Merge branch '24-high-level-liquidhandler' into dev

# Conflicts:
#	unilabos/app/main.py
#	unilabos/registry/devices/liquid_handler.yaml
#	unilabos_msgs/CMakeLists.txt

unilabos/app/main.py

@@ -18,7 +18,6 @@ if unilabos_dir not in sys.path:
 
 from unilabos.config.config import load_config, BasicConfig, _update_config_from_env
 from unilabos.utils.banner_print import print_status, print_unilab_banner
-from unilabos.device_mesh.resource_visalization import ResourceVisualization
 
 
 def parse_args():
@@ -188,6 +187,7 @@ def main():
     if args_dict["visual"] != "disable":
         enable_rviz = args_dict["visual"] == "rviz"
         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)
             args_dict["resources_mesh_config"] = resource_visualization.resource_model
             start_backend(**args_dict)

unilabos/app/mq.py

@@ -26,6 +26,7 @@ class MQTTClient:
     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()
 

unilabos/devices/liquid_handling/liquid_handler_abstract.py

@@ -14,7 +14,7 @@ from pylabrobot.resources import (
     Well
 )
 
-class DPLiquidHandler(LiquidHandler):
+class LiquidHandlerAbstract(LiquidHandler):
     """Extended LiquidHandler with additional operations."""
 
     # ---------------------------------------------------------------

unilabos/registry/devices/liquid_handler.yaml

@@ -1,11 +1,96 @@
 liquid_handler:
   description: Liquid handler device controlled by pylabrobot
   class:
-    module: pylabrobot.liquid_handling:LiquidHandler
+    module: unilabos.devices.liquid_handling.liquid_handler_abstract:LiquidHandlerAbstract
     type: python
     status_types:
       name: String
     action_value_mappings:
+      remove:
+        type: LiquidHandlerRemove
+        goal:
+          vols: vols
+          sources: sources
+          waste_liquid: waste_liquid
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          delays: delays
+          is_96_well: is_96_well
+          top: top
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      add_liquid:
+        type: LiquidHandlerAdd
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          reagent_sources: reagent_sources
+          targets: targets
+          use_channels: use_channels
+          flow_rates: flow_rates
+          offsets: offsets
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_time: mix_time
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      transfer_liquid:
+        type: LiquidHandlerTransfer
+        goal:
+          asp_vols: asp_vols
+          dis_vols: dis_vols
+          sources: sources
+          targets: targets
+          tip_racks: tip_racks
+          use_channels: use_channels
+          asp_flow_rates: asp_flow_rates
+          dis_flow_rates: dis_flow_rates
+          offsets: offsets
+          touch_tip: touch_tip
+          liquid_height: liquid_height
+          blow_out_air_volume: blow_out_air_volume
+          spread: spread
+          is_96_well: is_96_well
+          mix_stage: mix_stage
+          mix_times: mix_times
+          mix_vol: mix_vol
+          mix_rate: mix_rate
+          mix_liquid_height: mix_liquid_height
+          delays: delays
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      mix:
+        type: DPLiquidHandlerMix
+        goal:
+          targets: targets
+          mix_time: mix_time
+          mix_vol: mix_vol
+          height_to_bottom: height_to_bottom
+          offsets: offsets
+          mix_rate: mix_rate
+          none_keys: none_keys
+        feedback: { }
+        result: { }
+      move_to:
+        type: LiquidHandlerMoveTo
+        goal:
+          well: well
+          dis_to_top: dis_to_top
+          channel: channel
+        feedback: { }
+        result: { }
       aspirate:
         type: LiquidHandlerAspirate
         goal:
@@ -178,110 +263,7 @@ dp_liquid_handler:
     status_types:
       status: String
     action_value_mappings:
-      remove_liquid:
-        type: DPLiquidHandlerRemoveLiquid
-        goal:
-          vols: vols
-          sources: sources
-          waste_liquid: waste_liquid
-          use_channels: use_channels
-          flow_rates: flow_rates
-          offsets: offsets
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          delays: delays
-          is_96_well: is_96_well
-          top: top
-          none_keys: none_keys
-        feedback: {}
-        result: {}
-      add_liquid:
-        type: DPLiquidHandlerAddLiquid
-        goal:
-          asp_vols: asp_vols
-          dis_vols: dis_vols
-          reagent_sources: reagent_sources
-          targets: targets
-          use_channels: use_channels
-          flow_rates: flow_rates
-          offsets: offsets
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          is_96_well: is_96_well
-          mix_time: mix_time
-          mix_vol: mix_vol
-          mix_rate: mix_rate
-          mix_liquid_height: mix_liquid_height
-          none_keys: none_keys
-        feedback: {}
-        result: {}
-      transfer_liquid:
-        type: DPLiquidHandlerTransferLiquid
-        goal:
-          asp_vols: asp_vols
-          dis_vols: dis_vols
-          sources: sources
-          targets: targets
-          tip_racks: tip_racks
-          use_channels: use_channels
-          asp_flow_rates: asp_flow_rates
-          dis_flow_rates: dis_flow_rates
-          offsets: offsets
-          touch_tip: touch_tip
-          liquid_height: liquid_height
-          blow_out_air_volume: blow_out_air_volume
-          spread: spread
-          is_96_well: is_96_well
-          mix_stage: mix_stage
-          mix_times: mix_times
-          mix_vol: mix_vol
-          mix_rate: mix_rate
-          mix_liquid_height: mix_liquid_height
-          delays: delays
-          none_keys: none_keys
-        feedback: {}
-        result: {}
-      custom_delay:
-        type: DPLiquidHandlerCustomDelay
-        goal:
-          seconds: seconds
-          msg: msg
-        feedback: {}
-        result: {}
-      touch_tip:
-        type: DPLiquidHandlerTouchTip
-        goal:
-          targets: targets
-        feedback: {}
-        result: {}
-      mix:
-        type: DPLiquidHandlerMix
-        goal:
-          targets: targets
-          mix_time: mix_time
-          mix_vol: mix_vol
-          height_to_bottom: height_to_bottom
-          offsets: offsets
-          mix_rate: mix_rate
-          none_keys: none_keys
-        feedback: {}
-        result: {}
-      set_tiprack:
-        type: DPLiquidHandlerSetTiprack
-        goal:
-          tip_racks: tip_racks
-        feedback: {}
-        result: {}
-      move_to:
-        type: DPLiquidHandlerMoveTo
-        goal:
-          well: well
-          dis_to_top: dis_to_top
-          channel: channel
-        feedback: {}
-        result: {}
+
   schema:
     type: object
     properties:

unilabos_msgs/CMakeLists.txt

@@ -43,14 +43,10 @@ set(action_files
   "action/LiquidHandlerStamp.action"
   "action/LiquidHandlerTransfer.action"
 
-  "action/DPLiquidHandlerAddLiquid.action"
-  "action/DPLiquidHandlerCustomDelay.action"
-  "action/DPLiquidHandlerMix.action"
-  "action/DPLiquidHandlerMoveTo.action"
-  "action/DPLiquidHandlerRemoveLiquid.action"
-  "action/DPLiquidHandlerSetTiprack.action"
-  "action/DPLiquidHandlerTouchTip.action"
-  "action/DPLiquidHandlerTransferLiquid.action"
+  "action/LiquidHandlerAdd.action"
+  "action/LiquidHandlerMix.action"
+  "action/LiquidHandlerMoveTo.action"
+  "action/LiquidHandlerRemove.action"
 
   "action/EmptyIn.action"
   "action/FloatSingleInput.action"
@@ -61,7 +57,7 @@ set(action_files
   "action/ResourceCreateFromOuter.action"
 
   "action/SolidDispenseAddPowderTube.action"
-  
+
   "action/PumpTransfer.action"
   "action/Clean.action"
   "action/Separate.action"

unilabos_msgs/action/LiquidHandlerAdd.action

@@ -0,0 +1,20 @@
+float64[] asp_vols
+float64[] dis_vols
+Resource[] reagent_sources
+Resource[] targets
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+int32 mix_time
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/LiquidHandlerMix.action

@@ -0,0 +1,11 @@
+Resource[] targets
+int32 mix_time
+int32 mix_vol
+float64 height_to_bottom
+geometry_msgs/Point[] offsets
+float64 mix_rate
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/LiquidHandlerMoveTo.action

@@ -0,0 +1,7 @@
+Resource well
+float64 dis_to_top
+int32 channel
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/LiquidHandlerRemove.action

@@ -0,0 +1,17 @@
+float64[] vols
+Resource[] sources
+Resource waste_liquid
+int32[] use_channels
+float64[] flow_rates
+geometry_msgs/Point[] offsets
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+int32[] delays
+bool is_96_well
+float64[] top
+string[] none_keys
+---
+bool success
+---
+# 反馈

unilabos_msgs/action/LiquidHandlerTransfer.action

@@ -1,11 +1,25 @@
-# Bio
-Resource source
+float64[] asp_vols
+float64[] dis_vols
+Resource[] sources
 Resource[] targets
-float64 source_vol
-float64[] ratios
-float64[] target_vols
-float64 aspiration_flow_rate
-float64[] dispense_flow_rates
+Resource[] tip_racks
+int32[] use_channels
+float64[] asp_flow_rates
+float64[] dis_flow_rates
+geometry_msgs/Point[] offsets
+bool touch_tip
+float64[] liquid_height
+float64[] blow_out_air_volume
+string spread
+bool is_96_well
+string mix_stage
+int32[] mix_times
+int32 mix_vol
+int32 mix_rate
+float64 mix_liquid_height
+int32[] delays
+string[] none_keys
 ---
 bool success
----
+---
+# 反馈

unilabos_msgs/action/ResourceCreateFromOuterEasy.action

@@ -0,0 +1,10 @@
+string id
+string class
+string parent
+geometry_msgs/Point bind_locations
+int32[] liquid_input_slot
+string[] liquid_type
+float32[] liquid_volume
+---
+bool success
+---