fix build

# Conflicts:
#	recipes/ros-humble-unilabos-msgs/recipe.yaml

.conda/recipe.yaml

@@ -1,87 +1,67 @@
 package:
   name: unilabos
-  version: 0.10.3
+  version: 0.10.1
-
-source:
-  path: ../unilabos
-  target_directory: unilabos
 
 build:
-  python:
+  noarch: python
-    entry_points:
+  number: 0
-     - unilab = unilabos.app.main:main
-     - unilab-register = unilabos.app.register:main
   script:
-  - set PIP_NO_INDEX=
+    - python -m pip install paho-mqtt opentrons_shared_data
-  - if: win
+    - python -m pip install  git+https://github.com/Xuwznln/pylabrobot.git
-    then:
-    - copy %RECIPE_DIR%\..\MANIFEST.in %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.cfg %SRC_DIR%
-    - copy %RECIPE_DIR%\..\setup.py %SRC_DIR%
-    - call %PYTHON% -m pip install %SRC_DIR%
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/../MANIFEST.in $SRC_DIR
-    - cp $RECIPE_DIR/../setup.cfg $SRC_DIR
-    - cp $RECIPE_DIR/../setup.py $SRC_DIR
-    - $PYTHON -m pip install $SRC_DIR
-
 
 requirements:
   host:
-  - python ==3.11.11
+    - python >=3.11
-  - pip
+    - pip
-  - setuptools
+    - setuptools
   run:
-  - conda-forge::python ==3.11.11
+    - conda-forge::python =3.11.11
-  - compilers
+    - compilers
-  - cmake
+    - cmake
-  - ninja
-  - if: unix
-    then:
     - make
-  - sphinx
+    - ninja
-  - sphinx_rtd_theme
+    - sphinx
-  - numpy
+    - sphinx_rtd_theme
-  - scipy
+    - numpy
-  - pandas
+    - scipy
-  - networkx
+    - pandas
-  - matplotlib
+    - networkx
-  - pint
+    - matplotlib
-  - pyserial
+    - pint
-  - pyusb
+    - pyserial
-  - pylibftdi
+    - pyusb
-  - pymodbus
+    - pylibftdi
-  - python-can
+    - pymodbus
-  - pyvisa
+    - python-can
-  - opencv
+    - pyvisa
-  - pydantic
+    - opencv
-  - fastapi
+    - pydantic
-  - uvicorn
+    - fastapi
-  - gradio
+    - uvicorn
-  - flask
+    - gradio
-  - websocket
+    - flask
-  - ipython
+    - websocket
-  - jupyter
+    - ipython
-  - jupyros
+    - jupyter
-  - colcon-common-extensions
+    - jupyros
-  - robostack-staging::ros-humble-desktop-full
+    - colcon-common-extensions
-  - robostack-staging::ros-humble-control-msgs
+    - robostack-staging::ros-humble-desktop-full
-  - robostack-staging::ros-humble-sensor-msgs
+    - robostack-staging::ros-humble-control-msgs
-  - robostack-staging::ros-humble-trajectory-msgs
+    - robostack-staging::ros-humble-sensor-msgs
-  - ros-humble-navigation2
+    - robostack-staging::ros-humble-trajectory-msgs
-  - ros-humble-ros2-control
+    - ros-humble-navigation2
-  - ros-humble-robot-state-publisher
+    - ros-humble-ros2-control
-  - ros-humble-joint-state-publisher
+    - ros-humble-robot-state-publisher
-  - ros-humble-rosbridge-server
+    - ros-humble-joint-state-publisher
-  - ros-humble-cv-bridge
+    - ros-humble-rosbridge-server
-  - ros-humble-tf2
+    - ros-humble-cv-bridge
-  - ros-humble-moveit
+    - ros-humble-tf2
-  - ros-humble-moveit-servo
+    - ros-humble-moveit
-  - ros-humble-simulation
+    - ros-humble-moveit-servo
-  - ros-humble-tf-transformations
+    - ros-humble-simulation
-  - transforms3d
+    - ros-humble-tf-transformations
-  - uni-lab::ros-humble-unilabos-msgs
+    - transforms3d
+    - uni-lab::ros-humble-unilabos-msgs
 
 about:
   repository: https://github.com/dptech-corp/Uni-Lab-OS

.conda/recipe_new.yaml

@@ -0,0 +1,23 @@
+package:
+  name: unilabos
+  version: "0.10.1"
+
+source:
+  path: ../..
+
+build:
+  noarch: python
+  script: |
+    {{ PYTHON }} -m pip install . --no-deps --ignore-installed -vv
+#    {{ PYTHON }} clean_build_dir.py
+
+requirements:
+  host:
+    - python
+    - pip
+  run:
+    - python
+
+test:
+  imports:
+    - unilabos

.conda/scripts/post-link.bat

@@ -1,9 +0,0 @@
-@echo off
-setlocal enabledelayedexpansion
-
-REM upgrade pip
-"%PREFIX%\python.exe" -m pip install --upgrade pip
-
-REM install extra deps
-"%PREFIX%\python.exe" -m pip install paho-mqtt opentrons_shared_data
-"%PREFIX%\python.exe" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.conda/scripts/post-link.sh

@@ -1,9 +0,0 @@
-#!/usr/bin/env bash
-set -euxo pipefail
-
-# make sure pip is available
-"$PREFIX/bin/python" -m pip install --upgrade pip
-
-# install extra deps
-"$PREFIX/bin/python" -m pip install paho-mqtt opentrons_shared_data
-"$PREFIX/bin/python" -m pip install git+https://github.com/Xuwznln/pylabrobot.git

.github/workflows/multi-platform-build.yml

@@ -2,21 +2,16 @@ name: Multi-Platform Conda Build
 
 on:
   push:
-    branches: [main, dev]
+    branches: [ main, dev ]
-    tags: ['v*']
+    tags: [ 'v*' ]
   pull_request:
-    branches: [main, dev]
+    branches: [ main, dev ]
   workflow_dispatch:
     inputs:
       platforms:
         description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
         required: false
         default: 'osx-arm64'
-      upload_to_anaconda:
-        description: '是否上传到Anaconda.org'
-        required: false
-        default: false
-        type: boolean
 
 jobs:
   build:
@@ -24,18 +19,18 @@ jobs:
       fail-fast: false
       matrix:
         include:
-          - os: ubuntu-latest
+        - os: ubuntu-latest
-            platform: linux-64
+          platform: linux-64
-            env_file: unilabos-linux-64.yaml
+          env_file: unilabos-linux-64.yaml
-          - os: macos-13 # Intel
+        - os: macos-13 # Intel
-            platform: osx-64
+          platform: osx-64
-            env_file: unilabos-osx-64.yaml
+          env_file: unilabos-osx-64.yaml
-          - os: macos-latest # ARM64
+        - os: macos-latest # ARM64
-            platform: osx-arm64
+          platform: osx-arm64
-            env_file: unilabos-osx-arm64.yaml
+          env_file: unilabos-osx-arm64.yaml
-          - os: windows-latest
+        - os: windows-latest
-            platform: win-64
+          platform: win-64
-            env_file: unilabos-win64.yaml
+          env_file: unilabos-win64.yaml
 
     runs-on: ${{ matrix.os }}
 
@@ -44,88 +39,94 @@ jobs:
         shell: bash -l {0}
 
     steps:
-      - uses: actions/checkout@v4
+    - uses: actions/checkout@v4
-        with:
+      with:
-          fetch-depth: 0
+        fetch-depth: 0
 
-      - name: Check if platform should be built
+    - name: Check if platform should be built
-        id: should_build
+      id: should_build
-        run: |
+      run: |
-          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
+        if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
+          echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
+        elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
+          echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
+        elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
+          echo "should_build=true" >> $GITHUB_OUTPUT
-          else
+        else
-            echo "should_build=false" >> $GITHUB_OUTPUT
+          echo "should_build=false" >> $GITHUB_OUTPUT
-          fi
+        fi
 
-      - name: Setup Miniconda
+    - name: Setup Miniconda
-        if: steps.should_build.outputs.should_build == 'true'
+      if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
+      uses: conda-incubator/setup-miniconda@v3
-        with:
+      with:
-          miniconda-version: 'latest'
+        miniconda-version: "latest"
-          channels: conda-forge,robostack-staging,defaults
+        channels: conda-forge,robostack-staging,defaults
-          channel-priority: strict
+        channel-priority: strict
-          activate-environment: build-env
+        activate-environment: build-env
-          auto-activate-base: false
+        auto-activate-base: false
-          auto-update-conda: false
+        auto-update-conda: false
-          show-channel-urls: true
+        show-channel-urls: true
 
-      - name: Install rattler-build and anaconda-client
+    - name: Install boa and build tools
-        if: steps.should_build.outputs.should_build == 'true'
+      if: steps.should_build.outputs.should_build == 'true'
-        run: |
+      run: |
-          conda install -c conda-forge rattler-build anaconda-client
+        conda install -c conda-forge boa conda-build
 
-      - name: Show environment info
+    - name: Show environment info
-        if: steps.should_build.outputs.should_build == 'true'
+      if: steps.should_build.outputs.should_build == 'true'
-        run: |
+      run: |
-          conda info
+        conda info
-          conda list | grep -E "(rattler-build|anaconda-client)"
+        conda list | grep -E "(boa|conda-build)"
-          echo "Platform: ${{ matrix.platform }}"
+        echo "Platform: ${{ matrix.platform }}"
-          echo "OS: ${{ matrix.os }}"
+        echo "OS: ${{ matrix.os }}"
 
-      - name: Build conda package
+    - name: Build conda package
-        if: steps.should_build.outputs.should_build == 'true'
+      if: steps.should_build.outputs.should_build == 'true'
-        run: |
+      run: |
-          if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
+        if [[ "${{ matrix.platform }}" == "osx-arm64" ]]; then
-            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
+          boa build -m ./recipes/conda_build_config.yaml -m ./recipes/macos_sdk_config.yaml ./recipes/ros-humble-unilabos-msgs
-          else
+        else
-            rattler-build build -r ./recipes/msgs/recipe.yaml -c robostack -c robostack-staging -c conda-forge
+          boa build -m ./recipes/conda_build_config.yaml ./recipes/ros-humble-unilabos-msgs
-          fi
+        fi
 
-      - name: List built packages
+    - name: List built packages
-        if: steps.should_build.outputs.should_build == 'true'
+      if: steps.should_build.outputs.should_build == 'true'
-        run: |
+      run: |
-          echo "Built packages in output directory:"
+        echo "Built packages in conda-bld:"
-          find ./output -name "*.conda" | head -10
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" | head -10
-          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
+        ls -la $CONDA_PREFIX/conda-bld/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-          ls -la ./output/noarch/ || echo "noarch directory not found"
+        ls -la $CONDA_PREFIX/conda-bld/noarch/ || echo "noarch directory not found"
-          echo "Output directory structure:"
+        echo "CONDA_PREFIX: $CONDA_PREFIX"
-          find ./output -type f -name "*.conda"
+        echo "Full path would be: $CONDA_PREFIX/conda-bld/**/*.tar.bz2"
 
-      - name: Prepare artifacts for upload
+    - name: Prepare artifacts for upload
-        if: steps.should_build.outputs.should_build == 'true'
+      if: steps.should_build.outputs.should_build == 'true'
-        run: |
+      run: |
-          mkdir -p conda-packages-temp
+        mkdir -p ${{ runner.temp }}/conda-packages
-          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} ${{ runner.temp }}/conda-packages/ \;
-          echo "Copied files to temp directory:"
+        echo "Copied files to temp directory:"
-          ls -la conda-packages-temp/
+        ls -la ${{ runner.temp }}/conda-packages/
 
-      - name: Upload conda package artifacts
+    - name: Upload conda package artifacts
-        if: steps.should_build.outputs.should_build == 'true'
+      if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
+      uses: actions/upload-artifact@v4
-        with:
+      with:
-          name: conda-package-${{ matrix.platform }}
+        name: conda-package-${{ matrix.platform }}
-          path: conda-packages-temp
+        path: ${{ runner.temp }}/conda-packages
-          if-no-files-found: warn
+        if-no-files-found: warn
-          retention-days: 30
+        retention-days: 30
 
-      - name: Upload to Anaconda.org (unilab organization)
+    - name: Create release assets (on tags)
-        if: steps.should_build.outputs.should_build == 'true' && github.event.inputs.upload_to_anaconda == 'true'
+      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
-        run: |
+      run: |
-          for package in $(find ./output -name "*.conda"); do
+        mkdir -p release-assets
-            echo "Uploading $package to unilab organization..."
+        find $CONDA_PREFIX/conda-bld -name "*.tar.bz2" -exec cp {} release-assets/ \;
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
+
-          done
+    - name: Upload to release
+      if: steps.should_build.outputs.should_build == 'true' && startsWith(github.ref, 'refs/tags/')
+      uses: softprops/action-gh-release@v1
+      with:
+        files: release-assets/*
+        draft: false
+        prerelease: false

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

@@ -1,124 +0,0 @@
-name: UniLabOS Conda Build
-
-on:
-  push:
-    branches: [main, dev]
-    tags: ['v*']
-  pull_request:
-    branches: [main, dev]
-  workflow_dispatch:
-    inputs:
-      platforms:
-        description: '选择构建平台 (逗号分隔): linux-64, osx-64, osx-arm64, win-64'
-        required: false
-        default: 'linux-64'
-      upload_to_anaconda:
-        description: '是否上传到Anaconda.org'
-        required: false
-        default: false
-        type: boolean
-
-jobs:
-  build:
-    strategy:
-      fail-fast: false
-      matrix:
-        include:
-          - os: ubuntu-latest
-            platform: linux-64
-          - os: macos-13 # Intel
-            platform: osx-64
-          - os: macos-latest # ARM64
-            platform: osx-arm64
-          - os: windows-latest
-            platform: win-64
-
-    runs-on: ${{ matrix.os }}
-
-    defaults:
-      run:
-        shell: bash -l {0}
-
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: Check if platform should be built
-        id: should_build
-        run: |
-          if [[ "${{ github.event_name }}" != "workflow_dispatch" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ -z "${{ github.event.inputs.platforms }}" ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          elif [[ "${{ github.event.inputs.platforms }}" == *"${{ matrix.platform }}"* ]]; then
-            echo "should_build=true" >> $GITHUB_OUTPUT
-          else
-            echo "should_build=false" >> $GITHUB_OUTPUT
-          fi
-
-      - name: Setup Miniconda
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: conda-incubator/setup-miniconda@v3
-        with:
-          miniconda-version: 'latest'
-          channels: conda-forge,robostack-staging,uni-lab,defaults
-          channel-priority: strict
-          activate-environment: build-env
-          auto-activate-base: false
-          auto-update-conda: false
-          show-channel-urls: true
-
-      - name: Install rattler-build and anaconda-client
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda install -c conda-forge rattler-build anaconda-client
-
-      - name: Show environment info
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          conda info
-          conda list | grep -E "(rattler-build|anaconda-client)"
-          echo "Platform: ${{ matrix.platform }}"
-          echo "OS: ${{ matrix.os }}"
-          echo "Building UniLabOS package"
-
-      - name: Build conda package
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          rattler-build build -r .conda/recipe.yaml -c uni-lab -c robostack-staging -c conda-forge
-
-      - name: List built packages
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          echo "Built packages in output directory:"
-          find ./output -name "*.conda" | head -10
-          ls -la ./output/${{ matrix.platform }}/ || echo "${{ matrix.platform }} directory not found"
-          ls -la ./output/noarch/ || echo "noarch directory not found"
-          echo "Output directory structure:"
-          find ./output -type f -name "*.conda"
-
-      - name: Prepare artifacts for upload
-        if: steps.should_build.outputs.should_build == 'true'
-        run: |
-          mkdir -p conda-packages-temp
-          find ./output -name "*.conda" -exec cp {} conda-packages-temp/ \;
-          echo "Copied files to temp directory:"
-          ls -la conda-packages-temp/
-
-      - name: Upload conda package artifacts
-        if: steps.should_build.outputs.should_build == 'true'
-        uses: actions/upload-artifact@v4
-        with:
-          name: conda-package-unilabos-${{ matrix.platform }}
-          path: conda-packages-temp
-          if-no-files-found: warn
-          retention-days: 30
-
-      - name: Upload to Anaconda.org (uni-lab organization)
-        if: github.event.inputs.upload_to_anaconda == 'true'
-        run: |
-          for package in $(find ./output -name "*.conda"); do
-            echo "Uploading $package to uni-lab organization..."
-            anaconda -t ${{ secrets.ANACONDA_API_TOKEN }} upload --user uni-lab --force "$package"
-          done

MANIFEST.in

@@ -1,5 +1,5 @@
 recursive-include unilabos/registry *.yaml
-recursive-include unilabos/app/web/static *
+recursive-include unilabos/app/static *
-recursive-include unilabos/app/web/templates *
+recursive-include unilabos/app/templates *
 recursive-include unilabos/device_mesh/devices *
 recursive-include unilabos/device_mesh/resources *

README.md

@@ -34,14 +34,20 @@ Detailed documentation can be found at:
 
 ## Quick Start
 
+1. Configure Conda Environment
+
 Uni-Lab-OS recommends using `mamba` for environment management. Choose the appropriate environment file for your operating system:
 
 ```bash
 # Create new environment
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab unilab -c unilab -c robostack -c robostack-staging -c conda-forge
+
+# Or update existing environment
+# Where `[YOUR_OS]` can be `win64`, `linux-64`, `osx-64`, or `osx-arm64`.
+conda env update --file unilabos-[YOUR_OS].yml -n environment_name
 ```
 
-## Install Dev Uni-Lab-OS
+2. Install Uni-Lab-OS:
 
 ```bash
 # Clone the repository

README_zh.md

@@ -40,10 +40,14 @@ Uni-Lab-OS 建议使用 `mamba` 管理环境。根据您的操作系统选择适
 
 ```bash
 # 创建新环境
-mamba create -n unilab uni-lab::unilabos -c robostack-staging -c conda-forge
+mamba create -n unilab unilab -c unilab -c robostack -c robostack-staging -c conda-forge
+
+# 或更新现有环境
+# 其中 `[YOUR_OS]` 可以是 `win64`, `linux-64`, `osx-64`, 或 `osx-arm64`。
+conda env update --file unilabos-[YOUR_OS].yml -n 环境名
 ```
 
-2. 安装开发版Uni-Lab-OS:
+2. 安装 Uni-Lab-OS:
 
 ```bash
 # 克隆仓库

recipes/msgs/recipe.yaml

@@ -1,76 +0,0 @@
-package:
-  name: ros-humble-unilabos-msgs
-  version: 0.10.3
-source:
-  path: ../../unilabos_msgs
-  target_directory: src
-
-build:
-  script:
-  - if: win
-    then:
-    - copy %RECIPE_DIR%\bld_ament_cmake.bat %SRC_DIR%
-    - call %SRC_DIR%\bld_ament_cmake.bat
-  - if: unix
-    then:
-    - cp $RECIPE_DIR/build_ament_cmake.sh $SRC_DIR
-    - bash $SRC_DIR/build_ament_cmake.sh
-
-about:
-  repository: https://github.com/dptech-corp/Uni-Lab-OS
-  license: BSD-3-Clause
-  description: "ros-humble-unilabos-msgs is a package that provides message definitions for Uni-Lab-OS."
-
-requirements:
-  build:
-  - ${{ compiler('cxx') }}
-  - ${{ compiler('c') }}
-  - python ==3.11.11
-  - numpy
-  - if: build_platform != target_platform
-    then:
-    - pkg-config
-    - cross-python_${{ target_platform }}
-  - if: linux and x86_64
-    then:
-    - sysroot_linux-64 ==2.17
-  - ninja
-  - setuptools
-  - cython
-  - cmake
-  - if: unix
-    then:
-    - make
-    - coreutils
-  - if: osx
-    then:
-    - tapi
-  - if: win
-    then:
-    - vs2022_win-64
-  host:
-  - numpy
-  - pip
-  - if: build_platform == target_platform
-    then:
-    - pkg-config
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ament-cmake
-  - robostack-staging::ros-humble-ament-lint-auto
-  - robostack-staging::ros-humble-ament-lint-common
-  - robostack-staging::ros-humble-ros-environment
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-generators
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  run:
-  - robostack-staging::ros-humble-action-msgs
-  - robostack-staging::ros-humble-ros-workspace
-  - robostack-staging::ros-humble-rosidl-default-runtime
-  - robostack-staging::ros-humble-std-msgs
-  - robostack-staging::ros-humble-geometry-msgs
-  - robostack-staging::ros2-distro-mutex=0.6
-  - if: osx and x86_64
-    then:
-    - __osx >=${{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/ros-humble-unilabos-msgs/bld_ament_cmake.bat

@@ -1,7 +1,6 @@
 :: Generated by vinca http://github.com/RoboStack/vinca.
 :: DO NOT EDIT!
-@echo off
+setlocal EnableDelayedExpansion
-setlocal enabledelayedexpansion
 
 set "PYTHONPATH=%LIBRARY_PREFIX%\lib\site-packages;%SP_DIR%"
 
@@ -17,11 +16,9 @@ pushd build
 
 :: try to fix long paths issues by using default generator
 set "CMAKE_GENERATOR=Visual Studio %VS_MAJOR% %VS_YEAR%"
+set "SP_DIR_FORWARDSLASHES=%SP_DIR:\=/%"
 
 set PYTHON="%PREFIX%\python.exe"
-set PYTHON=%PYTHON:\=/%
-set SP_DIR="..\Lib\site-packages"
-set SP_DIR=%SP_DIR:\=/%
 
 cmake ^
     -G "%CMAKE_GENERATOR%" ^
@@ -35,10 +32,10 @@ cmake ^
     -DBUILD_SHARED_LIBS=ON ^
     -DBUILD_TESTING=OFF ^
     -DCMAKE_OBJECT_PATH_MAX=255 ^
-    -DPYTHON_INSTALL_DIR=%SP_DIR% ^
+    -DPYTHON_INSTALL_DIR=%SP_DIR_FORWARDSLASHES% ^
     --compile-no-warning-as-error ^
-    %SRC_DIR%\src
+    %SRC_DIR%\%PKG_NAME%\src\work
 if errorlevel 1 exit 1
 
-cmake --build . --config Release --target install -j8
+cmake --build . --config Release --target install
-if errorlevel 1 exit 1
+if errorlevel 1 exit 1

recipes/ros-humble-unilabos-msgs/build_ament_cmake.sh

@@ -24,7 +24,7 @@ echo "USING PKG_CONFIG_EXECUTABLE=${PKG_CONFIG_EXECUTABLE}"
 export ROS_PYTHON_VERSION=`$PYTHON_EXECUTABLE -c "import sys; print('%i.%i' % (sys.version_info[0:2]))"`
 echo "Using Python ${ROS_PYTHON_VERSION}"
 # Fix up SP_DIR which for some reason might contain a path to a wrong Python version
-FIXED_SP_DIR=$($PYTHON_EXECUTABLE -c "import site; print(site.getsitepackages()[0])")
+FIXED_SP_DIR=$(echo $SP_DIR | sed -E "s/python[0-9]+\.[0-9]+/python$ROS_PYTHON_VERSION/")
 echo "Using site-package dir ${FIXED_SP_DIR}"
 
 # see https://github.com/conda-forge/cross-python-feedstock/issues/24
@@ -56,6 +56,7 @@ cmake \
     -DPYTHON_EXECUTABLE=$PYTHON_EXECUTABLE \
     -DPython_EXECUTABLE=$PYTHON_EXECUTABLE \
     -DPython3_EXECUTABLE=$PYTHON_EXECUTABLE \
+    -DPython3_FIND_STRATEGY=LOCATION \
     -DPKG_CONFIG_EXECUTABLE=$PKG_CONFIG_EXECUTABLE \
     -DPYTHON_INSTALL_DIR=$FIXED_SP_DIR \
     -DSETUPTOOLS_DEB_LAYOUT=OFF \
@@ -65,6 +66,6 @@ cmake \
     -DBUILD_TESTING=OFF \
     -DCMAKE_OSX_DEPLOYMENT_TARGET=$OSX_DEPLOYMENT_TARGET \
     --compile-no-warning-as-error \
-    $SRC_DIR/src
+    $SRC_DIR/$PKG_NAME/src/work
 
-cmake --build . --config Release --target install -j8
+cmake --build . --config Release --target install

recipes/ros-humble-unilabos-msgs/recipe.yaml

@@ -0,0 +1,61 @@
+package:
+  name: ros-humble-unilabos-msgs
+  version: 0.10.1
+source:
+  path: ../../unilabos_msgs
+  folder: ros-humble-unilabos-msgs/src/work
+
+build:
+  script:
+    sel(win): bld_ament_cmake.bat
+    sel(unix): build_ament_cmake.sh
+  number: 5
+about:
+  home: https://www.ros.org/
+  license: BSD-3-Clause
+  summary: |
+    Robot Operating System
+
+extra:
+  recipe-maintainers:
+    - ros-forge
+
+requirements:
+  build:
+    - "{{ compiler('cxx') }}"
+    - "{{ compiler('c') }}"
+    - sel(linux64): sysroot_linux-64 2.17
+    - ninja
+    - setuptools
+    - sel(unix): make
+    - sel(unix): coreutils
+    - sel(osx): tapi
+    - sel(build_platform != target_platform): pkg-config
+    - cmake
+    - cython
+    - sel(win): vs2022_win-64
+    - sel(build_platform != target_platform): python
+    - sel(build_platform != target_platform): cross-python_{{ target_platform }}
+    - sel(build_platform != target_platform): numpy
+  host:
+    - numpy
+    - pip
+    - sel(build_platform == target_platform): pkg-config
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ament-cmake
+    - robostack-staging::ros-humble-ament-lint-auto
+    - robostack-staging::ros-humble-ament-lint-common
+    - robostack-staging::ros-humble-ros-environment
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-generators
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+    - robostack-staging::ros2-distro-mutex=0.6.*
+  run:
+    - robostack-staging::ros-humble-action-msgs
+    - robostack-staging::ros-humble-ros-workspace
+    - robostack-staging::ros-humble-rosidl-default-runtime
+    - robostack-staging::ros-humble-std-msgs
+    - robostack-staging::ros-humble-geometry-msgs
+#    - robostack-staging::ros2-distro-mutex=0.6.*
+    - sel(osx and x86_64): __osx >={{ MACOSX_DEPLOYMENT_TARGET|default('10.14') }}

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.10.3"
+  version: "0.10.1"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.10.3',
+    version='0.10.1',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/app/main.py

@@ -24,7 +24,7 @@ from unilabos.utils.banner_print import print_status, print_unilab_banner
 
 def load_config_from_file(config_path, override_labid=None):
     if config_path is None:
-        config_path = os.environ.get("UNILABOS_BASICCONFIG_CONFIG_PATH", None)
+        config_path = os.environ.get("UNILABOS.BASICCONFIG.CONFIG_PATH", None)
     if config_path:
         if not os.path.exists(config_path):
             print_status(f"配置文件 {config_path} 不存在", "error")
@@ -43,11 +43,10 @@ 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
 
-
 def parse_args():
     """解析命令行参数"""
     parser = argparse.ArgumentParser(description="Start Uni-Lab Edge server.")
@@ -127,12 +126,7 @@ def parse_args():
         "--labid",
         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="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",
-    )
-    parser.add_argument(
-        "--skip_env_check",
-        action="store_true",
-        help="跳过启动时的环境依赖检查",
     )
     return parser
 
@@ -144,53 +138,31 @@ def main():
     convert_argv_dashes_to_underscores(args)
     args_dict = vars(args.parse_args())
 
-    # 环境检查 - 检查并自动安装必需的包 (可选)
-    if not args_dict.get("skip_env_check", False):
-        from unilabos.utils.environment_check import check_environment
-
-        print_status("正在进行环境依赖检查...", "info")
-        if not check_environment(auto_install=True):
-            print_status("环境检查失败，程序退出", "error")
-            os._exit(1)
-    else:
-        print_status("跳过环境依赖检查", "warning")
-
     # 加载配置文件，优先加载config，然后从env读取
     config_path = args_dict.get("config")
-    if os.getcwd().endswith("unilabos_data"):
+    working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
-        working_dir = os.path.abspath(os.getcwd())
+    if not config_path and (not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))):
-    else:
+        print_status(f"当前未指定config路径，非第一次使用请通过 --config 传入 local_config.py 文件路径", "info")
-        working_dir = os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+        print_status(f"您是否为第一次使用？并将当前文件路径 {working_dir} 作为工作目录？ (Y/n)", "info")
-    if 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):
-                print_status(
-                    f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径",
-                    "error",
-                )
-                os._exit(1)
-    elif os.path.exists(working_dir) and os.path.exists(os.path.join(working_dir, "local_config.py")):
-        config_path = os.path.join(working_dir, "local_config.py")
-    elif not config_path and (
-        not os.path.exists(working_dir) or not os.path.exists(os.path.join(working_dir, "local_config.py"))
-    ):
-        print_status(f"未指定config路径，可通过 --config 传入 local_config.py 文件路径", "info")
-        print_status(f"您是否为第一次使用？并将当前路径 {working_dir} 作为工作目录？ (Y/n)", "info")
         if input() != "n":
             os.makedirs(working_dir, exist_ok=True)
             config_path = os.path.join(working_dir, "local_config.py")
-            shutil.copy(
+            shutil.copy(os.path.join(os.path.dirname(os.path.dirname(__file__)), "config", "example_config.py"), config_path)
-                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)
+    else:
+        working_dir = args_dict.get("working_dir") or os.path.abspath(os.path.join(os.getcwd(), "unilabos_data"))
+        if 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):
+                    print_status(f"当前工作目录 {working_dir} 未找到local_config.py，请通过 --config 传入 local_config.py 文件路径", "error")
+                    os._exit(1)
+            print_status(f"当前工作目录为 {working_dir}", "info")
     # 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"])
 
     # 设置BasicConfig参数
@@ -232,11 +204,10 @@ def main():
             print_status("联网获取设备加载文件成功", "info")
         graph, data = read_node_link_json(request_startup_json)
     else:
-        file_path = args_dict["graph"]
+        if args_dict["graph"].endswith(".json"):
-        if file_path.endswith(".json"):
+            graph, data = read_node_link_json(args_dict["graph"])
-            graph, data = read_node_link_json(file_path)
         else:
-            graph, data = read_graphml(file_path)
+            graph, data = read_graphml(args_dict["graph"])
     import unilabos.resources.graphio as graph_res
 
     graph_res.physical_setup_graph = graph

unilabos/app/register.py

@@ -18,11 +18,6 @@ def register_devices_and_resources(mqtt_client, lab_registry):
         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
 

unilabos/app/web/client.py

@@ -4,12 +4,11 @@ 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.utils.log import info
-from unilabos.config.config import MQConfig, HTTPConfig, BasicConfig
+from unilabos.config.config import MQConfig, HTTPConfig
 from unilabos.utils import logger
 
 
@@ -190,7 +189,7 @@ class HTTPClient:
             logger.error(f"请求启动配置失败: {response.status_code}, {response.text}")
         else:
             try:
-                with open(os.path.join(BasicConfig.working_dir, "startup_config.json"), "w", encoding="utf-8") as f:
+                with open("startup_config.json", "w", encoding="utf-8") as f:
                     f.write(response.text)
                 target_dict = json.loads(response.text)
                 if "data" in target_dict:

unilabos/config/config.py

@@ -109,13 +109,13 @@ def _update_config_from_module(module, override_labid: str):
 
 
 def _update_config_from_env():
-    prefix = "UNILABOS_"
+    prefix = "UNILABOS."
     for env_key, env_value in os.environ.items():
         if not env_key.startswith(prefix):
             continue
         try:
             key_path = env_key[len(prefix):]  # Remove UNILAB_ prefix
-            class_field = key_path.upper().split("_", 1)
+            class_field = key_path.upper().split(".", 1)
             if len(class_field) != 2:
                 logger.warning(f"[ENV] 环境变量格式不正确：{env_key}")
                 continue
@@ -163,12 +163,12 @@ def _update_config_from_env():
 def load_config(config_path=None, override_labid=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")
+        _update_config_from_env()  # 允许config_path被env设定后读取
-        config_path = env_config_path if env_config_path else config_path
         BasicConfig.config_path = os.path.abspath(os.path.dirname(config_path))
         if not os.path.exists(config_path):
             logger.error(f"[ENV] 配置文件 {config_path} 不存在")
             exit(1)
+
         try:
             module_name = "lab_" + os.path.basename(config_path).replace(".py", "")
             spec = importlib.util.spec_from_file_location(module_name, config_path)
@@ -179,7 +179,6 @@ def load_config(config_path=None, override_labid=None):
             spec.loader.exec_module(module)  # type: ignore
             _update_config_from_module(module, override_labid)
             logger.info(f"[ENV] 配置文件 {config_path} 加载成功")
-            _update_config_from_env()
         except Exception as e:
             logger.error(f"[ENV] 加载配置文件 {config_path} 失败")
             traceback.print_exc()

unilabos/config/example_config.py

@@ -8,9 +8,9 @@ class MQConfig:
     broker_url = ""
     port = 1883
 
-    ca_file = "./CA.crt"
+    ca_file = "CA.crt"
-    cert_file = "./lab.crt"
+    cert_file = "lab.crt"
-    key_file = "./lab.key"
+    key_file = "lab.key"
 
 # HTTP配置
 class HTTPConfig:

unilabos/utils/__init__.py

@@ -1,8 +1,7 @@
 from unilabos.utils.log import logger
-from unilabos.utils.environment_check import check_environment, EnvironmentChecker
 
 # 确保日志配置在导入utils包时自动应用
 # 这样任何导入utils包或其子模块的代码都会自动配置好日志
 
-# 导出logger和环境检查工具，使其可以直接导入
+# 导出logger，使其可以通过from unilabos.utils import logger直接导入
-__all__ = ["logger", "check_environment", "EnvironmentChecker"]
+__all__ = ['logger']

unilabos/utils/environment_check.py

@@ -1,187 +0,0 @@
-"""
-环境检查模块
-用于检查并自动安装 UniLabOS 运行所需的 Python 包
-"""
-
-import argparse
-import importlib
-import subprocess
-import sys
-from .banner_print import print_status
-
-
-class EnvironmentChecker:
-    """环境检查器"""
-
-    def __init__(self):
-        # 定义必需的包及其安装名称的映射
-        self.required_packages = {
-            # 包导入名 : pip安装名
-            "paho.mqtt": "paho-mqtt",
-            "opentrons_shared_data": "opentrons_shared_data",
-        }
-
-        # 特殊安装包（需要特殊处理的包）
-        self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
-
-        self.missing_packages = []
-        self.failed_installs = []
-
-    def check_package_installed(self, package_name: str) -> bool:
-        """检查包是否已安装"""
-        try:
-            importlib.import_module(package_name)
-            return True
-        except ImportError:
-            return False
-
-    def install_package(self, package_name: str, pip_name: str) -> bool:
-        """安装包"""
-        try:
-            print_status(f"正在安装 {package_name} ({pip_name})...", "info")
-
-            # 构建安装命令
-            cmd = [sys.executable, "-m", "pip", "install", pip_name]
-
-            # 执行安装
-            result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)  # 5分钟超时
-
-            if result.returncode == 0:
-                print_status(f"✅ {package_name} 安装成功", "success")
-                return True
-            else:
-                print_status(f"❌ {package_name} 安装失败: {result.stderr}", "error")
-                return False
-
-        except subprocess.TimeoutExpired:
-            print_status(f"❌ {package_name} 安装超时", "error")
-            return False
-        except Exception as e:
-            print_status(f"❌ {package_name} 安装异常: {str(e)}", "error")
-            return False
-
-    def check_all_packages(self) -> bool:
-        """检查所有必需的包"""
-        print_status("开始检查环境依赖...", "info")
-
-        # 检查常规包
-        for import_name, pip_name in self.required_packages.items():
-            if not self.check_package_installed(import_name):
-                self.missing_packages.append((import_name, pip_name))
-
-        # 检查特殊包
-        for package_name, install_url in self.special_packages.items():
-            if not self.check_package_installed(package_name):
-                self.missing_packages.append((package_name, install_url))
-
-        if not self.missing_packages:
-            print_status("✅ 所有依赖包检查完成，环境正常", "success")
-            return True
-
-        print_status(f"发现 {len(self.missing_packages)} 个缺失的包", "warning")
-        return False
-
-    def install_missing_packages(self, auto_install: bool = True) -> bool:
-        """安装缺失的包"""
-        if not self.missing_packages:
-            return True
-
-        if not auto_install:
-            print_status("缺失以下包:", "warning")
-            for import_name, pip_name in self.missing_packages:
-                print_status(f"  - {import_name} (pip install {pip_name})", "warning")
-            return False
-
-        print_status(f"开始自动安装 {len(self.missing_packages)} 个缺失的包...", "info")
-
-        success_count = 0
-        for import_name, pip_name in self.missing_packages:
-            if self.install_package(import_name, pip_name):
-                success_count += 1
-            else:
-                self.failed_installs.append((import_name, pip_name))
-
-        if self.failed_installs:
-            print_status(f"有 {len(self.failed_installs)} 个包安装失败:", "error")
-            for import_name, pip_name in self.failed_installs:
-                print_status(f"  - {import_name} (pip install {pip_name})", "error")
-            return False
-
-        print_status(f"✅ 成功安装 {success_count} 个包", "success")
-        return True
-
-    def verify_installation(self) -> bool:
-        """验证安装结果"""
-        if not self.missing_packages:
-            return True
-
-        print_status("验证安装结果...", "info")
-
-        failed_verification = []
-        for import_name, pip_name in self.missing_packages:
-            if not self.check_package_installed(import_name):
-                failed_verification.append((import_name, pip_name))
-
-        if failed_verification:
-            print_status(f"有 {len(failed_verification)} 个包验证失败:", "error")
-            for import_name, pip_name in failed_verification:
-                print_status(f"  - {import_name}", "error")
-            return False
-
-        print_status("✅ 所有包验证通过", "success")
-        return True
-
-
-def check_environment(auto_install: bool = True, show_details: bool = True) -> bool:
-    """
-    检查环境并自动安装缺失的包
-
-    Args:
-        auto_install: 是否自动安装缺失的包
-        show_details: 是否显示详细信息
-
-    Returns:
-        bool: 环境检查是否通过
-    """
-    checker = EnvironmentChecker()
-
-    # 检查包
-    if checker.check_all_packages():
-        return True
-
-    # 安装缺失的包
-    if not checker.install_missing_packages(auto_install):
-        if show_details:
-            print_status("请手动安装缺失的包后重新启动程序", "error")
-        return False
-
-    # 验证安装
-    if not checker.verify_installation():
-        if show_details:
-            print_status("安装验证失败，请检查网络连接或手动安装", "error")
-        return False
-
-    return True
-
-
-if __name__ == "__main__":
-    # 命令行参数解析
-    parser = argparse.ArgumentParser(description="UniLabOS 环境依赖检查工具")
-    parser.add_argument("--no-auto-install", action="store_true", help="仅检查环境，不自动安装缺失的包")
-    parser.add_argument("--silent", action="store_true", help="静默模式，不显示详细信息")
-
-    args = parser.parse_args()
-
-    # 执行环境检查
-    auto_install = not args.no_auto_install
-    show_details = not args.silent
-
-    success = check_environment(auto_install=auto_install, show_details=show_details)
-
-    if not success:
-        if show_details:
-            print_status("环境检查失败", "error")
-        sys.exit(1)
-    else:
-        if show_details:
-            print_status("环境检查完成", "success")

unilabos/utils/log.py

@@ -144,29 +144,11 @@ class ColoredFormatter(logging.Formatter):
 
 
 # 配置日志处理器
-def configure_logger(loglevel=None):
+def configure_logger():
-    """配置日志记录器
+    """配置日志记录器"""
-
-    Args:
-        loglevel: 日志级别，可以是字符串（'DEBUG', 'INFO', 'WARNING', 'ERROR', 'CRITICAL'）
-                 或logging模块的常量（如logging.DEBUG）
-    """
     # 获取根日志记录器
     root_logger = logging.getLogger()
-
+    root_logger.setLevel(logging.DEBUG)  # 修改为DEBUG以显示所有级别
-    # 设置日志级别
-    if loglevel is not None:
-        if isinstance(loglevel, str):
-            # 将字符串转换为logging级别
-            numeric_level = getattr(logging, loglevel.upper(), None)
-            if not isinstance(numeric_level, int):
-                print(f"警告: 无效的日志级别 '{loglevel}'，使用默认级别 DEBUG")
-                numeric_level = logging.DEBUG
-        else:
-            numeric_level = loglevel
-        root_logger.setLevel(numeric_level)
-    else:
-        root_logger.setLevel(logging.DEBUG)  # 默认级别
 
     # 移除已存在的处理器
     for handler in root_logger.handlers[:]:
@@ -174,7 +156,7 @@ def configure_logger(loglevel=None):
 
     # 创建控制台处理器
     console_handler = logging.StreamHandler()
-    console_handler.setLevel(root_logger.level)  # 使用与根记录器相同的级别
+    console_handler.setLevel(logging.DEBUG)  # 修改为DEBUG以显示所有级别
 
     # 使用自定义的颜色格式化器
     color_formatter = ColoredFormatter()

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.10.3</version>
+  <version>0.0.5</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <license>MIT</license>