Files
Uni-Lab-OS/unilabos/app/web/client.py
Kongchang Feng 46cec82a51 Device registry port (#49)
* Update README and MQTTClient for installation instructions and code improvements

* feat: 支持local_config启动
add: 增加对crt path的说明,为传入config.py的相对路径
move: web component

* add: registry description

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model

添加物料模型管理类,遍历物料与resource_model,完成TF数据收集

* 完成TF发布

* 修改模型方向,在yaml中添加变换属性

* 添加物料tf变化时,发送topic到前端

另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* feat: node_info_update srv
fix: OTDeck cant create

* close #12
feat: slave node registry

* feat: show machine name
fix: host node registry not uploaded

* feat: add hplc registry

* feat: add hplc registry

* fix: hplc status typo

* fix: devices/

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model

添加物料模型管理类,遍历物料与resource_model,完成TF数据收集

* 完成TF发布

* 修改模型方向,在yaml中添加变换属性

* 添加物料tf变化时,发送topic到前端

另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* fix: device.class possible null

* fix: HPLC additions with online service

* fix: slave mode spin not working

* fix: slave mode spin not working

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* feat: 多ProtocolNode 允许子设备ID相同
feat: 上报发现的ActionClient
feat: Host重启动,通过discover机制要求slaveNode重新注册,实现信息及时上报

* feat: 支持env设置config

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* Device visualization (#14)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model

添加物料模型管理类,遍历物料与resource_model,完成TF数据收集

* 完成TF发布

* 修改模型方向,在yaml中添加变换属性

* 添加物料tf变化时,发送topic到前端

另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model

添加物料模型管理类,遍历物料与resource_model,完成TF数据收集

* 完成TF发布

* 修改模型方向,在yaml中添加变换属性

* 添加物料tf变化时,发送topic到前端

另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: missing hostname in devices_names
fix: upload_file for model file

* fix: missing paho-mqtt package
bump version to 0.9.0

* fix startup
add ResourceCreateFromOuter.action

* fix type hint

* update actions

* update actions

* host node add_resource_from_outer
fix cmake list

* pass device config to device class

* add: bind_parent_ids to resource create action
fix: message convert string

* fix: host node should not be re_discovered

* feat: resource tracker support dict

* feat: add more necessary params

* feat: fix boolean null in registry action data

* feat: add outer resource

* 编写mesh添加action

* feat: append resource

* add action

* feat: vis 2d for plr

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

* Device visualization (#22)

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model

添加物料模型管理类,遍历物料与resource_model,完成TF数据收集

* 完成TF发布

* 修改模型方向,在yaml中添加变换属性

* 添加物料tf变化时,发送topic到前端

另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* add 3d visualization

* 完成在main中启动设备可视化

完成在main中启动设备可视化,并输出物料ID:mesh的对应关系resource_model

添加物料模型管理类,遍历物料与resource_model,完成TF数据收集

* 完成TF发布

* 修改模型方向,在yaml中添加变换属性

* 添加物料tf变化时,发送topic到前端

另外修改了物料初始化的方法,防止在tf还未发布时提前建立物料模型与发布话题

* 添加关节发布节点与物料可视化节点进入unilab

* 使用json启动plr与3D模型仿真

* 完成启动OT并联动rviz

* 修复rviz位置问题,

修复rviz位置问题,
在无tf变动时减缓发送频率
在backend中添加物料跟随方法

* fix: running logic

* fix: running logic

* fix: missing ot

* 在main中直接初始化republisher和物料的mesh节点

* 将joint_republisher和resource_mesh_manager添加进 main_slave_run.py中

* 编写mesh添加action

* add action

* fix

* fix: browser on rviz

* fix: cloud bridge error fallback to local

* fix: salve auto run rviz

* 初始化两个plate

---------

Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>

* fix: multi channel

* fix: aspirate

* fix: aspirate

* fix: aspirate

* fix: aspirate

* 提交

* fix: jobadd

* fix: jobadd

* fix: msg converter

* tijiao

* add resource creat easy action

* identify debug msg

* mq client id

* unify liquid_handler definition

* Update virtual_device.yaml

* 更正了stir和heater的连接方式

* 区分了虚拟仪器中的八通阀和电磁阀,添加了两个阀门的驱动

* 修改了add protocol

* 修复了阀门更新版的bug

* 修复了添加protocol前缀导致的不能启动的bug

* Fix handles

* bump version to 0.9.6

* add resource edge upload

* update container registry and handles

* add virtual_separator virtual_rotavap
fix transfer_pump

* fix container value
add parent_name to edge device id

* 大图的问题都修复好了,添加了gassource和vacuum pump的驱动以及注册表

* default resource upload mode is false

* 添加了icon的文件名在注册表里面

* 修改了json图中link的格式

* fix resource and edge upload

* fix device ports

* Fix edge id

* 移除device的父节点关联

* separate registry sync and resource_add

* 默认不进行注册表报送,通过命令unilabos-register或者增加启动参数

* 完善tip

* protocol node不再嵌套显示

* bump version to 0.9.7  新增一个测试PumpTransferProtocol的teststation,亲测可以运行,将八通阀们和转移泵与pump_protocol适配

* protocol node 执行action不应携带自身device id

* 添加了一套简易双八通阀工作站JSON,亲测能跑

* 修复了很多protocol,亲测能跑

* 添加了run column和filter through的protocol,亲测能跑

* fix mock_reactor

* 修改了大图和小图的json,但是在前端上没看到改变

---------

Co-authored-by: Harvey Que <Q-Query@outlook.com>
Co-authored-by: wznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@pku.edu.cn>
2025-06-22 12:59:59 +08:00

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"""
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
"""
from typing import List, Dict, Any, Optional
import requests
from unilabos.utils.log import info
from unilabos.config.config import MQConfig, HTTPConfig
from unilabos.utils import logger
class HTTPClient:
"""HTTP客户端用于与远程服务器通信"""
def __init__(self, remote_addr: Optional[str] = None, auth: Optional[str] = None) -> None:
"""
初始化HTTP客户端
Args:
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.remote_addr = remote_addr or HTTPConfig.remote_addr
if auth is not None:
self.auth = auth
else:
self.auth = MQConfig.lab_id
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:
"""
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/edge/batch_create/?database_process_later={1 if database_process_later else 0}",
json=resources,
headers={"Authorization": f"lab {self.auth}"},
timeout=100,
)
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:
"""
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 response.status_code != 200:
logger.error(f"添加物料失败: {response.text}")
return response
def resource_get(self, id: str, with_children: bool = False) -> Dict[str, Any]:
"""
获取资源
Args:
id: 资源ID
with_children: 是否包含子资源
Returns:
Dict: 返回的资源数据
"""
response = requests.get(
f"{self.remote_addr}/lab/resource/?edge_format=1",
params={"id": id, "with_children": with_children},
headers={"Authorization": f"lab {self.auth}"},
timeout=20,
)
return response.json()
def resource_del(self, id: str) -> requests.Response:
"""
删除资源
Args:
id: 要删除的资源ID
Returns:
Response: API响应对象
"""
response = requests.delete(
f"{self.remote_addr}/lab/resource/batch_delete/",
params={"id": id},
headers={"Authorization": f"lab {self.auth}"},
timeout=20,
)
return response
def resource_update(self, resources: List[Dict[str, Any]]) -> requests.Response:
"""
更新资源
Args:
resources: 要更新的资源列表
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
def upload_file(self, file_path: str, scene: str = "models") -> requests.Response:
"""
上传文件到服务器
使用multipart/form-data格式上传文件类似curl -F "files=@filepath"
Args:
file_path: 要上传的文件路径
scene: 上传场景,可选值为"user""models",默认为"models"
Returns:
Response: API响应对象
"""
with open(file_path, "rb") as file:
files = {"files": file}
logger.info(f"上传文件: {file_path}{scene}")
response = requests.post(
f"{self.remote_addr}/api/account/file_upload/{scene}",
files=files,
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
# 创建默认客户端实例
http_client = HTTPClient()