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* add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * 37-biomek-i5i7 (#40) * add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * Refine biomek * Refine copy issue * Refine --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#39) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit56d45b94f5. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit07d9db20c3. * 添加缺少物料:"plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link --------- 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: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * Device visualization (#41) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * add biomek.py demo implementation * 更新LiquidHandlerBiomek类,添加资源创建功能,优化协议创建方法,修复部分代码格式问题,更新YAML配置以支持新功能。 * Test * fix biomek success type * Convert LH action to biomek. * Update biomek.py * 注册表上报handle和schema (param input) * 修复biomek缺少的字段 * delete 's' * Remove warnings * Update biomek.py * Biomek test * Update biomek.py * 新增transfer_biomek的msg * New transfer_biomek * Updated transfer_biomek * 更新transfer_biomek的msg * 更新transfer_biomek的msg * 支持Biomek创建 * new action * fix key name typo * New parameter for biomek to run. * Refine * Update * new actions * new actions * 1 * registry * fix biomek startup add action handles * fix handles not as default entry * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * biomek_test.py biomek_test.py是最新的版本,运行它会生成complete_biomek_protocol.json * Update biomek.py * biomek_test.py * fix liquid_handler.biomek handles * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit56d45b94f5. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit07d9db20c3. * 添加缺少物料:"plate_well_G12", * host node新增resource add时间统计 create_resource新增handle bump version to 0.9.2 * 修正物料上传时间 改用biomek_test 增加ResultInfoEncoder 支持返回结果上传 * 正确发送return_info结果 * 同步执行状态信息 * 取消raiseValueError提示 * Update biomek_test.py * 0608 DONE * 同步了Biomek.py 现在应可用 * biomek switch back to non-test * temp disable initialize resource * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name --------- Co-authored-by: Harvey Que <Q-Query@outlook.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> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> * fix move it * fix move it * create_resource * bump ver modify slot type * 增加modbus支持 调整protocol node以更好支持多种类型的read和write * 调整protocol node以更好支持多种类型的read和write * 补充日志 * Device visualization (#42) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit56d45b94f5. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit07d9db20c3. * 添加缺少物料:"plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error --------- Co-authored-by: Harvey Que <Q-Query@outlook.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> * Add Mock Device for Organic Synthesis\添加有机合成的虚拟仪器和Protocol (#43) * Add Device MockChiller Add device MockChiller * Add Device MockFilter * Add Device MockPump * Add Device MockRotavap * Add Device MockSeparator * Add Device MockStirrer * Add Device MockHeater * Add Device MockVacuum * Add Device MockSolenoidValve * Add Device Mock \_init_.py * 规范模拟设备代码与注册表信息 * 更改Mock大写文件夹名 * 删除大写目录 * Edited Mock device json * Match mock device with action * Edit mock device yaml * Add new action * Add Virtual Device, Action, YAML, Protocol for Organic Syn * 单独分类测试的protocol文件夹 * 更名Action --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * bump version & protocol fix * hotfix: Add macos_sdk_config (#46) Co-authored-by: quehh <scienceol@outlook.com> * include device_mesh when pip install * 测试自动构建 * try build fix * try build * test artifacts * hotfix: Add .certs in .gitignore * create container * container 添加和更新完成 * 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> * 更新workstation注册表 * 添加了两个protocol的检索功能 (#51) * 添加了两个protocol的检索liquid type功能 * fix workstation registry * 修复了没连接的几个仪器的link,添加了container的icon * 修改了json和注册表,现在大图全部的device都链接上了 * 修复了小图的json图,线全部连上了 * add work_station protocol handles (ports) * fix workstation action handle --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@dp.tech> * 新增注册表补全功能,修复Protocol执行失败 * 支持通过导入方式补全注册表,新增工作流unilabos_device_id字段 * 修复不启用注册表补充就无法启动的bug * 修复部分识别error * 修复静态方法识别get status,注册表支持python类型 * status types对于嵌套类型返回的对象,暂时处理成字符串,无法直接进行转换 * 支持通过list[int],list[float]进行Int64MultiArray,Float64MultiArray的替换 * 成功动态导入的不再需要使用静态导入 * Fix handle names (#55) * fix handle names * improve evacuateAndRefill gas source finding * add camera and dependency (#56) * 修复auto-的Action在protocol node下错误注册 * 匹配init param schema格式 * Add channel_sources config in conda_build_config.yaml (#58) * 修复任务执行传参 * Create 5 new protocols & bump version 0.9.8 (#59) * 添加了5个缺失的protocol,验证了可以运行 * bump version to 0.9.8 * 修复新增的Action的字段缺失 --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 转换到ros消息时,要进行基础类型转换 * Update work_station.yaml (#60) * Update work_station.yaml * Checklist里面有XDL跟protocol之间没对齐的问题,工作量有点大找时间写完 * Create prcxi.py * Update prcxi.py * Update Prcxi * 更新中析仪器,以及启动示例 * 修改moveit_interface,并在mqtt上报时发送一个时间戳,方便网页端对数据的筛选 (#62) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit56d45b94f5. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit07d9db20c3. * 添加缺少物料:"plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface,并在mqtt上报时发送一个时间戳 --------- 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: Junhan Chang <changjh@pku.edu.cn> * 更新实例 * 更新实例 * 更新实例 * 修正prcxi启动 * 更新PRCXI配置,修改主机地址和设置状态,并添加示例用法 * add pickup tips for prcxi * 任意执行错误都应该返回failed * 任意执行错误都应该返回failed * Add plateT6 to PRCXI configuration and enhance error handling in liquid handling * prcxi blending * assert blending_times > 0 * update prcxi * update prcxi registry * Update prcxi.py to fit the function in unilabos. * 不生成已配置action的动作,增加prcxi的debug模式 * 增加注册表版本参数,支持将auto-指令人工检查后非auto,不生成人工已检查的指令,取消不必要的description生成 * 增加注册表版本参数,支持将auto-指令人工检查后非auto,不生成人工已检查的指令,取消不必要的description生成 * Update prcxi.py * 修复了部分的protocol因为XDL更新导致的问题 (#61) * 修复了部分的protocol因为XDL更新导致的问题 但是pumptransfer,add,dissolve,separate还没修,后续还需要写virtual固体加料器 * 补充了四个action * 添加了固体加样器,丰富了json,修改了add protocol * bump version to 0.9.9 * fix bugs from new actions * protocol完整修复版本& bump version to 0.9.10 * 修补了一些单位处理,bump version to 0.9.11 * 优化了全protocol的运行时间,除了pumptransfer相关的还没 * 补充了剩下的几个protocol --------- Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> * 修复action移除时的报错,更新注册表 * Update prcxi.py * Update prcxi.py * 新增simulator * Update prcxi.py * Update trash * Update prcxi.py * Update prcxi.py * Update for discard tips * Update prcxi.py * Update PRCXI * 更新axis等参数 * Update 9320 * get_well_container&get_tip_rack * update * Update 9320 * update * deck * 更新注册表&增加资源,parent应为resources字段 * Update 9320 * update * 新增set liquid方法 * 新增set liquid方法 * action to resource & 0.9.12 (#64) * action to resource & 0.9.12 * stir和adjustph的中的bug修不好 * modify prcxi * 0.9.12 update registry * update * update * registry upadte * Update * update * container_for_nothing * mix * registry fix * registry fix * registry fix * Update * Update prcxi.py * SET TIP RACK * bump version * update registry version & category * update set tip rack * yaml dump支持ordered dict,支持config_info * fix devices * fix resource check serialize * fix: Protocol node resource run (#65) * stir和adjustph的中的bug修不好 * fix sub-resource query in protocol node compiling * add resource placeholder to vessels * add the rest yaml * Update work_station.yaml --------- Co-authored-by: KCFeng425 <2100011801@stu.pku.edu.cn> * 采用http报送resource * 采用http报送resource * update * Update .gitignore * bump version to 0.10.0 * default param simulator * slim * Update * Update for prcxi * Update * Update * Refactor PRCXI9300Deck initialization and update plate configurations - Changed deck name from "PRCXI_Deck" to "PRCXI_Deck_9300". - Updated plate4 initialization to use get_well_container instead of get_tip_rack. - Modified plate4 material details with new UUID, code, and name. - Renamed output JSON file to "deck_9300_new.json". - Uncommented and adjusted liquid handling operations for clarity and future use. * test * update * Update prcxi_9300.json This one is good * update * fix protocol_node communication transfer * 修复注册表handles类型错误的问题 * 物料添加失败应该直接raise ValueError,不要等待 * 更正注册表中的数字类型 * Delete unnecessary files. * 新增lab_id直接传入 * fix vessel_id param passing in protocols * 新增dll预载,保证部分设备可正常使用unilabos_msgs * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 * 修复可能的web template找不到的问题 新增联网获取json启动 删除非-g传入启动json的方式 兼容传参参数名短横线与下划线 更新版本到0.10.1 修复Upload Registry镜像不匹配 * 新增用户引导 * Device visualization (#67) * 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 * 提取lh的joint发布 * unify liquid_handler definition * 修改物料跟随与物料添加逻辑 修改物料跟随与物料添加逻辑 将joint_publisher类移出lh的backends,但仍需要对lh的backends进行一些改写 * Revert "修改物料跟随与物料添加逻辑" This reverts commit498c997ad7. * Reapply "修改物料跟随与物料添加逻辑" This reverts commit3a60d2ae81. * Revert "Merge remote-tracking branch 'upstream/dev' into device_visualization" This reverts commitfa727220af, reversing changes made to498c997ad7. * 修改物料放下时的方法,如果选择 修改物料放下时的方法, 如果选择drop_trash,则删除物料显示 如果选择drop,则让其解除连接 * unilab添加moveit启动 1,整合所有moveit节点到一个move_group中,并整合所有的controller依次激活 2,添加pymoveit2的节点,使用json可直接启动 3,修改机械臂规划方式,添加约束,让冗余关节不会进行过多移动 * 修改物体attach时,多次赋值当前时间导致卡顿问题, * Revert "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit56d45b94f5. * Reapply "修改物体attach时,多次赋值当前时间导致卡顿问题," This reverts commit07d9db20c3. * 添加缺少物料:"plate_well_G12", * add * fix tip resource data * liquid states * change to debug level * Revert "change to debug level" This reverts commit5d9953c3e5. * Reapply "change to debug level" This reverts commit2487bb6ffc. * fix tip resource data * add full device * add moveit yaml * 修复moveit 增加post_init阶段,给予ros_node反向 * remove necessary node * fix moveit action client * remove necessary imports * Update moveit_interface.py * fix handler_key uppercase * json add liquids * fix setup * add * change to "sources" and "targets" for lh * bump version * remove parent's parent link * change arm's name * change name * fix ik error * 修改moveit_interface,并在mqtt上报时发送一个时间戳 * 添加机械臂和移液站 * 添加 * 添加硬件 * update * 添加 --------- 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: Junhan Chang <changjh@pku.edu.cn> * 更新注册表 --------- Co-authored-by: Junhan Chang <changjh@pku.edu.cn> Co-authored-by: Guangxin Zhang <guangxin.zhang.bio@gmail.com> Co-authored-by: qxw138 <qxw@stu.pku.edu.cn> Co-authored-by: q434343 <73513873+q434343@users.noreply.github.com> Co-authored-by: Harvey Que <Q-Query@outlook.com> Co-authored-by: Kongchang Feng <2100011801@stu.pku.edu.cn> Co-authored-by: hh. <103566763+Mile-Away@users.noreply.github.com> Co-authored-by: quehh <scienceol@outlook.com> Co-authored-by: Harvey Que <quehaohui@dp.tech> Co-authored-by: Junhan Chang <changjh@dp.tech> Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
781 lines
29 KiB
Python
781 lines
29 KiB
Python
"""
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导入管理器
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该模块提供了一个动态导入和管理模块的系统,避免误删未使用的导入。
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"""
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import builtins
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import importlib
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import inspect
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import sys
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import traceback
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import ast
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import os
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from pathlib import Path
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from typing import Dict, List, Any, Optional, Callable, Type
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__all__ = [
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"ImportManager",
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"default_manager",
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"load_module",
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"get_class",
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"get_module",
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"init_from_list",
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"get_class_info_static",
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"get_registry_class_info",
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]
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from ast import Constant
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from unilabos.utils import logger
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class ImportManager:
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"""导入管理器类,用于动态加载和管理模块"""
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def __init__(self, module_list: Optional[List[str]] = None):
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"""
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初始化导入管理器
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Args:
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module_list: 要预加载的模块路径列表
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"""
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self._modules: Dict[str, Any] = {}
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self._classes: Dict[str, Type] = {}
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self._functions: Dict[str, Callable] = {}
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if module_list:
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for module_path in module_list:
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self.load_module(module_path)
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def load_module(self, module_path: str) -> Any:
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"""
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加载指定路径的模块
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Args:
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module_path: 模块路径
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Returns:
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加载的模块对象
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Raises:
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ImportError: 如果模块导入失败
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"""
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try:
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if module_path in self._modules:
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return self._modules[module_path]
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module = importlib.import_module(module_path)
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self._modules[module_path] = module
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# 索引模块中的类和函数
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for name, obj in inspect.getmembers(module):
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if inspect.isclass(obj):
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full_name = f"{module_path}.{name}"
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self._classes[name] = obj
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self._classes[full_name] = obj
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elif inspect.isfunction(obj):
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full_name = f"{module_path}.{name}"
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self._functions[name] = obj
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self._functions[full_name] = obj
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return module
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except Exception as e:
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logger.error(f"导入模块 '{module_path}' 时发生错误:{str(e)}")
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logger.warning(traceback.format_exc())
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raise ImportError(f"无法导入模块 {module_path}: {str(e)}")
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def get_module(self, module_path: str) -> Any:
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"""
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获取已加载的模块
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Args:
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module_path: 模块路径
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Returns:
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模块对象
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Raises:
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KeyError: 如果模块未加载
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"""
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if module_path not in self._modules:
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return self.load_module(module_path)
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return self._modules[module_path]
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def get_class(self, class_name: str) -> Type:
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"""
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获取类对象
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Args:
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class_name: 类名或完整类路径
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Returns:
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类对象
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Raises:
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KeyError: 如果找不到类
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"""
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if class_name in self._classes:
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return self._classes[class_name]
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# 尝试动态导入
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if ":" in class_name:
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module_path, cls_name = class_name.rsplit(":", 1)
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module = self.load_module(module_path)
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if hasattr(module, cls_name):
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cls = getattr(module, cls_name)
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self._classes[class_name] = cls
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self._classes[cls_name] = cls
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return cls
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else:
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# 如果cls_name是builtins中的关键字,则返回对应类
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if class_name in builtins.__dict__:
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return builtins.__dict__[class_name]
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raise KeyError(f"找不到类: {class_name}")
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def list_modules(self) -> List[str]:
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"""列出所有已加载的模块路径"""
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return list(self._modules.keys())
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def list_classes(self) -> List[str]:
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"""列出所有已索引的类名"""
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return list(self._classes.keys())
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def list_functions(self) -> List[str]:
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"""列出所有已索引的函数名"""
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return list(self._functions.keys())
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def search_class(self, class_name: str, search_lower=False) -> Optional[Type]:
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"""
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在所有已加载的模块中搜索特定类名
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Args:
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class_name: 要搜索的类名
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search_lower: 以小写搜索
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Returns:
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找到的类对象,如果未找到则返回None
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"""
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# 如果cls_name是builtins中的关键字,则返回对应类
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if class_name in builtins.__dict__:
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return builtins.__dict__[class_name]
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# 首先在已索引的类中查找
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if class_name in self._classes:
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return self._classes[class_name]
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if search_lower:
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classes = {name.lower(): obj for name, obj in self._classes.items()}
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if class_name in classes:
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return classes[class_name]
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# 遍历所有已加载的模块进行搜索
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for module_path, module in self._modules.items():
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for name, obj in inspect.getmembers(module):
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if inspect.isclass(obj) and (
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(name.lower() == class_name.lower()) if search_lower else (name == class_name)
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):
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# 将找到的类添加到索引中
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self._classes[name] = obj
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self._classes[f"{module_path}:{name}"] = obj
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return obj
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return None
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def get_enhanced_class_info(self, module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
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"""
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获取增强的类信息,支持动态导入和静态分析
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Args:
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module_path: 模块路径,格式为 "module.path" 或 "module.path:ClassName"
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use_dynamic: 是否优先使用动态导入
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Returns:
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包含详细类信息的字典
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"""
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result = {
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"module_path": module_path,
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"dynamic_import_success": False,
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"static_analysis_success": False,
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"init_params": {},
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"status_methods": {}, # get_ 开头和 @property 方法
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"action_methods": {}, # set_ 开头和其他非_开头方法
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}
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# 尝试动态导入
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dynamic_info = None
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static_info = None
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if use_dynamic:
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try:
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dynamic_info = self._get_dynamic_class_info(module_path)
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result["dynamic_import_success"] = True
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logger.debug(f"[ImportManager] 动态导入类 {module_path} 成功")
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except Exception as e:
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logger.warning(
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f"[UniLab Registry] 在补充注册表时,动态导入类 "
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f"{module_path} 失败(将使用静态分析,"
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f"建议修复导入错误,以实现更好的注册表识别效果!): {e}"
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)
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use_dynamic = False
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if not use_dynamic:
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# 尝试静态分析
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try:
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static_info = self._get_static_class_info(module_path)
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result["static_analysis_success"] = True
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logger.debug(f"[ImportManager] 静态分析类 {module_path} 成功")
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except Exception as e:
|
||
logger.warning(f"[ImportManager] 静态分析类 {module_path} 失败: {e}")
|
||
|
||
# 合并信息(优先使用动态导入的信息)
|
||
if dynamic_info:
|
||
result.update(dynamic_info)
|
||
elif static_info:
|
||
result.update(static_info)
|
||
|
||
return result
|
||
|
||
def _get_dynamic_class_info(self, class_path: str) -> Dict[str, Any]:
|
||
"""使用inspect模块动态获取类信息"""
|
||
cls = get_class(class_path)
|
||
class_name = cls.__name__
|
||
|
||
result = {"class_name": class_name, "init_params": self._analyze_method_signature(cls.__init__)["args"],
|
||
"status_methods": {}, "action_methods": {}}
|
||
# 分析类的所有成员
|
||
for name, method in cls.__dict__.items():
|
||
if name.startswith("_"):
|
||
continue
|
||
|
||
# 检查是否是property
|
||
if isinstance(method, property):
|
||
# @property 装饰的方法
|
||
# noinspection PyTypeChecker
|
||
return_type = self._get_return_type_from_method(method.fget) if method.fget else "Any"
|
||
prop_info = {
|
||
"name": name,
|
||
"return_type": return_type,
|
||
}
|
||
result["status_methods"][name] = prop_info
|
||
|
||
# 检查是否有对应的setter
|
||
if method.fset:
|
||
setter_info = self._analyze_method_signature(method.fset)
|
||
result["action_methods"][name] = setter_info
|
||
|
||
elif inspect.ismethod(method) or inspect.isfunction(method):
|
||
if name.startswith("get_"):
|
||
actual_name = name[4:] # 去掉get_前缀
|
||
if actual_name in result["status_methods"]:
|
||
continue
|
||
# get_ 开头的方法归类为status
|
||
method_info = self._analyze_method_signature(method)
|
||
result["status_methods"][actual_name] = method_info
|
||
elif not name.startswith("_"):
|
||
# 其他非_开头的方法归类为action
|
||
method_info = self._analyze_method_signature(method)
|
||
result["action_methods"][name] = method_info
|
||
|
||
return result
|
||
|
||
def _get_static_class_info(self, module_path: str) -> Dict[str, Any]:
|
||
"""使用AST静态分析获取类信息"""
|
||
module_name, class_name = module_path.rsplit(":", 1)
|
||
# 将模块路径转换为文件路径
|
||
file_path = self._module_path_to_file_path(module_name)
|
||
if not file_path or not os.path.exists(file_path):
|
||
raise FileNotFoundError(f"找不到模块文件: {module_name} -> {file_path}")
|
||
|
||
with open(file_path, "r", encoding="utf-8") as f:
|
||
source_code = f.read()
|
||
|
||
tree = ast.parse(source_code)
|
||
|
||
# 查找目标类
|
||
target_class = None
|
||
for node in ast.walk(tree):
|
||
if isinstance(node, ast.ClassDef):
|
||
if node.name == class_name:
|
||
target_class = node
|
||
break
|
||
|
||
if target_class is None:
|
||
raise AttributeError(f"在文件 {file_path} 中找不到类 {class_name}")
|
||
|
||
result = {
|
||
"class_name": class_name,
|
||
"init_params": {},
|
||
"status_methods": {},
|
||
"action_methods": {},
|
||
}
|
||
|
||
# 分析类的方法
|
||
for node in target_class.body:
|
||
if isinstance(node, ast.FunctionDef):
|
||
method_info = self._analyze_method_node(node)
|
||
method_name = node.name
|
||
if method_name == "__init__":
|
||
result["init_params"] = method_info["args"]
|
||
elif method_name.startswith("_"):
|
||
continue
|
||
elif self._is_property_method(node):
|
||
# @property 装饰的方法
|
||
result["status_methods"][method_name] = method_info
|
||
elif method_name.startswith("get_"):
|
||
# get_ 开头的方法归类为status
|
||
actual_name = method_name[4:] # 去掉get_前缀
|
||
if actual_name not in result["status_methods"]:
|
||
result["status_methods"][actual_name] = method_info
|
||
else:
|
||
# 其他非_开头的方法归类为action
|
||
result["action_methods"][method_name] = method_info
|
||
return result
|
||
|
||
def _analyze_method_signature(self, method) -> Dict[str, Any]:
|
||
"""
|
||
分析方法签名,提取具体的命名参数信息
|
||
|
||
注意:此方法会跳过*args和**kwargs,只提取具体的命名参数
|
||
这样可以确保通过**dict方式传参时的准确性
|
||
|
||
示例用法:
|
||
method_info = self._analyze_method_signature(some_method)
|
||
params = {"param1": "value1", "param2": "value2"}
|
||
result = some_method(**params) # 安全的参数传递
|
||
"""
|
||
signature = inspect.signature(method)
|
||
args = []
|
||
num_required = 0
|
||
|
||
for param_name, param in signature.parameters.items():
|
||
# 跳过self参数
|
||
if param_name == "self":
|
||
continue
|
||
|
||
# 跳过*args和**kwargs参数
|
||
if param.kind == param.VAR_POSITIONAL: # *args
|
||
continue
|
||
if param.kind == param.VAR_KEYWORD: # **kwargs
|
||
continue
|
||
|
||
is_required = param.default == inspect.Parameter.empty
|
||
if is_required:
|
||
num_required += 1
|
||
|
||
args.append(
|
||
{
|
||
"name": param_name,
|
||
"type": self._get_type_string(param.annotation),
|
||
"required": is_required,
|
||
"default": None if param.default == inspect.Parameter.empty else param.default,
|
||
}
|
||
)
|
||
|
||
return {
|
||
"name": method.__name__,
|
||
"args": args,
|
||
"return_type": self._get_type_string(signature.return_annotation),
|
||
"is_async": inspect.iscoroutinefunction(method),
|
||
}
|
||
|
||
def _get_return_type_from_method(self, method) -> str:
|
||
"""从方法中获取返回类型"""
|
||
signature = inspect.signature(method)
|
||
return self._get_type_string(signature.return_annotation)
|
||
|
||
def _get_type_string(self, annotation) -> str:
|
||
"""将类型注解转换为Class Library中可搜索的类名"""
|
||
if annotation == inspect.Parameter.empty:
|
||
return "Any" # 如果没有注解,返回Any
|
||
if annotation is None:
|
||
return "None" # 明确的None类型
|
||
if hasattr(annotation, "__origin__"):
|
||
# 处理typing模块的类型
|
||
origin = annotation.__origin__
|
||
if origin in (list, set, tuple):
|
||
if hasattr(annotation, "__args__") and annotation.__args__:
|
||
if len(annotation.__args__):
|
||
arg0 = annotation.__args__[0]
|
||
if isinstance(arg0, int):
|
||
return "Int64MultiArray"
|
||
elif isinstance(arg0, float):
|
||
return "Float64MultiArray"
|
||
return "list"
|
||
elif origin is dict:
|
||
return "dict"
|
||
elif origin is Optional:
|
||
return "Unknown"
|
||
return f"Unknown"
|
||
annotation_str = str(annotation)
|
||
# 处理typing模块的复杂类型
|
||
if "typing." in annotation_str:
|
||
# 简化typing类型显示
|
||
return (
|
||
annotation_str.replace("typing.", "")
|
||
if getattr(annotation, "_name", None) is None
|
||
else annotation._name.lower()
|
||
)
|
||
# 如果是类型对象
|
||
if hasattr(annotation, "__name__"):
|
||
# 如果是内置类型
|
||
if annotation.__module__ == "builtins":
|
||
return annotation.__name__
|
||
else:
|
||
# 如果是自定义类,返回完整路径
|
||
return f"{annotation.__module__}:{annotation.__name__}"
|
||
# 如果是typing模块的类型
|
||
elif hasattr(annotation, "_name"):
|
||
return annotation._name
|
||
# 如果是字符串形式的类型注解
|
||
elif isinstance(annotation, str):
|
||
return annotation
|
||
else:
|
||
return annotation_str
|
||
|
||
def _is_property_method(self, node: ast.FunctionDef) -> bool:
|
||
"""检查是否是@property装饰的方法"""
|
||
for decorator in node.decorator_list:
|
||
if isinstance(decorator, ast.Name) and decorator.id == "property":
|
||
return True
|
||
return False
|
||
|
||
def _is_setter_method(self, node: ast.FunctionDef) -> bool:
|
||
"""检查是否是@xxx.setter装饰的方法"""
|
||
for decorator in node.decorator_list:
|
||
if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
|
||
return True
|
||
return False
|
||
|
||
def _get_property_name_from_setter(self, node: ast.FunctionDef) -> str:
|
||
"""从setter装饰器中获取属性名"""
|
||
for decorator in node.decorator_list:
|
||
if isinstance(decorator, ast.Attribute) and decorator.attr == "setter":
|
||
if isinstance(decorator.value, ast.Name):
|
||
return decorator.value.id
|
||
return node.name
|
||
|
||
def get_class_info_static(self, module_class_path: str) -> Dict[str, Any]:
|
||
"""
|
||
静态分析获取类的方法信息,不需要实际导入模块
|
||
|
||
Args:
|
||
module_class_path: 格式为 "module.path:ClassName" 的字符串
|
||
|
||
Returns:
|
||
包含类方法信息的字典
|
||
"""
|
||
try:
|
||
if ":" not in module_class_path:
|
||
raise ValueError("module_class_path必须是 'module.path:ClassName' 格式")
|
||
|
||
module_path, class_name = module_class_path.rsplit(":", 1)
|
||
|
||
# 将模块路径转换为文件路径
|
||
file_path = self._module_path_to_file_path(module_path)
|
||
if not file_path or not os.path.exists(file_path):
|
||
logger.warning(f"找不到模块文件: {module_path} -> {file_path}")
|
||
return {}
|
||
|
||
# 解析源码
|
||
with open(file_path, "r", encoding="utf-8") as f:
|
||
source_code = f.read()
|
||
|
||
tree = ast.parse(source_code)
|
||
|
||
# 查找目标类
|
||
class_node = None
|
||
for node in ast.walk(tree):
|
||
if isinstance(node, ast.ClassDef) and node.name == class_name:
|
||
class_node = node
|
||
break
|
||
|
||
if not class_node:
|
||
logger.warning(f"在模块 {module_path} 中找不到类 {class_name}")
|
||
return {}
|
||
|
||
# 分析类的方法
|
||
methods_info = {}
|
||
for node in class_node.body:
|
||
if isinstance(node, ast.FunctionDef):
|
||
method_info = self._analyze_method_node(node)
|
||
methods_info[node.name] = method_info
|
||
|
||
return {
|
||
"class_name": class_name,
|
||
"module_path": module_path,
|
||
"file_path": file_path,
|
||
"methods": methods_info,
|
||
}
|
||
|
||
except Exception as e:
|
||
logger.error(f"静态分析类 {module_class_path} 时出错: {str(e)}")
|
||
return {}
|
||
|
||
def _module_path_to_file_path(self, module_path: str) -> Optional[str]:
|
||
for path in sys.path:
|
||
potential_path = Path(path) / module_path.replace(".", "/")
|
||
|
||
# 检查是否为包
|
||
if (potential_path / "__init__.py").exists():
|
||
return str(potential_path / "__init__.py")
|
||
|
||
# 检查是否为模块文件
|
||
if (potential_path.parent / f"{potential_path.name}.py").exists():
|
||
return str(potential_path.parent / f"{potential_path.name}.py")
|
||
|
||
return None
|
||
|
||
def _analyze_method_node(self, node: ast.FunctionDef) -> Dict[str, Any]:
|
||
"""分析方法节点,提取参数和返回类型信息"""
|
||
method_info = {
|
||
"name": node.name,
|
||
"args": [],
|
||
"return_type": None,
|
||
"is_async": isinstance(node, ast.AsyncFunctionDef),
|
||
}
|
||
# 获取默认值列表
|
||
defaults = node.args.defaults
|
||
num_defaults = len(defaults)
|
||
|
||
# 计算必需参数数量
|
||
total_args = len(node.args.args)
|
||
num_required = total_args - num_defaults
|
||
|
||
# 提取参数信息
|
||
for i, arg in enumerate(node.args.args):
|
||
if arg.arg == "self":
|
||
continue
|
||
arg_info = {
|
||
"name": arg.arg,
|
||
"type": None,
|
||
"default": None,
|
||
"required": i < num_required,
|
||
}
|
||
|
||
# 提取类型注解
|
||
if arg.annotation:
|
||
arg_info["type"] = ast.unparse(arg.annotation) if hasattr(ast, "unparse") else str(arg.annotation)
|
||
|
||
# 提取默认值并推断类型
|
||
if i >= num_required:
|
||
default_index = i - num_required
|
||
if default_index < len(defaults):
|
||
default_value: Constant = defaults[default_index] # type: ignore
|
||
assert isinstance(default_value, Constant), "暂不支持对非常量类型进行推断,可反馈开源仓库"
|
||
arg_info["default"] = default_value.value
|
||
# 如果没有类型注解,尝试从默认值推断类型
|
||
if not arg_info["type"]:
|
||
arg_info["type"] = self._get_type_string(type(arg_info["default"]))
|
||
method_info["args"].append(arg_info)
|
||
|
||
# 提取返回类型
|
||
if node.returns:
|
||
method_info["return_type"] = ast.unparse(node.returns) if hasattr(ast, "unparse") else str(node.returns)
|
||
|
||
return method_info
|
||
|
||
def _infer_type_from_default(self, node: ast.AST) -> Optional[str]:
|
||
"""从默认值推断参数类型"""
|
||
if isinstance(node, ast.Constant):
|
||
value = node.value
|
||
if isinstance(value, bool):
|
||
return "bool"
|
||
elif isinstance(value, int):
|
||
return "int"
|
||
elif isinstance(value, float):
|
||
return "float"
|
||
elif isinstance(value, str):
|
||
return "str"
|
||
elif value is None:
|
||
return "Optional[Any]"
|
||
elif isinstance(node, ast.List):
|
||
return "List"
|
||
elif isinstance(node, ast.Dict):
|
||
return "Dict"
|
||
elif isinstance(node, ast.Tuple):
|
||
return "Tuple"
|
||
elif isinstance(node, ast.Set):
|
||
return "Set"
|
||
elif isinstance(node, ast.Name):
|
||
# 常见的默认值模式
|
||
if node.id in ["None"]:
|
||
return "Optional[Any]"
|
||
elif node.id in ["True", "False"]:
|
||
return "bool"
|
||
|
||
return None
|
||
|
||
def _infer_types_from_docstring(self, method_info: Dict[str, Any]) -> None:
|
||
"""从docstring中推断参数类型"""
|
||
docstring = method_info.get("docstring", "")
|
||
if not docstring:
|
||
return
|
||
|
||
lines = docstring.split("\n")
|
||
in_args_section = False
|
||
|
||
for line in lines:
|
||
line = line.strip()
|
||
|
||
# 检测Args或Arguments段落
|
||
if line.lower().startswith(("args:", "arguments:")):
|
||
in_args_section = True
|
||
continue
|
||
elif line.startswith(("returns:", "return:", "yields:", "raises:")):
|
||
in_args_section = False
|
||
continue
|
||
elif not line or not in_args_section:
|
||
continue
|
||
|
||
# 解析参数行,格式通常是: param_name (type): description 或 param_name: description
|
||
if ":" in line:
|
||
parts = line.split(":", 1)
|
||
param_part = parts[0].strip()
|
||
|
||
# 提取参数名和类型
|
||
param_name = None
|
||
param_type = None
|
||
|
||
if "(" in param_part and ")" in param_part:
|
||
# 格式: param_name (type)
|
||
param_name = param_part.split("(")[0].strip()
|
||
type_part = param_part.split("(")[1].split(")")[0].strip()
|
||
param_type = type_part
|
||
else:
|
||
# 格式: param_name
|
||
param_name = param_part
|
||
|
||
# 更新对应参数的类型信息
|
||
if param_name:
|
||
for arg_info in method_info["args"]:
|
||
if arg_info["name"] == param_name and not arg_info["type"]:
|
||
if param_type:
|
||
arg_info["inferred_type"] = param_type
|
||
elif not arg_info["inferred_type"]:
|
||
# 从描述中推断类型
|
||
description = parts[1].strip().lower()
|
||
if any(word in description for word in ["path", "file", "directory", "filename"]):
|
||
arg_info["inferred_type"] = "str"
|
||
elif any(
|
||
word in description for word in ["port", "number", "count", "size", "length"]
|
||
):
|
||
arg_info["inferred_type"] = "int"
|
||
elif any(
|
||
word in description for word in ["rate", "ratio", "percentage", "temperature"]
|
||
):
|
||
arg_info["inferred_type"] = "float"
|
||
elif any(word in description for word in ["flag", "enable", "disable", "option"]):
|
||
arg_info["inferred_type"] = "bool"
|
||
|
||
def get_registry_class_info(self, module_class_path: str) -> Dict[str, Any]:
|
||
"""
|
||
获取适用于注册表的类信息,包含完整的类型推断
|
||
|
||
Args:
|
||
module_class_path: 格式为 "module.path:ClassName" 的字符串
|
||
|
||
Returns:
|
||
适用于注册表的类信息字典
|
||
"""
|
||
class_info = self.get_class_info_static(module_class_path)
|
||
if not class_info:
|
||
return {}
|
||
|
||
registry_info = {
|
||
"class_name": class_info["class_name"],
|
||
"module_path": class_info["module_path"],
|
||
"file_path": class_info["file_path"],
|
||
"methods": {},
|
||
"properties": [],
|
||
"init_params": {},
|
||
"action_methods": {},
|
||
}
|
||
|
||
for method_name, method_info in class_info["methods"].items():
|
||
# 分类处理不同类型的方法
|
||
if method_info["is_property"]:
|
||
registry_info["properties"].append(
|
||
{
|
||
"name": method_name,
|
||
"return_type": method_info.get("return_type"),
|
||
"docstring": method_info.get("docstring"),
|
||
}
|
||
)
|
||
elif method_name == "__init__":
|
||
# 处理初始化参数
|
||
init_params = {}
|
||
for arg in method_info["args"]:
|
||
if arg["name"] != "self":
|
||
param_info = {
|
||
"name": arg["name"],
|
||
"type": arg.get("type") or arg.get("inferred_type"),
|
||
"required": arg.get("is_required", True),
|
||
"default": arg.get("default"),
|
||
}
|
||
init_params[arg["name"]] = param_info
|
||
registry_info["init_params"] = init_params
|
||
elif not method_name.startswith("_"):
|
||
# 处理公共方法(可能的action方法)
|
||
action_info = {
|
||
"name": method_name,
|
||
"params": {},
|
||
"return_type": method_info.get("return_type"),
|
||
"docstring": method_info.get("docstring"),
|
||
"num_required": method_info.get("num_required", 0) - 1, # 减去self
|
||
"num_defaults": method_info.get("num_defaults", 0),
|
||
}
|
||
|
||
for arg in method_info["args"]:
|
||
if arg["name"] != "self":
|
||
param_info = {
|
||
"name": arg["name"],
|
||
"type": arg.get("type") or arg.get("inferred_type"),
|
||
"required": arg.get("is_required", True),
|
||
"default": arg.get("default"),
|
||
}
|
||
action_info["params"][arg["name"]] = param_info
|
||
|
||
registry_info["action_methods"][method_name] = action_info
|
||
|
||
return registry_info
|
||
|
||
|
||
# 全局实例,便于直接使用
|
||
default_manager = ImportManager()
|
||
|
||
|
||
def load_module(module_path: str) -> Any:
|
||
"""加载模块的便捷函数"""
|
||
return default_manager.load_module(module_path)
|
||
|
||
|
||
def get_class(class_name: str) -> Type:
|
||
"""获取类的便捷函数"""
|
||
return default_manager.get_class(class_name)
|
||
|
||
|
||
def get_module(module_path: str) -> Any:
|
||
"""获取模块的便捷函数"""
|
||
return default_manager.get_module(module_path)
|
||
|
||
|
||
def init_from_list(module_list: List[str]) -> None:
|
||
"""从模块列表初始化默认管理器"""
|
||
global default_manager
|
||
default_manager = ImportManager(module_list)
|
||
|
||
|
||
def get_class_info_static(module_class_path: str) -> Dict[str, Any]:
|
||
"""静态分析获取类信息的便捷函数"""
|
||
return default_manager.get_class_info_static(module_class_path)
|
||
|
||
|
||
def get_registry_class_info(module_class_path: str) -> Dict[str, Any]:
|
||
"""获取适用于注册表的类信息的便捷函数"""
|
||
return default_manager.get_registry_class_info(module_class_path)
|
||
|
||
|
||
def get_enhanced_class_info(module_path: str, use_dynamic: bool = True) -> Dict[str, Any]:
|
||
"""获取增强的类信息的便捷函数"""
|
||
return default_manager.get_enhanced_class_info(module_path, use_dynamic)
|