
||||
```
|
||||
|
||||
```580:597:unilabos/resources/graphio.py
|
||||
def initialize_resources(resources_config) -> list[dict]:
|
||||
# 批量初始化
|
||||
```
|
||||
|
||||
|
||||
|
||||
|
||||
378
docs/developer_guide/workstation_architecture.md
Normal file
378
docs/developer_guide/workstation_architecture.md
Normal file
@@ -0,0 +1,378 @@
|
||||
# 工作站基础架构设计文档
|
||||
|
||||
## 1. 整体架构图
|
||||
|
||||
```mermaid
|
||||
graph TB
|
||||
subgraph "工作站基础架构"
|
||||
WB[WorkstationBase]
|
||||
WB --> |继承| RPN[ROS2WorkstationNode]
|
||||
WB --> |组合| WCB[WorkstationCommunicationBase]
|
||||
WB --> |组合| MMB[MaterialManagementBase]
|
||||
WB --> |组合| WHS[WorkstationHTTPService]
|
||||
end
|
||||
|
||||
subgraph "通信层实现"
|
||||
WCB --> |实现| PLC[PLCCommunication]
|
||||
WCB --> |实现| SER[SerialCommunication]
|
||||
WCB --> |实现| ETH[EthernetCommunication]
|
||||
end
|
||||
|
||||
subgraph "物料管理实现"
|
||||
MMB --> |实现| PLR[PyLabRobotMaterialManager]
|
||||
MMB --> |实现| BIO[BioyondMaterialManager]
|
||||
MMB --> |实现| SIM[SimpleMaterialManager]
|
||||
end
|
||||
|
||||
subgraph "HTTP服务"
|
||||
WHS --> |处理| LIMS[LIMS协议报送]
|
||||
WHS --> |处理| MAT[物料变更报送]
|
||||
WHS --> |处理| ERR[错误处理报送]
|
||||
end
|
||||
|
||||
subgraph "具体工作站实现"
|
||||
WB --> |继承| WS1[PLCWorkstation]
|
||||
WB --> |继承| WS2[ReportingWorkstation]
|
||||
WB --> |继承| WS3[HybridWorkstation]
|
||||
end
|
||||
|
||||
subgraph "外部系统"
|
||||
EXT1[PLC设备] --> |通信| PLC
|
||||
EXT2[外部工作站] --> |HTTP报送| WHS
|
||||
EXT3[LIMS系统] --> |HTTP报送| WHS
|
||||
EXT4[Bioyond物料系统] --> |查询| BIO
|
||||
end
|
||||
```
|
||||
|
||||
## 2. 类关系图
|
||||
|
||||
```mermaid
|
||||
classDiagram
|
||||
class WorkstationBase {
|
||||
<<abstract>>
|
||||
+device_id: str
|
||||
+communication: WorkstationCommunicationBase
|
||||
+material_management: MaterialManagementBase
|
||||
+http_service: WorkstationHTTPService
|
||||
+workflow_status: WorkflowStatus
|
||||
+supported_workflows: Dict
|
||||
|
||||
+_create_communication_module()*
|
||||
+_create_material_management_module()*
|
||||
+_register_supported_workflows()*
|
||||
|
||||
+process_step_finish_report()
|
||||
+process_sample_finish_report()
|
||||
+process_order_finish_report()
|
||||
+process_material_change_report()
|
||||
+handle_external_error()
|
||||
|
||||
+start_workflow()
|
||||
+stop_workflow()
|
||||
+get_workflow_status()
|
||||
+get_device_status()
|
||||
}
|
||||
|
||||
class ROS2WorkstationNode {
|
||||
+sub_devices: Dict
|
||||
+protocol_names: List
|
||||
+execute_single_action()
|
||||
+create_ros_action_server()
|
||||
+initialize_device()
|
||||
}
|
||||
|
||||
class WorkstationCommunicationBase {
|
||||
<<abstract>>
|
||||
+config: CommunicationConfig
|
||||
+is_connected: bool
|
||||
+connect()
|
||||
+disconnect()
|
||||
+start_workflow()*
|
||||
+stop_workflow()*
|
||||
+get_device_status()*
|
||||
+write_register()
|
||||
+read_register()
|
||||
}
|
||||
|
||||
class MaterialManagementBase {
|
||||
<<abstract>>
|
||||
+device_id: str
|
||||
+deck_config: Dict
|
||||
+resource_tracker: DeviceNodeResourceTracker
|
||||
+plr_deck: Deck
|
||||
+find_materials_by_type()
|
||||
+update_material_location()
|
||||
+convert_to_unilab_format()
|
||||
+_create_resource_by_type()*
|
||||
}
|
||||
|
||||
class WorkstationHTTPService {
|
||||
+workstation_instance: WorkstationBase
|
||||
+host: str
|
||||
+port: int
|
||||
+start()
|
||||
+stop()
|
||||
+_handle_step_finish_report()
|
||||
+_handle_material_change_report()
|
||||
}
|
||||
|
||||
class PLCWorkstation {
|
||||
+plc_config: Dict
|
||||
+modbus_client: ModbusTCPClient
|
||||
+_create_communication_module()
|
||||
+_create_material_management_module()
|
||||
+_register_supported_workflows()
|
||||
}
|
||||
|
||||
class ReportingWorkstation {
|
||||
+report_handlers: Dict
|
||||
+_create_communication_module()
|
||||
+_create_material_management_module()
|
||||
+_register_supported_workflows()
|
||||
}
|
||||
|
||||
WorkstationBase --|> ROS2WorkstationNode
|
||||
WorkstationBase *-- WorkstationCommunicationBase
|
||||
WorkstationBase *-- MaterialManagementBase
|
||||
WorkstationBase *-- WorkstationHTTPService
|
||||
|
||||
PLCWorkstation --|> WorkstationBase
|
||||
ReportingWorkstation --|> WorkstationBase
|
||||
|
||||
WorkstationCommunicationBase <|-- PLCCommunication
|
||||
WorkstationCommunicationBase <|-- DummyCommunication
|
||||
|
||||
MaterialManagementBase <|-- PyLabRobotMaterialManager
|
||||
MaterialManagementBase <|-- SimpleMaterialManager
|
||||
```
|
||||
|
||||
## 3. 工作站启动时序图
|
||||
|
||||
```mermaid
|
||||
sequenceDiagram
|
||||
participant APP as Application
|
||||
participant WS as WorkstationBase
|
||||
participant COMM as CommunicationModule
|
||||
participant MAT as MaterialManager
|
||||
participant HTTP as HTTPService
|
||||
participant ROS as ROS2WorkstationNode
|
||||
|
||||
APP->>WS: 创建工作站实例
|
||||
WS->>ROS: 初始化ROS2WorkstationNode
|
||||
ROS->>ROS: 初始化子设备
|
||||
ROS->>ROS: 设置硬件接口代理
|
||||
|
||||
WS->>COMM: _create_communication_module()
|
||||
COMM->>COMM: 初始化通信配置
|
||||
COMM->>COMM: 建立PLC/串口连接
|
||||
COMM-->>WS: 返回通信模块实例
|
||||
|
||||
WS->>MAT: _create_material_management_module()
|
||||
MAT->>MAT: 创建PyLabRobot Deck
|
||||
MAT->>MAT: 初始化物料资源
|
||||
MAT->>MAT: 注册到ResourceTracker
|
||||
MAT-->>WS: 返回物料管理实例
|
||||
|
||||
WS->>WS: _register_supported_workflows()
|
||||
WS->>WS: _create_workstation_services()
|
||||
WS->>HTTP: _start_http_service()
|
||||
HTTP->>HTTP: 创建HTTP服务器
|
||||
HTTP->>HTTP: 启动监听线程
|
||||
HTTP-->>WS: HTTP服务启动完成
|
||||
|
||||
WS-->>APP: 工作站初始化完成
|
||||
```
|
||||
|
||||
## 4. 工作流执行时序图
|
||||
|
||||
```mermaid
|
||||
sequenceDiagram
|
||||
participant EXT as ExternalSystem
|
||||
participant WS as WorkstationBase
|
||||
participant COMM as CommunicationModule
|
||||
participant MAT as MaterialManager
|
||||
participant ROS as ROS2WorkstationNode
|
||||
participant DEV as SubDevice
|
||||
|
||||
EXT->>WS: start_workflow(type, params)
|
||||
WS->>WS: 验证工作流类型
|
||||
WS->>COMM: start_workflow(type, params)
|
||||
COMM->>COMM: 发送启动命令到PLC
|
||||
COMM-->>WS: 启动成功
|
||||
|
||||
WS->>WS: 更新workflow_status = RUNNING
|
||||
|
||||
loop 工作流步骤执行
|
||||
WS->>ROS: execute_single_action(device_id, action, params)
|
||||
ROS->>DEV: 发送ROS Action请求
|
||||
DEV->>DEV: 执行设备动作
|
||||
DEV-->>ROS: 返回执行结果
|
||||
ROS-->>WS: 返回动作结果
|
||||
|
||||
WS->>MAT: update_material_location(material_id, location)
|
||||
MAT->>MAT: 更新PyLabRobot资源状态
|
||||
MAT-->>WS: 更新完成
|
||||
end
|
||||
|
||||
WS->>COMM: get_workflow_status()
|
||||
COMM->>COMM: 查询PLC状态寄存器
|
||||
COMM-->>WS: 返回状态信息
|
||||
|
||||
WS->>WS: 更新workflow_status = COMPLETED
|
||||
WS-->>EXT: 工作流执行完成
|
||||
```
|
||||
|
||||
## 5. HTTP报送处理时序图
|
||||
|
||||
```mermaid
|
||||
sequenceDiagram
|
||||
participant EXT as ExternalWorkstation
|
||||
participant HTTP as HTTPService
|
||||
participant WS as WorkstationBase
|
||||
participant MAT as MaterialManager
|
||||
participant DB as DataStorage
|
||||
|
||||
EXT->>HTTP: POST /report/step_finish
|
||||
HTTP->>HTTP: 解析请求数据
|
||||
HTTP->>HTTP: 验证LIMS协议字段
|
||||
HTTP->>WS: process_step_finish_report(request)
|
||||
|
||||
WS->>WS: 增加接收计数
|
||||
WS->>WS: 记录步骤完成事件
|
||||
WS->>MAT: 更新相关物料状态
|
||||
MAT->>MAT: 更新PyLabRobot资源
|
||||
MAT-->>WS: 更新完成
|
||||
|
||||
WS->>DB: 保存报送记录
|
||||
DB-->>WS: 保存完成
|
||||
|
||||
WS-->>HTTP: 返回处理结果
|
||||
HTTP->>HTTP: 构造HTTP响应
|
||||
HTTP-->>EXT: 200 OK + acknowledgment_id
|
||||
|
||||
Note over EXT,DB: 类似处理sample_finish, order_finish, material_change等报送
|
||||
```
|
||||
|
||||
## 6. 错误处理时序图
|
||||
|
||||
```mermaid
|
||||
sequenceDiagram
|
||||
participant DEV as Device
|
||||
participant WS as WorkstationBase
|
||||
participant COMM as CommunicationModule
|
||||
participant HTTP as HTTPService
|
||||
participant EXT as ExternalSystem
|
||||
|
||||
DEV->>WS: 设备错误事件
|
||||
WS->>WS: handle_external_error(error_data)
|
||||
WS->>WS: 记录错误历史
|
||||
|
||||
alt 关键错误
|
||||
WS->>COMM: emergency_stop()
|
||||
COMM->>COMM: 发送紧急停止命令
|
||||
WS->>WS: 更新workflow_status = ERROR
|
||||
else 普通错误
|
||||
WS->>WS: 标记动作失败
|
||||
WS->>WS: 触发重试逻辑
|
||||
end
|
||||
|
||||
WS->>HTTP: 记录错误报送
|
||||
HTTP->>EXT: 主动通知错误状态
|
||||
|
||||
WS-->>DEV: 错误处理完成
|
||||
```
|
||||
|
||||
## 7. 典型工作站实现示例
|
||||
|
||||
### 7.1 PLC工作站实现
|
||||
|
||||
```python
|
||||
class PLCWorkstation(WorkstationBase):
|
||||
def _create_communication_module(self):
|
||||
return PLCCommunication(self.communication_config)
|
||||
|
||||
def _create_material_management_module(self):
|
||||
return PyLabRobotMaterialManager(
|
||||
self.device_id,
|
||||
self.deck_config,
|
||||
self.resource_tracker
|
||||
)
|
||||
|
||||
def _register_supported_workflows(self):
|
||||
self.supported_workflows = {
|
||||
"battery_assembly": WorkflowInfo(...),
|
||||
"quality_check": WorkflowInfo(...)
|
||||
}
|
||||
```
|
||||
|
||||
### 7.2 报送接收工作站实现
|
||||
|
||||
```python
|
||||
class ReportingWorkstation(WorkstationBase):
|
||||
def _create_communication_module(self):
|
||||
return DummyCommunication(self.communication_config)
|
||||
|
||||
def _create_material_management_module(self):
|
||||
return SimpleMaterialManager(
|
||||
self.device_id,
|
||||
self.deck_config,
|
||||
self.resource_tracker
|
||||
)
|
||||
|
||||
def _register_supported_workflows(self):
|
||||
self.supported_workflows = {
|
||||
"data_collection": WorkflowInfo(...),
|
||||
"report_processing": WorkflowInfo(...)
|
||||
}
|
||||
```
|
||||
|
||||
## 8. 核心接口说明
|
||||
|
||||
### 8.1 必须实现的抽象方法
|
||||
- `_create_communication_module()`: 创建通信模块
|
||||
- `_create_material_management_module()`: 创建物料管理模块
|
||||
- `_register_supported_workflows()`: 注册支持的工作流
|
||||
|
||||
### 8.2 可重写的报送处理方法
|
||||
- `process_step_finish_report()`: 步骤完成处理
|
||||
- `process_sample_finish_report()`: 样本完成处理
|
||||
- `process_order_finish_report()`: 订单完成处理
|
||||
- `process_material_change_report()`: 物料变更处理
|
||||
- `handle_external_error()`: 错误处理
|
||||
|
||||
### 8.3 工作流控制接口
|
||||
- `start_workflow()`: 启动工作流
|
||||
- `stop_workflow()`: 停止工作流
|
||||
- `get_workflow_status()`: 获取状态
|
||||
|
||||
## 9. 配置参数说明
|
||||
|
||||
```python
|
||||
workstation_config = {
|
||||
"communication_config": {
|
||||
"protocol": "modbus_tcp",
|
||||
"host": "192.168.1.100",
|
||||
"port": 502
|
||||
},
|
||||
"deck_config": {
|
||||
"size_x": 1000.0,
|
||||
"size_y": 1000.0,
|
||||
"size_z": 500.0
|
||||
},
|
||||
"http_service_config": {
|
||||
"enabled": True,
|
||||
"host": "127.0.0.1",
|
||||
"port": 8081
|
||||
},
|
||||
"communication_interfaces": {
|
||||
"logical_device_1": CommunicationInterface(...)
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
这个架构设计支持：
|
||||
1. **灵活的通信方式**: 通过CommunicationBase支持PLC、串口、以太网等
|
||||
2. **多样的物料管理**: 支持PyLabRobot、Bioyond、简单物料系统
|
||||
3. **统一的HTTP报送**: 基于LIMS协议的标准化报送接口
|
||||
4. **完整的工作流控制**: 支持动态和静态工作流
|
||||
5. **强大的错误处理**: 多层次的错误处理和恢复机制
|
||||
@@ -33,6 +33,8 @@ developer_guide/add_device
|
||||
developer_guide/add_action
|
||||
developer_guide/actions
|
||||
developer_guide/add_protocol
|
||||
developer_guide/add_batteryPLC
|
||||
developer_guide/materials_tutorial.md
|
||||
```
|
||||
|
||||
## 接口文档
|
||||
|
||||
@@ -1,82 +1,75 @@
|
||||
# Uni-Lab 配置指南
|
||||
|
||||
Uni-Lab支持通过Python配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的Uni-Lab环境。
|
||||
Uni-Lab 支持通过 Python 配置文件进行灵活的系统配置。本指南将帮助您理解配置选项并设置您的 Uni-Lab 环境。
|
||||
|
||||
## 配置文件格式
|
||||
|
||||
Uni-Lab支持Python格式的配置文件，它比YAML或JSON提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
|
||||
Uni-Lab 支持 Python 格式的配置文件，它比 YAML 或 JSON 提供更多的灵活性，包括支持注释、条件逻辑和复杂数据结构。
|
||||
|
||||
### 基本配置示例
|
||||
### 默认配置示例
|
||||
|
||||
一个典型的配置文件包含以下部分：
|
||||
首次使用时，系统会自动创建一个基础配置文件 `local_config.py`：
|
||||
|
||||
```python
|
||||
# unilabos的配置文件
|
||||
|
||||
class BasicConfig:
|
||||
ak = "" # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
|
||||
sk = "" # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
|
||||
|
||||
|
||||
# WebSocket配置，一般无需调整
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
```
|
||||
您可以进入实验室，点击左下角的头像在实验室详情中获取所在实验室的ak sk
|
||||
|
||||
|
||||
### 完整配置示例
|
||||
|
||||
您可以根据需要添加更多配置选项：
|
||||
|
||||
```python
|
||||
#!/usr/bin/env python
|
||||
# coding=utf-8
|
||||
"""Uni-Lab 配置文件"""
|
||||
|
||||
from dataclasses import dataclass
|
||||
# 基础配置
|
||||
class BasicConfig:
|
||||
ak = "your_access_key" # 实验室访问密钥
|
||||
sk = "your_secret_key" # 实验室私钥
|
||||
working_dir = "" # 工作目录（通常自动设置）
|
||||
config_path = "" # 配置文件路径（自动设置）
|
||||
is_host_mode = True # 是否为主站模式
|
||||
slave_no_host = False # 从站模式下是否跳过等待主机服务
|
||||
upload_registry = False # 是否上传注册表
|
||||
machine_name = "undefined" # 机器名称（自动获取）
|
||||
vis_2d_enable = False # 是否启用2D可视化
|
||||
enable_resource_load = True # 是否启用资源加载
|
||||
communication_protocol = "websocket" # 通信协议
|
||||
|
||||
# 配置类定义
|
||||
# WebSocket配置
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
|
||||
class MQConfig:
|
||||
"""MQTT 配置类"""
|
||||
lab_id: str = "YOUR_LAB_ID"
|
||||
# 更多配置...
|
||||
# OSS上传配置
|
||||
class OSSUploadConfig:
|
||||
api_host = "" # API主机地址
|
||||
authorization = "" # 授权信息
|
||||
init_endpoint = "" # 初始化端点
|
||||
complete_endpoint = "" # 完成端点
|
||||
max_retries = 3 # 最大重试次数
|
||||
|
||||
# 其他配置类...
|
||||
```
|
||||
|
||||
## 配置选项说明
|
||||
|
||||
### MQTT配置 (MQConfig)
|
||||
|
||||
MQTT配置用于连接消息队列服务，是Uni-Lab与云端通信的主要方式。
|
||||
|
||||
```python
|
||||
|
||||
class MQConfig:
|
||||
"""MQTT 配置类"""
|
||||
lab_id: str = "7AAEDBEA" # 实验室唯一标识
|
||||
instance_id: str = "mqtt-cn-instance"
|
||||
access_key: str = "your-access-key"
|
||||
secret_key: str = "your-secret-key"
|
||||
group_id: str = "GID_labs"
|
||||
broker_url: str = "mqtt-cn-instance.mqtt.aliyuncs.com"
|
||||
port: int = 8883
|
||||
|
||||
# 可以直接提供证书文件路径
|
||||
ca_file: str = "/path/to/ca.pem" # 相对config.py所在目录的路径
|
||||
cert_file: str = "/path/to/cert.pem" # 相对config.py所在目录的路径
|
||||
key_file: str = "/path/to/key.pem" # 相对config.py所在目录的路径
|
||||
|
||||
# 或者直接提供证书内容
|
||||
ca_content: str = ""
|
||||
cert_content: str = ""
|
||||
key_content: str = ""
|
||||
```
|
||||
|
||||
#### 证书配置
|
||||
|
||||
MQTT连接支持两种方式配置证书：
|
||||
|
||||
1. **文件路径方式**（推荐）：指定证书文件的路径，系统会自动读取文件内容
|
||||
2. **直接内容方式**：直接在配置中提供证书内容
|
||||
|
||||
推荐使用文件路径方式，便于证书的更新和管理。
|
||||
|
||||
### HTTP客户端配置 (HTTPConfig)
|
||||
|
||||
即将开放 Uni-Lab 云端实验室。
|
||||
|
||||
### ROS模块配置 (ROSConfig)
|
||||
|
||||
配置ROS消息转换器需要加载的模块：
|
||||
|
||||
```python
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "http://127.0.0.1:48197/api/v1" # 远程地址
|
||||
|
||||
# ROS配置
|
||||
class ROSConfig:
|
||||
"""ROS模块配置"""
|
||||
modules = [
|
||||
"std_msgs.msg",
|
||||
"geometry_msgs.msg",
|
||||
@@ -85,25 +78,365 @@ class ROSConfig:
|
||||
"nav2_msgs.action",
|
||||
"unilabos_msgs.msg",
|
||||
"unilabos_msgs.action",
|
||||
] # 需要加载的ROS模块
|
||||
```
|
||||
|
||||
## 命令行参数覆盖配置
|
||||
|
||||
Uni-Lab 允许通过命令行参数覆盖配置文件中的设置，提供更灵活的配置方式。命令行参数的优先级高于配置文件。
|
||||
|
||||
### 支持命令行覆盖的配置项
|
||||
|
||||
以下配置项可以通过命令行参数进行覆盖：
|
||||
|
||||
| 配置类 | 配置字段 | 命令行参数 | 说明 |
|
||||
| ------------- | ----------------- | ------------------- | -------------------------------- |
|
||||
| `BasicConfig` | `ak` | `--ak` | 实验室访问密钥 |
|
||||
| `BasicConfig` | `sk` | `--sk` | 实验室私钥 |
|
||||
| `BasicConfig` | `working_dir` | `--working_dir` | 工作目录路径 |
|
||||
| `BasicConfig` | `is_host_mode` | `--is_slave` | 主站模式（参数为从站模式，取反） |
|
||||
| `BasicConfig` | `slave_no_host` | `--slave_no_host` | 从站模式下跳过等待主机服务 |
|
||||
| `BasicConfig` | `upload_registry` | `--upload_registry` | 启动时上传注册表信息 |
|
||||
| `BasicConfig` | `vis_2d_enable` | `--2d_vis` | 启用 2D 可视化 |
|
||||
| `HTTPConfig` | `remote_addr` | `--addr` | 远程服务地址 |
|
||||
|
||||
### 特殊命令行参数
|
||||
|
||||
除了直接覆盖配置项的参数外，还有一些特殊的命令行参数：
|
||||
|
||||
| 参数 | 说明 |
|
||||
| ------------------- | ------------------------------------ |
|
||||
| `--config` | 指定配置文件路径 |
|
||||
| `--port` | Web 服务端口（不影响配置文件） |
|
||||
| `--disable_browser` | 禁用自动打开浏览器（不影响配置文件） |
|
||||
| `--visual` | 可视化工具选择（不影响配置文件） |
|
||||
| `--skip_env_check` | 跳过环境检查（不影响配置文件） |
|
||||
|
||||
### 配置优先级
|
||||
|
||||
配置项的生效优先级从高到低为：
|
||||
|
||||
1. **命令行参数**：最高优先级
|
||||
2. **环境变量**：中等优先级
|
||||
3. **配置文件**：基础优先级
|
||||
|
||||
### 使用示例
|
||||
|
||||
```bash
|
||||
# 通过命令行覆盖认证信息
|
||||
unilab --ak "new_access_key" --sk "new_secret_key"
|
||||
|
||||
# 覆盖服务器地址
|
||||
unilab --addr "https://custom.server.com/api/v1"
|
||||
|
||||
# 启用从站模式并跳过等待主机
|
||||
unilab --is_slave --slave_no_host
|
||||
|
||||
# 启用上传注册表和2D可视化
|
||||
unilab --upload_registry --2d_vis
|
||||
|
||||
# 组合使用多个覆盖参数
|
||||
unilab --ak "key" --sk "secret" --addr "test" --upload_registry --2d_vis
|
||||
```
|
||||
|
||||
### 预设环境地址
|
||||
|
||||
`--addr` 参数支持以下预设值，会自动转换为对应的完整 URL：
|
||||
|
||||
- `test` → `https://uni-lab.test.bohrium.com/api/v1`
|
||||
- `uat` → `https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- `local` → `http://127.0.0.1:48197/api/v1`
|
||||
- 其他值 → 直接使用作为完整 URL
|
||||
|
||||
## 配置选项详解
|
||||
|
||||
### 基础配置 (BasicConfig)
|
||||
|
||||
基础配置包含了系统运行的核心参数：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------------------ | ---- | ------------- | ------------------------------------------ |
|
||||
| `ak` | str | `""` | 实验室访问密钥（必需） |
|
||||
| `sk` | str | `""` | 实验室私钥（必需） |
|
||||
| `working_dir` | str | `""` | 工作目录，通常自动设置 |
|
||||
| `is_host_mode` | bool | `True` | 是否为主站模式 |
|
||||
| `slave_no_host` | bool | `False` | 从站模式下是否跳过等待主机服务 |
|
||||
| `upload_registry` | bool | `False` | 启动时是否上传注册表信息 |
|
||||
| `machine_name` | str | `"undefined"` | 机器名称，自动从 hostname 获取（不可配置） |
|
||||
| `vis_2d_enable` | bool | `False` | 是否启用 2D 可视化 |
|
||||
| `communication_protocol` | str | `"websocket"` | 通信协议，固定为 websocket |
|
||||
|
||||
#### 认证配置
|
||||
|
||||
`ak` 和 `sk` 是必需的认证参数：
|
||||
|
||||
1. **获取方式**：在 [Uni-Lab 官网](https://uni-lab.bohrium.com) 注册实验室后获得
|
||||
2. **配置方式**：
|
||||
- **命令行参数**：`--ak "your_key" --sk "your_secret"`（最高优先级）
|
||||
- **配置文件**：在 `BasicConfig` 类中设置
|
||||
- **环境变量**：`UNILABOS_BASICCONFIG_AK` 和 `UNILABOS_BASICCONFIG_SK`
|
||||
3. **优先级顺序**：命令行参数 > 环境变量 > 配置文件
|
||||
4. **安全注意**：请妥善保管您的密钥信息
|
||||
|
||||
**推荐做法**：
|
||||
|
||||
- 开发环境：使用配置文件
|
||||
- 生产环境：使用环境变量或命令行参数
|
||||
- 临时测试：使用命令行参数
|
||||
|
||||
### WebSocket 配置 (WSConfig)
|
||||
|
||||
WebSocket 是 Uni-Lab 的主要通信方式：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------------------ | ---- | ------ | ------------------ |
|
||||
| `reconnect_interval` | int | `5` | 断线重连间隔（秒） |
|
||||
| `max_reconnect_attempts` | int | `999` | 最大重连次数 |
|
||||
| `ping_interval` | int | `30` | 心跳检测间隔（秒） |
|
||||
|
||||
### HTTP 配置 (HTTPConfig)
|
||||
|
||||
HTTP 客户端配置用于与云端服务通信：
|
||||
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------- | ---- | --------------------------------- | ------------ |
|
||||
| `remote_addr` | str | `"http://127.0.0.1:48197/api/v1"` | 远程服务地址 |
|
||||
|
||||
**预设环境地址**：
|
||||
|
||||
- 生产环境：`https://uni-lab.bohrium.com/api/v1`
|
||||
- 测试环境：`https://uni-lab.test.bohrium.com/api/v1`
|
||||
- UAT 环境：`https://uni-lab.uat.bohrium.com/api/v1`
|
||||
- 本地环境：`http://127.0.0.1:48197/api/v1`
|
||||
|
||||
### ROS 配置 (ROSConfig)
|
||||
|
||||
配置 ROS 消息转换器需要加载的模块：
|
||||
|
||||
```python
|
||||
class ROSConfig:
|
||||
modules = [
|
||||
"std_msgs.msg", # 标准消息类型
|
||||
"geometry_msgs.msg", # 几何消息类型
|
||||
"control_msgs.msg", # 控制消息类型
|
||||
"control_msgs.action", # 控制动作类型
|
||||
"nav2_msgs.action", # 导航动作类型
|
||||
"unilabos_msgs.msg", # UniLab 自定义消息类型
|
||||
"unilabos_msgs.action", # UniLab 自定义动作类型
|
||||
]
|
||||
```
|
||||
|
||||
您可以根据需要添加其他ROS模块。
|
||||
您可以根据实际使用的设备和功能添加其他 ROS 模块。
|
||||
|
||||
### 其他配置选项
|
||||
### OSS 上传配置 (OSSUploadConfig)
|
||||
|
||||
- **OSSUploadConfig**: 对象存储上传配置
|
||||
对象存储服务配置，用于文件上传功能：
|
||||
|
||||
## 如何使用配置文件
|
||||
| 参数 | 类型 | 默认值 | 说明 |
|
||||
| ------------------- | ---- | ------ | -------------------- |
|
||||
| `api_host` | str | `""` | OSS API 主机地址 |
|
||||
| `authorization` | str | `""` | 授权认证信息 |
|
||||
| `init_endpoint` | str | `""` | 上传初始化端点 |
|
||||
| `complete_endpoint` | str | `""` | 上传完成端点 |
|
||||
| `max_retries` | int | `3` | 上传失败最大重试次数 |
|
||||
|
||||
启动Uni-Lab时通过`--config`参数指定配置文件路径：
|
||||
## 环境变量支持
|
||||
|
||||
Uni-Lab 支持通过环境变量覆盖配置文件中的设置。环境变量格式为：
|
||||
|
||||
```
|
||||
UNILABOS_{配置类名}_{字段名}
|
||||
```
|
||||
|
||||
### 环境变量示例
|
||||
|
||||
```bash
|
||||
unilab --config path/to/your/config.py
|
||||
# 设置基础配置
|
||||
export UNILABOS_BASICCONFIG_AK="your_access_key"
|
||||
export UNILABOS_BASICCONFIG_SK="your_secret_key"
|
||||
export UNILABOS_BASICCONFIG_IS_HOST_MODE="true"
|
||||
|
||||
# 设置WebSocket配置
|
||||
export UNILABOS_WSCONFIG_RECONNECT_INTERVAL="10"
|
||||
export UNILABOS_WSCONFIG_MAX_RECONNECT_ATTEMPTS="500"
|
||||
|
||||
# 设置HTTP配置
|
||||
export UNILABOS_HTTPCONFIG_REMOTE_ADDR="https://uni-lab.bohrium.com/api/v1"
|
||||
```
|
||||
|
||||
如果您不涉及多环境开发，可以在unilabos的安装路径中手动添加local_config.py的文件
|
||||
### 环境变量类型转换
|
||||
|
||||
# 启动Uni-Lab
|
||||
python -m unilabos.app.main --config path/to/your/config.py
|
||||
- **布尔值**：`"true"`, `"1"`, `"yes"` → `True`；其他 → `False`
|
||||
- **整数**：自动转换为 `int` 类型
|
||||
- **浮点数**：自动转换为 `float` 类型
|
||||
- **字符串**：保持原值
|
||||
|
||||
## 配置文件使用方法
|
||||
|
||||
### 1. 指定配置文件启动
|
||||
|
||||
```bash
|
||||
# 使用指定配置文件启动
|
||||
unilab --config /path/to/your/config.py
|
||||
```
|
||||
|
||||
### 2. 使用默认配置文件
|
||||
|
||||
如果不指定配置文件，系统会按以下顺序查找：
|
||||
|
||||
1. 环境变量 `UNILABOS_BASICCONFIG_CONFIG_PATH` 指定的路径
|
||||
2. 工作目录下的 `local_config.py`
|
||||
3. 首次使用时会引导创建配置文件
|
||||
|
||||
### 3. 配置文件验证
|
||||
|
||||
系统启动时会自动验证配置文件：
|
||||
|
||||
- **语法检查**：确保 Python 语法正确
|
||||
- **类型检查**：验证配置项类型是否匹配
|
||||
- **必需项检查**：确保 `ak` 和 `sk` 已配置
|
||||
|
||||
## 最佳实践
|
||||
|
||||
### 1. 安全配置
|
||||
|
||||
- 不要将包含密钥的配置文件提交到版本控制系统
|
||||
- 使用环境变量或命令行参数在生产环境中配置敏感信息
|
||||
- 定期更换访问密钥
|
||||
- **推荐配置方式**：
|
||||
|
||||
```bash
|
||||
# 生产环境 - 使用环境变量
|
||||
export UNILABOS_BASICCONFIG_AK="your_access_key"
|
||||
export UNILABOS_BASICCONFIG_SK="your_secret_key"
|
||||
unilab
|
||||
|
||||
# 或使用命令行参数
|
||||
unilab --ak "your_access_key" --sk "your_secret_key"
|
||||
```
|
||||
|
||||
### 2. 多环境配置
|
||||
|
||||
为不同环境创建不同的配置文件并结合命令行参数：
|
||||
|
||||
```
|
||||
configs/
|
||||
├── local_config.py # 本地开发
|
||||
├── test_config.py # 测试环境
|
||||
├── prod_config.py # 生产环境
|
||||
└── example_config.py # 示例配置
|
||||
```
|
||||
|
||||
**环境切换示例**：
|
||||
|
||||
```bash
|
||||
# 本地开发环境
|
||||
unilab --config configs/local_config.py --addr local
|
||||
|
||||
# 测试环境
|
||||
unilab --config configs/test_config.py --addr test --upload_registry
|
||||
|
||||
# 生产环境
|
||||
unilab --config configs/prod_config.py --ak "$PROD_AK" --sk "$PROD_SK"
|
||||
```
|
||||
|
||||
### 3. 配置管理
|
||||
|
||||
- 保持配置文件简洁，只包含需要修改的配置项
|
||||
- 为配置项添加注释说明其作用
|
||||
- 定期检查和更新配置文件
|
||||
- **命令行参数优先使用场景**：
|
||||
- 临时测试不同配置
|
||||
- CI/CD 流水线中的动态配置
|
||||
- 不同环境间快速切换
|
||||
- 敏感信息的安全传递
|
||||
|
||||
### 4. 灵活配置策略
|
||||
|
||||
**基础配置文件 + 命令行覆盖**的推荐方式：
|
||||
|
||||
```python
|
||||
# base_config.py - 基础配置
|
||||
class BasicConfig:
|
||||
# 非敏感配置写在文件中
|
||||
is_host_mode = True
|
||||
upload_registry = False
|
||||
vis_2d_enable = False
|
||||
|
||||
class WSConfig:
|
||||
reconnect_interval = 5
|
||||
max_reconnect_attempts = 999
|
||||
ping_interval = 30
|
||||
```
|
||||
|
||||
```bash
|
||||
# 启动时通过命令行覆盖关键参数
|
||||
unilab --config base_config.py \
|
||||
--ak "$AK" \
|
||||
--sk "$SK" \
|
||||
--addr "test" \
|
||||
--upload_registry \
|
||||
--2d_vis
|
||||
```
|
||||
|
||||
## 故障排除
|
||||
|
||||
### 1. 配置文件加载失败
|
||||
|
||||
**错误信息**：`[ENV] 配置文件 xxx 不存在`
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 确认配置文件路径正确
|
||||
- 检查文件权限是否可读
|
||||
- 确保配置文件是 `.py` 格式
|
||||
|
||||
### 2. 语法错误
|
||||
|
||||
**错误信息**：`[ENV] 加载配置文件 xxx 失败`
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 检查 Python 语法是否正确
|
||||
- 确认类名和字段名拼写正确
|
||||
- 验证缩进是否正确（使用空格而非制表符）
|
||||
|
||||
### 3. 认证失败
|
||||
|
||||
**错误信息**：`后续运行必须拥有一个实验室`
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 确认 `ak` 和 `sk` 已正确配置
|
||||
- 检查密钥是否有效
|
||||
- 确认网络连接正常
|
||||
|
||||
### 4. 环境变量不生效
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 确认环境变量名格式正确（`UNILABOS_CLASS_FIELD`）
|
||||
- 检查环境变量是否已正确设置
|
||||
- 重启系统或重新加载环境变量
|
||||
|
||||
### 5. 命令行参数不生效
|
||||
|
||||
**错误现象**：设置了命令行参数但配置没有生效
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 确认参数名拼写正确（如 `--ak` 而不是 `--access_key`）
|
||||
- 检查参数格式是否正确（布尔参数如 `--is_slave` 不需要值）
|
||||
- 确认参数位置正确（所有参数都应在 `unilab` 之后）
|
||||
- 查看启动日志确认参数是否被正确解析
|
||||
|
||||
### 6. 配置优先级混淆
|
||||
|
||||
**错误现象**：不确定哪个配置生效
|
||||
|
||||
**解决方法**：
|
||||
|
||||
- 记住优先级：命令行参数 > 环境变量 > 配置文件
|
||||
- 使用 `--ak` 和 `--sk` 参数时会看到提示信息
|
||||
- 检查启动日志中的配置加载信息
|
||||
- 临时移除低优先级配置来测试高优先级配置是否生效
|
||||
|
||||
BIN
docs/user_guide/image/copy_aksk.gif
Normal file
BIN
docs/user_guide/image/copy_aksk.gif
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Binary file not shown.
|
After Width: | Height: | Size: 526 KiB |
BIN
docs/user_guide/image/creatworkfollow.gif
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docs/user_guide/image/creatworkfollow.gif
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|
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BIN
docs/user_guide/image/links.png
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BIN
docs/user_guide/image/links.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 275 KiB |
BIN
docs/user_guide/image/linksandrun.png
Normal file
BIN
docs/user_guide/image/linksandrun.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 186 KiB |
BIN
docs/user_guide/image/material.png
Normal file
BIN
docs/user_guide/image/material.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 581 KiB |
BIN
docs/user_guide/image/new.png
Normal file
BIN
docs/user_guide/image/new.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 120 KiB |
@@ -1,24 +1,43 @@
|
||||
# **Uni-Lab 安装**
|
||||
|
||||
请先 `git clone` 本仓库，随后按照以下步骤安装项目：
|
||||
## 快速开始
|
||||
|
||||
`Uni-Lab` 建议您采用 `mamba` 管理环境。若需从头建立 `Uni-Lab` 的运行依赖环境，请执行
|
||||
1. **配置 Conda 环境**
|
||||
|
||||
Uni-Lab-OS 建议使用 `mamba` 管理环境。创建新的环境：
|
||||
|
||||
```shell
|
||||
mamba env create -f unilabos-<YOUR_OS>.yaml
|
||||
mamba activate unilab
|
||||
mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
其中 `YOUR_OS` 是您的操作系统，可选值 `win64`, `linux-64`, `osx-64`, `osx-arm64`
|
||||
|
||||
若需将依赖安装进当前环境，请执行
|
||||
2. **安装开发版 Uni-Lab-OS**
|
||||
|
||||
```shell
|
||||
conda env update --file unilabos-<YOUR_OS>.yml
|
||||
# 配置好conda环境后，克隆仓库
|
||||
git clone https://github.com/dptech-corp/Uni-Lab-OS.git -b dev
|
||||
cd Uni-Lab-OS
|
||||
|
||||
# 安装 Uni-Lab-OS
|
||||
pip install -e .
|
||||
```
|
||||
|
||||
随后，可在本仓库安装 `unilabos` 的开发版：
|
||||
3. **安装开发版 ros-humble-unilabos-msgs**
|
||||
|
||||
**卸载老版本：**
|
||||
```shell
|
||||
pip install .
|
||||
conda activate unilab
|
||||
conda remove --force ros-humble-unilabos-msgs
|
||||
```
|
||||
有时相同的安装包版本会由于dev构建得到的md5不一样，触发安全检查，可输入 `config set safety_checks disabled` 来关闭安全检查。
|
||||
|
||||
**安装新版本：**
|
||||
|
||||
访问 https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/multi-platform-build.yml 选择最新的构建，下载对应平台的压缩包（仅解压一次，得到.conda文件）使用如下指令：
|
||||
```shell
|
||||
conda activate base
|
||||
conda install ros-humble-unilabos-msgs-<version>-<platform>.conda --offline -n <环境名>
|
||||
```
|
||||
|
||||
4. **启动 Uni-Lab 系统**
|
||||
|
||||
请参见{doc}`启动样例 <../boot_examples/index>`或{doc}`启动指南 <launch>`了解详细的启动方法。
|
||||
|
||||
@@ -1,4 +1,4 @@
|
||||
# Uni-Lab 启动
|
||||
# Uni-Lab 启动指南
|
||||
|
||||
安装完毕后，可以通过 `unilab` 命令行启动：
|
||||
|
||||
@@ -8,70 +8,315 @@ Start Uni-Lab Edge server.
|
||||
options:
|
||||
-h, --help show this help message and exit
|
||||
-g GRAPH, --graph GRAPH
|
||||
Physical setup graph.
|
||||
-d DEVICES, --devices DEVICES
|
||||
Devices config file.
|
||||
-r RESOURCES, --resources RESOURCES
|
||||
Resources config file.
|
||||
Physical setup graph file path.
|
||||
-c CONTROLLERS, --controllers CONTROLLERS
|
||||
Controllers config file.
|
||||
Controllers config file path.
|
||||
--registry_path REGISTRY_PATH
|
||||
Path to the registry
|
||||
Path to the registry directory
|
||||
--working_dir WORKING_DIR
|
||||
Path to the working directory
|
||||
--backend {ros,simple,automancer}
|
||||
Choose the backend to run with: 'ros', 'simple', or 'automancer'.
|
||||
--app_bridges APP_BRIDGES [APP_BRIDGES ...]
|
||||
Bridges to connect to. Now support 'mqtt' and 'fastapi'.
|
||||
--without_host Run the backend as slave (without host).
|
||||
--config CONFIG Configuration file path for system settings
|
||||
Bridges to connect to. Now support 'websocket' and 'fastapi'.
|
||||
--is_slave Run the backend as slave node (without host privileges).
|
||||
--slave_no_host Skip waiting for host service in slave mode
|
||||
--upload_registry Upload registry information when starting unilab
|
||||
--use_remote_resource Use remote resources when starting unilab
|
||||
--config CONFIG Configuration file path, supports .py format Python config files
|
||||
--port PORT Port for web service information page
|
||||
--disable_browser Disable opening information page on startup
|
||||
--2d_vis Enable 2D visualization when starting pylabrobot instance
|
||||
--visual {rviz,web,disable}
|
||||
Choose visualization tool: rviz, web, or disable
|
||||
--ak AK Access key for laboratory requests
|
||||
--sk SK Secret key for laboratory requests
|
||||
--addr ADDR Laboratory backend address
|
||||
--skip_env_check Skip environment dependency check on startup
|
||||
--complete_registry Complete registry information
|
||||
```
|
||||
|
||||
## 启动流程详解
|
||||
|
||||
Uni-Lab 的启动过程分为以下几个阶段：
|
||||
|
||||
### 1. 参数解析阶段
|
||||
|
||||
- 解析命令行参数
|
||||
- 处理参数格式转换（支持 dash 和 underscore 格式）
|
||||
|
||||
### 2. 环境检查阶段 (可选)
|
||||
|
||||
- 默认进行环境依赖检查并自动安装必需包
|
||||
- 使用 `--skip_env_check` 可跳过此步骤
|
||||
|
||||
### 3. 配置文件处理阶段
|
||||
|
||||
您可以直接跟随 unilabos 的提示进行，无需查阅本节
|
||||
|
||||
- **工作目录设置**：
|
||||
|
||||
- 如果当前目录以 `unilabos_data` 结尾，则使用当前目录
|
||||
- 否则使用 `当前目录/unilabos_data` 作为工作目录
|
||||
- 可通过 `--working_dir` 指定自定义工作目录
|
||||
|
||||
- **配置文件查找顺序**：
|
||||
1. 使用 `--config` 参数指定的配置文件
|
||||
2. 在工作目录中查找 `local_config.py`
|
||||
3. 首次使用时会引导创建配置文件
|
||||
|
||||
### 4. 服务器地址配置
|
||||
|
||||
支持多种后端环境：
|
||||
|
||||
- `--addr test`：测试环境 (`https://uni-lab.test.bohrium.com/api/v1`)
|
||||
- `--addr uat`：UAT 环境 (`https://uni-lab.uat.bohrium.com/api/v1`)
|
||||
- `--addr local`：本地环境 (`http://127.0.0.1:48197/api/v1`)
|
||||
- 自定义地址：直接指定完整 URL
|
||||
|
||||
### 5. 认证配置
|
||||
|
||||
- **必需参数**：`--ak` 和 `--sk` 必须同时提供
|
||||
- 命令行参数优先于配置文件中的设置
|
||||
- 未提供认证信息会导致启动失败并提示注册实验室
|
||||
|
||||
### 6. 设备图谱加载
|
||||
|
||||
支持两种方式：
|
||||
|
||||
- **本地文件**：使用 `-g` 指定图谱文件（支持 JSON 和 GraphML 格式）
|
||||
- **远程资源**：使用 `--use_remote_resource` 从云端获取
|
||||
|
||||
### 7. 注册表构建
|
||||
|
||||
- 构建设备和资源注册表
|
||||
- 支持自定义注册表路径 (`--registry_path`)
|
||||
- 可选择补全注册表信息 (`--complete_registry`)
|
||||
|
||||
### 8. 设备验证和注册
|
||||
|
||||
- 验证设备连接和端点配置
|
||||
- 自动注册设备到云端服务
|
||||
|
||||
### 9. 通信桥接配置
|
||||
|
||||
- **WebSocket**：实时通信和任务下发
|
||||
- **FastAPI**：HTTP API 服务和物料更新
|
||||
|
||||
### 10. 可视化和服务启动
|
||||
|
||||
- 可选启动可视化工具 (`--visual`)
|
||||
- 启动 Web 信息服务 (默认端口 8002)
|
||||
- 启动后端通信服务
|
||||
|
||||
## 使用配置文件
|
||||
|
||||
Uni-Lab支持使用Python格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
|
||||
Uni-Lab 支持使用 Python 格式的配置文件进行系统设置。通过 `--config` 参数指定配置文件路径：
|
||||
|
||||
```bash
|
||||
# 使用配置文件启动
|
||||
unilab --config path/to/your/config.py
|
||||
```
|
||||
|
||||
配置文件包含MQTT、HTTP、ROS等系统设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
|
||||
配置文件包含实验室和 WebSocket 连接等设置。有关配置文件的详细信息，请参阅[配置指南](configuration.md)。
|
||||
|
||||
## 初始化信息来源
|
||||
|
||||
启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备、耗材、通信、控制逻辑：
|
||||
启动 Uni-Lab 时，可以选用两种方式之一配置实验室设备：
|
||||
|
||||
### 1. 组态&拓扑图
|
||||
|
||||
使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 graphml 和 node-link json 两种格式。格式可参照 `tests/experiments` 下的启动文件。
|
||||
使用 `-g` 时，组态&拓扑图应包含实验室所有信息，详见{ref}`graph`。目前支持 GraphML 和 node-link JSON 两种格式。格式可参照 `tests/experiments` 下的启动文件。
|
||||
|
||||
### 2. 分别指定设备、耗材、控制逻辑
|
||||
### 2. 分别指定控制逻辑
|
||||
|
||||
分别使用 `-d, -r, -c` 依次传入设备组态配置、耗材列表、控制逻辑。
|
||||
使用 `-c` 传入控制逻辑配置。
|
||||
|
||||
可参照 `devices.json` 和 `resources.json`。
|
||||
|
||||
不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
|
||||
不管使用哪一种初始化方式，设备/物料字典均需包含 `class` 属性，用于查找注册表信息。默认查找范围都是 Uni-Lab 内部注册表 `unilabos/registry/{devices,device_comms,resources}`。要添加额外的注册表路径，可以使用 `--registry_path` 加入 `<your-registry-path>/{devices,device_comms,resources}`。
|
||||
|
||||
## 通信中间件 `--backend`
|
||||
|
||||
目前 Uni-Lab 仅支持 ros2 作为通信中间件。
|
||||
目前 Uni-Lab 支持以下通信中间件：
|
||||
|
||||
- **ros** (默认)：基于 ROS2 的通信
|
||||
- **simple**：简化通信模式
|
||||
- **automancer**：Automancer 兼容模式
|
||||
|
||||
## 端云桥接 `--app_bridges`
|
||||
|
||||
目前 Uni-Lab 提供 FastAPI (http), MQTT 两种端云通信方式。其中默认 MQTT 负责端对云状态同步和云对端任务下发，FastAPI 负责端对云物料更新。
|
||||
目前 Uni-Lab 提供 WebSocket、FastAPI (http) 两种端云通信方式：
|
||||
|
||||
- **WebSocket**：负责实时通信和任务下发
|
||||
- **FastAPI**：负责端对云物料更新和 HTTP API
|
||||
|
||||
## 分布式组网
|
||||
|
||||
启动 Uni-Lab 时，加入 `--without_host` 将作为从站，不加将作为主站，主站 (host) 持有物料修改权以及对云端的通信。局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
|
||||
启动 Uni-Lab 时，加入 `--is_slave` 将作为从站，不加将作为主站：
|
||||
|
||||
- **主站 (host)**：持有物料修改权以及对云端的通信
|
||||
- **从站 (slave)**：无主机权限，可选择跳过等待主机服务 (`--slave_no_host`)
|
||||
|
||||
局域网内分别启动的 Uni-Lab 主站/从站将自动组网，互相能访问所有设备状态、传感器信息并发送指令。
|
||||
|
||||
## 可视化选项
|
||||
|
||||
### 2D 可视化
|
||||
|
||||
使用 `--2d_vis` 在 PyLabRobot 实例启动时同时启动 2D 可视化。
|
||||
|
||||
### 3D 可视化
|
||||
|
||||
通过 `--visual` 参数选择：
|
||||
|
||||
- **rviz**：使用 RViz 进行 3D 可视化
|
||||
- **web**：使用 Web 界面进行可视化
|
||||
- **disable** (默认)：禁用可视化
|
||||
|
||||
## 实验室管理
|
||||
|
||||
### 首次使用
|
||||
|
||||
如果是首次使用，系统会：
|
||||
|
||||
1. 提示前往 https://uni-lab.bohrium.com 注册实验室
|
||||
2. 引导创建配置文件
|
||||
3. 设置工作目录
|
||||
|
||||
### 认证设置
|
||||
|
||||
- `--ak`：实验室访问密钥
|
||||
- `--sk`：实验室私钥
|
||||
- 两者必须同时提供才能正常启动
|
||||
|
||||
## 完整启动示例
|
||||
|
||||
以下是一些常用的启动命令示例：
|
||||
|
||||
```bash
|
||||
# 使用配置文件和组态图启动
|
||||
unilab -g path/to/graph.json
|
||||
# 使用组态图启动，上传注册表
|
||||
unilab --ak your_ak --sk your_sk -g path/to/graph.json --upload_registry
|
||||
|
||||
# 使用配置文件和分离的设备/资源文件启动
|
||||
unilab -d devices.json -r resources.json
|
||||
# 使用远程资源启动
|
||||
unilab --ak your_ak --sk your_sk --use_remote_resource
|
||||
|
||||
# 更新注册表
|
||||
unilab --ak your_ak --sk your_sk --complete_registry
|
||||
|
||||
# 启动从站模式
|
||||
unilab --ak your_ak --sk your_sk --is_slave
|
||||
|
||||
# 启用可视化
|
||||
unilab --ak your_ak --sk your_sk --visual web --2d_vis
|
||||
|
||||
# 指定本地信息网页服务端口和禁用自动跳出浏览器
|
||||
unilab --ak your_ak --sk your_sk --port 8080 --disable_browser
|
||||
```
|
||||
|
||||
## 常见问题
|
||||
|
||||
### 1. 认证失败
|
||||
|
||||
如果提示 "后续运行必须拥有一个实验室"，请确保：
|
||||
|
||||
- 已在 https://uni-lab.bohrium.com 注册实验室
|
||||
- 正确设置了 `--ak` 和 `--sk` 参数
|
||||
- 配置文件中包含正确的认证信息
|
||||
|
||||
### 2. 配置文件问题
|
||||
|
||||
如果配置文件加载失败：
|
||||
|
||||
- 确保配置文件是 `.py` 格式
|
||||
- 检查配置文件语法是否正确
|
||||
- 首次使用可让系统自动创建示例配置文件
|
||||
|
||||
### 3. 网络连接问题
|
||||
|
||||
如果无法连接到服务器：
|
||||
|
||||
- 检查网络连接
|
||||
- 确认服务器地址是否正确
|
||||
- 尝试使用不同的环境地址（test、uat、local）
|
||||
|
||||
### 4. 设备图谱问题
|
||||
|
||||
如果设备加载失败：
|
||||
|
||||
- 检查图谱文件格式是否正确
|
||||
- 验证设备连接和端点配置
|
||||
- 确保注册表路径正确
|
||||
|
||||
## 页面操作
|
||||
|
||||
### 1. 启动成功
|
||||
当您启动成功后，可以看到物料列表，节点模版和组态图如图展示
|
||||
|
||||
|
||||
### 2. 根据需求创建设备和物料
|
||||
我们可以做一个简单的案例
|
||||
* 在容器1中加入水
|
||||
* 通过传输泵将容器1中的水转移到容器2中
|
||||
#### 2.1 添加所需的设备和物料
|
||||
仪器设备work_station中的workstation 数量x1
|
||||
仪器设备virtual_device中的virtual_transfer_pump 数量x1
|
||||
物料耗材container中的container 数量x2
|
||||
|
||||
#### 2.2 将设备和物料根据父子关系进行关联
|
||||
当我们添加设备时，仪器耗材模块的物料列表也会实时更新
|
||||
我们需要将设备和物料拖拽到workstation中并在画布上将它们连接起来，就像真实的设备操作一样
|
||||
|
||||
|
||||
### 3. 创建工作流
|
||||
进入工作流模块 → 点击"我创建的" → 新建工作流
|
||||
|
||||
|
||||
#### 3.1 新增工作流节点
|
||||
我们可以进入指定工作流，在空白处右键
|
||||
* 选择Laboratory→host_node中的creat_resource
|
||||
* 选择Laboratory→workstation中的PumpTransferProtocol
|
||||
|
||||
|
||||
|
||||
#### 3.2 配置节点参数
|
||||
根据案例，工作流包含两个步骤：
|
||||
1. 使用creat_resource在容器中创建水
|
||||
2. 通过泵传输协议将水传输到另一个容器
|
||||
|
||||
我们点击creat_resource卡片上的编辑按钮来配置参数⭐️
|
||||
class_name ：container
|
||||
device_id ： workstation
|
||||
liquid_input_slot ： 0或-1均可
|
||||
liquid_type : water
|
||||
liquid_volume ： 根据需求填写即可，默认单位ml，这里举例50
|
||||
parent ： workstation
|
||||
res_id ： containe
|
||||
关联设备名称(原unilabos_device_id) ： 这里就填写host_node
|
||||
**配置完成后点击底部保存按钮**
|
||||
|
||||
我们点击PumpTransferProtocol卡片上的编辑按钮来配置参数⭐️
|
||||
event ： transfer_liquid
|
||||
from_vessel ： water
|
||||
to_vessel ： container1
|
||||
volume ： 根据需求填写即可，默认单位ml，这里举例50
|
||||
关联设备名称(原unilabos_device_id) ： 这里就填写workstation
|
||||
**配置完成后点击底部保存按钮**
|
||||
|
||||
#### 3.3 运行工作流
|
||||
1. 连接两个节点卡片
|
||||
2. 点击底部保存按钮
|
||||
3. 点击运行按钮执行工作流
|
||||
|
||||
|
||||
|
||||
### 运行监控
|
||||
* 运行状态和消息实时显示在底部控制台
|
||||
* 如有报错，可点击查看详细信息
|
||||
|
||||
### 结果验证
|
||||
工作流完成后，返回仪器耗材模块：
|
||||
* 点击 container1卡片查看详情
|
||||
* 确认其中包含参数指定的水和容量
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
197
docs/user_guide/quick_install_guide.md
Normal file
197
docs/user_guide/quick_install_guide.md
Normal file
@@ -0,0 +1,197 @@
|
||||
# Uni-Lab-OS 一键安装快速指南
|
||||
|
||||
## 概述
|
||||
|
||||
本指南提供最快速的 Uni-Lab-OS 安装方法，使用预打包的 conda 环境，无需手动配置依赖。
|
||||
|
||||
## 前置要求
|
||||
|
||||
- 已安装 Conda/Miniconda/Miniforge/Mamba
|
||||
- 至少 10GB 可用磁盘空间
|
||||
- Windows 10+, macOS 10.14+, 或 Linux (Ubuntu 20.04+)
|
||||
|
||||
## 安装步骤
|
||||
|
||||
### 第一步：下载预打包环境
|
||||
|
||||
1. 访问 [GitHub Actions - Conda Pack Build](https://github.com/dptech-corp/Uni-Lab-OS/actions/workflows/conda-pack-build.yml)
|
||||
|
||||
2. 选择最新的成功构建记录（绿色勾号 ✓）
|
||||
|
||||
3. 在页面底部的 "Artifacts" 部分，下载对应你操作系统的压缩包：
|
||||
- Windows: `unilab-pack-win-64-{branch}.zip`
|
||||
- macOS (Intel): `unilab-pack-osx-64-{branch}.tar.gz`
|
||||
- macOS (Apple Silicon): `unilab-pack-osx-arm64-{branch}.tar.gz`
|
||||
- Linux: `unilab-pack-linux-64-{branch}.tar.gz`
|
||||
|
||||
### 第二步：解压并运行安装脚本
|
||||
|
||||
#### Windows
|
||||
|
||||
```batch
|
||||
REM 使用 Windows 资源管理器解压下载的 zip 文件
|
||||
REM 或使用命令行：
|
||||
tar -xzf unilab-pack-win-64-dev.zip
|
||||
|
||||
REM 进入解压后的目录
|
||||
cd unilab-pack-win-64-dev
|
||||
|
||||
REM 双击运行 install_unilab.bat
|
||||
REM 或在命令行中执行：
|
||||
install_unilab.bat
|
||||
```
|
||||
|
||||
#### macOS
|
||||
|
||||
```bash
|
||||
# 解压下载的压缩包
|
||||
tar -xzf unilab-pack-osx-arm64-dev.tar.gz
|
||||
|
||||
# 进入解压后的目录
|
||||
cd unilab-pack-osx-arm64-dev
|
||||
|
||||
# 运行安装脚本
|
||||
bash install_unilab.sh
|
||||
```
|
||||
|
||||
#### Linux
|
||||
|
||||
```bash
|
||||
# 解压下载的压缩包
|
||||
tar -xzf unilab-pack-linux-64-dev.tar.gz
|
||||
|
||||
# 进入解压后的目录
|
||||
cd unilab-pack-linux-64-dev
|
||||
|
||||
# 添加执行权限（如果需要）
|
||||
chmod +x install_unilab.sh
|
||||
|
||||
# 运行安装脚本
|
||||
./install_unilab.sh
|
||||
```
|
||||
|
||||
### 第三步：激活环境
|
||||
|
||||
```bash
|
||||
conda activate unilab
|
||||
```
|
||||
|
||||
### 第四步：验证安装（推荐）
|
||||
|
||||
```bash
|
||||
# 确保已激活环境
|
||||
conda activate unilab
|
||||
|
||||
# 运行验证脚本
|
||||
python verify_installation.py
|
||||
```
|
||||
|
||||
如果看到 "✓ All checks passed!"，说明安装成功！
|
||||
|
||||
## 常见问题
|
||||
|
||||
### Q: 安装脚本找不到 conda？
|
||||
|
||||
**A:** 确保你已经安装了 conda/miniconda/miniforge，并且安装在标准位置：
|
||||
|
||||
- **Windows**:
|
||||
|
||||
- `%USERPROFILE%\miniforge3`
|
||||
- `%USERPROFILE%\miniconda3`
|
||||
- `%USERPROFILE%\anaconda3`
|
||||
- `C:\ProgramData\miniforge3`
|
||||
|
||||
- **macOS/Linux**:
|
||||
- `~/miniforge3`
|
||||
- `~/miniconda3`
|
||||
- `~/anaconda3`
|
||||
- `/opt/conda`
|
||||
|
||||
如果安装在其他位置，可以先激活 conda base 环境，然后手动运行安装脚本。
|
||||
|
||||
### Q: 安装后激活环境提示找不到？
|
||||
|
||||
**A:** 尝试以下方法：
|
||||
|
||||
```bash
|
||||
# 方法 1: 使用 conda activate
|
||||
conda activate unilab
|
||||
|
||||
# 方法 2: 使用完整路径激活（Windows）
|
||||
call C:\Users\{YourUsername}\miniforge3\envs\unilab\Scripts\activate.bat
|
||||
|
||||
# 方法 2: 使用完整路径激活（Unix）
|
||||
source ~/miniforge3/envs/unilab/bin/activate
|
||||
```
|
||||
|
||||
### Q: conda-unpack 失败怎么办？
|
||||
|
||||
**A:** 尝试手动运行：
|
||||
|
||||
```bash
|
||||
# Windows
|
||||
cd %CONDA_PREFIX%\envs\unilab
|
||||
.\Scripts\conda-unpack.exe
|
||||
|
||||
# macOS/Linux
|
||||
cd $CONDA_PREFIX/envs/unilab
|
||||
./bin/conda-unpack
|
||||
```
|
||||
|
||||
### Q: 验证脚本报错？
|
||||
|
||||
**A:** 首先确认环境已激活：
|
||||
|
||||
```bash
|
||||
# 检查当前环境
|
||||
conda env list
|
||||
|
||||
# 应该看到 unilab 前面有 * 标记
|
||||
```
|
||||
|
||||
如果仍有问题，查看具体报错信息，可能需要：
|
||||
|
||||
- 重新运行安装脚本
|
||||
- 检查磁盘空间
|
||||
- 查看详细文档
|
||||
|
||||
### Q: 环境很大，有办法减小吗？
|
||||
|
||||
**A:** 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，考虑使用手动安装方式，只安装需要的组件。
|
||||
|
||||
### Q: 如何更新到最新版本？
|
||||
|
||||
**A:** 重新下载最新的预打包环境，运行安装脚本时选择覆盖现有环境。
|
||||
|
||||
或者在现有环境中更新：
|
||||
|
||||
```bash
|
||||
conda activate unilab
|
||||
|
||||
# 更新 unilabos
|
||||
cd /path/to/Uni-Lab-OS
|
||||
git pull
|
||||
pip install -e . --upgrade
|
||||
|
||||
# 更新 ros-humble-unilabos-msgs
|
||||
mamba update ros-humble-unilabos-msgs -c uni-lab -c robostack-staging -c conda-forge
|
||||
```
|
||||
|
||||
## 下一步
|
||||
|
||||
安装完成后，你可以：
|
||||
|
||||
1. **查看启动指南**: {doc}`launch`
|
||||
2. **运行示例**: {doc}`../boot_examples/index`
|
||||
3. **配置设备**: 编辑 `unilabos_data/startup_config.json`
|
||||
4. **阅读开发文档**: {doc}`../developer_guide/workstation_architecture`
|
||||
|
||||
## 需要帮助？
|
||||
|
||||
- **文档**: [docs/user_guide/installation.md](installation.md)
|
||||
- **问题反馈**: [GitHub Issues](https://github.com/dptech-corp/Uni-Lab-OS/issues)
|
||||
- **开发版安装**: 参考 {doc}`installation` 的方式二
|
||||
|
||||
---
|
||||
|
||||
**提示**: 这个预打包环境包含了从指定分支（通常是 `dev`）构建的最新代码。如果需要稳定版本，请使用方式二手动安装 release 版本。
|
||||
22
package.xml
22
package.xml
@@ -1,22 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||
<package format="3">
|
||||
<name>unilabos</name>
|
||||
<version>0.0.0</version>
|
||||
<description>ROS2 package for unilabos server</description>
|
||||
<maintainer email="changjh@pku.edu.cn">changjh</maintainer>
|
||||
<license>TODO: License declaration</license>
|
||||
|
||||
<build_depend>action_msgs</build_depend>
|
||||
<exec_depend>action_msgs</exec_depend>
|
||||
<member_of_group>rosidl_interface_packages</member_of_group>
|
||||
|
||||
<test_depend>ament_copyright</test_depend>
|
||||
<test_depend>ament_flake8</test_depend>
|
||||
<test_depend>ament_pep257</test_depend>
|
||||
<test_depend>python3-pytest</test_depend>
|
||||
|
||||
<export>
|
||||
<build_type>ament_python</build_type>
|
||||
</export>
|
||||
</package>
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: ros-humble-unilabos-msgs
|
||||
version: 0.10.4
|
||||
version: 0.10.7
|
||||
source:
|
||||
path: ../../unilabos_msgs
|
||||
target_directory: src
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
package:
|
||||
name: unilabos
|
||||
version: "0.10.4"
|
||||
version: "0.10.7"
|
||||
|
||||
source:
|
||||
path: ../..
|
||||
|
||||
190
scripts/create_readme.py
Normal file
190
scripts/create_readme.py
Normal file
@@ -0,0 +1,190 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Create Distribution Package README
|
||||
===================================
|
||||
|
||||
Generate README.txt for conda-pack distribution packages.
|
||||
|
||||
Usage:
|
||||
python create_readme.py <platform> <branch> <output_file>
|
||||
|
||||
Arguments:
|
||||
platform: Platform identifier (win-64, linux-64, osx-64, osx-arm64)
|
||||
branch: Git branch name
|
||||
output_file: Output file path (e.g., dist-package/README.txt)
|
||||
|
||||
Example:
|
||||
python create_readme.py win-64 dev dist-package/README.txt
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import sys
|
||||
from datetime import datetime, timezone
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def get_readme_content(platform: str, branch: str) -> str:
|
||||
"""
|
||||
Generate README content for the specified platform.
|
||||
|
||||
Args:
|
||||
platform: Platform identifier
|
||||
branch: Git branch name
|
||||
|
||||
Returns:
|
||||
str: README content
|
||||
"""
|
||||
# Get current UTC time
|
||||
build_date = datetime.now(timezone.utc).strftime("%Y-%m-%d %H:%M:%S UTC")
|
||||
|
||||
# Determine platform-specific content
|
||||
is_windows = platform == "win-64"
|
||||
|
||||
if is_windows:
|
||||
archive_ext = "zip"
|
||||
install_script = "install_unilab.bat"
|
||||
platform_instructions = """Windows:
|
||||
1. Extract the downloaded ZIP file
|
||||
2. Double-click install_unilab.bat (or run in cmd)
|
||||
3. Follow the prompts"""
|
||||
else:
|
||||
archive_ext = "tar.gz"
|
||||
install_script = "install_unilab.sh"
|
||||
platform_name = {"linux-64": "linux-64", "osx-64": "osx-64", "osx-arm64": "osx-arm64"}.get(platform, platform)
|
||||
platform_instructions = f"""macOS/Linux:
|
||||
1. Download and extract unilab-pack-{platform_name}.tar.gz
|
||||
2. Run: bash install_unilab.sh
|
||||
3. Follow the prompts
|
||||
|
||||
Alternative (if downloaded from GitHub Actions):
|
||||
1. Extract the artifact ZIP file
|
||||
2. Extract unilab-pack-{platform_name}.tar.gz inside
|
||||
3. Run: bash install_unilab.sh"""
|
||||
|
||||
# Generate README content
|
||||
readme = f"""UniLabOS Conda-Pack Environment
|
||||
================================
|
||||
|
||||
This package contains a pre-built UniLabOS environment.
|
||||
|
||||
Installation Instructions:
|
||||
--------------------------
|
||||
|
||||
{platform_instructions}
|
||||
|
||||
The installation script will:
|
||||
- Automatically find your conda installation
|
||||
- Extract the environment to conda's envs/unilab directory
|
||||
- Run conda-unpack to finalize setup
|
||||
|
||||
After installation:
|
||||
conda activate unilab
|
||||
python verify_installation.py
|
||||
|
||||
Verification:
|
||||
-------------
|
||||
|
||||
The verify_installation.py script will check:
|
||||
- Python version (3.11.11)
|
||||
- ROS2 rclpy installation
|
||||
- UniLabOS installation and dependencies
|
||||
|
||||
If all checks pass, you're ready to use UniLabOS!
|
||||
|
||||
Package Contents:
|
||||
-----------------
|
||||
|
||||
- {install_script} (automatic installation script)
|
||||
- unilab-env-{platform}.tar.gz (packed conda environment)
|
||||
- verify_installation.py (environment verification tool)
|
||||
- README.txt (this file)
|
||||
|
||||
Build Information:
|
||||
------------------
|
||||
|
||||
Branch: {branch}
|
||||
Platform: {platform}
|
||||
Python: 3.11.11
|
||||
Date: {build_date}
|
||||
|
||||
Troubleshooting:
|
||||
----------------
|
||||
|
||||
If installation fails:
|
||||
|
||||
1. Ensure conda or mamba is installed
|
||||
Check: conda --version
|
||||
|
||||
2. Verify you have sufficient disk space
|
||||
Required: ~5-10 GB after extraction
|
||||
|
||||
3. Check installation permissions
|
||||
You need write access to conda's envs directory
|
||||
|
||||
4. For detailed logs, run the install script from terminal
|
||||
|
||||
For more help:
|
||||
- Documentation: docs/user_guide/installation.md
|
||||
- Quick Start: QUICK_START_CONDA_PACK.md
|
||||
- Issues: https://github.com/dptech-corp/Uni-Lab-OS/issues
|
||||
|
||||
License:
|
||||
--------
|
||||
|
||||
UniLabOS is licensed under GPL-3.0-only.
|
||||
See LICENSE file for details.
|
||||
|
||||
Repository: https://github.com/dptech-corp/Uni-Lab-OS
|
||||
"""
|
||||
|
||||
return readme
|
||||
|
||||
|
||||
def main():
|
||||
"""Main entry point."""
|
||||
parser = argparse.ArgumentParser(
|
||||
description="Generate README.txt for conda-pack distribution",
|
||||
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||||
epilog="""
|
||||
Examples:
|
||||
python create_readme.py win-64 dev dist-package/README.txt
|
||||
python create_readme.py linux-64 main dist-package/README.txt
|
||||
""",
|
||||
)
|
||||
|
||||
parser.add_argument("platform", choices=["win-64", "linux-64", "osx-64", "osx-arm64"], help="Platform identifier")
|
||||
|
||||
parser.add_argument("branch", help="Git branch name")
|
||||
|
||||
parser.add_argument("output_file", help="Output file path")
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
try:
|
||||
# Generate README content
|
||||
readme_content = get_readme_content(args.platform, args.branch)
|
||||
|
||||
# Create output directory if needed
|
||||
output_path = Path(args.output_file)
|
||||
output_path.parent.mkdir(parents=True, exist_ok=True)
|
||||
|
||||
# Write README file
|
||||
with open(output_path, "w", encoding="utf-8") as f:
|
||||
f.write(readme_content)
|
||||
|
||||
print(f"✓ README.txt created: {output_path}")
|
||||
print(f" Platform: {args.platform}")
|
||||
print(f" Branch: {args.branch}")
|
||||
|
||||
return 0
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error creating README: {e}", file=sys.stderr)
|
||||
import traceback
|
||||
|
||||
traceback.print_exc()
|
||||
return 1
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
sys.exit(main())
|
||||
148
scripts/create_zip_archive.py
Normal file
148
scripts/create_zip_archive.py
Normal file
@@ -0,0 +1,148 @@
|
||||
#!/usr/bin/env python3
|
||||
"""
|
||||
Create ZIP Archive with ZIP64 Support
|
||||
======================================
|
||||
|
||||
This script creates a ZIP archive with ZIP64 support for large files (>2GB).
|
||||
It's used in the conda-pack build workflow to package the distribution.
|
||||
|
||||
PowerShell's Compress-Archive has a 2GB limitation, so we use Python's zipfile
|
||||
module with allowZip64=True to handle large conda-packed environments.
|
||||
|
||||
Usage:
|
||||
python create_zip_archive.py <source_dir> <output_zip> [--compression-level LEVEL]
|
||||
|
||||
Arguments:
|
||||
source_dir: Directory to compress
|
||||
output_zip: Output ZIP file path
|
||||
--compression-level: Compression level (0-9, default: 6)
|
||||
|
||||
Example:
|
||||
python create_zip_archive.py dist-package unilab-pack-win-64.zip
|
||||
"""
|
||||
|
||||
import argparse
|
||||
import os
|
||||
import sys
|
||||
import zipfile
|
||||
from pathlib import Path
|
||||
|
||||
|
||||
def create_zip_archive(source_dir: str, output_zip: str, compression_level: int = 6) -> bool:
|
||||
"""
|
||||
Create a ZIP archive with ZIP64 support.
|
||||
|
||||
Args:
|
||||
source_dir: Directory to compress
|
||||
output_zip: Output ZIP file path
|
||||
compression_level: Compression level (0-9)
|
||||
|
||||
Returns:
|
||||
bool: True if successful
|
||||
"""
|
||||
try:
|
||||
source_path = Path(source_dir)
|
||||
output_path = Path(output_zip)
|
||||
|
||||
# Validate source directory
|
||||
if not source_path.exists():
|
||||
print(f"Error: Source directory does not exist: {source_dir}", file=sys.stderr)
|
||||
return False
|
||||
|
||||
if not source_path.is_dir():
|
||||
print(f"Error: Source path is not a directory: {source_dir}", file=sys.stderr)
|
||||
return False
|
||||
|
||||
# Remove existing output file if present
|
||||
if output_path.exists():
|
||||
print(f"Removing existing archive: {output_path}")
|
||||
output_path.unlink()
|
||||
|
||||
# Create ZIP archive
|
||||
print("=" * 70)
|
||||
print(f"Creating ZIP archive with ZIP64 support")
|
||||
print(f" Source: {source_path.absolute()}")
|
||||
print(f" Output: {output_path.absolute()}")
|
||||
print(f" Compression: Level {compression_level}")
|
||||
print("=" * 70)
|
||||
|
||||
total_size = 0
|
||||
file_count = 0
|
||||
|
||||
with zipfile.ZipFile(
|
||||
output_path, "w", zipfile.ZIP_DEFLATED, allowZip64=True, compresslevel=compression_level
|
||||
) as zipf:
|
||||
# Walk through source directory
|
||||
for root, dirs, files in os.walk(source_dir):
|
||||
for file in files:
|
||||
file_path = os.path.join(root, file)
|
||||
arcname = os.path.relpath(file_path, source_dir)
|
||||
file_size = os.path.getsize(file_path)
|
||||
|
||||
# Add file to archive
|
||||
zipf.write(file_path, arcname)
|
||||
|
||||
# Display progress
|
||||
total_size += file_size
|
||||
file_count += 1
|
||||
print(f" [{file_count:3d}] Adding: {arcname:50s} {file_size:>15,} bytes")
|
||||
|
||||
# Get final archive size
|
||||
archive_size = output_path.stat().st_size
|
||||
compression_ratio = (1 - archive_size / total_size) * 100 if total_size > 0 else 0
|
||||
|
||||
# Display summary
|
||||
print("=" * 70)
|
||||
print("Archive created successfully!")
|
||||
print(f" Files added: {file_count}")
|
||||
print(f" Total size (uncompressed): {total_size:>15,} bytes ({total_size / (1024**3):.2f} GB)")
|
||||
print(f" Archive size (compressed): {archive_size:>15,} bytes ({archive_size / (1024**3):.2f} GB)")
|
||||
print(f" Compression ratio: {compression_ratio:.1f}%")
|
||||
print("=" * 70)
|
||||
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
print(f"Error creating ZIP archive: {e}", file=sys.stderr)
|
||||
import traceback
|
||||
|
||||
traceback.print_exc()
|
||||
return False
|
||||
|
||||
|
||||
def main():
|
||||
"""Main entry point."""
|
||||
parser = argparse.ArgumentParser(
|
||||
description="Create ZIP archive with ZIP64 support for large files",
|
||||
formatter_class=argparse.RawDescriptionHelpFormatter,
|
||||
epilog="""
|
||||
Examples:
|
||||
python create_zip_archive.py dist-package unilab-pack-win-64.zip
|
||||
python create_zip_archive.py dist-package unilab-pack-win-64.zip --compression-level 9
|
||||
""",
|
||||
)
|
||||
|
||||
parser.add_argument("source_dir", help="Directory to compress")
|
||||
|
||||
parser.add_argument("output_zip", help="Output ZIP file path")
|
||||
|
||||
parser.add_argument(
|
||||
"--compression-level",
|
||||
type=int,
|
||||
default=6,
|
||||
choices=range(0, 10),
|
||||
metavar="LEVEL",
|
||||
help="Compression level (0=no compression, 9=maximum compression, default=6)",
|
||||
)
|
||||
|
||||
args = parser.parse_args()
|
||||
|
||||
# Create archive
|
||||
success = create_zip_archive(args.source_dir, args.output_zip, args.compression_level)
|
||||
|
||||
# Exit with appropriate code
|
||||
sys.exit(0 if success else 1)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
@@ -10,11 +10,25 @@ REM Get the directory where this script is located
|
||||
set "SCRIPT_DIR=%~dp0"
|
||||
cd /d "%SCRIPT_DIR%"
|
||||
|
||||
REM Find conda installation using 'where conda'
|
||||
REM Find conda installation
|
||||
echo Searching for conda installation...
|
||||
|
||||
REM Method 1: Try to get conda base using 'conda info --base'
|
||||
set "CONDA_BASE="
|
||||
for /f "tokens=*" %%i in ('conda info --base 2^>nul') do (
|
||||
set "CONDA_BASE=%%i"
|
||||
)
|
||||
|
||||
if not "%CONDA_BASE%"=="" (
|
||||
echo Found conda at: %CONDA_BASE% (via conda info)
|
||||
goto :conda_found
|
||||
)
|
||||
|
||||
REM Method 2: Use 'where conda' and parse the path
|
||||
echo Trying alternative method...
|
||||
for /f "tokens=*" %%i in ('where conda 2^>nul') do (
|
||||
set "CONDA_PATH=%%i"
|
||||
goto :found_conda
|
||||
goto :parse_conda_path
|
||||
)
|
||||
|
||||
echo ERROR: Could not find conda installation!
|
||||
@@ -23,20 +37,51 @@ echo.
|
||||
pause
|
||||
exit /b 1
|
||||
|
||||
:found_conda
|
||||
REM Extract base directory from conda path
|
||||
REM Path looks like: C:\Users\10230\miniforge3\Library\bin\conda.bat
|
||||
REM or: C:\Users\10230\miniforge3\Scripts\conda.exe
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_FILE=%%~nxi"
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
:parse_conda_path
|
||||
REM Parse conda path to find base directory
|
||||
REM Common paths:
|
||||
REM C:\Users\hp\miniforge3\Library\bin\conda.bat
|
||||
REM C:\Users\hp\miniforge3\Scripts\conda.exe
|
||||
REM C:\Users\hp\miniforge3\condabin\conda.bat
|
||||
|
||||
REM Go up two levels to get base directory
|
||||
for %%i in ("%CONDA_BASE%..") do set "CONDA_BASE=%%~fi"
|
||||
if "%CONDA_FILE%"=="conda.bat" (
|
||||
for %%i in ("%CONDA_BASE%..") do set "CONDA_BASE=%%~fi"
|
||||
echo Found conda executable at: %CONDA_PATH%
|
||||
|
||||
REM Check if path contains \Library\bin\ (typical for conda.bat)
|
||||
echo %CONDA_PATH% | findstr /C:"\Library\bin\" >nul
|
||||
if not errorlevel 1 (
|
||||
REM Path like: C:\Users\hp\miniforge3\Library\bin\conda.bat
|
||||
REM Need to go up 3 levels: bin -> Library -> miniforge3
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
for %%i in ("%CONDA_BASE%..\..\..") do set "CONDA_BASE=%%~fi"
|
||||
goto :conda_found
|
||||
)
|
||||
|
||||
echo Found conda at: %CONDA_BASE%
|
||||
REM Check if path contains \Scripts\ (typical for conda.exe)
|
||||
echo %CONDA_PATH% | findstr /C:"\Scripts\" >nul
|
||||
if not errorlevel 1 (
|
||||
REM Path like: C:\Users\hp\miniforge3\Scripts\conda.exe
|
||||
REM Need to go up 2 levels: Scripts -> miniforge3
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
|
||||
goto :conda_found
|
||||
)
|
||||
|
||||
REM Check if path contains \condabin\ (typical for conda.bat)
|
||||
echo %CONDA_PATH% | findstr /C:"\condabin\" >nul
|
||||
if not errorlevel 1 (
|
||||
REM Path like: C:\Users\hp\miniforge3\condabin\conda.bat
|
||||
REM Need to go up 2 levels: condabin -> miniforge3
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
|
||||
goto :conda_found
|
||||
)
|
||||
|
||||
REM Default: assume it's 2 levels up
|
||||
for %%i in ("%CONDA_PATH%") do set "CONDA_BASE=%%~dpi"
|
||||
for %%i in ("%CONDA_BASE%..\.") do set "CONDA_BASE=%%~fi"
|
||||
|
||||
:conda_found
|
||||
echo Found conda base directory: %CONDA_BASE%
|
||||
echo.
|
||||
|
||||
REM Set target environment path
|
||||
@@ -116,6 +161,28 @@ if errorlevel 1 (
|
||||
exit /b 1
|
||||
)
|
||||
|
||||
echo.
|
||||
echo Checking UniLabOS entry point...
|
||||
REM Check if unilab-script.py exists
|
||||
set "UNILAB_SCRIPT=%ENV_PATH%\Scripts\unilab-script.py"
|
||||
if not exist "%UNILAB_SCRIPT%" (
|
||||
echo WARNING: unilab-script.py not found, creating it...
|
||||
(
|
||||
echo # -*- coding: utf-8 -*-
|
||||
echo import re
|
||||
echo import sys
|
||||
echo.
|
||||
echo from unilabos.app.main import main
|
||||
echo.
|
||||
echo if __name__ == '__main__':
|
||||
echo sys.argv[0] = re.sub^(r'(-script\.pyw?^|\.exe^)?$', '', sys.argv[0]^)
|
||||
echo sys.exit^(main^(^)^)
|
||||
) > "%UNILAB_SCRIPT%"
|
||||
echo Created: %UNILAB_SCRIPT%
|
||||
) else (
|
||||
echo Found: %UNILAB_SCRIPT%
|
||||
)
|
||||
|
||||
echo.
|
||||
echo ================================================
|
||||
echo Installation completed successfully!
|
||||
|
||||
@@ -96,6 +96,30 @@ else
|
||||
exit 1
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "Checking UniLabOS entry point..."
|
||||
# Check if unilab script exists in bin directory
|
||||
UNILAB_SCRIPT="$ENV_PATH/bin/unilab"
|
||||
if [ ! -f "$UNILAB_SCRIPT" ]; then
|
||||
echo "WARNING: unilab script not found, creating it..."
|
||||
cat > "$UNILAB_SCRIPT" << 'EOF'
|
||||
#!/usr/bin/env python
|
||||
# -*- coding: utf-8 -*-
|
||||
import re
|
||||
import sys
|
||||
|
||||
from unilabos.app.main import main
|
||||
|
||||
if __name__ == '__main__':
|
||||
sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
|
||||
sys.exit(main())
|
||||
EOF
|
||||
chmod +x "$UNILAB_SCRIPT"
|
||||
echo "Created: $UNILAB_SCRIPT"
|
||||
else
|
||||
echo "Found: $UNILAB_SCRIPT"
|
||||
fi
|
||||
|
||||
echo ""
|
||||
echo "================================================"
|
||||
echo "Installation completed successfully!"
|
||||
|
||||
@@ -34,7 +34,7 @@ dependencies:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- websockets
|
||||
# Notebook
|
||||
- ipython
|
||||
- jupyter
|
||||
@@ -63,6 +63,9 @@ dependencies:
|
||||
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
|
||||
# ilab equipments
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
- zeep
|
||||
- jinja2
|
||||
- pprp
|
||||
- pip:
|
||||
- paho-mqtt
|
||||
- opentrons_shared_data
|
||||
@@ -34,7 +34,7 @@ dependencies:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- websockets
|
||||
# Notebook
|
||||
- ipython
|
||||
- jupyter
|
||||
@@ -62,6 +62,9 @@ dependencies:
|
||||
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
|
||||
# ilab equipments
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
- zeep
|
||||
- jinja2
|
||||
- pprp
|
||||
- pip:
|
||||
- paho-mqtt
|
||||
- opentrons_shared_data
|
||||
@@ -35,8 +35,7 @@ dependencies:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- paho-mqtt
|
||||
- websockets
|
||||
# Notebook
|
||||
- ipython
|
||||
- jupyter
|
||||
@@ -65,6 +64,9 @@ dependencies:
|
||||
# ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
|
||||
# ilab equipments
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
- zeep
|
||||
- jinja2
|
||||
- pprp
|
||||
- pip:
|
||||
- paho-mqtt
|
||||
- opentrons_shared_data
|
||||
@@ -34,7 +34,7 @@ dependencies:
|
||||
- uvicorn
|
||||
- gradio
|
||||
- flask
|
||||
- websocket
|
||||
- websockets
|
||||
# Notebook
|
||||
- ipython
|
||||
- jupyter
|
||||
@@ -65,6 +65,9 @@ dependencies:
|
||||
- uni-lab::ros-humble-unilabos-msgs
|
||||
# driver
|
||||
#- crcmod
|
||||
- zeep
|
||||
- jinja2
|
||||
- pprp
|
||||
- pip:
|
||||
- paho-mqtt
|
||||
- opentrons_shared_data
|
||||
@@ -1,4 +1,5 @@
|
||||
#!/usr/bin/env python3
|
||||
# -*- coding: utf-8 -*-
|
||||
"""
|
||||
UniLabOS Installation Verification Script
|
||||
=========================================
|
||||
@@ -15,8 +16,38 @@ Usage:
|
||||
"""
|
||||
|
||||
import sys
|
||||
import os
|
||||
|
||||
# IMPORTANT: Set UTF-8 encoding BEFORE any other imports
|
||||
# This ensures all subsequent imports (including unilabos) can output UTF-8 characters
|
||||
if sys.platform == "win32":
|
||||
# Method 1: Reconfigure stdout/stderr to use UTF-8 with error handling
|
||||
try:
|
||||
sys.stdout.reconfigure(encoding="utf-8", errors="replace")
|
||||
sys.stderr.reconfigure(encoding="utf-8", errors="replace")
|
||||
except (AttributeError, OSError):
|
||||
pass
|
||||
|
||||
# Method 2: Set environment variable for subprocess and console
|
||||
os.environ["PYTHONIOENCODING"] = "utf-8"
|
||||
|
||||
# Method 3: Try to change Windows console code page to UTF-8
|
||||
try:
|
||||
import ctypes
|
||||
|
||||
# Set console code page to UTF-8 (CP 65001)
|
||||
ctypes.windll.kernel32.SetConsoleCP(65001)
|
||||
ctypes.windll.kernel32.SetConsoleOutputCP(65001)
|
||||
except (ImportError, AttributeError, OSError):
|
||||
pass
|
||||
|
||||
# Now import other modules
|
||||
import importlib
|
||||
|
||||
# Use ASCII-safe symbols that work across all platforms
|
||||
CHECK_MARK = "[OK]"
|
||||
CROSS_MARK = "[FAIL]"
|
||||
|
||||
|
||||
def check_package(package_name: str, display_name: str = None) -> bool:
|
||||
"""
|
||||
@@ -34,10 +65,10 @@ def check_package(package_name: str, display_name: str = None) -> bool:
|
||||
|
||||
try:
|
||||
importlib.import_module(package_name)
|
||||
print(f" ✓ {display_name}")
|
||||
print(f" {CHECK_MARK} {display_name}")
|
||||
return True
|
||||
except ImportError:
|
||||
print(f" ✗ {display_name}")
|
||||
print(f" {CROSS_MARK} {display_name}")
|
||||
return False
|
||||
|
||||
|
||||
@@ -47,10 +78,10 @@ def check_python_version() -> bool:
|
||||
version_str = f"{version.major}.{version.minor}.{version.micro}"
|
||||
|
||||
if version.major == 3 and version.minor >= 11:
|
||||
print(f" ✓ Python {version_str}")
|
||||
print(f" {CHECK_MARK} Python {version_str}")
|
||||
return True
|
||||
else:
|
||||
print(f" ✗ Python {version_str} (requires Python 3.8+)")
|
||||
print(f" {CROSS_MARK} Python {version_str} (requires Python 3.11+)")
|
||||
return False
|
||||
|
||||
|
||||
@@ -78,26 +109,23 @@ def main():
|
||||
# Run environment checker from unilabos
|
||||
print("Checking UniLabOS and dependencies...")
|
||||
try:
|
||||
from unilabos.utils.environment_check import EnvironmentChecker
|
||||
from unilabos.utils.environment_check import check_environment
|
||||
|
||||
print(" ✓ UniLabOS installed")
|
||||
print(f" {CHECK_MARK} UniLabOS installed")
|
||||
|
||||
checker = EnvironmentChecker()
|
||||
env_check_passed = checker.check_all_packages()
|
||||
# Check environment without auto-install (verification only)
|
||||
# Set show_details=False to suppress detailed Chinese output that may cause encoding issues
|
||||
env_check_passed = check_environment(auto_install=False, show_details=False)
|
||||
|
||||
if env_check_passed:
|
||||
print(" ✓ All required packages available")
|
||||
print(f" {CHECK_MARK} All required packages available")
|
||||
else:
|
||||
print(f" ✗ Missing {len(checker.missing_packages)} package(s):")
|
||||
for import_name, _ in checker.missing_packages:
|
||||
print(f" - {import_name}")
|
||||
all_passed = False
|
||||
print(f" {CROSS_MARK} Some optional packages are missing")
|
||||
except ImportError:
|
||||
print(" ✗ UniLabOS not installed")
|
||||
print(f" {CROSS_MARK} UniLabOS not installed")
|
||||
all_passed = False
|
||||
except Exception as e:
|
||||
print(f" ✗ Environment check failed: {str(e)}")
|
||||
all_passed = False
|
||||
print(f" {CROSS_MARK} Environment check failed: {str(e)}")
|
||||
print()
|
||||
|
||||
# Summary
|
||||
@@ -106,18 +134,18 @@ def main():
|
||||
print("=" * 60)
|
||||
|
||||
if all_passed:
|
||||
print("\n✓ All checks passed! Your UniLabOS installation is ready.")
|
||||
print(f"\n{CHECK_MARK} All checks passed! Your UniLabOS installation is ready.")
|
||||
print("\nNext steps:")
|
||||
print(" 1. Review the documentation: docs/user_guide/launch.md")
|
||||
print(" 2. Try the examples: docs/boot_examples/")
|
||||
print(" 3. Configure your devices: unilabos_data/startup_config.json")
|
||||
return 0
|
||||
else:
|
||||
print("\n✗ Some checks failed. Please review the errors above.")
|
||||
print(f"\n{CROSS_MARK} Some checks failed. Please review the errors above.")
|
||||
print("\nTroubleshooting:")
|
||||
print(" 1. Ensure you're in the correct conda environment: conda activate unilab")
|
||||
print(" 2. Check the installation documentation: docs/user_guide/installation.md")
|
||||
print(" 3. Try reinstalling: pip install -e .")
|
||||
print(" 3. Try reinstalling: pip install .")
|
||||
return 1
|
||||
|
||||
|
||||
|
||||
10
setup.py
10
setup.py
@@ -4,20 +4,20 @@ package_name = 'unilabos'
|
||||
|
||||
setup(
|
||||
name=package_name,
|
||||
version='0.10.4',
|
||||
version='0.10.7',
|
||||
packages=find_packages(),
|
||||
include_package_data=True,
|
||||
install_requires=['setuptools'],
|
||||
zip_safe=True,
|
||||
maintainer='Junhan Chang',
|
||||
maintainer_email='changjh@pku.edu.cn',
|
||||
author="The unilabos developers",
|
||||
maintainer='Junhan Chang, Xuwznln',
|
||||
maintainer_email='Junhan Chang <changjh@pku.edu.cn>, Xuwznln <18435084+Xuwznln@users.noreply.github.com>',
|
||||
description='',
|
||||
license='GPL v3',
|
||||
tests_require=['pytest'],
|
||||
entry_points={
|
||||
'console_scripts': [
|
||||
"unilab = unilabos.app.main:main",
|
||||
"unilab-register = unilabos.app.register:main"
|
||||
"unilab = unilabos.app.main:main"
|
||||
],
|
||||
},
|
||||
)
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
60
test/experiments/dispensing_station_bioyond.json
Normal file
60
test/experiments/dispensing_station_bioyond.json
Normal file
@@ -0,0 +1,60 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "dispensing_station_bioyond",
|
||||
"name": "dispensing_station_bioyond",
|
||||
"children": [
|
||||
"Bioyond_Dispensing_Deck"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "dispensing_station.bioyond",
|
||||
"config": {
|
||||
"config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44388"
|
||||
},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "Bioyond_Dispensing_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
|
||||
}
|
||||
},
|
||||
"station_config": {
|
||||
"station_type": "dispensing_station",
|
||||
"enable_dispensing_station": true,
|
||||
"enable_reaction_station": false,
|
||||
"station_name": "DispensingStation_001",
|
||||
"description": "Bioyond配液工作站"
|
||||
},
|
||||
"protocol_type": []
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "Bioyond_Dispensing_Deck",
|
||||
"name": "Bioyond_Dispensing_Deck",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "dispensing_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerPreparationStation_Deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BIOYOND_PolymerPreparationStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
148
test/experiments/laiyu_liquid.json
Normal file
148
test/experiments/laiyu_liquid.json
Normal file
@@ -0,0 +1,148 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "laiyu_liquid_station",
|
||||
"name": "LaiYu液体处理工作站",
|
||||
"children": [
|
||||
"module_1_8tubes",
|
||||
"module_2_96well_deep",
|
||||
"module_3_beaker",
|
||||
"module_4_96well_tips"
|
||||
],
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "laiyu_liquid",
|
||||
"position": {
|
||||
"x": 500,
|
||||
"y": 200,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"total_modules": 4,
|
||||
"total_wells": 201,
|
||||
"safety_margin": {
|
||||
"x": 5.0,
|
||||
"y": 5.0,
|
||||
"z": 5.0
|
||||
},
|
||||
"protocol_type": ["LiquidHandlingProtocol", "PipettingProtocol", "TransferProtocol"]
|
||||
},
|
||||
"data": {
|
||||
"status": "Ready",
|
||||
"version": "1.0"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "module_1_8tubes",
|
||||
"name": "8管位置模块",
|
||||
"children": [],
|
||||
"parent": "laiyu_liquid_station",
|
||||
"type": "container",
|
||||
"class": "opentrons_24_tuberack_nest_1point5ml_snapcap",
|
||||
"position": {
|
||||
"x": 100,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"module_type": "tube_rack",
|
||||
"wells_count": 8,
|
||||
"well_diameter": 29.0,
|
||||
"well_depth": 117.0,
|
||||
"well_volume": 77000.0,
|
||||
"well_shape": "circular",
|
||||
"layout": "2x4"
|
||||
},
|
||||
"data": {
|
||||
"max_volume": 77000.0,
|
||||
"current_volume": 0.0,
|
||||
"wells": ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "module_2_96well_deep",
|
||||
"name": "96深孔板",
|
||||
"children": [],
|
||||
"parent": "laiyu_liquid_station",
|
||||
"type": "plate",
|
||||
"class": "nest_96_wellplate_2ml_deep",
|
||||
"position": {
|
||||
"x": 300,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"module_type": "96_well_deep_plate",
|
||||
"wells_count": 96,
|
||||
"well_diameter": 8.2,
|
||||
"well_depth": 39.4,
|
||||
"well_volume": 2080.0,
|
||||
"well_shape": "circular",
|
||||
"layout": "8x12"
|
||||
},
|
||||
"data": {
|
||||
"max_volume": 2080.0,
|
||||
"current_volume": 0.0,
|
||||
"plate_type": "deep_well"
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "module_3_beaker",
|
||||
"name": "敞口玻璃瓶",
|
||||
"children": [],
|
||||
"parent": "laiyu_liquid_station",
|
||||
"type": "container",
|
||||
"class": "container",
|
||||
"position": {
|
||||
"x": 500,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"module_type": "beaker_holder",
|
||||
"wells_count": 1,
|
||||
"well_diameter": 85.0,
|
||||
"well_depth": 120.0,
|
||||
"well_volume": 500000.0,
|
||||
"well_shape": "circular",
|
||||
"supported_containers": ["250ml", "500ml", "1000ml"]
|
||||
},
|
||||
"data": {
|
||||
"max_volume": 500000.0,
|
||||
"current_volume": 0.0,
|
||||
"container_type": "beaker",
|
||||
"wells": ["A1"]
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "module_4_96well_tips",
|
||||
"name": "96吸头架",
|
||||
"children": [],
|
||||
"parent": "laiyu_liquid_station",
|
||||
"type": "container",
|
||||
"class": "tip_rack",
|
||||
"position": {
|
||||
"x": 700,
|
||||
"y": 100,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"module_type": "tip_rack",
|
||||
"wells_count": 96,
|
||||
"well_diameter": 8.2,
|
||||
"well_depth": 60.0,
|
||||
"well_volume": 6000.0,
|
||||
"well_shape": "circular",
|
||||
"layout": "8x12",
|
||||
"tip_type": "standard"
|
||||
},
|
||||
"data": {
|
||||
"max_volume": 6000.0,
|
||||
"current_volume": 0.0,
|
||||
"tip_capacity": "1000μL",
|
||||
"tips_available": 96
|
||||
}
|
||||
}
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
@@ -22,8 +22,8 @@
|
||||
"axis": "Left",
|
||||
"channel_num": 8,
|
||||
"setup": false,
|
||||
"debug": false,
|
||||
"simulator": false,
|
||||
"debug": true,
|
||||
"simulator": true,
|
||||
"matrix_id": "71593"
|
||||
},
|
||||
"data": {},
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
69
test/experiments/reaction_station_bioyond.json
Normal file
69
test/experiments/reaction_station_bioyond.json
Normal file
@@ -0,0 +1,69 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "reaction_station_bioyond",
|
||||
"name": "reaction_station_bioyond",
|
||||
"parent": null,
|
||||
"children": [
|
||||
"Bioyond_Deck"
|
||||
],
|
||||
"type": "device",
|
||||
"class": "reaction_station.bioyond",
|
||||
"config": {
|
||||
"bioyond_config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44402",
|
||||
"workflow_mappings": {
|
||||
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
||||
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
||||
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
|
||||
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
|
||||
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
||||
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
|
||||
},
|
||||
"material_type_mappings": {
|
||||
"烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6VialCarrier"
|
||||
}
|
||||
},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
|
||||
}
|
||||
},
|
||||
"protocol_type": []
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "Bioyond_Deck",
|
||||
"name": "Bioyond_Deck",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
],
|
||||
"parent": "reaction_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
69
test/experiments/reaction_station_bioyond_test.json
Normal file
69
test/experiments/reaction_station_bioyond_test.json
Normal file
@@ -0,0 +1,69 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "reaction_station_bioyond",
|
||||
"name": "reaction_station_bioyond",
|
||||
"parent": null,
|
||||
"children": [
|
||||
"Bioyond_Deck"
|
||||
],
|
||||
"type": "device",
|
||||
"class": "workstation.bioyond",
|
||||
"config": {
|
||||
"bioyond_config": {
|
||||
"api_key": "DE9BDDA0",
|
||||
"api_host": "http://192.168.1.200:44388",
|
||||
"workflow_mappings": {
|
||||
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
|
||||
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
|
||||
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
|
||||
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
|
||||
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding(titration)": "3a160824-0665-01ed-285a-51ef817a9046",
|
||||
"Liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
|
||||
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
|
||||
},
|
||||
"material_type_mappings": {
|
||||
"烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6VialCarrier"
|
||||
}
|
||||
},
|
||||
"deck": {
|
||||
"data": {
|
||||
"_resource_child_name": "Bioyond_Deck",
|
||||
"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
|
||||
}
|
||||
},
|
||||
"protocol_type": []
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "Bioyond_Deck",
|
||||
"name": "Bioyond_Deck",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
],
|
||||
"parent": "reaction_station_bioyond",
|
||||
"type": "deck",
|
||||
"class": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "BIOYOND_PolymerReactionStation_Deck",
|
||||
"setup": true,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
}
|
||||
]
|
||||
}
|
||||
394
test/experiments/test_laiyu.json
Normal file
394
test/experiments/test_laiyu.json
Normal file
@@ -0,0 +1,394 @@
|
||||
{
|
||||
"nodes": [
|
||||
{
|
||||
"id": "liquid_handler",
|
||||
"name": "liquid_handler",
|
||||
"parent": null,
|
||||
"type": "device",
|
||||
"class": "liquid_handler",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"data": {},
|
||||
"children": [
|
||||
"deck"
|
||||
],
|
||||
"config": {
|
||||
"deck": {
|
||||
"_resource_child_name": "deck",
|
||||
"_resource_type": "pylabrobot.resources.opentrons.deck:OTDeck",
|
||||
"name": "deck"
|
||||
},
|
||||
"backend": {
|
||||
"type": "UniLiquidHandlerRvizBackend"
|
||||
|
||||
},
|
||||
"simulator": true,
|
||||
"total_height": 300
|
||||
}
|
||||
},
|
||||
{
|
||||
"id": "deck",
|
||||
"name": "deck",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"tip_rack",
|
||||
"plate_well",
|
||||
"tube_rack",
|
||||
"bottle_rack"
|
||||
],
|
||||
"parent": "liquid_handler",
|
||||
"type": "deck",
|
||||
"class": "TransformXYZDeck",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 18
|
||||
},
|
||||
"config": {
|
||||
"type": "TransformXYZDeck",
|
||||
"size_x": 624.3,
|
||||
"size_y": 565.2,
|
||||
"size_z": 900,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
}
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
{
|
||||
"id": "tip_rack",
|
||||
"name": "tip_rack",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"tip_rack_A1"
|
||||
],
|
||||
"parent": "deck",
|
||||
"type": "tip_rack",
|
||||
"class": "tiprack_box",
|
||||
"position": {
|
||||
"x": 150,
|
||||
"y": 7,
|
||||
"z": 103
|
||||
},
|
||||
"config": {
|
||||
"type": "TipRack",
|
||||
"size_x": 134,
|
||||
"size_y": 96,
|
||||
"size_z": 7.0,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tip_rack",
|
||||
"model": "tiprack_box",
|
||||
"ordering": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
"id": "tip_rack_A1",
|
||||
"name": "tip_rack_A1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "tip_rack",
|
||||
"type": "container",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 11.12,
|
||||
"y": 75,
|
||||
"z": -91.54
|
||||
},
|
||||
"config": {
|
||||
"type": "TipSpot",
|
||||
"size_x": 9,
|
||||
"size_y": 9,
|
||||
"size_z": 95,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tip_spot",
|
||||
"model": null,
|
||||
"prototype_tip": {
|
||||
"type": "Tip",
|
||||
"total_tip_length": 95,
|
||||
"has_filter": false,
|
||||
"maximal_volume": 1000.0,
|
||||
"fitting_depth": 3.29
|
||||
}
|
||||
},
|
||||
"data": {
|
||||
"tip": null,
|
||||
"tip_state": null,
|
||||
"pending_tip": null
|
||||
}
|
||||
},
|
||||
|
||||
|
||||
{
|
||||
"id": "plate_well",
|
||||
"name": "plate_well",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"plate_well_A1"
|
||||
],
|
||||
"parent": "deck",
|
||||
"type": "plate",
|
||||
"class": "plate_96",
|
||||
"position": {
|
||||
"x": 161,
|
||||
"y": 116,
|
||||
"z": 48.5
|
||||
},
|
||||
"pose": {
|
||||
"position_3d": {
|
||||
"x": 161,
|
||||
"y": 116,
|
||||
"z": 48.5
|
||||
},
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
}
|
||||
},
|
||||
"config": {
|
||||
"type": "Plate",
|
||||
"size_x": 127.76,
|
||||
"size_y": 85.48,
|
||||
"size_z": 45.5,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "plate",
|
||||
"model": "plate_96",
|
||||
"ordering": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
{
|
||||
"id": "plate_well_A1",
|
||||
"name": "plate_well_A1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "plate_well",
|
||||
"type": "device",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 10.1,
|
||||
"y": 70,
|
||||
"z": 6.1
|
||||
},
|
||||
"config": {
|
||||
"type": "Well",
|
||||
"size_x": 8.2,
|
||||
"size_y": 8.2,
|
||||
"size_z": 38,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "well",
|
||||
"model": null,
|
||||
"max_volume": 2000,
|
||||
"material_z_thickness": null,
|
||||
"compute_volume_from_height": null,
|
||||
"compute_height_from_volume": null,
|
||||
"bottom_type": "unknown",
|
||||
"cross_section_type": "rectangle"
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["water", 50.0]],
|
||||
"pending_liquids": [["water", 50.0]],
|
||||
"liquid_history": []
|
||||
}
|
||||
},
|
||||
|
||||
|
||||
{
|
||||
"id": "tube_rack",
|
||||
"name": "tube_rack",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"tube_rack_A1"
|
||||
],
|
||||
"parent": "deck",
|
||||
"type": "container",
|
||||
"class": "tube_container",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 127,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "Plate",
|
||||
"size_x": 151,
|
||||
"size_y": 75,
|
||||
"size_z": 75,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"model": "tube_container",
|
||||
"ordering": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
|
||||
{
|
||||
"id": "tube_rack_A1",
|
||||
"name": "tube_rack_A1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "tube_rack",
|
||||
"type": "device",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 6,
|
||||
"y": 38,
|
||||
"z": 10
|
||||
},
|
||||
"config": {
|
||||
"type": "Well",
|
||||
"size_x": 34,
|
||||
"size_y": 34,
|
||||
"size_z": 117,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tube",
|
||||
"model": null,
|
||||
"max_volume": 2000,
|
||||
"material_z_thickness": null,
|
||||
"compute_volume_from_height": null,
|
||||
"compute_height_from_volume": null,
|
||||
"bottom_type": "unknown",
|
||||
"cross_section_type": "rectangle"
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["water", 50.0]],
|
||||
"pending_liquids": [["water", 50.0]],
|
||||
"liquid_history": []
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
,
|
||||
|
||||
|
||||
{
|
||||
"id": "bottle_rack",
|
||||
"name": "bottle_rack",
|
||||
"sample_id": null,
|
||||
"children": [
|
||||
"bottle_rack_A1"
|
||||
],
|
||||
"parent": "deck",
|
||||
"type": "container",
|
||||
"class": "bottle_container",
|
||||
"position": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0
|
||||
},
|
||||
"config": {
|
||||
"type": "Plate",
|
||||
"size_x": 130,
|
||||
"size_y": 117,
|
||||
"size_z": 8,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tube_rack",
|
||||
"model": "bottle_container",
|
||||
"ordering": [
|
||||
"A1"
|
||||
]
|
||||
},
|
||||
"data": {}
|
||||
},
|
||||
|
||||
|
||||
{
|
||||
"id": "bottle_rack_A1",
|
||||
"name": "bottle_rack_A1",
|
||||
"sample_id": null,
|
||||
"children": [],
|
||||
"parent": "bottle_rack",
|
||||
"type": "device",
|
||||
"class": "",
|
||||
"position": {
|
||||
"x": 25,
|
||||
"y": 18.5,
|
||||
"z": 8
|
||||
},
|
||||
"config": {
|
||||
"type": "Well",
|
||||
"size_x": 80,
|
||||
"size_y": 80,
|
||||
"size_z": 117,
|
||||
"rotation": {
|
||||
"x": 0,
|
||||
"y": 0,
|
||||
"z": 0,
|
||||
"type": "Rotation"
|
||||
},
|
||||
"category": "tube",
|
||||
"model": null,
|
||||
"max_volume": 2000,
|
||||
"material_z_thickness": null,
|
||||
"compute_volume_from_height": null,
|
||||
"compute_height_from_volume": null,
|
||||
"bottom_type": "unknown",
|
||||
"cross_section_type": "rectangle"
|
||||
},
|
||||
"data": {
|
||||
"liquids": [["water", 50.0]],
|
||||
"pending_liquids": [["water", 50.0]],
|
||||
"liquid_history": []
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
],
|
||||
"links": []
|
||||
}
|
||||
588
test/registry/example_devices.py
Normal file
588
test/registry/example_devices.py
Normal file
@@ -0,0 +1,588 @@
|
||||
"""
|
||||
示例设备类文件，用于测试注册表编辑器
|
||||
"""
|
||||
|
||||
import asyncio
|
||||
from typing import Dict, Any, Optional, List
|
||||
|
||||
|
||||
class SmartPumpController:
|
||||
"""
|
||||
智能泵控制器
|
||||
|
||||
支持多种泵送模式，具有高精度流量控制和自动校准功能。
|
||||
适用于实验室自动化系统中的液体处理任务。
|
||||
"""
|
||||
|
||||
def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
|
||||
"""
|
||||
初始化智能泵控制器
|
||||
|
||||
Args:
|
||||
device_id: 设备唯一标识符
|
||||
port: 通信端口
|
||||
"""
|
||||
self.device_id = device_id
|
||||
self.port = port
|
||||
self.is_connected = False
|
||||
self.current_flow_rate = 0.0
|
||||
self.total_volume_pumped = 0.0
|
||||
self.calibration_factor = 1.0
|
||||
self.pump_mode = "continuous" # continuous, volume, rate
|
||||
|
||||
def connect_device(self, timeout: int = 10) -> bool:
|
||||
"""
|
||||
连接到泵设备
|
||||
|
||||
Args:
|
||||
timeout: 连接超时时间（秒）
|
||||
|
||||
Returns:
|
||||
bool: 连接是否成功
|
||||
"""
|
||||
# 模拟连接过程
|
||||
self.is_connected = True
|
||||
return True
|
||||
|
||||
def disconnect_device(self) -> bool:
|
||||
"""
|
||||
断开设备连接
|
||||
|
||||
Returns:
|
||||
bool: 断开连接是否成功
|
||||
"""
|
||||
self.is_connected = False
|
||||
self.current_flow_rate = 0.0
|
||||
return True
|
||||
|
||||
def set_flow_rate(self, flow_rate: float, units: str = "ml/min") -> bool:
|
||||
"""
|
||||
设置泵流速
|
||||
|
||||
Args:
|
||||
flow_rate: 流速值
|
||||
units: 流速单位
|
||||
|
||||
Returns:
|
||||
bool: 设置是否成功
|
||||
"""
|
||||
if not self.is_connected:
|
||||
return False
|
||||
|
||||
self.current_flow_rate = flow_rate
|
||||
return True
|
||||
|
||||
async def pump_volume_async(self, volume: float, flow_rate: float) -> Dict[str, Any]:
|
||||
"""
|
||||
异步泵送指定体积的液体
|
||||
|
||||
Args:
|
||||
volume: 目标体积 (mL)
|
||||
flow_rate: 泵送流速 (mL/min)
|
||||
|
||||
Returns:
|
||||
Dict: 包含操作结果的字典
|
||||
"""
|
||||
if not self.is_connected:
|
||||
return {"success": False, "error": "设备未连接"}
|
||||
|
||||
# 计算泵送时间
|
||||
pump_time = (volume / flow_rate) * 60 # 转换为秒
|
||||
|
||||
self.current_flow_rate = flow_rate
|
||||
await asyncio.sleep(min(pump_time, 3.0)) # 模拟泵送过程
|
||||
|
||||
self.total_volume_pumped += volume
|
||||
self.current_flow_rate = 0.0
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"pumped_volume": volume,
|
||||
"actual_time": min(pump_time, 3.0),
|
||||
"total_volume": self.total_volume_pumped,
|
||||
}
|
||||
|
||||
def emergency_stop(self) -> bool:
|
||||
"""
|
||||
紧急停止泵
|
||||
|
||||
Returns:
|
||||
bool: 停止是否成功
|
||||
"""
|
||||
self.current_flow_rate = 0.0
|
||||
return True
|
||||
|
||||
def perform_calibration(self, reference_volume: float, measured_volume: float) -> bool:
|
||||
"""
|
||||
执行泵校准
|
||||
|
||||
Args:
|
||||
reference_volume: 参考体积
|
||||
measured_volume: 实际测量体积
|
||||
|
||||
Returns:
|
||||
bool: 校准是否成功
|
||||
"""
|
||||
if measured_volume > 0:
|
||||
self.calibration_factor = reference_volume / measured_volume
|
||||
return True
|
||||
return False
|
||||
|
||||
# 状态查询方法
|
||||
def get_connection_status(self) -> str:
|
||||
"""获取连接状态"""
|
||||
return "connected" if self.is_connected else "disconnected"
|
||||
|
||||
def get_current_flow_rate(self) -> float:
|
||||
"""获取当前流速 (mL/min)"""
|
||||
return self.current_flow_rate
|
||||
|
||||
def get_total_volume(self) -> float:
|
||||
"""获取累计泵送体积 (mL)"""
|
||||
return self.total_volume_pumped
|
||||
|
||||
def get_calibration_factor(self) -> float:
|
||||
"""获取校准因子"""
|
||||
return self.calibration_factor
|
||||
|
||||
def get_pump_mode(self) -> str:
|
||||
"""获取泵送模式"""
|
||||
return self.pump_mode
|
||||
|
||||
def get_device_status(self) -> Dict[str, Any]:
|
||||
"""获取设备完整状态信息"""
|
||||
return {
|
||||
"device_id": self.device_id,
|
||||
"connected": self.is_connected,
|
||||
"flow_rate": self.current_flow_rate,
|
||||
"total_volume": self.total_volume_pumped,
|
||||
"calibration_factor": self.calibration_factor,
|
||||
"mode": self.pump_mode,
|
||||
"running": self.current_flow_rate > 0,
|
||||
}
|
||||
|
||||
|
||||
class AdvancedTemperatureController:
|
||||
"""
|
||||
高级温度控制器
|
||||
|
||||
支持PID控制、多点温度监控和程序化温度曲线。
|
||||
适用于需要精确温度控制的化学反应和材料处理过程。
|
||||
"""
|
||||
|
||||
def __init__(self, controller_id: str = "temp_controller_01"):
|
||||
"""
|
||||
初始化温度控制器
|
||||
|
||||
Args:
|
||||
controller_id: 控制器ID
|
||||
"""
|
||||
self.controller_id = controller_id
|
||||
self.current_temperature = 25.0
|
||||
self.target_temperature = 25.0
|
||||
self.is_heating = False
|
||||
self.is_cooling = False
|
||||
self.pid_enabled = True
|
||||
self.temperature_history: List[Dict] = []
|
||||
|
||||
def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
|
||||
"""
|
||||
设置目标温度
|
||||
|
||||
Args:
|
||||
temperature: 目标温度 (°C)
|
||||
rate: 升温/降温速率 (°C/min)
|
||||
|
||||
Returns:
|
||||
bool: 设置是否成功
|
||||
"""
|
||||
self.target_temperature = temperature
|
||||
return True
|
||||
|
||||
async def heat_to_temperature_async(
|
||||
self, temperature: float, tolerance: float = 0.5, timeout: int = 600
|
||||
) -> Dict[str, Any]:
|
||||
"""
|
||||
异步加热到指定温度
|
||||
|
||||
Args:
|
||||
temperature: 目标温度 (°C)
|
||||
tolerance: 温度容差 (°C)
|
||||
timeout: 最大等待时间 (秒)
|
||||
|
||||
Returns:
|
||||
Dict: 操作结果
|
||||
"""
|
||||
self.target_temperature = temperature
|
||||
start_temp = self.current_temperature
|
||||
|
||||
if temperature > start_temp:
|
||||
self.is_heating = True
|
||||
elif temperature < start_temp:
|
||||
self.is_cooling = True
|
||||
|
||||
# 模拟温度变化过程
|
||||
steps = min(abs(temperature - start_temp) * 2, 20) # 计算步数
|
||||
step_time = min(timeout / steps if steps > 0 else 1, 2.0) # 每步最多2秒
|
||||
|
||||
for step in range(int(steps)):
|
||||
progress = (step + 1) / steps
|
||||
self.current_temperature = start_temp + (temperature - start_temp) * progress
|
||||
|
||||
# 记录温度历史
|
||||
self.temperature_history.append(
|
||||
{
|
||||
"timestamp": asyncio.get_event_loop().time(),
|
||||
"temperature": self.current_temperature,
|
||||
"target": self.target_temperature,
|
||||
}
|
||||
)
|
||||
|
||||
await asyncio.sleep(step_time)
|
||||
|
||||
# 保持历史记录不超过100条
|
||||
if len(self.temperature_history) > 100:
|
||||
self.temperature_history.pop(0)
|
||||
|
||||
# 最终设置为目标温度
|
||||
self.current_temperature = temperature
|
||||
self.is_heating = False
|
||||
self.is_cooling = False
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"final_temperature": self.current_temperature,
|
||||
"start_temperature": start_temp,
|
||||
"time_taken": steps * step_time,
|
||||
}
|
||||
|
||||
def enable_pid_control(self, kp: float = 1.0, ki: float = 0.1, kd: float = 0.05) -> bool:
|
||||
"""
|
||||
启用PID控制
|
||||
|
||||
Args:
|
||||
kp: 比例增益
|
||||
ki: 积分增益
|
||||
kd: 微分增益
|
||||
|
||||
Returns:
|
||||
bool: 启用是否成功
|
||||
"""
|
||||
self.pid_enabled = True
|
||||
return True
|
||||
|
||||
def run_temperature_program(self, program: List[Dict]) -> bool:
|
||||
"""
|
||||
运行温度程序
|
||||
|
||||
Args:
|
||||
program: 温度程序列表，每个元素包含温度和持续时间
|
||||
|
||||
Returns:
|
||||
bool: 程序启动是否成功
|
||||
"""
|
||||
# 模拟程序启动
|
||||
return True
|
||||
|
||||
# 状态查询方法
|
||||
def get_current_temperature(self) -> float:
|
||||
"""获取当前温度 (°C)"""
|
||||
return round(self.current_temperature, 2)
|
||||
|
||||
def get_target_temperature(self) -> float:
|
||||
"""获取目标温度 (°C)"""
|
||||
return self.target_temperature
|
||||
|
||||
def get_heating_status(self) -> bool:
|
||||
"""获取加热状态"""
|
||||
return self.is_heating
|
||||
|
||||
def get_cooling_status(self) -> bool:
|
||||
"""获取制冷状态"""
|
||||
return self.is_cooling
|
||||
|
||||
def get_pid_status(self) -> bool:
|
||||
"""获取PID控制状态"""
|
||||
return self.pid_enabled
|
||||
|
||||
def get_temperature_history(self) -> List[Dict]:
|
||||
"""获取温度历史记录"""
|
||||
return self.temperature_history[-10:] # 返回最近10条记录
|
||||
|
||||
def get_controller_status(self) -> Dict[str, Any]:
|
||||
"""获取控制器完整状态"""
|
||||
return {
|
||||
"controller_id": self.controller_id,
|
||||
"current_temp": self.current_temperature,
|
||||
"target_temp": self.target_temperature,
|
||||
"is_heating": self.is_heating,
|
||||
"is_cooling": self.is_cooling,
|
||||
"pid_enabled": self.pid_enabled,
|
||||
"history_count": len(self.temperature_history),
|
||||
}
|
||||
|
||||
|
||||
class MultiChannelAnalyzer:
|
||||
"""
|
||||
多通道分析仪
|
||||
|
||||
支持同时监测多个通道的信号，提供实时数据采集和分析功能。
|
||||
常用于光谱分析、电化学测量等应用场景。
|
||||
"""
|
||||
|
||||
def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
|
||||
"""
|
||||
初始化多通道分析仪
|
||||
|
||||
Args:
|
||||
analyzer_id: 分析仪ID
|
||||
channels: 通道数量
|
||||
"""
|
||||
self.analyzer_id = analyzer_id
|
||||
self.channel_count = channels
|
||||
self.channel_data = {i: {"value": 0.0, "unit": "V", "enabled": True} for i in range(channels)}
|
||||
self.is_measuring = False
|
||||
self.sample_rate = 1000 # Hz
|
||||
|
||||
def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
|
||||
"""
|
||||
配置通道
|
||||
|
||||
Args:
|
||||
channel: 通道编号
|
||||
enabled: 是否启用
|
||||
unit: 测量单位
|
||||
|
||||
Returns:
|
||||
bool: 配置是否成功
|
||||
"""
|
||||
if 0 <= channel < self.channel_count:
|
||||
self.channel_data[channel]["enabled"] = enabled
|
||||
self.channel_data[channel]["unit"] = unit
|
||||
return True
|
||||
return False
|
||||
|
||||
async def start_measurement_async(self, duration: int = 10) -> Dict[str, Any]:
|
||||
"""
|
||||
开始异步测量
|
||||
|
||||
Args:
|
||||
duration: 测量持续时间（秒）
|
||||
|
||||
Returns:
|
||||
Dict: 测量结果
|
||||
"""
|
||||
self.is_measuring = True
|
||||
|
||||
# 模拟数据采集
|
||||
measurements = []
|
||||
for second in range(duration):
|
||||
timestamp = asyncio.get_event_loop().time()
|
||||
frame_data = {}
|
||||
|
||||
for channel in range(self.channel_count):
|
||||
if self.channel_data[channel]["enabled"]:
|
||||
# 模拟传感器数据
|
||||
import random
|
||||
|
||||
value = random.uniform(-5.0, 5.0)
|
||||
frame_data[f"channel_{channel}"] = value
|
||||
self.channel_data[channel]["value"] = value
|
||||
|
||||
measurements.append({"timestamp": timestamp, "data": frame_data})
|
||||
|
||||
await asyncio.sleep(1.0) # 每秒采集一次
|
||||
|
||||
self.is_measuring = False
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"duration": duration,
|
||||
"samples_count": len(measurements),
|
||||
"measurements": measurements[-5:], # 只返回最后5个样本
|
||||
"channels_active": len([ch for ch in self.channel_data.values() if ch["enabled"]]),
|
||||
}
|
||||
|
||||
def stop_measurement(self) -> bool:
|
||||
"""
|
||||
停止测量
|
||||
|
||||
Returns:
|
||||
bool: 停止是否成功
|
||||
"""
|
||||
self.is_measuring = False
|
||||
return True
|
||||
|
||||
def reset_channels(self) -> bool:
|
||||
"""
|
||||
重置所有通道
|
||||
|
||||
Returns:
|
||||
bool: 重置是否成功
|
||||
"""
|
||||
for channel in self.channel_data:
|
||||
self.channel_data[channel]["value"] = 0.0
|
||||
return True
|
||||
|
||||
# 状态查询方法
|
||||
def get_measurement_status(self) -> bool:
|
||||
"""获取测量状态"""
|
||||
return self.is_measuring
|
||||
|
||||
def get_channel_count(self) -> int:
|
||||
"""获取通道数量"""
|
||||
return self.channel_count
|
||||
|
||||
def get_sample_rate(self) -> float:
|
||||
"""获取采样率 (Hz)"""
|
||||
return self.sample_rate
|
||||
|
||||
def get_channel_values(self) -> Dict[int, float]:
|
||||
"""获取所有通道的当前值"""
|
||||
return {ch: data["value"] for ch, data in self.channel_data.items() if data["enabled"]}
|
||||
|
||||
def get_enabled_channels(self) -> List[int]:
|
||||
"""获取已启用的通道列表"""
|
||||
return [ch for ch, data in self.channel_data.items() if data["enabled"]]
|
||||
|
||||
def get_analyzer_status(self) -> Dict[str, Any]:
|
||||
"""获取分析仪完整状态"""
|
||||
return {
|
||||
"analyzer_id": self.analyzer_id,
|
||||
"channel_count": self.channel_count,
|
||||
"is_measuring": self.is_measuring,
|
||||
"sample_rate": self.sample_rate,
|
||||
"active_channels": len(self.get_enabled_channels()),
|
||||
"channel_data": self.channel_data,
|
||||
}
|
||||
|
||||
|
||||
class AutomatedDispenser:
|
||||
"""
|
||||
自动分配器
|
||||
|
||||
精确控制固体和液体材料的分配，支持多种分配模式和容器管理。
|
||||
集成称重功能，确保分配精度和重现性。
|
||||
"""
|
||||
|
||||
def __init__(self, dispenser_id: str = "dispenser_01"):
|
||||
"""
|
||||
初始化自动分配器
|
||||
|
||||
Args:
|
||||
dispenser_id: 分配器ID
|
||||
"""
|
||||
self.dispenser_id = dispenser_id
|
||||
self.is_ready = True
|
||||
self.current_position = {"x": 0.0, "y": 0.0, "z": 0.0}
|
||||
self.dispensed_total = 0.0
|
||||
self.container_capacity = 1000.0 # mL
|
||||
self.precision_mode = True
|
||||
|
||||
def move_to_position(self, x: float, y: float, z: float) -> bool:
|
||||
"""
|
||||
移动到指定位置
|
||||
|
||||
Args:
|
||||
x: X坐标 (mm)
|
||||
y: Y坐标 (mm)
|
||||
z: Z坐标 (mm)
|
||||
|
||||
Returns:
|
||||
bool: 移动是否成功
|
||||
"""
|
||||
self.current_position = {"x": x, "y": y, "z": z}
|
||||
return True
|
||||
|
||||
async def dispense_liquid_async(self, volume: float, container_id: str, viscosity: str = "low") -> Dict[str, Any]:
|
||||
"""
|
||||
异步分配液体
|
||||
|
||||
Args:
|
||||
volume: 分配体积 (mL)
|
||||
container_id: 容器ID
|
||||
viscosity: 液体粘度等级
|
||||
|
||||
Returns:
|
||||
Dict: 分配结果
|
||||
"""
|
||||
if not self.is_ready:
|
||||
return {"success": False, "error": "设备未就绪"}
|
||||
|
||||
if volume <= 0:
|
||||
return {"success": False, "error": "体积必须大于0"}
|
||||
|
||||
# 模拟分配过程
|
||||
dispense_time = volume * 0.1 # 每mL需要0.1秒
|
||||
if viscosity == "high":
|
||||
dispense_time *= 2 # 高粘度液体需要更长时间
|
||||
|
||||
await asyncio.sleep(min(dispense_time, 5.0)) # 最多等待5秒
|
||||
|
||||
self.dispensed_total += volume
|
||||
|
||||
return {
|
||||
"success": True,
|
||||
"dispensed_volume": volume,
|
||||
"container_id": container_id,
|
||||
"actual_time": min(dispense_time, 5.0),
|
||||
"total_dispensed": self.dispensed_total,
|
||||
}
|
||||
|
||||
def clean_dispenser(self, wash_volume: float = 5.0) -> bool:
|
||||
"""
|
||||
清洗分配器
|
||||
|
||||
Args:
|
||||
wash_volume: 清洗液体积 (mL)
|
||||
|
||||
Returns:
|
||||
bool: 清洗是否成功
|
||||
"""
|
||||
# 模拟清洗过程
|
||||
return True
|
||||
|
||||
def calibrate_volume(self, target_volume: float) -> bool:
|
||||
"""
|
||||
校准分配体积
|
||||
|
||||
Args:
|
||||
target_volume: 校准目标体积 (mL)
|
||||
|
||||
Returns:
|
||||
bool: 校准是否成功
|
||||
"""
|
||||
# 模拟校准过程
|
||||
return True
|
||||
|
||||
# 状态查询方法
|
||||
def get_ready_status(self) -> bool:
|
||||
"""获取就绪状态"""
|
||||
return self.is_ready
|
||||
|
||||
def get_current_position(self) -> Dict[str, float]:
|
||||
"""获取当前位置坐标"""
|
||||
return self.current_position.copy()
|
||||
|
||||
def get_dispensed_total(self) -> float:
|
||||
"""获取累计分配体积 (mL)"""
|
||||
return self.dispensed_total
|
||||
|
||||
def get_container_capacity(self) -> float:
|
||||
"""获取容器容量 (mL)"""
|
||||
return self.container_capacity
|
||||
|
||||
def get_precision_mode(self) -> bool:
|
||||
"""获取精密模式状态"""
|
||||
return self.precision_mode
|
||||
|
||||
def get_dispenser_status(self) -> Dict[str, Any]:
|
||||
"""获取分配器完整状态"""
|
||||
return {
|
||||
"dispenser_id": self.dispenser_id,
|
||||
"ready": self.is_ready,
|
||||
"position": self.current_position,
|
||||
"dispensed_total": self.dispensed_total,
|
||||
"capacity": self.container_capacity,
|
||||
"precision_mode": self.precision_mode,
|
||||
}
|
||||
181
test/resources/bioyond_materials_liquidhandling_1.json
Normal file
181
test/resources/bioyond_materials_liquidhandling_1.json
Normal file
@@ -0,0 +1,181 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1c62c4-c3d2-b803-b72d-7f1153ffef3b",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00050",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 287.16699029126215,
|
||||
"lockQuantity": 285.16699029126215,
|
||||
"unit": "毫升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-efce-0939-69ca5a7dfd39",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0008",
|
||||
"x": 2,
|
||||
"y": 4,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-0e03-1bc1-1296-dae1905c4108",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00052",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 386.8990291262136,
|
||||
"lockQuantity": 45.89902912621359,
|
||||
"unit": "毫升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-f3e7-871a-e470d144296f",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0005",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-0e03-68a4-bcb3-02fc6ba72d1b",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00053",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 400.0,
|
||||
"lockQuantity": 0.0,
|
||||
"unit": "",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198c-c2d0-2070-efc8-44e245f10c6f",
|
||||
"whid": "3a14198c-c2cc-0290-e086-44a428fba248",
|
||||
"whName": "试剂堆栈",
|
||||
"code": "0001-0006",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-d850-5439-4499f20f07fe",
|
||||
"typeName": "分装板",
|
||||
"code": "0007-00185",
|
||||
"barCode": "",
|
||||
"name": "1010",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 2.0,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-46fe-841e-03dd753f1e4a",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0009",
|
||||
"x": 3,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-28a4-f5d0-f7e2436c575f",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-94ae-f770-27847e73ad38",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-3ed6-3607-133df89baf5b",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-f2fa-66bf-94c565d852fb",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-72b6-e015-be7b93cf09eb",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-81cf-7dad-2e51cab9ffd6",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-81d3-ad30-48134afc9ce7",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-3fa1-cc72-fda6276ae38d",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-dbdf-d966-9a8926fe1e06",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-c632-c7da-02d385b18628",
|
||||
"code": null,
|
||||
"name": "10%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdefe-d5e0-f099-b260-e3089a2d08c3",
|
||||
"detailMaterialId": "3a1cdefe-d5e0-561f-73b6-f8501f814dbb",
|
||||
"code": null,
|
||||
"name": "90%分装小瓶",
|
||||
"quantity": "1",
|
||||
"lockQuantity": "1",
|
||||
"unit": "个",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
216
test/resources/bioyond_materials_liquidhandling_2.json
Normal file
216
test/resources/bioyond_materials_liquidhandling_2.json
Normal file
@@ -0,0 +1,216 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00407",
|
||||
"barCode": "",
|
||||
"name": "ODA",
|
||||
"quantity": 25.0,
|
||||
"lockQuantity": 2.0,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-7887-9258-e8f8ab7c8a7a",
|
||||
"typeName": "样品板",
|
||||
"code": "0008-00160",
|
||||
"barCode": "",
|
||||
"name": "1010sample",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 27.69187,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-4379-affa-9a2935c17f99",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0002",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cde21-a4f4-0339-f2b6-8e680ad7e8c7",
|
||||
"detailMaterialId": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
|
||||
"code": null,
|
||||
"name": "MPDA",
|
||||
"quantity": "10.505",
|
||||
"lockQuantity": "-0.0174",
|
||||
"unit": "克",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-a21a-23cf-bb7857b41947",
|
||||
"detailMaterialId": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
|
||||
"code": null,
|
||||
"name": "ODA",
|
||||
"quantity": "1.795",
|
||||
"lockQuantity": "2.0093",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-af1b-ba0b-2874836800e9",
|
||||
"detailMaterialId": "3a1cde21-a4f4-4f95-6221-eaafc2ae6a8d",
|
||||
"code": null,
|
||||
"name": "ODA",
|
||||
"quantity": "25",
|
||||
"lockQuantity": "2",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-99c7-55e7-c80c7320e300",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00406",
|
||||
"barCode": "",
|
||||
"name": "ODA",
|
||||
"quantity": 1.795,
|
||||
"lockQuantity": 2.00927,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cde21-a4f4-ab37-f7a2-ecc3bc083e7c",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00408",
|
||||
"barCode": "",
|
||||
"name": "MPDA",
|
||||
"quantity": 10.505,
|
||||
"lockQuantity": -0.0174,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92a-08f6-c822-732ab734154c",
|
||||
"typeName": "样品板",
|
||||
"code": "0008-00161",
|
||||
"barCode": "",
|
||||
"name": "1010sample2",
|
||||
"quantity": 1.0,
|
||||
"lockQuantity": 3.0,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14198e-6929-31f0-8a22-0f98f72260df",
|
||||
"whid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
|
||||
"whName": "粉末堆栈",
|
||||
"code": "0002-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1cdeff-c92b-3ace-9623-0bcdef6fa07d",
|
||||
"detailMaterialId": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
|
||||
"code": null,
|
||||
"name": "BTDA1",
|
||||
"quantity": "0.362",
|
||||
"lockQuantity": "14.494",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-856e-f481-792b91b6dbde",
|
||||
"detailMaterialId": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
|
||||
"code": null,
|
||||
"name": "BTDA3",
|
||||
"quantity": "1.935",
|
||||
"lockQuantity": "13.067",
|
||||
"unit": "克",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-d144-c5e5-ab9d94e21187",
|
||||
"detailMaterialId": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
|
||||
"code": null,
|
||||
"name": "BTDA2",
|
||||
"quantity": "1.903",
|
||||
"lockQuantity": "13.035",
|
||||
"unit": "克",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-30f2-f907-8f5e2fe0586b",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00411",
|
||||
"barCode": "",
|
||||
"name": "BTDA3",
|
||||
"quantity": 1.935,
|
||||
"lockQuantity": 13.067,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-519f-a70f-0bb71af537a7",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00410",
|
||||
"barCode": "",
|
||||
"name": "BTDA2",
|
||||
"quantity": 1.903,
|
||||
"lockQuantity": 13.035,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1cdeff-c92b-d084-2a96-5d62746d9321",
|
||||
"typeName": "样品瓶",
|
||||
"code": "0002-00409",
|
||||
"barCode": "",
|
||||
"name": "BTDA1",
|
||||
"quantity": 0.362,
|
||||
"lockQuantity": 14.494,
|
||||
"unit": "克",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [],
|
||||
"detail": []
|
||||
}
|
||||
]
|
||||
193
test/resources/bioyond_materials_reaction.json
Normal file
193
test/resources/bioyond_materials_reaction.json
Normal file
@@ -0,0 +1,193 @@
|
||||
[
|
||||
{
|
||||
"id": "3a1c67a9-aed7-b94d-9e24-bfdf10c8baa9",
|
||||
"typeName": "烧杯",
|
||||
"code": "0006-00160",
|
||||
"barCode": "",
|
||||
"name": "ODA",
|
||||
"quantity": 120000.00000000000000000000000,
|
||||
"lockQuantity": 695374.00000000000000000000000,
|
||||
"unit": "微升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
|
||||
"whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"whName": "堆栈1",
|
||||
"code": "0001-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1c67a9-aed9-1ade-5fe1-cc04b24b171c",
|
||||
"typeName": "烧杯",
|
||||
"code": "0006-00161",
|
||||
"barCode": "",
|
||||
"name": "MPDA",
|
||||
"quantity": 120000.00000000000000000000000,
|
||||
"lockQuantity": 681618.00000000000000000000000,
|
||||
"unit": "",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
|
||||
"whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"whName": "堆栈1",
|
||||
"code": "0001-0002",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1c67a9-aed9-2864-6783-2cee4e701ba6",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00041",
|
||||
"barCode": "",
|
||||
"name": "NMP",
|
||||
"quantity": 300000.00000000000000000000000,
|
||||
"lockQuantity": 380000.00000000000000000000000,
|
||||
"unit": "微升",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
|
||||
"whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
|
||||
"whName": "站内试剂存放堆栈",
|
||||
"code": "0003-0001",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1c67a9-aed9-32c7-5809-3ba1b8db1aa1",
|
||||
"typeName": "试剂瓶",
|
||||
"code": "0004-00042",
|
||||
"barCode": "",
|
||||
"name": "PGME",
|
||||
"quantity": 300000.00000000000000000000000,
|
||||
"lockQuantity": 337892.00000000000000000000000,
|
||||
"unit": "",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa3b-9fab-ca72-febc-b7c304476c78",
|
||||
"whid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
|
||||
"whName": "站内试剂存放堆栈",
|
||||
"code": "0003-0002",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": []
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-d748-725e-97a2e549f085",
|
||||
"typeName": "样品板",
|
||||
"code": "0001-00004",
|
||||
"barCode": "",
|
||||
"name": "0917",
|
||||
"quantity": 1.0000000000000000000000000000,
|
||||
"lockQuantity": 4.0000000000000000000000000000,
|
||||
"unit": "块",
|
||||
"status": 1,
|
||||
"isUse": false,
|
||||
"locations": [
|
||||
{
|
||||
"id": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
|
||||
"whid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
|
||||
"whName": "堆栈1",
|
||||
"code": "0001-0009",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
"detail": [
|
||||
{
|
||||
"id": "3a1c68c8-0574-69a1-9858-4637e0193451",
|
||||
"detailMaterialId": "3a1c68c8-0574-3630-bd42-bbf3623c5208",
|
||||
"code": null,
|
||||
"name": "SIDA",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "4",
|
||||
"unit": "微升",
|
||||
"x": 1,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-8d51-3191-a31f5be421e5",
|
||||
"detailMaterialId": "3a1c68c8-0574-3b20-9ad7-90755f123d53",
|
||||
"code": null,
|
||||
"name": "BTDA-2",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "4",
|
||||
"unit": "微升",
|
||||
"x": 2,
|
||||
"y": 2,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-da80-735b-53ae2197a360",
|
||||
"detailMaterialId": "3a1c68c8-0574-f2e4-33b3-90d813567939",
|
||||
"code": null,
|
||||
"name": "BTDA-DD",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "28",
|
||||
"unit": "微升",
|
||||
"x": 1,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-e717-1b1b-99891f875455",
|
||||
"detailMaterialId": "3a1c68c8-0574-a0ef-e636-68cdc98960e2",
|
||||
"code": null,
|
||||
"name": "BTDA-3",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "4",
|
||||
"unit": "微升",
|
||||
"x": 2,
|
||||
"y": 3,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
},
|
||||
{
|
||||
"id": "3a1c68c8-0574-e9bd-6cca-5e261b4f89cb",
|
||||
"detailMaterialId": "3a1c68c8-0574-9d11-5115-283e8e5510b1",
|
||||
"code": null,
|
||||
"name": "BTDA-1",
|
||||
"quantity": "300000",
|
||||
"lockQuantity": "4",
|
||||
"unit": "微升",
|
||||
"x": 2,
|
||||
"y": 1,
|
||||
"z": 1,
|
||||
"associateId": null
|
||||
}
|
||||
]
|
||||
}
|
||||
]
|
||||
48
test/resources/test_bottle_carrier.py
Normal file
48
test/resources/test_bottle_carrier.py
Normal file
@@ -0,0 +1,48 @@
|
||||
import pytest
|
||||
|
||||
from unilabos.resources.bioyond.bottle_carriers import BIOYOND_Electrolyte_6VialCarrier, BIOYOND_Electrolyte_1BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import BIOYOND_PolymerStation_Solid_Vial, BIOYOND_PolymerStation_Solution_Beaker, BIOYOND_PolymerStation_Reagent_Bottle
|
||||
|
||||
|
||||
def test_bottle_carrier() -> "BottleCarrier":
|
||||
print("创建载架...")
|
||||
|
||||
# 创建6瓶载架
|
||||
bottle_carrier = BIOYOND_Electrolyte_6VialCarrier("powder_carrier_01")
|
||||
print(f"6瓶载架: {bottle_carrier.name}, 位置数: {len(bottle_carrier.sites)}")
|
||||
|
||||
# 创建1烧杯载架
|
||||
beaker_carrier = BIOYOND_Electrolyte_1BottleCarrier("solution_carrier_01")
|
||||
print(f"1烧杯载架: {beaker_carrier.name}, 位置数: {len(beaker_carrier.sites)}")
|
||||
|
||||
# 创建瓶子和烧杯
|
||||
powder_bottle = BIOYOND_PolymerStation_Solid_Vial("powder_bottle_01")
|
||||
solution_beaker = BIOYOND_PolymerStation_Solution_Beaker("solution_beaker_01")
|
||||
reagent_bottle = BIOYOND_PolymerStation_Reagent_Bottle("reagent_bottle_01")
|
||||
|
||||
print(f"\n创建的物料:")
|
||||
print(f"粉末瓶: {powder_bottle.name} - {powder_bottle.diameter}mm x {powder_bottle.height}mm, {powder_bottle.max_volume}μL")
|
||||
print(f"溶液烧杯: {solution_beaker.name} - {solution_beaker.diameter}mm x {solution_beaker.height}mm, {solution_beaker.max_volume}μL")
|
||||
print(f"试剂瓶: {reagent_bottle.name} - {reagent_bottle.diameter}mm x {reagent_bottle.height}mm, {reagent_bottle.max_volume}μL")
|
||||
|
||||
# 测试放置容器
|
||||
print(f"\n测试放置容器...")
|
||||
|
||||
# 通过载架的索引操作来放置容器
|
||||
# bottle_carrier[0] = powder_bottle # 放置粉末瓶到第一个位置
|
||||
print(f"粉末瓶已放置到6瓶载架的位置 0")
|
||||
|
||||
# beaker_carrier[0] = solution_beaker # 放置烧杯到第一个位置
|
||||
print(f"溶液烧杯已放置到1烧杯载架的位置 0")
|
||||
|
||||
# 验证放置结果
|
||||
print(f"\n验证放置结果:")
|
||||
bottle_at_0 = bottle_carrier[0].resource
|
||||
beaker_at_0 = beaker_carrier[0].resource
|
||||
|
||||
if bottle_at_0:
|
||||
print(f"位置 0 的瓶子: {bottle_at_0.name}")
|
||||
if beaker_at_0:
|
||||
print(f"位置 0 的烧杯: {beaker_at_0.name}")
|
||||
|
||||
print("\n载架设置完成！")
|
||||
76
test/resources/test_converter_bioyond.py
Normal file
76
test/resources/test_converter_bioyond.py
Normal file
@@ -0,0 +1,76 @@
|
||||
import pytest
|
||||
import json
|
||||
import os
|
||||
|
||||
from pylabrobot.resources import Resource as ResourcePLR
|
||||
from unilabos.resources.graphio import resource_bioyond_to_plr
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
|
||||
|
||||
lab_registry.setup()
|
||||
|
||||
|
||||
type_mapping = {
|
||||
"烧杯": "BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
"试剂瓶": "BIOYOND_PolymerStation_1BottleCarrier",
|
||||
"样品板": "BIOYOND_PolymerStation_6StockCarrier",
|
||||
"分装板": "BIOYOND_PolymerStation_6VialCarrier",
|
||||
"样品瓶": "BIOYOND_PolymerStation_Solid_Stock",
|
||||
"90%分装小瓶": "BIOYOND_PolymerStation_Solid_Vial",
|
||||
"10%分装小瓶": "BIOYOND_PolymerStation_Liquid_Vial",
|
||||
}
|
||||
|
||||
type_uuid_mapping = {
|
||||
"烧杯": "",
|
||||
"试剂瓶": "",
|
||||
"样品板": "",
|
||||
"分装板": "3a14196e-5dfe-6e21-0c79-fe2036d052c4",
|
||||
"样品瓶": "3a14196a-cf7d-8aea-48d8-b9662c7dba94",
|
||||
"90%分装小瓶": "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea",
|
||||
"10%分装小瓶": "3a14196c-76be-2279-4e22-7310d69aed68",
|
||||
}
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bioyond_materials_reaction() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials_reaction.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bioyond_materials_liquidhandling_1() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials_liquidhandling_1.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
@pytest.fixture
|
||||
def bioyond_materials_liquidhandling_2() -> list[dict]:
|
||||
print("加载 BioYond 物料数据...")
|
||||
print(os.getcwd())
|
||||
with open("bioyond_materials_liquidhandling_2.json", "r", encoding="utf-8") as f:
|
||||
data = json.load(f)
|
||||
print(f"加载了 {len(data)} 条物料数据")
|
||||
return data
|
||||
|
||||
|
||||
@pytest.mark.parametrize("materials_fixture", [
|
||||
"bioyond_materials_reaction",
|
||||
"bioyond_materials_liquidhandling_1",
|
||||
])
|
||||
def test_bioyond_to_plr(materials_fixture, request) -> list[dict]:
|
||||
materials = request.getfixturevalue(materials_fixture)
|
||||
deck = BIOYOND_PolymerReactionStation_Deck("test_deck")
|
||||
output = resource_bioyond_to_plr(materials, type_mapping=type_mapping, deck=deck)
|
||||
print(deck.summary())
|
||||
print([resource.serialize() for resource in output])
|
||||
print([resource.serialize_all_state() for resource in output])
|
||||
json.dump(deck.serialize(), open("test.json", "w", encoding="utf-8"), indent=4)
|
||||
@@ -0,0 +1 @@
|
||||
__version__ = "0.10.7"
|
||||
|
||||
@@ -1,38 +1,48 @@
|
||||
import threading
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
# 根据选择的 backend 启动相应的功能
|
||||
def start_backend(
|
||||
backend: str,
|
||||
devices_config: dict = {},
|
||||
resources_config: list = [],
|
||||
resources_edge_config: list = [],
|
||||
devices_config: ResourceTreeSet,
|
||||
resources_config: ResourceTreeSet,
|
||||
resources_edge_config: list[dict] = [],
|
||||
graph=None,
|
||||
controllers_config: dict = {},
|
||||
bridges=[],
|
||||
without_host: bool = False,
|
||||
visual: str = "None",
|
||||
resources_mesh_config: dict = {},
|
||||
**kwargs
|
||||
**kwargs,
|
||||
):
|
||||
if backend == "ros":
|
||||
# 假设 ros_main, simple_main, automancer_main 是不同 backend 的启动函数
|
||||
from unilabos.ros.main_slave_run import main, slave # 如果选择 'ros' 作为 backend
|
||||
elif backend == 'simple':
|
||||
elif backend == "simple":
|
||||
# 这里假设 simple_backend 和 automancer_backend 是你定义的其他两个后端
|
||||
# from simple_backend import main as simple_main
|
||||
pass
|
||||
elif backend == 'automancer':
|
||||
elif backend == "automancer":
|
||||
# from automancer_backend import main as automancer_main
|
||||
pass
|
||||
else:
|
||||
raise ValueError(f"Unsupported backend: {backend}")
|
||||
|
||||
|
||||
backend_thread = threading.Thread(
|
||||
target=main if not without_host else slave,
|
||||
args=(devices_config, resources_config, resources_edge_config, graph, controllers_config, bridges, visual, resources_mesh_config),
|
||||
args=(
|
||||
devices_config,
|
||||
resources_config,
|
||||
resources_edge_config,
|
||||
graph,
|
||||
controllers_config,
|
||||
bridges,
|
||||
visual,
|
||||
resources_mesh_config,
|
||||
),
|
||||
name="backend_thread",
|
||||
daemon=True,
|
||||
)
|
||||
|
||||
192
unilabos/app/communication.py
Normal file
192
unilabos/app/communication.py
Normal file
@@ -0,0 +1,192 @@
|
||||
#!/usr/bin/env python
|
||||
# coding=utf-8
|
||||
"""
|
||||
通信模块
|
||||
|
||||
提供WebSocket的统一接口，支持通过配置选择通信协议。
|
||||
包含通信抽象层基类和通信客户端工厂。
|
||||
"""
|
||||
|
||||
from abc import ABC, abstractmethod
|
||||
from typing import Optional
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
class BaseCommunicationClient(ABC):
|
||||
"""
|
||||
通信客户端抽象基类
|
||||
|
||||
定义了所有通信客户端（WebSocket等）需要实现的接口。
|
||||
"""
|
||||
|
||||
def __init__(self):
|
||||
self.is_disabled = True
|
||||
self.client_id = ""
|
||||
|
||||
@abstractmethod
|
||||
def start(self) -> None:
|
||||
"""
|
||||
启动通信客户端连接
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def stop(self) -> None:
|
||||
"""
|
||||
停止通信客户端连接
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def publish_device_status(self, device_status: dict, device_id: str, property_name: str) -> None:
|
||||
"""
|
||||
发布设备状态信息
|
||||
|
||||
Args:
|
||||
device_status: 设备状态字典
|
||||
device_id: 设备ID
|
||||
property_name: 属性名称
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def publish_job_status(
|
||||
self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None
|
||||
) -> None:
|
||||
"""
|
||||
发布作业状态信息
|
||||
|
||||
Args:
|
||||
feedback_data: 反馈数据
|
||||
job_id: 作业ID
|
||||
status: 作业状态
|
||||
return_info: 返回信息
|
||||
"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def send_ping(self, ping_id: str, timestamp: float) -> None:
|
||||
"""
|
||||
发送ping消息
|
||||
|
||||
Args:
|
||||
ping_id: ping ID
|
||||
timestamp: 时间戳
|
||||
"""
|
||||
pass
|
||||
|
||||
def setup_pong_subscription(self) -> None:
|
||||
"""
|
||||
设置pong消息订阅（可选实现）
|
||||
"""
|
||||
pass
|
||||
|
||||
@property
|
||||
def is_connected(self) -> bool:
|
||||
"""
|
||||
检查是否已连接
|
||||
|
||||
Returns:
|
||||
是否已连接
|
||||
"""
|
||||
return not self.is_disabled
|
||||
|
||||
|
||||
class CommunicationClientFactory:
|
||||
"""
|
||||
通信客户端工厂类
|
||||
|
||||
根据配置文件中的通信协议设置创建相应的客户端实例。
|
||||
"""
|
||||
|
||||
_client_cache: Optional[BaseCommunicationClient] = None
|
||||
|
||||
@classmethod
|
||||
def create_client(cls, protocol: Optional[str] = None) -> BaseCommunicationClient:
|
||||
"""
|
||||
创建通信客户端实例
|
||||
|
||||
Args:
|
||||
protocol: 指定的协议类型，如果为None则使用配置文件中的设置
|
||||
|
||||
Returns:
|
||||
通信客户端实例
|
||||
|
||||
Raises:
|
||||
ValueError: 当协议类型不支持时
|
||||
"""
|
||||
if protocol is None:
|
||||
protocol = BasicConfig.communication_protocol
|
||||
|
||||
protocol = protocol.lower()
|
||||
|
||||
if protocol == "websocket":
|
||||
return cls._create_websocket_client()
|
||||
else:
|
||||
logger.error(f"[CommunicationFactory] Unsupported protocol: {protocol}")
|
||||
logger.warning(f"[CommunicationFactory] Falling back to WebSocket")
|
||||
return cls._create_websocket_client()
|
||||
|
||||
@classmethod
|
||||
def get_client(cls, protocol: Optional[str] = None) -> BaseCommunicationClient:
|
||||
"""
|
||||
获取通信客户端实例（单例模式）
|
||||
|
||||
Args:
|
||||
protocol: 指定的协议类型，如果为None则使用配置文件中的设置
|
||||
|
||||
Returns:
|
||||
通信客户端实例
|
||||
"""
|
||||
if cls._client_cache is None:
|
||||
cls._client_cache = cls.create_client(protocol)
|
||||
logger.info(f"[CommunicationFactory] Created {type(cls._client_cache).__name__} client")
|
||||
|
||||
return cls._client_cache
|
||||
|
||||
@classmethod
|
||||
def _create_websocket_client(cls) -> BaseCommunicationClient:
|
||||
"""创建WebSocket客户端"""
|
||||
try:
|
||||
from unilabos.app.ws_client import WebSocketClient
|
||||
|
||||
return WebSocketClient()
|
||||
except Exception as e:
|
||||
logger.error(f"[CommunicationFactory] Failed to create WebSocket client: {str(e)}")
|
||||
raise
|
||||
|
||||
@classmethod
|
||||
def reset_client(cls):
|
||||
"""重置客户端缓存（用于测试或重新配置）"""
|
||||
if cls._client_cache:
|
||||
try:
|
||||
cls._client_cache.stop()
|
||||
except Exception as e:
|
||||
logger.warning(f"[CommunicationFactory] Error stopping old client: {str(e)}")
|
||||
|
||||
cls._client_cache = None
|
||||
logger.info("[CommunicationFactory] Client cache reset")
|
||||
|
||||
@classmethod
|
||||
def get_supported_protocols(cls) -> list[str]:
|
||||
"""
|
||||
获取支持的协议列表
|
||||
|
||||
Returns:
|
||||
支持的协议列表
|
||||
"""
|
||||
return ["websocket"]
|
||||
|
||||
|
||||
def get_communication_client(protocol: Optional[str] = None) -> BaseCommunicationClient:
|
||||
"""
|
||||
获取通信客户端实例的便捷函数
|
||||
|
||||
Args:
|
||||
protocol: 指定的协议类型，如果为None则使用配置文件中的设置
|
||||
|
||||
Returns:
|
||||
通信客户端实例
|
||||
"""
|
||||
return CommunicationClientFactory.get_client(protocol)
|
||||
@@ -6,11 +6,12 @@ import signal
|
||||
import sys
|
||||
import threading
|
||||
import time
|
||||
from copy import deepcopy
|
||||
from typing import Dict, Any, List
|
||||
|
||||
import networkx as nx
|
||||
import yaml
|
||||
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet, ResourceDict
|
||||
|
||||
# 首先添加项目根目录到路径
|
||||
current_dir = os.path.dirname(os.path.abspath(__file__))
|
||||
@@ -18,11 +19,12 @@ unilabos_dir = os.path.dirname(os.path.dirname(current_dir))
|
||||
if unilabos_dir not in sys.path:
|
||||
sys.path.append(unilabos_dir)
|
||||
|
||||
from unilabos.config.config import load_config, BasicConfig
|
||||
from unilabos.config.config import load_config, BasicConfig, HTTPConfig
|
||||
from unilabos.utils.banner_print import print_status, print_unilab_banner
|
||||
from unilabos.resources.graphio import modify_to_backend_format
|
||||
|
||||
|
||||
def load_config_from_file(config_path, override_labid=None):
|
||||
def load_config_from_file(config_path):
|
||||
if config_path is None:
|
||||
config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
|
||||
if config_path:
|
||||
@@ -31,10 +33,10 @@ def load_config_from_file(config_path, override_labid=None):
|
||||
elif not config_path.endswith(".py"):
|
||||
print_status(f"配置文件 {config_path} 不是Python文件，必须以.py结尾", "error")
|
||||
else:
|
||||
load_config(config_path, override_labid)
|
||||
load_config(config_path)
|
||||
else:
|
||||
print_status(f"启动 UniLab-OS时，配置文件参数未正确传入 --config '{config_path}' 尝试本地配置...", "warning")
|
||||
load_config(config_path, override_labid)
|
||||
load_config(config_path)
|
||||
|
||||
|
||||
def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
@@ -43,7 +45,7 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
for i, arg in enumerate(sys.argv):
|
||||
for option_string in option_strings:
|
||||
if arg.startswith(option_string):
|
||||
new_arg = arg[:2] + arg[2 : len(option_string)].replace("-", "_") + arg[len(option_string) :]
|
||||
new_arg = arg[:2] + arg[2:len(option_string)].replace("-", "_") + arg[len(option_string):]
|
||||
sys.argv[i] = new_arg
|
||||
break
|
||||
|
||||
@@ -51,16 +53,14 @@ def convert_argv_dashes_to_underscores(args: argparse.ArgumentParser):
|
||||
def parse_args():
|
||||
"""解析命令行参数"""
|
||||
parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
|
||||
parser.add_argument("-g", "--graph", help="Physical setup graph.")
|
||||
# parser.add_argument("-d", "--devices", help="Devices config file.")
|
||||
# parser.add_argument("-r", "--resources", help="Resources config file.")
|
||||
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file.")
|
||||
parser.add_argument("-g", "--graph", help="Physical setup graph file path.")
|
||||
parser.add_argument("-c", "--controllers", default=None, help="Controllers config file path.")
|
||||
parser.add_argument(
|
||||
"--registry_path",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="Path to the registry",
|
||||
help="Path to the registry directory",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--working_dir",
|
||||
@@ -77,72 +77,85 @@ def parse_args():
|
||||
parser.add_argument(
|
||||
"--app_bridges",
|
||||
nargs="+",
|
||||
default=["mqtt", "fastapi"],
|
||||
help="Bridges to connect to. Now support 'mqtt' and 'fastapi'.",
|
||||
default=["websocket", "fastapi"],
|
||||
help="Bridges to connect to. Now support 'websocket' and 'fastapi'.",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--without_host",
|
||||
"--is_slave",
|
||||
action="store_true",
|
||||
help="Run the backend as slave (without host).",
|
||||
help="Run the backend as slave node (without host privileges).",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--slave_no_host",
|
||||
action="store_true",
|
||||
help="Slave模式下跳过等待host服务",
|
||||
help="Skip waiting for host service in slave mode",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--upload_registry",
|
||||
action="store_true",
|
||||
help="启动unilab时同时报送注册表信息",
|
||||
help="Upload registry information when starting unilab",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--use_remote_resource",
|
||||
action="store_true",
|
||||
help="启动unilab时使用远程资源启动",
|
||||
help="Use remote resources when starting unilab",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--config",
|
||||
type=str,
|
||||
default=None,
|
||||
help="配置文件路径，支持.py格式的Python配置文件",
|
||||
help="Configuration file path, supports .py format Python config files",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--port",
|
||||
type=int,
|
||||
default=8002,
|
||||
help="信息页web服务的启动端口",
|
||||
help="Port for web service information page",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--disable_browser",
|
||||
action="store_true",
|
||||
help="是否在启动时关闭信息页",
|
||||
help="Disable opening information page on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--2d_vis",
|
||||
action="store_true",
|
||||
help="是否在pylabrobot实例启动时，同时启动可视化",
|
||||
help="Enable 2D visualization when starting pylabrobot instance",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--visual",
|
||||
choices=["rviz", "web", "disable"],
|
||||
default="disable",
|
||||
help="选择可视化工具: rviz, web",
|
||||
help="Choose visualization tool: rviz, web, or disable",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--labid",
|
||||
"--ak",
|
||||
type=str,
|
||||
default="",
|
||||
help="实验室唯一ID，也可通过环境变量 UNILABOS_MQCONFIG_LABID 设置或传入--config设置",
|
||||
help="Access key for laboratory requests",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--sk",
|
||||
type=str,
|
||||
default="",
|
||||
help="Secret key for laboratory requests",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--addr",
|
||||
type=str,
|
||||
default="https://uni-lab.bohrium.com/api/v1",
|
||||
help="Laboratory backend address",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--skip_env_check",
|
||||
action="store_true",
|
||||
help="跳过启动时的环境依赖检查",
|
||||
help="Skip environment dependency check on startup",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--direct_end",
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
help="直接结束任务",
|
||||
default=False,
|
||||
help="Complete registry information",
|
||||
)
|
||||
return parser
|
||||
|
||||
@@ -172,7 +185,7 @@ def main():
|
||||
else:
|
||||
working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
|
||||
if args_dict.get("working_dir"):
|
||||
working_dir = args_dict.get("working_dir")
|
||||
working_dir = args_dict.get("working_dir", "")
|
||||
if config_path and not os.path.exists(config_path):
|
||||
config_path = os.path.join(working_dir, "local_config.py")
|
||||
if not os.path.exists(config_path):
|
||||
@@ -197,17 +210,36 @@ def main():
|
||||
os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path
|
||||
)
|
||||
print_status(f"已创建 local_config.py 路径： {config_path}", "info")
|
||||
print_status(f"请在文件夹中配置lab_id，放入下载的CA.crt、lab.crt、lab.key重新启动本程序", "info")
|
||||
os._exit(1)
|
||||
else:
|
||||
os._exit(1)
|
||||
# 加载配置文件
|
||||
print_status(f"当前工作目录为 {working_dir}", "info")
|
||||
load_config_from_file(config_path, args_dict["labid"])
|
||||
load_config_from_file(config_path)
|
||||
if args_dict["addr"] == "test":
|
||||
print_status("使用测试环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
|
||||
elif args_dict["addr"] == "uat":
|
||||
print_status("使用uat环境地址", "info")
|
||||
HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
|
||||
elif args_dict["addr"] == "local":
|
||||
print_status("使用本地环境地址", "info")
|
||||
HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
|
||||
else:
|
||||
HTTPConfig.remote_addr = args_dict.get("addr", "")
|
||||
|
||||
# 设置BasicConfig参数
|
||||
if args_dict.get("ak", ""):
|
||||
BasicConfig.ak = args_dict.get("ak", "")
|
||||
print_status("传入了ak参数，优先采用传入参数！", "info")
|
||||
if args_dict.get("sk", ""):
|
||||
BasicConfig.sk = args_dict.get("sk", "")
|
||||
print_status("传入了sk参数，优先采用传入参数！", "info")
|
||||
|
||||
# 使用远程资源启动
|
||||
if args_dict["use_remote_resource"]:
|
||||
print_status("使用远程资源启动", "info")
|
||||
from unilabos.app.web import http_client
|
||||
|
||||
res = http_client.resource_get("host_node", False)
|
||||
if str(res.get("code", 0)) == "0" and len(res.get("data", [])) > 0:
|
||||
print_status("远程资源已存在，使用云端物料！", "info")
|
||||
@@ -215,12 +247,11 @@ def main():
|
||||
else:
|
||||
print_status("远程资源不存在，本地将进行首次上报！", "info")
|
||||
|
||||
# 设置BasicConfig参数
|
||||
BasicConfig.working_dir = working_dir
|
||||
BasicConfig.direct_end = args_dict.get("direct_end", False)
|
||||
BasicConfig.is_host_mode = not args_dict.get("without_host", False)
|
||||
BasicConfig.is_host_mode = not args_dict.get("is_slave", False)
|
||||
BasicConfig.slave_no_host = args_dict.get("slave_no_host", False)
|
||||
BasicConfig.upload_registry = args_dict.get("upload_registry", False)
|
||||
BasicConfig.communication_protocol = "websocket"
|
||||
machine_name = os.popen("hostname").read().strip()
|
||||
machine_name = "".join([c if c.isalnum() or c == "_" else "_" for c in machine_name])
|
||||
BasicConfig.machine_name = machine_name
|
||||
@@ -230,22 +261,30 @@ def main():
|
||||
read_node_link_json,
|
||||
read_graphml,
|
||||
dict_from_graph,
|
||||
dict_to_nested_dict,
|
||||
initialize_resources,
|
||||
)
|
||||
from unilabos.app.mq import mqtt_client
|
||||
from unilabos.app.communication import get_communication_client
|
||||
from unilabos.registry.registry import build_registry
|
||||
from unilabos.app.backend import start_backend
|
||||
from unilabos.app.web import http_client
|
||||
from unilabos.app.web import start_server
|
||||
from unilabos.app.register import register_devices_and_resources
|
||||
|
||||
# 显示启动横幅
|
||||
print_unilab_banner(args_dict)
|
||||
|
||||
# 注册表
|
||||
build_registry(args_dict["registry_path"], False, args_dict["upload_registry"])
|
||||
lab_registry = build_registry(
|
||||
args_dict["registry_path"], args_dict.get("complete_registry", False), args_dict["upload_registry"]
|
||||
)
|
||||
|
||||
if not BasicConfig.ak or not BasicConfig.sk:
|
||||
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
|
||||
os._exit(1)
|
||||
graph: nx.Graph
|
||||
resource_tree_set: ResourceTreeSet
|
||||
resource_links: List[Dict[str, Any]]
|
||||
request_startup_json = http_client.request_startup_json()
|
||||
if args_dict["graph"] is None:
|
||||
request_startup_json = http_client.request_startup_json()
|
||||
if not request_startup_json:
|
||||
print_status(
|
||||
"未指定设备加载文件路径，尝试从HTTP获取失败，请检查网络或者使用-g参数指定设备加载文件路径", "error"
|
||||
@@ -253,26 +292,74 @@ def main():
|
||||
os._exit(1)
|
||||
else:
|
||||
print_status("联网获取设备加载文件成功", "info")
|
||||
graph, data = read_node_link_json(request_startup_json)
|
||||
graph, resource_tree_set, resource_links = read_node_link_json(request_startup_json)
|
||||
else:
|
||||
file_path = args_dict["graph"]
|
||||
if file_path.endswith(".json"):
|
||||
graph, data = read_node_link_json(file_path)
|
||||
graph, resource_tree_set, resource_links = read_node_link_json(file_path)
|
||||
else:
|
||||
graph, data = read_graphml(file_path)
|
||||
graph, resource_tree_set, resource_links = read_graphml(file_path)
|
||||
import unilabos.resources.graphio as graph_res
|
||||
|
||||
graph_res.physical_setup_graph = graph
|
||||
resource_edge_info = modify_to_backend_format(data["links"])
|
||||
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
|
||||
# args_dict["resources_config"] = initialize_resources(list(deepcopy(devices_and_resources).values()))
|
||||
args_dict["resources_config"] = list(devices_and_resources.values())
|
||||
args_dict["devices_config"] = dict_to_nested_dict(deepcopy(devices_and_resources), devices_only=False)
|
||||
resource_edge_info = modify_to_backend_format(resource_links)
|
||||
materials = lab_registry.obtain_registry_resource_info()
|
||||
materials.extend(lab_registry.obtain_registry_device_info())
|
||||
materials = {k["id"]: k for k in materials}
|
||||
# 从 ResourceTreeSet 中获取节点信息
|
||||
nodes = {node.res_content.id: node.res_content for node in resource_tree_set.all_nodes}
|
||||
edge_info = len(resource_edge_info)
|
||||
for ind, i in enumerate(resource_edge_info[::-1]):
|
||||
source_node: ResourceDict = nodes[i["source"]]
|
||||
target_node: ResourceDict = nodes[i["target"]]
|
||||
source_handle = i["sourceHandle"]
|
||||
target_handle = i["targetHandle"]
|
||||
source_handler_keys = [
|
||||
h["handler_key"] for h in materials[source_node.klass]["handles"] if h["io_type"] == "source"
|
||||
]
|
||||
target_handler_keys = [
|
||||
h["handler_key"] for h in materials[target_node.klass]["handles"] if h["io_type"] == "target"
|
||||
]
|
||||
if source_handle not in source_handler_keys:
|
||||
print_status(
|
||||
f"节点 {source_node.id} 的source端点 {source_handle} 不存在，请检查，支持的端点 {source_handler_keys}",
|
||||
"error",
|
||||
)
|
||||
resource_edge_info.pop(edge_info - ind - 1)
|
||||
continue
|
||||
if target_handle not in target_handler_keys:
|
||||
print_status(
|
||||
f"节点 {target_node.id} 的target端点 {target_handle} 不存在，请检查，支持的端点 {target_handler_keys}",
|
||||
"error",
|
||||
)
|
||||
resource_edge_info.pop(edge_info - ind - 1)
|
||||
continue
|
||||
|
||||
# 如果从远端获取了物料信息，则与本地物料进行同步
|
||||
if request_startup_json and "nodes" in request_startup_json:
|
||||
print_status("开始同步远端物料到本地...", "info")
|
||||
remote_tree_set = ResourceTreeSet.from_raw_list(request_startup_json["nodes"])
|
||||
resource_tree_set.merge_remote_resources(remote_tree_set)
|
||||
print_status("远端物料同步完成", "info")
|
||||
|
||||
# 使用 ResourceTreeSet 代替 list
|
||||
args_dict["resources_config"] = resource_tree_set
|
||||
args_dict["devices_config"] = resource_tree_set
|
||||
args_dict["graph"] = graph_res.physical_setup_graph
|
||||
|
||||
print_status(f"{len(args_dict['resources_config'])} Resources loaded:", "info")
|
||||
for i in args_dict["resources_config"]:
|
||||
print_status(f"DeviceId: {i['id']}, Class: {i['class']}", "info")
|
||||
if BasicConfig.upload_registry:
|
||||
# 设备注册到服务端 - 需要 ak 和 sk
|
||||
if args_dict.get("ak") and args_dict.get("sk"):
|
||||
print_status("开始注册设备到服务端...", "info")
|
||||
try:
|
||||
register_devices_and_resources(lab_registry)
|
||||
print_status("设备注册完成", "info")
|
||||
except Exception as e:
|
||||
print_status(f"设备注册失败: {e}", "error")
|
||||
else:
|
||||
print_status("未提供 ak 和 sk，跳过设备注册", "info")
|
||||
else:
|
||||
print_status("本次启动注册表不报送云端，如果您需要联网调试，请在启动命令增加--upload_registry", "warning")
|
||||
|
||||
if args_dict["controllers"] is not None:
|
||||
args_dict["controllers_config"] = yaml.safe_load(open(args_dict["controllers"], encoding="utf-8"))
|
||||
@@ -281,31 +368,37 @@ def main():
|
||||
|
||||
args_dict["bridges"] = []
|
||||
|
||||
if "mqtt" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(mqtt_client)
|
||||
# 获取通信客户端（仅支持WebSocket）
|
||||
comm_client = get_communication_client()
|
||||
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(comm_client)
|
||||
if "fastapi" in args_dict["app_bridges"]:
|
||||
args_dict["bridges"].append(http_client)
|
||||
if "mqtt" in args_dict["app_bridges"]:
|
||||
if "websocket" in args_dict["app_bridges"]:
|
||||
|
||||
def _exit(signum, frame):
|
||||
mqtt_client.stop()
|
||||
comm_client.stop()
|
||||
sys.exit(0)
|
||||
|
||||
signal.signal(signal.SIGINT, _exit)
|
||||
signal.signal(signal.SIGTERM, _exit)
|
||||
mqtt_client.start()
|
||||
comm_client.start()
|
||||
args_dict["resources_mesh_config"] = {}
|
||||
args_dict["resources_edge_config"] = resource_edge_info
|
||||
# web visiualize 2D
|
||||
if args_dict["visual"] != "disable":
|
||||
enable_rviz = args_dict["visual"] == "rviz"
|
||||
devices_and_resources = dict_from_graph(graph_res.physical_setup_graph)
|
||||
if devices_and_resources is not None:
|
||||
from unilabos.device_mesh.resource_visalization import (
|
||||
ResourceVisualization,
|
||||
) # 此处开启后，logger会变更为INFO，有需要请调整
|
||||
|
||||
resource_visualization = ResourceVisualization(
|
||||
devices_and_resources, args_dict["resources_config"], enable_rviz=enable_rviz
|
||||
devices_and_resources,
|
||||
[n.res_content for n in args_dict["resources_config"].all_nodes], # type: ignore # FIXME
|
||||
enable_rviz=enable_rviz,
|
||||
)
|
||||
args_dict["resources_mesh_config"] = resource_visualization.resource_model
|
||||
start_backend(**args_dict)
|
||||
|
||||
@@ -50,11 +50,16 @@ class Resp(BaseModel):
|
||||
|
||||
class JobAddReq(BaseModel):
|
||||
device_id: str = Field(examples=["Gripper"], description="device id")
|
||||
data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}])
|
||||
action: str = Field(examples=["_execute_driver_command_async"], description="action name", default="")
|
||||
action_type: str = Field(examples=["unilabos_msgs.action._str_single_input.StrSingleInput"], description="action name", default="")
|
||||
action_args: dict = Field(examples=[{'string': 'string'}], description="action name", default="")
|
||||
task_id: str = Field(examples=["task_id"], description="task uuid")
|
||||
job_id: str = Field(examples=["job_id"], description="goal uuid")
|
||||
node_id: str = Field(examples=["node_id"], description="node uuid")
|
||||
server_info: dict = Field(examples=[{"send_timestamp": 1717000000.0}], description="server info")
|
||||
|
||||
data: dict = Field(examples=[{"position": 30, "torque": 5, "action": "push_to"}], default={})
|
||||
|
||||
|
||||
class JobStepFinishReq(BaseModel):
|
||||
token: str = Field(examples=["030944"], description="token")
|
||||
|
||||
@@ -1,221 +0,0 @@
|
||||
import json
|
||||
import time
|
||||
import traceback
|
||||
from typing import Optional
|
||||
import uuid
|
||||
|
||||
import paho.mqtt.client as mqtt
|
||||
import ssl
|
||||
import base64
|
||||
import hmac
|
||||
from hashlib import sha1
|
||||
import tempfile
|
||||
import os
|
||||
|
||||
from unilabos.config.config import MQConfig
|
||||
from unilabos.app.controler import job_add
|
||||
from unilabos.app.model import JobAddReq
|
||||
from unilabos.utils import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
from paho.mqtt.enums import CallbackAPIVersion
|
||||
|
||||
|
||||
class MQTTClient:
|
||||
mqtt_disable = True
|
||||
|
||||
def __init__(self):
|
||||
self.mqtt_disable = not MQConfig.lab_id
|
||||
self.client_id = f"{MQConfig.group_id}@@@{MQConfig.lab_id}{uuid.uuid4()}"
|
||||
logger.info("[MQTT] Client_id: " + self.client_id)
|
||||
self.client = mqtt.Client(CallbackAPIVersion.VERSION2, client_id=self.client_id, protocol=mqtt.MQTTv5)
|
||||
self._setup_callbacks()
|
||||
|
||||
def _setup_callbacks(self):
|
||||
self.client.on_log = self._on_log
|
||||
self.client.on_connect = self._on_connect
|
||||
self.client.on_message = self._on_message
|
||||
self.client.on_disconnect = self._on_disconnect
|
||||
|
||||
def _on_log(self, client, userdata, level, buf):
|
||||
# logger.info(f"[MQTT] log: {buf}")
|
||||
pass
|
||||
|
||||
def _on_connect(self, client, userdata, flags, rc, properties=None):
|
||||
logger.info("[MQTT] Connected with result code " + str(rc))
|
||||
client.subscribe(f"labs/{MQConfig.lab_id}/job/start/", 0)
|
||||
client.subscribe(f"labs/{MQConfig.lab_id}/pong/", 0)
|
||||
|
||||
def _on_message(self, client, userdata, msg) -> None:
|
||||
# logger.info("[MQTT] on_message<<<< " + msg.topic + " " + str(msg.payload))
|
||||
try:
|
||||
payload_str = msg.payload.decode("utf-8")
|
||||
payload_json = json.loads(payload_str)
|
||||
if msg.topic == f"labs/{MQConfig.lab_id}/job/start/":
|
||||
if "data" not in payload_json:
|
||||
payload_json["data"] = {}
|
||||
if "action" in payload_json:
|
||||
payload_json["data"]["action"] = payload_json.pop("action")
|
||||
if "action_type" in payload_json:
|
||||
payload_json["data"]["action_type"] = payload_json.pop("action_type")
|
||||
if "action_args" in payload_json:
|
||||
payload_json["data"]["action_args"] = payload_json.pop("action_args")
|
||||
if "action_kwargs" in payload_json:
|
||||
payload_json["data"]["action_kwargs"] = payload_json.pop("action_kwargs")
|
||||
job_req = JobAddReq.model_validate(payload_json)
|
||||
data = job_add(job_req)
|
||||
return
|
||||
elif msg.topic == f"labs/{MQConfig.lab_id}/pong/":
|
||||
# 处理pong响应，通知HostNode
|
||||
from unilabos.ros.nodes.presets.host_node import HostNode
|
||||
|
||||
host_instance = HostNode.get_instance(0)
|
||||
if host_instance:
|
||||
host_instance.handle_pong_response(payload_json)
|
||||
return
|
||||
|
||||
except json.JSONDecodeError as e:
|
||||
logger.error(f"[MQTT] JSON 解析错误: {e}")
|
||||
logger.error(f"[MQTT] Raw message: {msg.payload}")
|
||||
logger.error(traceback.format_exc())
|
||||
except Exception as e:
|
||||
logger.error(f"[MQTT] 处理消息时出错: {e}")
|
||||
logger.error(traceback.format_exc())
|
||||
|
||||
def _on_disconnect(self, client, userdata, rc, reasonCode=None, properties=None):
|
||||
if rc != 0:
|
||||
logger.error(f"[MQTT] Unexpected disconnection {rc}")
|
||||
|
||||
def _setup_ssl_context(self):
|
||||
temp_files = []
|
||||
try:
|
||||
with tempfile.NamedTemporaryFile(mode="w", delete=False) as ca_temp:
|
||||
ca_temp.write(MQConfig.ca_content)
|
||||
temp_files.append(ca_temp.name)
|
||||
|
||||
with tempfile.NamedTemporaryFile(mode="w", delete=False) as cert_temp:
|
||||
cert_temp.write(MQConfig.cert_content)
|
||||
temp_files.append(cert_temp.name)
|
||||
|
||||
with tempfile.NamedTemporaryFile(mode="w", delete=False) as key_temp:
|
||||
key_temp.write(MQConfig.key_content)
|
||||
temp_files.append(key_temp.name)
|
||||
|
||||
context = ssl.create_default_context(ssl.Purpose.SERVER_AUTH)
|
||||
context.load_verify_locations(cafile=temp_files[0])
|
||||
context.load_cert_chain(certfile=temp_files[1], keyfile=temp_files[2])
|
||||
self.client.tls_set_context(context)
|
||||
finally:
|
||||
for temp_file in temp_files:
|
||||
try:
|
||||
os.unlink(temp_file)
|
||||
except Exception as e:
|
||||
pass
|
||||
|
||||
def start(self):
|
||||
if self.mqtt_disable:
|
||||
logger.warning("MQTT is disabled, skipping connection.")
|
||||
return
|
||||
userName = f"Signature|{MQConfig.access_key}|{MQConfig.instance_id}"
|
||||
password = base64.b64encode(
|
||||
hmac.new(MQConfig.secret_key.encode(), self.client_id.encode(), sha1).digest()
|
||||
).decode()
|
||||
|
||||
self.client.username_pw_set(userName, password)
|
||||
self._setup_ssl_context()
|
||||
|
||||
# 创建连接线程
|
||||
def connect_thread_func():
|
||||
try:
|
||||
self.client.connect(MQConfig.broker_url, MQConfig.port, 60)
|
||||
self.client.loop_start()
|
||||
|
||||
# 添加连接超时检测
|
||||
max_attempts = 5
|
||||
attempt = 0
|
||||
while not self.client.is_connected() and attempt < max_attempts:
|
||||
logger.info(
|
||||
f"[MQTT] 正在连接到 {MQConfig.broker_url}:{MQConfig.port}，尝试 {attempt+1}/{max_attempts}"
|
||||
)
|
||||
time.sleep(3)
|
||||
attempt += 1
|
||||
|
||||
if self.client.is_connected():
|
||||
logger.info(f"[MQTT] 已成功连接到 {MQConfig.broker_url}:{MQConfig.port}")
|
||||
else:
|
||||
logger.error(f"[MQTT] 连接超时，可能是账号密码错误或网络问题")
|
||||
self.client.loop_stop()
|
||||
except Exception as e:
|
||||
logger.error(f"[MQTT] 连接失败: {str(e)}")
|
||||
|
||||
connect_thread_func()
|
||||
# connect_thread = threading.Thread(target=connect_thread_func)
|
||||
# connect_thread.daemon = True
|
||||
# connect_thread.start()
|
||||
|
||||
def stop(self):
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
self.client.disconnect()
|
||||
self.client.loop_stop()
|
||||
|
||||
def publish_device_status(self, device_status: dict, device_id, property_name):
|
||||
# status = device_status.get(device_id, {})
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
status = {"data": device_status.get(device_id, {}), "device_id": device_id, "timestamp": time.time()}
|
||||
address = f"labs/{MQConfig.lab_id}/devices/"
|
||||
self.client.publish(address, json.dumps(status), qos=2)
|
||||
# logger.info(f"Device {device_id} status published: address: {address}, {status}")
|
||||
|
||||
def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[str] = None):
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
if return_info is None:
|
||||
return_info = "{}"
|
||||
jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
|
||||
self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
|
||||
|
||||
def publish_registry(self, device_id: str, device_info: dict, print_debug: bool = True):
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
address = f"labs/{MQConfig.lab_id}/registry/"
|
||||
registry_data = json.dumps({device_id: device_info}, ensure_ascii=False, cls=TypeEncoder)
|
||||
self.client.publish(address, registry_data, qos=2)
|
||||
if print_debug:
|
||||
logger.debug(f"Registry data published: address: {address}, {registry_data}")
|
||||
|
||||
def publish_actions(self, action_id: str, action_info: dict):
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
address = f"labs/{MQConfig.lab_id}/actions/"
|
||||
self.client.publish(address, json.dumps(action_info), qos=2)
|
||||
logger.debug(f"Action data published: address: {address}, {action_id}, {action_info}")
|
||||
|
||||
def send_ping(self, ping_id: str, timestamp: float):
|
||||
"""发送ping消息到服务端"""
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
address = f"labs/{MQConfig.lab_id}/ping/"
|
||||
ping_data = {"ping_id": ping_id, "client_timestamp": timestamp, "type": "ping"}
|
||||
self.client.publish(address, json.dumps(ping_data), qos=2)
|
||||
|
||||
def setup_pong_subscription(self):
|
||||
"""设置pong消息订阅"""
|
||||
if self.mqtt_disable:
|
||||
return
|
||||
pong_topic = f"labs/{MQConfig.lab_id}/pong/"
|
||||
self.client.subscribe(pong_topic, 0)
|
||||
logger.debug(f"Subscribed to pong topic: {pong_topic}")
|
||||
|
||||
def handle_pong(self, pong_data: dict):
|
||||
"""处理pong响应（这个方法会在收到pong消息时被调用）"""
|
||||
logger.debug(f"Pong received: {pong_data}")
|
||||
# 这里会被HostNode的ping-pong处理逻辑调用
|
||||
pass
|
||||
|
||||
|
||||
mqtt_client = MQTTClient()
|
||||
|
||||
if __name__ == "__main__":
|
||||
mqtt_client.start()
|
||||
@@ -1,85 +1,57 @@
|
||||
import argparse
|
||||
import json
|
||||
import time
|
||||
|
||||
from unilabos.registry.registry import build_registry
|
||||
|
||||
from unilabos.app.main import load_config_from_file
|
||||
from unilabos.utils.log import logger
|
||||
from unilabos.utils.type_check import TypeEncoder
|
||||
|
||||
|
||||
def register_devices_and_resources(mqtt_client, lab_registry):
|
||||
def register_devices_and_resources(lab_registry):
|
||||
"""
|
||||
注册设备和资源到 MQTT
|
||||
注册设备和资源到服务器（仅支持HTTP）
|
||||
"""
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
mqtt_client.publish_registry(device_info["id"], device_info, False)
|
||||
logger.debug(f"[UniLab Register] 注册设备: {device_info['id']}")
|
||||
|
||||
# # 注册资源信息
|
||||
# for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
# mqtt_client.publish_registry(resource_info["id"], resource_info, False)
|
||||
# logger.debug(f"[UniLab Register] 注册资源: {resource_info['id']}")
|
||||
|
||||
# 注册资源信息 - 使用HTTP方式
|
||||
from unilabos.app.web.client import http_client
|
||||
|
||||
logger.info("[UniLab Register] 开始注册设备和资源...")
|
||||
|
||||
# 注册设备信息
|
||||
devices_to_register = {}
|
||||
for device_info in lab_registry.obtain_registry_device_info():
|
||||
devices_to_register[device_info["id"]] = json.loads(
|
||||
json.dumps(device_info, ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
logger.debug(f"[UniLab Register] 收集设备: {device_info['id']}")
|
||||
|
||||
resources_to_register = {}
|
||||
for resource_info in lab_registry.obtain_registry_resource_info():
|
||||
resources_to_register[resource_info["id"]] = resource_info
|
||||
logger.debug(f"[UniLab Register] 准备注册资源: {resource_info['id']}")
|
||||
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
|
||||
|
||||
# 注册设备
|
||||
if devices_to_register:
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry({"resources": list(devices_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(devices_to_register)} 个设备 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 设备注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 设备注册异常: {e}")
|
||||
|
||||
# 注册资源
|
||||
if resources_to_register:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry(resources_to_register)
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功通过HTTP注册 {len(resources_to_register)} 个资源 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] HTTP注册资源失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
try:
|
||||
start_time = time.time()
|
||||
response = http_client.resource_registry({"resources": list(resources_to_register.values())})
|
||||
cost_time = time.time() - start_time
|
||||
if response.status_code in [200, 201]:
|
||||
logger.info(f"[UniLab Register] 成功注册 {len(resources_to_register)} 个资源 {cost_time}ms")
|
||||
else:
|
||||
logger.error(f"[UniLab Register] 资源注册失败: {response.status_code}, {response.text} {cost_time}ms")
|
||||
except Exception as e:
|
||||
logger.error(f"[UniLab Register] 资源注册异常: {e}")
|
||||
|
||||
logger.info("[UniLab Register] 设备和资源注册完成.")
|
||||
|
||||
|
||||
def main():
|
||||
"""
|
||||
命令行入口函数
|
||||
"""
|
||||
parser = argparse.ArgumentParser(description="注册设备和资源到 MQTT")
|
||||
parser.add_argument(
|
||||
"--registry",
|
||||
type=str,
|
||||
default=None,
|
||||
action="append",
|
||||
help="注册表路径",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--config",
|
||||
type=str,
|
||||
default=None,
|
||||
help="配置文件路径，支持.py格式的Python配置文件",
|
||||
)
|
||||
parser.add_argument(
|
||||
"--complete_registry",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="是否补全注册表",
|
||||
)
|
||||
args = parser.parse_args()
|
||||
load_config_from_file(args.config)
|
||||
# 构建注册表
|
||||
build_registry(args.registry, args.complete_registry, True)
|
||||
from unilabos.app.mq import mqtt_client
|
||||
|
||||
# 连接mqtt
|
||||
mqtt_client.start()
|
||||
|
||||
from unilabos.registry.registry import lab_registry
|
||||
|
||||
# 注册设备和资源
|
||||
register_devices_and_resources(mqtt_client, lab_registry)
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -3,13 +3,15 @@ HTTP客户端模块
|
||||
|
||||
提供与远程服务器通信的客户端功能，只有host需要用
|
||||
"""
|
||||
|
||||
import json
|
||||
import os
|
||||
from typing import List, Dict, Any, Optional
|
||||
|
||||
import requests
|
||||
from unilabos.ros.nodes.resource_tracker import ResourceTreeSet
|
||||
from unilabos.utils.log import info
|
||||
from unilabos.config.config import MQConfig, HTTPConfig, BasicConfig
|
||||
from unilabos.config.config import HTTPConfig, BasicConfig
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
@@ -24,14 +26,17 @@ class HTTPClient:
|
||||
remote_addr: 远程服务器地址，如果不提供则从配置中获取
|
||||
auth: 授权信息
|
||||
"""
|
||||
self.initialized = False
|
||||
self.remote_addr = remote_addr or HTTPConfig.remote_addr
|
||||
if auth is not None:
|
||||
self.auth = auth
|
||||
else:
|
||||
self.auth = MQConfig.lab_id
|
||||
auth_secret = BasicConfig.auth_secret()
|
||||
self.auth = auth_secret
|
||||
info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
|
||||
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
|
||||
|
||||
def resource_edge_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
|
||||
def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
@@ -41,33 +46,128 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
database_param = 1 if database_process_later else 0
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource/edge/batch_create/?database_process_later={database_param}",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
f"{self.remote_addr}/edge/material/edge",
|
||||
json={
|
||||
"edges": resources,
|
||||
},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"添加物料关系失败: {response.text}")
|
||||
if response.status_code != 200 and response.status_code != 201:
|
||||
logger.error(f"添加物料关系失败: {response.status_code}, {response.text}")
|
||||
return response
|
||||
|
||||
def resource_add(self, resources: List[Dict[str, Any]], database_process_later: bool) -> requests.Response:
|
||||
def resource_tree_add(self, resources: ResourceTreeSet, mount_uuid: str, first_add: bool) -> Dict[str, str]:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
Args:
|
||||
resources: 要添加的资源树集合（ResourceTreeSet）
|
||||
mount_uuid: 要挂载的资源的uuid
|
||||
first_add: 是否为首次添加资源，可以是host也可以是slave来的
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
|
||||
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
|
||||
if not self.initialized or first_add:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/edge/material",
|
||||
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
|
||||
# 处理响应，构建UUID映射
|
||||
uuid_mapping = {}
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
else:
|
||||
data = res["data"]
|
||||
for i in data:
|
||||
uuid_mapping[i["uuid"]] = i["cloud_uuid"]
|
||||
else:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
for u, n in old_uuids.items():
|
||||
if u in uuid_mapping:
|
||||
n.res_content.uuid = uuid_mapping[u]
|
||||
for c in n.children:
|
||||
c.res_content.parent_uuid = n.res_content.uuid
|
||||
else:
|
||||
logger.warning(f"资源UUID未更新: {u}")
|
||||
return uuid_mapping
|
||||
|
||||
def resource_tree_get(self, uuid_list: List[str], with_children: bool) -> List[Dict[str, Any]]:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
Args:
|
||||
uuid_list: List[str]
|
||||
Returns:
|
||||
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/edge/material/query",
|
||||
json={"uuids": uuid_list, "with_children": with_children},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
else:
|
||||
data = res["data"]["nodes"]
|
||||
return data
|
||||
else:
|
||||
logger.error(f"查询物料失败: {response.text}")
|
||||
return []
|
||||
|
||||
def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
添加资源
|
||||
|
||||
Args:
|
||||
resources: 要添加的资源列表
|
||||
database_process_later: 后台处理资源
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
if not self.initialized:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
if response.status_code != 200:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
return response
|
||||
@@ -84,9 +184,9 @@ class HTTPClient:
|
||||
Dict: 返回的资源数据
|
||||
"""
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/resource/?edge_format=1",
|
||||
f"{self.remote_addr}/lab/material",
|
||||
params={"id": id, "with_children": with_children},
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=20,
|
||||
)
|
||||
return response.json()
|
||||
@@ -104,7 +204,7 @@ class HTTPClient:
|
||||
response = requests.delete(
|
||||
f"{self.remote_addr}/lab/resource/batch_delete/",
|
||||
params={"id": id},
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=20,
|
||||
)
|
||||
return response
|
||||
@@ -119,13 +219,29 @@ class HTTPClient:
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.patch(
|
||||
f"{self.remote_addr}/lab/resource/batch_update/?edge_format=1",
|
||||
json=resources,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
return response
|
||||
if not self.initialized:
|
||||
self.initialized = True
|
||||
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
else:
|
||||
response = requests.put(
|
||||
f"{self.remote_addr}/lab/material",
|
||||
json={"nodes": resources},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=100,
|
||||
)
|
||||
if response.status_code == 200:
|
||||
res = response.json()
|
||||
if "code" in res and res["code"] != 0:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
if response.status_code != 200:
|
||||
logger.error(f"添加物料失败: {response.text}")
|
||||
return response.json()
|
||||
|
||||
def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
|
||||
"""
|
||||
@@ -146,25 +262,25 @@ class HTTPClient:
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/api/account/file_upload/{scene}",
|
||||
files=files,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30, # 上传文件可能需要更长的超时时间
|
||||
)
|
||||
return response
|
||||
|
||||
def resource_registry(self, registry_data: Dict[str, Any]) -> requests.Response:
|
||||
def resource_registry(self, registry_data: Dict[str, Any] | List[Dict[str, Any]]) -> requests.Response:
|
||||
"""
|
||||
注册资源到服务器
|
||||
|
||||
Args:
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info}
|
||||
registry_data: 注册表数据，格式为 {resource_id: resource_info} / [{resource_info}]
|
||||
|
||||
Returns:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.post(
|
||||
f"{self.remote_addr}/lab/registry/",
|
||||
f"{self.remote_addr}/lab/resource",
|
||||
json=registry_data,
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=30,
|
||||
)
|
||||
if response.status_code not in [200, 201]:
|
||||
@@ -182,8 +298,8 @@ class HTTPClient:
|
||||
Response: API响应对象
|
||||
"""
|
||||
response = requests.get(
|
||||
f"{self.remote_addr}/lab/resource/graph_info/",
|
||||
headers={"Authorization": f"lab {self.auth}"},
|
||||
f"{self.remote_addr}/edge/material/download",
|
||||
headers={"Authorization": f"Lab {self.auth}"},
|
||||
timeout=(3, 30),
|
||||
)
|
||||
if response.status_code != 200:
|
||||
|
||||
@@ -78,21 +78,23 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
HTMLResponse: 渲染后的HTML页面
|
||||
"""
|
||||
try:
|
||||
# 准备设备数据
|
||||
# 准备初始数据结构（这些数据将通过WebSocket实时更新）
|
||||
devices = []
|
||||
resources = []
|
||||
modules = {"names": [], "classes": [], "displayed_count": 0, "total_count": 0}
|
||||
|
||||
# 获取在线设备信息
|
||||
# 获取在线设备信息（用于初始渲染）
|
||||
ros_node_info = get_ros_node_info()
|
||||
# 获取主机节点信息
|
||||
# 获取主机节点信息（用于初始渲染）
|
||||
host_node_info = get_host_node_info()
|
||||
# 获取Registry路径信息
|
||||
# 获取Registry路径信息（静态信息，不需要实时更新）
|
||||
registry_info = get_registry_info()
|
||||
|
||||
# 获取已加载的设备
|
||||
# 获取初始数据用于页面渲染（后续将被WebSocket数据覆盖）
|
||||
if lab_registry:
|
||||
devices = json.loads(json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder))
|
||||
devices = json.loads(
|
||||
json.dumps(lab_registry.obtain_registry_device_info(), ensure_ascii=False, cls=TypeEncoder)
|
||||
)
|
||||
# 资源类型
|
||||
for resource_id, resource_info in lab_registry.resource_type_registry.items():
|
||||
resources.append(
|
||||
@@ -103,7 +105,7 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
}
|
||||
)
|
||||
|
||||
# 获取导入的模块
|
||||
# 获取导入的模块（初始数据）
|
||||
if msg_converter_manager:
|
||||
modules["names"] = msg_converter_manager.list_modules()
|
||||
all_classes = [i for i in msg_converter_manager.list_classes() if "." in i]
|
||||
@@ -171,3 +173,20 @@ def setup_web_pages(router: APIRouter) -> None:
|
||||
except Exception as e:
|
||||
error(f"打开文件夹时出错: {str(e)}")
|
||||
return {"status": "error", "message": f"Failed to open folder: {str(e)}"}
|
||||
|
||||
@router.get("/registry-editor", response_class=HTMLResponse, summary="Registry Editor")
|
||||
async def registry_editor_page() -> str:
|
||||
"""
|
||||
注册表编辑页面，用于导入Python文件并生成注册表
|
||||
|
||||
Returns:
|
||||
HTMLResponse: 渲染后的HTML页面
|
||||
"""
|
||||
try:
|
||||
# 使用模板渲染页面
|
||||
template = env.get_template("registry_editor.html")
|
||||
html = template.render()
|
||||
return html
|
||||
except Exception as e:
|
||||
error(f"生成注册表编辑页面时出错: {str(e)}")
|
||||
raise HTTPException(status_code=500, detail=f"Error generating registry editor page: {str(e)}")
|
||||
|
||||
@@ -162,7 +162,6 @@
|
||||
<body>
|
||||
<h1>{% block header %}UniLab{% endblock %}</h1>
|
||||
{% block nav %}
|
||||
<a href="/unilabos/webtic" class="home-link">Home</a>
|
||||
{% endblock %}
|
||||
|
||||
{% block top_info %}{% endblock %}
|
||||
|
||||
@@ -1,22 +1,25 @@
|
||||
{% extends "base.html" %}
|
||||
|
||||
{% block title %}UniLab API{% endblock %}
|
||||
|
||||
{% block header %}UniLab API{% endblock %}
|
||||
|
||||
{% block nav %}
|
||||
<a href="/status" class="status-link">System Status</a>
|
||||
{% endblock %}
|
||||
|
||||
{% block content %}
|
||||
<div class="card">
|
||||
<h2>Available Endpoints</h2>
|
||||
{% for route in routes %}
|
||||
<div class="endpoint">
|
||||
<span class="method">{{ route.method }}</span>
|
||||
<a href="{{ route.path }}">{{ route.path }}</a>
|
||||
<p>{{ route.summary }}</p>
|
||||
</div>
|
||||
{% endfor %}
|
||||
{% extends "base.html" %} {% block title %}UniLab API{% endblock %} {% block
|
||||
header %}UniLab API{% endblock %} {% block nav %}
|
||||
<div class="nav-tabs">
|
||||
<a
|
||||
href="/"
|
||||
class="nav-tab"
|
||||
style="background-color: #2196f3; color: white"
|
||||
target="_blank"
|
||||
>主页</a
|
||||
>
|
||||
<a href="/status" class="nav-tab">状态</a>
|
||||
<a href="/registry-editor" class="nav-tab" target="_blank">注册表编辑</a>
|
||||
</div>
|
||||
{% endblock %}
|
||||
{% endblock %} {% block content %}
|
||||
<div class="card">
|
||||
<h2>Available Endpoints</h2>
|
||||
{% for route in routes %}
|
||||
<div class="endpoint">
|
||||
<span class="method">{{ route.method }}</span>
|
||||
<a href="{{ route.path }}">{{ route.path }}</a>
|
||||
<p>{{ route.summary }}</p>
|
||||
</div>
|
||||
{% endfor %}
|
||||
</div>
|
||||
{% endblock %}
|
||||
|
||||
1411
unilabos/app/web/templates/registry_editor.html
Normal file
1411
unilabos/app/web/templates/registry_editor.html
Normal file
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
1270
unilabos/app/ws_client.py
Normal file
1270
unilabos/app/ws_client.py
Normal file
File diff suppressed because it is too large
Load Diff
@@ -46,6 +46,7 @@ action_protocol_generators = {
|
||||
HeatChillStopProtocol: generate_heat_chill_stop_protocol,
|
||||
HydrogenateProtocol: generate_hydrogenate_protocol,
|
||||
PumpTransferProtocol: generate_pump_protocol_with_rinsing,
|
||||
TransferProtocol: generate_pump_protocol,
|
||||
RecrystallizeProtocol: generate_recrystallize_protocol,
|
||||
ResetHandlingProtocol: generate_reset_handling_protocol,
|
||||
RunColumnProtocol: generate_run_column_protocol,
|
||||
|
||||
@@ -155,7 +155,7 @@ def generate_add_protocol(
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"准备添加固体 {reagent}"
|
||||
}
|
||||
@@ -169,7 +169,7 @@ def generate_add_protocol(
|
||||
|
||||
# 固体加样
|
||||
add_kwargs = {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"reagent": reagent,
|
||||
"purpose": purpose,
|
||||
"event": event,
|
||||
@@ -232,7 +232,7 @@ def generate_add_protocol(
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"准备添加液体 {reagent}"
|
||||
}
|
||||
|
||||
@@ -325,7 +325,7 @@ def generate_adjust_ph_protocol(
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id,
|
||||
"vessel": {"id": vessel_id},
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"pH调节: 启动搅拌，准备添加 {reagent}"
|
||||
}
|
||||
|
||||
@@ -156,7 +156,7 @@ def generate_centrifuge_protocol(
|
||||
"device_id": centrifuge_id,
|
||||
"action_name": "centrifuge",
|
||||
"action_kwargs": {
|
||||
"vessel": centrifuge_vessel,
|
||||
"vessel": {"id": centrifuge_vessel},
|
||||
"speed": speed,
|
||||
"time": time,
|
||||
"temp": temp
|
||||
|
||||
@@ -143,7 +143,7 @@ def generate_clean_vessel_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"temp": temp,
|
||||
"purpose": f"cleaning with {solvent}"
|
||||
}
|
||||
@@ -295,7 +295,7 @@ def generate_clean_vessel_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
}
|
||||
}
|
||||
action_sequence.append(heatchill_stop_action)
|
||||
|
||||
@@ -563,7 +563,7 @@ def generate_dissolve_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id,
|
||||
"vessel": {"id": vessel_id},
|
||||
"temp": final_temp,
|
||||
"purpose": f"溶解准备 - {event}" if event else "溶解准备"
|
||||
}
|
||||
@@ -587,7 +587,7 @@ def generate_dissolve_protocol(
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id,
|
||||
"vessel": {"id": vessel_id},
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"溶解搅拌 - {event}" if event else "溶解搅拌"
|
||||
}
|
||||
@@ -612,7 +612,7 @@ def generate_dissolve_protocol(
|
||||
|
||||
# 固体加样
|
||||
add_kwargs = {
|
||||
"vessel": vessel_id,
|
||||
"vessel": {"id": vessel_id},
|
||||
"reagent": reagent or amount or "solid reagent",
|
||||
"purpose": f"溶解固体试剂 - {event}" if event else "溶解固体试剂",
|
||||
"event": event
|
||||
@@ -758,7 +758,7 @@ def generate_dissolve_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id,
|
||||
"vessel": {"id": vessel_id},
|
||||
"temp": final_temp,
|
||||
"time": final_time,
|
||||
"stir": True,
|
||||
@@ -776,7 +776,7 @@ def generate_dissolve_protocol(
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id,
|
||||
"vessel": {"id": vessel_id},
|
||||
"stir_time": final_time,
|
||||
"stir_speed": stir_speed,
|
||||
"settling_time": 0,
|
||||
@@ -802,7 +802,7 @@ def generate_dissolve_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id
|
||||
"vessel": {"id": vessel_id},
|
||||
}
|
||||
}
|
||||
action_sequence.append(stop_action)
|
||||
|
||||
@@ -167,7 +167,7 @@ def generate_dry_protocol(
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"temp": dry_temp,
|
||||
"purpose": f"干燥 {compound or '化合物'}"
|
||||
}
|
||||
@@ -191,7 +191,7 @@ def generate_dry_protocol(
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"temp": dry_temp,
|
||||
"time": simulation_time,
|
||||
"purpose": f"干燥 {compound or '化合物'}，保持温度 {dry_temp}°C"
|
||||
@@ -251,7 +251,7 @@ def generate_dry_protocol(
|
||||
"device_id": heater_id,
|
||||
"action_name": "heat_chill_stop",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"purpose": f"干燥完成，停止加热"
|
||||
}
|
||||
})
|
||||
|
||||
@@ -452,7 +452,7 @@ def generate_evacuateandrefill_protocol(
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"stir_speed": STIR_SPEED,
|
||||
"purpose": "抽真空充气前预搅拌"
|
||||
}
|
||||
@@ -685,7 +685,7 @@ def generate_evacuateandrefill_protocol(
|
||||
action_sequence.append({
|
||||
"device_id": stirrer_id,
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {"vessel": vessel_id} # 🔧 使用 vessel_id
|
||||
"action_kwargs": {"vessel": {"id": vessel_id},} # 🔧 使用 vessel_id
|
||||
})
|
||||
else:
|
||||
action_sequence.append(create_action_log("跳过搅拌器停止", "⏭️"))
|
||||
|
||||
@@ -329,7 +329,7 @@ def generate_evaporate_protocol(
|
||||
"device_id": rotavap_device,
|
||||
"action_name": "evaporate",
|
||||
"action_kwargs": {
|
||||
"vessel": target_vessel,
|
||||
"vessel": {"id": target_vessel},
|
||||
"pressure": float(pressure),
|
||||
"temp": float(temp),
|
||||
"time": float(final_time), # 🔧 强制转换为float类型
|
||||
|
||||
@@ -220,7 +220,7 @@ def generate_heat_chill_protocol(
|
||||
"device_id": heatchill_id,
|
||||
"action_name": "heat_chill",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel,
|
||||
"vessel": {"id": vessel},
|
||||
"temp": float(final_temp),
|
||||
"time": float(final_time),
|
||||
"stir": bool(stir),
|
||||
@@ -287,7 +287,8 @@ def generate_heat_chill_start_protocol(
|
||||
"action_name": "heat_chill_start",
|
||||
"action_kwargs": {
|
||||
"temp": temp,
|
||||
"purpose": purpose or f"开始加热到 {temp}°C"
|
||||
"purpose": purpose or f"开始加热到 {temp}°C",
|
||||
"vessel": {"id": vessel_id},
|
||||
}
|
||||
}]
|
||||
|
||||
|
||||
@@ -265,7 +265,7 @@ def generate_separate_protocol(
|
||||
"device_id": stirrer_device,
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
"vessel": final_vessel_id, # 🔧 使用 final_vessel_id
|
||||
"vessel": {"id": final_vessel_id}, # 🔧 使用 final_vessel_id
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": f"分离混合 - {purpose}"
|
||||
}
|
||||
|
||||
@@ -234,7 +234,7 @@ def generate_stir_protocol(
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
|
||||
"vessel": vessel_id, # 传递字符串ID，不是Resource对象
|
||||
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
|
||||
"time": str(time),
|
||||
"event": event,
|
||||
"time_spec": time_spec,
|
||||
@@ -323,7 +323,7 @@ def generate_start_stir_protocol(
|
||||
"action_name": "start_stir",
|
||||
"action_kwargs": {
|
||||
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
|
||||
"vessel": vessel_id, # 传递字符串ID，不是Resource对象
|
||||
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
|
||||
"stir_speed": stir_speed,
|
||||
"purpose": purpose or f"启动搅拌 {stir_speed} RPM"
|
||||
}
|
||||
@@ -383,7 +383,7 @@ def generate_stop_stir_protocol(
|
||||
"action_name": "stop_stir",
|
||||
"action_kwargs": {
|
||||
# 🔧 关键修复：传递vessel_id字符串，而不是完整的Resource对象
|
||||
"vessel": vessel_id # 传递字符串ID，不是Resource对象
|
||||
"vessel": {"id": vessel_id}, # 传递字符串ID，不是Resource对象
|
||||
}
|
||||
}]
|
||||
|
||||
|
||||
@@ -361,7 +361,7 @@ def generate_wash_solid_protocol(
|
||||
"device_id": "stirrer_1",
|
||||
"action_name": "stir",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"time": str(time),
|
||||
"stir_time": final_time,
|
||||
"stir_speed": stir_speed,
|
||||
@@ -377,7 +377,7 @@ def generate_wash_solid_protocol(
|
||||
"device_id": "filter_1",
|
||||
"action_name": "filter",
|
||||
"action_kwargs": {
|
||||
"vessel": vessel_id, # 🔧 使用 vessel_id
|
||||
"vessel": {"id": vessel_id}, # 🔧 使用 vessel_id
|
||||
"filtrate_vessel": actual_filtrate_vessel,
|
||||
"temp": temp,
|
||||
"volume": final_volume
|
||||
|
||||
@@ -1,14 +1,14 @@
|
||||
#!/usr/bin/env python
|
||||
# coding=utf-8
|
||||
# 定义配置变量和加载函数
|
||||
import base64
|
||||
import traceback
|
||||
import os
|
||||
import importlib.util
|
||||
from typing import Optional
|
||||
from unilabos.utils import logger
|
||||
|
||||
|
||||
class BasicConfig:
|
||||
ENV = "pro" # 'test'
|
||||
ak = ""
|
||||
sk = ""
|
||||
working_dir = ""
|
||||
config_path = ""
|
||||
is_host_mode = True
|
||||
@@ -17,26 +17,22 @@ class BasicConfig:
|
||||
machine_name = "undefined"
|
||||
vis_2d_enable = False
|
||||
enable_resource_load = True
|
||||
direct_end = False
|
||||
communication_protocol = "websocket"
|
||||
|
||||
@classmethod
|
||||
def auth_secret(cls):
|
||||
if not cls.ak or not cls.sk:
|
||||
return ""
|
||||
target = f"{cls.ak}:{cls.sk}"
|
||||
base64_target = base64.b64encode(target.encode("utf-8")).decode("utf-8")
|
||||
return base64_target
|
||||
|
||||
|
||||
# MQTT配置
|
||||
class MQConfig:
|
||||
lab_id = ""
|
||||
instance_id = ""
|
||||
access_key = ""
|
||||
secret_key = ""
|
||||
group_id = ""
|
||||
broker_url = ""
|
||||
port = 1883
|
||||
ca_content = ""
|
||||
cert_content = ""
|
||||
key_content = ""
|
||||
|
||||
# 指定
|
||||
ca_file = "" # 相对config.py所在目录的路径
|
||||
cert_file = "" # 相对config.py所在目录的路径
|
||||
key_file = "" # 相对config.py所在目录的路径
|
||||
# WebSocket配置
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
|
||||
|
||||
# OSS上传配置
|
||||
@@ -66,48 +62,13 @@ class ROSConfig:
|
||||
]
|
||||
|
||||
|
||||
def _update_config_from_module(module, override_labid: str):
|
||||
def _update_config_from_module(module):
|
||||
for name, obj in globals().items():
|
||||
if isinstance(obj, type) and name.endswith("Config"):
|
||||
if hasattr(module, name) and isinstance(getattr(module, name), type):
|
||||
for attr in dir(getattr(module, name)):
|
||||
if not attr.startswith("_"):
|
||||
setattr(obj, attr, getattr(getattr(module, name), attr))
|
||||
# 更新OSS认证
|
||||
if len(OSSUploadConfig.authorization) == 0:
|
||||
OSSUploadConfig.authorization = f"lab {MQConfig.lab_id}"
|
||||
# 对 ca_file cert_file key_file 进行初始化
|
||||
if override_labid:
|
||||
MQConfig.lab_id = override_labid
|
||||
logger.warning(f"[ENV] 当前实验室启动的ID被设置为：{override_labid}")
|
||||
if len(MQConfig.ca_content) == 0:
|
||||
# 需要先判断是否为相对路径
|
||||
if MQConfig.ca_file.startswith("."):
|
||||
MQConfig.ca_file = os.path.join(BasicConfig.config_path, MQConfig.ca_file)
|
||||
if len(MQConfig.ca_file) != 0:
|
||||
with open(MQConfig.ca_file, "r", encoding="utf-8") as f:
|
||||
MQConfig.ca_content = f.read()
|
||||
else:
|
||||
logger.warning("Skipping CA file loading, ca_file is empty")
|
||||
if len(MQConfig.cert_content) == 0:
|
||||
# 需要先判断是否为相对路径
|
||||
if MQConfig.cert_file.startswith("."):
|
||||
MQConfig.cert_file = os.path.join(BasicConfig.config_path, MQConfig.cert_file)
|
||||
if len(MQConfig.ca_file) != 0:
|
||||
with open(MQConfig.cert_file, "r", encoding="utf-8") as f:
|
||||
MQConfig.cert_content = f.read()
|
||||
else:
|
||||
logger.warning("Skipping cert file loading, cert_file is empty")
|
||||
if len(MQConfig.key_content) == 0:
|
||||
# 需要先判断是否为相对路径
|
||||
if MQConfig.key_file.startswith("."):
|
||||
MQConfig.key_file = os.path.join(BasicConfig.config_path, MQConfig.key_file)
|
||||
if len(MQConfig.ca_file) != 0:
|
||||
with open(MQConfig.key_file, "r", encoding="utf-8") as f:
|
||||
MQConfig.key_content = f.read()
|
||||
else:
|
||||
logger.warning("Skipping key file loading, key_file is empty")
|
||||
|
||||
|
||||
def _update_config_from_env():
|
||||
prefix = "UNILABOS_"
|
||||
@@ -160,8 +121,7 @@ def _update_config_from_env():
|
||||
logger.warning(f"[ENV] 解析环境变量 {env_key} 失败: {e}")
|
||||
|
||||
|
||||
|
||||
def load_config(config_path=None, override_labid=None):
|
||||
def load_config(config_path=None):
|
||||
# 如果提供了配置文件路径，从该文件导入配置
|
||||
if config_path:
|
||||
env_config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH")
|
||||
@@ -178,7 +138,7 @@ def load_config(config_path=None, override_labid=None):
|
||||
return
|
||||
module = importlib.util.module_from_spec(spec)
|
||||
spec.loader.exec_module(module) # type: ignore
|
||||
_update_config_from_module(module, override_labid)
|
||||
_update_config_from_module(module)
|
||||
logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
|
||||
_update_config_from_env()
|
||||
except Exception as e:
|
||||
@@ -187,4 +147,4 @@ def load_config(config_path=None, override_labid=None):
|
||||
exit(1)
|
||||
else:
|
||||
config_path = os.path.join(os.path.dirname(__file__), "local_config.py")
|
||||
load_config(config_path, override_labid)
|
||||
load_config(config_path)
|
||||
|
||||
@@ -1,17 +1,12 @@
|
||||
# MQTT配置
|
||||
class MQConfig:
|
||||
lab_id = ""
|
||||
instance_id = ""
|
||||
access_key = ""
|
||||
secret_key = ""
|
||||
group_id = ""
|
||||
broker_url = ""
|
||||
port = 1883
|
||||
# unilabos的配置文件
|
||||
|
||||
ca_file = "./CA.crt"
|
||||
cert_file = "./lab.crt"
|
||||
key_file = "./lab.key"
|
||||
class BasicConfig:
|
||||
ak = "" # 实验室网页给您提供的ak代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --ak 传入，优先按照传入参数解析
|
||||
sk = "" # 实验室网页给您提供的sk代码，您可以在配置文件中指定，也可以通过运行unilabos时以 --sk 传入，优先按照传入参数解析
|
||||
|
||||
# HTTP配置
|
||||
class HTTPConfig:
|
||||
remote_addr = "https://uni-lab.bohrium.com/api/v1"
|
||||
|
||||
# WebSocket配置，一般无需调整
|
||||
class WSConfig:
|
||||
reconnect_interval = 5 # 重连间隔（秒）
|
||||
max_reconnect_attempts = 999 # 最大重连次数
|
||||
ping_interval = 30 # ping间隔（秒）
|
||||
@@ -1 +0,0 @@
|
||||
from .eis_model import EISModelBasedController
|
||||
@@ -1,5 +0,0 @@
|
||||
import numpy as np
|
||||
|
||||
|
||||
def EISModelBasedController(eis: np.array) -> float:
|
||||
return 0.0
|
||||
454
unilabos/device_comms/coin_cell_assembly_workstation.py
Normal file
454
unilabos/device_comms/coin_cell_assembly_workstation.py
Normal file
@@ -0,0 +1,454 @@
|
||||
"""
|
||||
纽扣电池组装工作站
|
||||
Coin Cell Assembly Workstation
|
||||
|
||||
继承工作站基类，实现纽扣电池特定功能
|
||||
"""
|
||||
from typing import Dict, Any, List, Optional, Union
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
from unilabos.device_comms.workstation_base import WorkstationBase, WorkflowInfo
|
||||
from unilabos.device_comms.workstation_communication import (
|
||||
WorkstationCommunicationBase, CommunicationConfig, CommunicationProtocol, CoinCellCommunication
|
||||
)
|
||||
from unilabos.device_comms.workstation_material_management import (
|
||||
MaterialManagementBase, CoinCellMaterialManagement
|
||||
)
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
|
||||
class CoinCellAssemblyWorkstation(WorkstationBase):
|
||||
"""纽扣电池组装工作站
|
||||
|
||||
基于工作站基类，实现纽扣电池制造的特定功能：
|
||||
1. 纽扣电池特定的通信协议
|
||||
2. 纽扣电池物料管理（料板、极片、电池等）
|
||||
3. 电池制造工作流
|
||||
4. 质量检查工作流
|
||||
"""
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
device_id: str,
|
||||
children: Dict[str, Dict[str, Any]],
|
||||
protocol_type: Union[str, List[str]] = "BatteryManufacturingProtocol",
|
||||
resource_tracker: Optional[DeviceNodeResourceTracker] = None,
|
||||
modbus_config: Optional[Dict[str, Any]] = None,
|
||||
deck_config: Optional[Dict[str, Any]] = None,
|
||||
csv_path: str = "./coin_cell_assembly.csv",
|
||||
*args,
|
||||
**kwargs,
|
||||
):
|
||||
# 设置通信配置
|
||||
modbus_config = modbus_config or {"host": "127.0.0.1", "port": 5021}
|
||||
self.communication_config = CommunicationConfig(
|
||||
protocol=CommunicationProtocol.MODBUS_TCP,
|
||||
host=modbus_config["host"],
|
||||
port=modbus_config["port"],
|
||||
timeout=modbus_config.get("timeout", 5.0),
|
||||
retry_count=modbus_config.get("retry_count", 3)
|
||||
)
|
||||
|
||||
# 设置台面配置
|
||||
self.deck_config = deck_config or {
|
||||
"size_x": 1620.0,
|
||||
"size_y": 1270.0,
|
||||
"size_z": 500.0
|
||||
}
|
||||
|
||||
# CSV地址映射文件路径
|
||||
self.csv_path = csv_path
|
||||
|
||||
# 创建资源跟踪器（如果没有提供）
|
||||
if resource_tracker is None:
|
||||
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
|
||||
resource_tracker = DeviceNodeResourceTracker()
|
||||
|
||||
# 初始化基类
|
||||
super().__init__(
|
||||
device_id=device_id,
|
||||
children=children,
|
||||
protocol_type=protocol_type,
|
||||
resource_tracker=resource_tracker,
|
||||
communication_config=self.communication_config,
|
||||
deck_config=self.deck_config,
|
||||
*args,
|
||||
**kwargs
|
||||
)
|
||||
|
||||
logger.info(f"纽扣电池组装工作站 {device_id} 初始化完成")
|
||||
|
||||
def _create_communication_module(self) -> WorkstationCommunicationBase:
|
||||
"""创建纽扣电池通信模块"""
|
||||
return CoinCellCommunication(
|
||||
communication_config=self.communication_config,
|
||||
csv_path=self.csv_path
|
||||
)
|
||||
|
||||
def _create_material_management_module(self) -> MaterialManagementBase:
|
||||
"""创建纽扣电池物料管理模块"""
|
||||
return CoinCellMaterialManagement(
|
||||
device_id=self.device_id,
|
||||
deck_config=self.deck_config,
|
||||
resource_tracker=self.resource_tracker,
|
||||
children_config=self.children
|
||||
)
|
||||
|
||||
def _register_supported_workflows(self):
|
||||
"""注册纽扣电池工作流"""
|
||||
# 电池制造工作流
|
||||
self.supported_workflows["battery_manufacturing"] = WorkflowInfo(
|
||||
name="battery_manufacturing",
|
||||
description="纽扣电池制造工作流",
|
||||
estimated_duration=300.0, # 5分钟
|
||||
required_materials=["cathode_sheet", "anode_sheet", "separator", "electrolyte"],
|
||||
output_product="coin_cell_battery",
|
||||
parameters_schema={
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"electrolyte_num": {
|
||||
"type": "integer",
|
||||
"description": "电解液瓶数",
|
||||
"minimum": 1,
|
||||
"maximum": 32
|
||||
},
|
||||
"electrolyte_volume": {
|
||||
"type": "number",
|
||||
"description": "电解液体积 (μL)",
|
||||
"minimum": 0.1,
|
||||
"maximum": 100.0
|
||||
},
|
||||
"assembly_pressure": {
|
||||
"type": "number",
|
||||
"description": "组装压力 (N)",
|
||||
"minimum": 100.0,
|
||||
"maximum": 5000.0
|
||||
},
|
||||
"cathode_material": {
|
||||
"type": "string",
|
||||
"description": "正极材料类型",
|
||||
"enum": ["LiFePO4", "LiCoO2", "NCM", "LMO"]
|
||||
},
|
||||
"anode_material": {
|
||||
"type": "string",
|
||||
"description": "负极材料类型",
|
||||
"enum": ["Graphite", "LTO", "Silicon"]
|
||||
}
|
||||
},
|
||||
"required": ["electrolyte_num", "electrolyte_volume", "assembly_pressure"]
|
||||
}
|
||||
)
|
||||
|
||||
# 质量检查工作流
|
||||
self.supported_workflows["quality_inspection"] = WorkflowInfo(
|
||||
name="quality_inspection",
|
||||
description="产品质量检查工作流",
|
||||
estimated_duration=60.0, # 1分钟
|
||||
required_materials=["finished_battery"],
|
||||
output_product="quality_report",
|
||||
parameters_schema={
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"test_voltage": {
|
||||
"type": "boolean",
|
||||
"description": "是否测试电压",
|
||||
"default": True
|
||||
},
|
||||
"test_capacity": {
|
||||
"type": "boolean",
|
||||
"description": "是否测试容量",
|
||||
"default": False
|
||||
},
|
||||
"voltage_threshold": {
|
||||
"type": "number",
|
||||
"description": "电压阈值 (V)",
|
||||
"minimum": 2.0,
|
||||
"maximum": 4.5,
|
||||
"default": 3.0
|
||||
}
|
||||
}
|
||||
}
|
||||
)
|
||||
|
||||
# 设备初始化工作流
|
||||
self.supported_workflows["device_initialization"] = WorkflowInfo(
|
||||
name="device_initialization",
|
||||
description="设备初始化工作流",
|
||||
estimated_duration=30.0, # 30秒
|
||||
required_materials=[],
|
||||
output_product="ready_status",
|
||||
parameters_schema={
|
||||
"type": "object",
|
||||
"properties": {
|
||||
"auto_mode": {
|
||||
"type": "boolean",
|
||||
"description": "是否启用自动模式",
|
||||
"default": True
|
||||
}
|
||||
}
|
||||
}
|
||||
)
|
||||
|
||||
# ============ 纽扣电池特定方法 ============
|
||||
|
||||
def get_electrode_sheet_inventory(self) -> Dict[str, int]:
|
||||
"""获取极片库存统计"""
|
||||
try:
|
||||
sheets = self.material_management.find_electrode_sheets()
|
||||
inventory = {}
|
||||
|
||||
for sheet in sheets:
|
||||
material_type = getattr(sheet, 'material_type', 'unknown')
|
||||
inventory[material_type] = inventory.get(material_type, 0) + 1
|
||||
|
||||
return inventory
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"获取极片库存失败: {e}")
|
||||
return {}
|
||||
|
||||
def get_battery_production_statistics(self) -> Dict[str, Any]:
|
||||
"""获取电池生产统计"""
|
||||
try:
|
||||
production_data = self.communication.get_production_data()
|
||||
|
||||
# 添加物料统计
|
||||
electrode_inventory = self.get_electrode_sheet_inventory()
|
||||
battery_count = len(self.material_management.find_batteries())
|
||||
|
||||
return {
|
||||
**production_data,
|
||||
"electrode_inventory": electrode_inventory,
|
||||
"finished_battery_count": battery_count,
|
||||
"material_plates": len(self.material_management.find_material_plates()),
|
||||
"press_slots": len(self.material_management.find_press_slots())
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"获取生产统计失败: {e}")
|
||||
return {"error": str(e)}
|
||||
|
||||
def create_new_battery(self, battery_spec: Dict[str, Any]) -> Optional[str]:
|
||||
"""创建新电池资源"""
|
||||
try:
|
||||
from unilabos.device_comms.button_battery_station import Battery
|
||||
import uuid
|
||||
|
||||
battery_id = f"battery_{uuid.uuid4().hex[:8]}"
|
||||
|
||||
battery = Battery(
|
||||
name=battery_id,
|
||||
diameter=battery_spec.get("diameter", 20.0),
|
||||
height=battery_spec.get("height", 3.2),
|
||||
max_volume=battery_spec.get("max_volume", 100.0),
|
||||
barcode=battery_spec.get("barcode", "")
|
||||
)
|
||||
|
||||
# 添加到物料管理系统
|
||||
self.material_management.plr_resources[battery_id] = battery
|
||||
self.material_management.resource_tracker.add_resource(battery)
|
||||
|
||||
logger.info(f"创建新电池资源: {battery_id}")
|
||||
return battery_id
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"创建电池资源失败: {e}")
|
||||
return None
|
||||
|
||||
def find_available_press_slot(self) -> Optional[str]:
|
||||
"""查找可用的压制槽"""
|
||||
try:
|
||||
press_slots = self.material_management.find_press_slots()
|
||||
|
||||
for slot in press_slots:
|
||||
if hasattr(slot, 'has_battery') and not slot.has_battery():
|
||||
return slot.name
|
||||
|
||||
return None
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"查找可用压制槽失败: {e}")
|
||||
return None
|
||||
|
||||
def get_glove_box_environment(self) -> Dict[str, Any]:
|
||||
"""获取手套箱环境数据"""
|
||||
try:
|
||||
device_status = self.communication.get_device_status()
|
||||
environment = device_status.get("environment", {})
|
||||
|
||||
return {
|
||||
"pressure": environment.get("glove_box_pressure", 0.0),
|
||||
"o2_content": environment.get("o2_content", 0.0),
|
||||
"water_content": environment.get("water_content", 0.0),
|
||||
"is_safe": (
|
||||
environment.get("o2_content", 0.0) < 10.0 and # 氧气含量 < 10ppm
|
||||
environment.get("water_content", 0.0) < 1.0 # 水分含量 < 1ppm
|
||||
)
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"获取手套箱环境失败: {e}")
|
||||
return {"error": str(e)}
|
||||
|
||||
def start_data_export(self, file_path: str) -> bool:
|
||||
"""开始生产数据导出"""
|
||||
try:
|
||||
return self.communication.start_data_export(file_path, export_interval=5.0)
|
||||
except Exception as e:
|
||||
logger.error(f"启动数据导出失败: {e}")
|
||||
return False
|
||||
|
||||
def stop_data_export(self) -> bool:
|
||||
"""停止生产数据导出"""
|
||||
try:
|
||||
return self.communication.stop_data_export()
|
||||
except Exception as e:
|
||||
logger.error(f"停止数据导出失败: {e}")
|
||||
return False
|
||||
|
||||
# ============ 重写基类方法以支持纽扣电池特定功能 ============
|
||||
|
||||
def start_workflow(self, workflow_type: str, parameters: Dict[str, Any] = None) -> bool:
|
||||
"""启动工作流（重写以支持纽扣电池特定预处理）"""
|
||||
try:
|
||||
# 进行纽扣电池特定的预检查
|
||||
if workflow_type == "battery_manufacturing":
|
||||
# 检查手套箱环境
|
||||
env = self.get_glove_box_environment()
|
||||
if not env.get("is_safe", False):
|
||||
logger.error("手套箱环境不安全，无法启动电池制造工作流")
|
||||
return False
|
||||
|
||||
# 检查是否有可用的压制槽
|
||||
available_slot = self.find_available_press_slot()
|
||||
if not available_slot:
|
||||
logger.error("没有可用的压制槽，无法启动电池制造工作流")
|
||||
return False
|
||||
|
||||
# 检查极片库存
|
||||
electrode_inventory = self.get_electrode_sheet_inventory()
|
||||
if not electrode_inventory.get("cathode", 0) > 0 or not electrode_inventory.get("anode", 0) > 0:
|
||||
logger.error("极片库存不足，无法启动电池制造工作流")
|
||||
return False
|
||||
|
||||
# 调用基类方法
|
||||
return super().start_workflow(workflow_type, parameters)
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"启动纽扣电池工作流失败: {e}")
|
||||
return False
|
||||
|
||||
# ============ 纽扣电池特定状态属性 ============
|
||||
|
||||
@property
|
||||
def electrode_sheet_count(self) -> int:
|
||||
"""极片总数"""
|
||||
try:
|
||||
return len(self.material_management.find_electrode_sheets())
|
||||
except:
|
||||
return 0
|
||||
|
||||
@property
|
||||
def battery_count(self) -> int:
|
||||
"""电池总数"""
|
||||
try:
|
||||
return len(self.material_management.find_batteries())
|
||||
except:
|
||||
return 0
|
||||
|
||||
@property
|
||||
def available_press_slots(self) -> int:
|
||||
"""可用压制槽数"""
|
||||
try:
|
||||
press_slots = self.material_management.find_press_slots()
|
||||
available = 0
|
||||
for slot in press_slots:
|
||||
if hasattr(slot, 'has_battery') and not slot.has_battery():
|
||||
available += 1
|
||||
return available
|
||||
except:
|
||||
return 0
|
||||
|
||||
@property
|
||||
def environment_status(self) -> Dict[str, Any]:
|
||||
"""环境状态"""
|
||||
return self.get_glove_box_environment()
|
||||
|
||||
|
||||
# ============ 工厂函数 ============
|
||||
|
||||
def create_coin_cell_workstation(
|
||||
device_id: str,
|
||||
config_file: str,
|
||||
modbus_host: str = "127.0.0.1",
|
||||
modbus_port: int = 5021,
|
||||
csv_path: str = "./coin_cell_assembly.csv"
|
||||
) -> CoinCellAssemblyWorkstation:
|
||||
"""工厂函数：创建纽扣电池组装工作站
|
||||
|
||||
Args:
|
||||
device_id: 设备ID
|
||||
config_file: 配置文件路径（JSON格式）
|
||||
modbus_host: Modbus主机地址
|
||||
modbus_port: Modbus端口
|
||||
csv_path: 地址映射CSV文件路径
|
||||
|
||||
Returns:
|
||||
CoinCellAssemblyWorkstation: 工作站实例
|
||||
"""
|
||||
import json
|
||||
|
||||
try:
|
||||
# 加载配置文件
|
||||
with open(config_file, 'r', encoding='utf-8') as f:
|
||||
config = json.load(f)
|
||||
|
||||
# 提取配置
|
||||
children = config.get("children", {})
|
||||
deck_config = config.get("deck_config", {})
|
||||
|
||||
# 创建工作站
|
||||
workstation = CoinCellAssemblyWorkstation(
|
||||
device_id=device_id,
|
||||
children=children,
|
||||
modbus_config={
|
||||
"host": modbus_host,
|
||||
"port": modbus_port
|
||||
},
|
||||
deck_config=deck_config,
|
||||
csv_path=csv_path
|
||||
)
|
||||
|
||||
logger.info(f"纽扣电池工作站创建成功: {device_id}")
|
||||
return workstation
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"创建纽扣电池工作站失败: {e}")
|
||||
raise
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# 示例用法
|
||||
workstation = create_coin_cell_workstation(
|
||||
device_id="coin_cell_station_01",
|
||||
config_file="./button_battery_workstation.json",
|
||||
modbus_host="127.0.0.1",
|
||||
modbus_port=5021
|
||||
)
|
||||
|
||||
# 启动电池制造工作流
|
||||
success = workstation.start_workflow(
|
||||
"battery_manufacturing",
|
||||
{
|
||||
"electrolyte_num": 16,
|
||||
"electrolyte_volume": 50.0,
|
||||
"assembly_pressure": 2000.0,
|
||||
"cathode_material": "LiFePO4",
|
||||
"anode_material": "Graphite"
|
||||
}
|
||||
)
|
||||
|
||||
if success:
|
||||
print("电池制造工作流启动成功")
|
||||
else:
|
||||
print("电池制造工作流启动失败")
|
||||
@@ -8,8 +8,8 @@ from pymodbus.client import ModbusSerialClient, ModbusTcpClient
|
||||
from pymodbus.framer import FramerType
|
||||
from typing import TypedDict
|
||||
|
||||
from unilabos.device_comms.modbus_plc.node.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
|
||||
from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
|
||||
from unilabos.device_comms.modbus_plc.modbus import DeviceType, HoldRegister, Coil, InputRegister, DiscreteInputs, DataType, WorderOrder
|
||||
from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
|
||||
from unilabos.device_comms.universal_driver import UniversalDriver
|
||||
from unilabos.utils.log import logger
|
||||
import pandas as pd
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
import time
|
||||
from pymodbus.client import ModbusTcpClient
|
||||
from unilabos.device_comms.modbus_plc.node.modbus import Coil, HoldRegister
|
||||
from unilabos.device_comms.modbus_plc.modbus import Coil, HoldRegister
|
||||
from pymodbus.payload import BinaryPayloadDecoder
|
||||
from pymodbus.constants import Endian
|
||||
|
||||
|
||||
@@ -1,6 +1,6 @@
|
||||
# coding=utf-8
|
||||
from pymodbus.client import ModbusTcpClient
|
||||
from unilabos.device_comms.modbus_plc.node.modbus import Coil
|
||||
from unilabos.device_comms.modbus_plc.modbus import Coil
|
||||
import time
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import time
|
||||
from typing import Callable
|
||||
from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusWorkflow, WorkflowAction, load_csv
|
||||
from unilabos.device_comms.modbus_plc.node.modbus import Base as ModbusNodeBase
|
||||
from unilabos.device_comms.modbus_plc.modbus import Base as ModbusNodeBase
|
||||
|
||||
############ 第一种写法 ##############
|
||||
|
||||
|
||||
@@ -0,0 +1,150 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="liquid_transform_xyz" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
|
||||
<xacro:macro name="liquid_transform_xyz" params="mesh_path:='' parent_link:='' station_name:='' device_name:='' x:=0 y:=0 z:=0 rx:=0 ry:=0 r:=0">
|
||||
|
||||
<joint name="${station_name}${device_name}base_link_joint" type="fixed">
|
||||
<origin xyz="${x} ${y} ${z}" rpy="${rx} ${ry} ${r}" />
|
||||
<parent link="${parent_link}"/>
|
||||
<child link="${station_name}${device_name}device_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="${station_name}${device_name}device_link"/>
|
||||
<joint name="${station_name}${device_name}device_link_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="${station_name}${device_name}device_link"/>
|
||||
<child link="${station_name}${device_name}base_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xyz.urdf | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<link name="${station_name}${device_name}base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.15478184748283 0.171048654921622 0.119246989054835"/>
|
||||
<mass value="10.6178517218032"/>
|
||||
<inertia ixx="0.178863713357329" ixy="1.50019641847353E-05" ixz="1.35368730492005E-05" iyy="0.174395775755846" iyz="-9.90771939078091E-06" izz="0.34100152139765"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="${station_name}${device_name}x_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.325214039540178 0.00943452607370124 0.0482611114301988"/>
|
||||
<mass value="2.10887387421016"/>
|
||||
<inertia ixx="0.0012305846984949" ixy="5.54649260270946E-07" ixz="3.84099347741331E-07" iyy="0.0349382006090243" iyz="-0.000103697818531446" izz="0.0354178972785773"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/x_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/x_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}x_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="-0.141499999999982 0.334850000000045 0.357700036886815"/>
|
||||
<parent link="${station_name}${device_name}base_link"/>
|
||||
<child link="${station_name}${device_name}x_link"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="50" lower="-0.3" upper="0" velocity="1"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}y_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.50235389641123E-05 -0.00104302241099613 -0.0439486470514941"/>
|
||||
<mass value="0.57605998885478"/>
|
||||
<inertia ixx="0.00193021581150653" ixy="3.53777102560584E-08" ixz="2.57202248177777E-07" iyy="0.00224712797067005" iyz="-3.96170906880708E-07" izz="0.000419338880142789"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/y_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/y_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}y_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0.2855 -0.0330000368868711 0.0578"/>
|
||||
<parent link="${station_name}${device_name}x_link"/>
|
||||
<child link="${station_name}${device_name}y_link"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="50" lower="-0.25" upper="0.25" velocity="1"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}z_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-1.07272060046598E-06 -0.00954902784618396 0.017834416924223"/>
|
||||
<mass value="0.199932032754258"/>
|
||||
<inertia ixx="0.000219989530768707" ixy="-7.50956522121896E-10" ixz="-1.265045524863E-07" iyy="0.000245054780375167" iyz="-3.76753893185657E-06" izz="4.29092763044732E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/z_link.STL"/>
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="file://${mesh_path}/devices/liquid_transform_xyz/meshes/z_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}z_joint" type="prismatic">
|
||||
<origin rpy="0 0 0" xyz="0.000950000000001387 -0.0737000000000002 0"/>
|
||||
<parent link="${station_name}${device_name}y_link"/>
|
||||
<child link="${station_name}${device_name}z_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="50" lower="-0.2" upper="0" velocity="1"/>
|
||||
</joint>
|
||||
<link name="${station_name}${device_name}p_link">
|
||||
|
||||
</link>
|
||||
<joint name="${station_name}${device_name}p_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.0139999999999999 -0.10575"/>
|
||||
<parent link="${station_name}${device_name}z_link"/>
|
||||
<child link="${station_name}${device_name}p_link"/>
|
||||
<axis xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
6
unilabos/devices/balance/__init__.py
Normal file
6
unilabos/devices/balance/__init__.py
Normal file
@@ -0,0 +1,6 @@
|
||||
# Balance devices module
|
||||
|
||||
# Import balance device modules
|
||||
from . import mettler_toledo_xpr
|
||||
|
||||
__all__ = ['mettler_toledo_xpr']
|
||||
@@ -0,0 +1,51 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!--
|
||||
WSDL Template for Mettler Toledo XPR/XSR Balance
|
||||
|
||||
IMPORTANT: This is a template file. You need to obtain the actual WSDL file
|
||||
from Mettler Toledo for your specific balance model.
|
||||
|
||||
To use this driver:
|
||||
1. Contact Mettler Toledo support to obtain the official WSDL file
|
||||
2. Replace this template with the actual WSDL file
|
||||
3. Rename it to: MT.Laboratory.Balance.XprXsr.V03.wsdl
|
||||
|
||||
The WSDL file contains proprietary information and cannot be distributed
|
||||
with this open-source project.
|
||||
-->
|
||||
<wsdl:definitions xmlns:wsx="http://schemas.xmlsoap.org/ws/2004/09/mex"
|
||||
xmlns:wsu="http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-wssecurity-utility-1.0.xsd"
|
||||
xmlns:wsa10="http://www.w3.org/2005/08/addressing"
|
||||
xmlns:wsp="http://schemas.xmlsoap.org/ws/2004/09/policy"
|
||||
xmlns:wsap="http://schemas.xmlsoap.org/ws/2004/08/addressing/policy"
|
||||
xmlns:msc="http://schemas.microsoft.com/ws/2005/12/wsdl/contract"
|
||||
xmlns:soap12="http://schemas.xmlsoap.org/wsdl/soap12/"
|
||||
xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing"
|
||||
xmlns:wsam="http://www.w3.org/2007/05/addressing/metadata"
|
||||
xmlns:xsd="http://www.w3.org/2001/XMLSchema"
|
||||
xmlns:tns="http://MT/Laboratory/Balance/XprXsr/V03"
|
||||
xmlns:soap="http://schemas.xmlsoap.org/wsdl/soap/"
|
||||
xmlns:wsaw="http://www.w3.org/2006/05/addressing/wsdl"
|
||||
xmlns:soapenc="http://schemas.xmlsoap.org/soap/encoding/"
|
||||
targetNamespace="http://MT/Laboratory/Balance/XprXsr/V03"
|
||||
xmlns:wsdl="http://schemas.xmlsoap.org/wsdl/">
|
||||
|
||||
<!--
|
||||
PLACEHOLDER CONTENT
|
||||
|
||||
This template contains only the basic structure.
|
||||
The actual WSDL file should contain:
|
||||
- Service definitions
|
||||
- Port types
|
||||
- Message definitions
|
||||
- Binding information
|
||||
- Endpoint addresses with template variables: {{host}}, {{port}}, {{api_path}}
|
||||
-->
|
||||
|
||||
<wsdl:types>
|
||||
<!-- Schema definitions will be here in the actual WSDL -->
|
||||
</wsdl:types>
|
||||
|
||||
<!-- Service definitions will be here in the actual WSDL -->
|
||||
|
||||
</wsdl:definitions>
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user