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Code Issues Packages Projects Releases Wiki Activity

update workbench example

Browse Source 
update aksk desc

print res query logs

Fix skills exec error with action type

Update Skills

Update Skills addr

Change uni-lab. to leap-lab.
Support unit in pylabrobot

Support async func.

change to leap-lab backend. Support feedback interval. Reduce cocurrent lags.

fix create_resource_with_slot

update unilabos_formulation & batch-submit-exp

scale multi exec thread up to 48

update handle creation api

fit cocurrent gap

add running status debounce

allow non @topic_config support

update skill

add placeholder keys

always free

提交实验技能

disable samples

correct sample demo ret value

新增试剂reagent

update registry

新增manual_confirm

add workstation creation skill

add virtual_sample_demo 样品追踪测试设备

add external devices param
fix registry upload missing type

fast registry load

minor fix on skill & registry

stripe ros2 schema desc
add create-device-skill

new registry system backwards to yaml

remove not exist resource

new registry sys
exp. support with add device

correct raise create resource error

ret info fix revert

ret info fix

fix prcxi check

add create_resource schema

re signal host ready event

add websocket connection timeout and improve reconnection logic

add open_timeout parameter to websocket connection
add TimeoutError and InvalidStatus exception handling
implement exponential backoff for reconnection attempts
simplify reconnection logic flow
This commit is contained in:
Xuwznln
2026-03-07 04:40:34 +08:00
parent c001f6a151
commit ccbf5378dd
58 changed files with 6818 additions and 489 deletions
Download Patch File Download Diff File Expand all files Collapse all files

55
unilabos/app/main.py
View File

@@ -233,7 +233,7 @@ def parse_args():
parser.add_argument(
"--addr",
type=str,
default="https://uni-lab.bohrium.com/api/v1",
default="https://leap-lab.bohrium.com/api/v1",
help="Laboratory backend address",
)
parser.add_argument(
@@ -264,6 +264,12 @@ def parse_args():
default=False,
help="Test mode: all actions simulate execution and return mock results without running real hardware",
)
parser.add_argument(
"--external_devices_only",
action="store_true",
default=False,
help="Only load external device packages (--devices), skip built-in unilabos/devices/ scanning and YAML device registry",
)
parser.add_argument(
"--extra_resource",
action="store_true",
@@ -342,11 +348,18 @@ def main():
check_mode = args_dict.get("check_mode", False)
if not skip_env_check:
from unilabos.utils.environment_check import check_environment
from unilabos.utils.environment_check import check_environment, check_device_package_requirements
if not check_environment(auto_install=True):
print_status("环境检查失败，程序退出", "error")
os._exit(1)
# 第一次设备包依赖检查：build_registry 之前，确保 import map 可用
devices_dirs_for_req = args_dict.get("devices", None)
if devices_dirs_for_req:
if not check_device_package_requirements(devices_dirs_for_req):
print_status("设备包依赖检查失败，程序退出", "error")
os._exit(1)
else:
print_status("跳过环境依赖检查", "warning")
@@ -425,10 +438,10 @@ def main():
if args.addr != parser.get_default("addr"):
if args.addr == "test":
print_status("使用测试环境地址", "info")
HTTPConfig.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
HTTPConfig.remote_addr = "https://leap-lab.test.bohrium.com/api/v1"
elif args.addr == "uat":
print_status("使用uat环境地址", "info")
HTTPConfig.remote_addr = "https://uni-lab.uat.bohrium.com/api/v1"
HTTPConfig.remote_addr = "https://leap-lab.uat.bohrium.com/api/v1"
elif args.addr == "local":
print_status("使用本地环境地址", "info")
HTTPConfig.remote_addr = "http://127.0.0.1:48197/api/v1"
@@ -477,19 +490,7 @@ def main():
BasicConfig.vis_2d_enable = args_dict["2d_vis"]
BasicConfig.check_mode = check_mode
from unilabos.resources.graphio import (
read_node_link_json,
read_graphml,
dict_from_graph,
)
from unilabos.app.communication import get_communication_client
from unilabos.registry.registry import build_registry
from unilabos.app.backend import start_backend
from unilabos.app.web import http_client
from unilabos.app.web import start_server
from unilabos.app.register import register_devices_and_resources
from unilabos.resources.graphio import modify_to_backend_format
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
# 显示启动横幅
print_unilab_banner(args_dict)
@@ -498,12 +499,14 @@ def main():
# check_mode 和 upload_registry 都会执行实际 import 验证
devices_dirs = args_dict.get("devices", None)
complete_registry = args_dict.get("complete_registry", False) or check_mode
external_only = args_dict.get("external_devices_only", False)
lab_registry = build_registry(
registry_paths=args_dict["registry_path"],
devices_dirs=devices_dirs,
upload_registry=BasicConfig.upload_registry,
check_mode=check_mode,
complete_registry=complete_registry,
external_only=external_only,
)
# Check mode: 注册表验证完成后直接退出
@@ -513,6 +516,20 @@ def main():
print_status(f"Check mode: 注册表验证完成 ({device_count} 设备, {resource_count} 资源)，退出", "info")
os._exit(0)
# 以下导入依赖 ROS2 环境，check_mode 已退出不需要
from unilabos.resources.graphio import (
read_node_link_json,
read_graphml,
dict_from_graph,
modify_to_backend_format,
)
from unilabos.app.communication import get_communication_client
from unilabos.app.backend import start_backend
from unilabos.app.web import http_client
from unilabos.app.web import start_server
from unilabos.app.register import register_devices_and_resources
from unilabos.resources.resource_tracker import ResourceTreeSet, ResourceDict
# Step 1: 上传全部注册表到服务端，同步保存到 unilabos_data
if BasicConfig.upload_registry:
if BasicConfig.ak and BasicConfig.sk:
@@ -536,7 +553,7 @@ def main():
os._exit(0)
if not BasicConfig.ak or not BasicConfig.sk:
print_status("后续运行必须拥有一个实验室，请前往 https://uni-lab.bohrium.com 注册实验室！", "warning")
print_status("后续运行必须拥有一个实验室，请前往 https://leap-lab.bohrium.com 注册实验室！", "warning")
os._exit(1)
graph: nx.Graph
resource_tree_set: ResourceTreeSet
@@ -610,6 +627,10 @@ def main():
resource_tree_set.merge_remote_resources(remote_tree_set)
print_status("远端物料同步完成", "info")
# 第二次设备包依赖检查：云端物料同步后，community 包可能引入新的 requirements
# TODO: 当 community device package 功能上线后，在这里调用
# install_requirements_txt(community_pkg_path / "requirements.txt", label="community.xxx")
# 使用 ResourceTreeSet 代替 list
args_dict["resources_config"] = resource_tree_set
args_dict["devices_config"] = resource_tree_set

50
unilabos/app/web/client.py
View File

@@ -36,6 +36,9 @@ class HTTPClient:
auth_secret = BasicConfig.auth_secret()
self.auth = auth_secret
info(f"正在使用ak sk作为授权信息：[{auth_secret}]")
# 复用 TCP/TLS 连接，避免每次请求重新握手
self._session = requests.Session()
self._session.headers.update({"Authorization": f"Lab {self.auth}"})
info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
def resource_edge_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
@@ -48,7 +51,7 @@ class HTTPClient:
Returns:
Response: API响应对象
"""
response = requests.post(
response = self._session.post(
f"{self.remote_addr}/edge/material/edge",
json={
"edges": resources,
@@ -75,25 +78,28 @@ class HTTPClient:
Returns:
Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid}
"""
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "w", encoding="utf-8") as f:
payload = {"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}
f.write(json.dumps(payload, indent=4))
# 从序列化数据中提取所有节点的UUID（保存旧UUID）
# dump() 只调用一次，复用给文件保存和 HTTP 请求
nodes_info = [x for xs in resources.dump() for x in xs]
old_uuids = {n.res_content.uuid: n for n in resources.all_nodes}
payload = {"nodes": nodes_info, "mount_uuid": mount_uuid}
body_bytes = _fast_dumps(payload)
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_add.json"), "wb") as f:
f.write(_fast_dumps_pretty(payload))
http_headers = {"Content-Type": "application/json"}
if not self.initialized or first_add:
self.initialized = True
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
response = requests.post(
response = self._session.post(
f"{self.remote_addr}/edge/material",
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
headers={"Authorization": f"Lab {self.auth}"},
data=body_bytes,
headers=http_headers,
timeout=60,
)
else:
response = requests.put(
response = self._session.put(
f"{self.remote_addr}/edge/material",
json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid},
headers={"Authorization": f"Lab {self.auth}"},
data=body_bytes,
headers=http_headers,
timeout=10,
)
@@ -111,6 +117,7 @@ class HTTPClient:
uuid_mapping[i["uuid"]] = i["cloud_uuid"]
else:
logger.error(f"添加物料失败: {response.text}")
logger.trace(f"添加物料失败: {nodes_info}")
for u, n in old_uuids.items():
if u in uuid_mapping:
n.res_content.uuid = uuid_mapping[u]
@@ -131,7 +138,7 @@ class HTTPClient:
"""
with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f:
f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4))
response = requests.post(
response = self._session.post(
f"{self.remote_addr}/edge/material/query",
json={"uuids": uuid_list, "with_children": with_children},
headers={"Authorization": f"Lab {self.auth}"},
@@ -145,6 +152,7 @@ class HTTPClient:
logger.error(f"查询物料失败: {response.text}")
else:
data = res["data"]["nodes"]
logger.trace(f"resource_tree_get查询到物料: {data}")
return data
else:
logger.error(f"查询物料失败: {response.text}")
@@ -162,14 +170,14 @@ class HTTPClient:
if not self.initialized:
self.initialized = True
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
response = requests.post(
response = self._session.post(
f"{self.remote_addr}/lab/material",
json={"nodes": resources},
headers={"Authorization": f"Lab {self.auth}"},
timeout=100,
)
else:
response = requests.put(
response = self._session.put(
f"{self.remote_addr}/lab/material",
json={"nodes": resources},
headers={"Authorization": f"Lab {self.auth}"},
@@ -196,7 +204,7 @@ class HTTPClient:
"""
with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f:
f.write(json.dumps({"id": id, "with_children": with_children}, indent=4))
response = requests.get(
response = self._session.get(
f"{self.remote_addr}/lab/material",
params={"id": id, "with_children": with_children},
headers={"Authorization": f"Lab {self.auth}"},
@@ -237,14 +245,14 @@ class HTTPClient:
if not self.initialized:
self.initialized = True
info(f"首次添加资源，当前远程地址: {self.remote_addr}")
response = requests.post(
response = self._session.post(
f"{self.remote_addr}/lab/material",
json={"nodes": resources},
headers={"Authorization": f"Lab {self.auth}"},
timeout=100,
)
else:
response = requests.put(
response = self._session.put(
f"{self.remote_addr}/lab/material",
json={"nodes": resources},
headers={"Authorization": f"Lab {self.auth}"},
@@ -274,7 +282,7 @@ class HTTPClient:
with open(file_path, "rb") as file:
files = {"files": file}
logger.info(f"上传文件: {file_path} 到 {scene}")
response = requests.post(
response = self._session.post(
f"{self.remote_addr}/api/account/file_upload/{scene}",
files=files,
headers={"Authorization": f"Lab {self.auth}"},
@@ -314,7 +322,7 @@ class HTTPClient:
"Content-Type": "application/json",
"Content-Encoding": "gzip",
}
response = requests.post(
response = self._session.post(
f"{self.remote_addr}/lab/resource",
data=compressed_body,
headers=headers,
@@ -348,7 +356,7 @@ class HTTPClient:
Returns:
Response: API响应对象
"""
response = requests.get(
response = self._session.get(
f"{self.remote_addr}/edge/material/download",
headers={"Authorization": f"Lab {self.auth}"},
timeout=(3, 30),
@@ -409,7 +417,7 @@ class HTTPClient:
with open(os.path.join(BasicConfig.working_dir, "req_workflow_upload.json"), "w", encoding="utf-8") as f:
f.write(json.dumps(payload, indent=4, ensure_ascii=False))
response = requests.post(
response = self._session.post(
f"{self.remote_addr}/lab/workflow/owner/import",
json=payload,
headers={"Authorization": f"Lab {self.auth}"},

65
unilabos/app/ws_client.py
View File

@@ -754,6 +754,32 @@ class MessageProcessor:
req = JobAddReq(**data)
job_log = format_job_log(req.job_id, req.task_id, req.device_id, req.action)
# 服务端对always_free动作可能跳过query_action_state直接发job_start，
# 此时job尚未注册，需要自动补注册
existing_job = self.device_manager.get_job_info(req.job_id)
if not existing_job:
action_name = req.action
device_action_key = f"/devices/{req.device_id}/{action_name}"
action_always_free = self._check_action_always_free(req.device_id, action_name)
if action_always_free:
job_info = JobInfo(
job_id=req.job_id,
task_id=req.task_id,
device_id=req.device_id,
action_name=action_name,
device_action_key=device_action_key,
status=JobStatus.QUEUE,
start_time=time.time(),
always_free=True,
)
self.device_manager.add_queue_request(job_info)
logger.info(f"[MessageProcessor] Job {job_log} always_free, auto-registered from direct job_start")
else:
logger.error(f"[MessageProcessor] Job {job_log} not registered (missing query_action_state)")
return
success = self.device_manager.start_job(req.job_id)
if not success:
logger.error(f"[MessageProcessor] Failed to start job {job_log}")
@@ -1087,7 +1113,7 @@ class MessageProcessor:
"task_id": task_id,
"job_id": job_id,
"free": free,
"need_more": need_more,
"need_more": need_more + 1,
},
}
@@ -1227,7 +1253,7 @@ class QueueProcessor:
"task_id": job_info.task_id,
"job_id": job_info.job_id,
"free": False,
"need_more": 10,
"need_more": 10 + 1,
},
}
self.message_processor.send_message(message)
@@ -1243,7 +1269,13 @@ class QueueProcessor:
if not queued_jobs:
return
logger.debug(f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs")
queue_summary = {}
for j in queued_jobs:
key = f"{j.device_id}/{j.action_name}"
queue_summary[key] = queue_summary.get(key, 0) + 1
logger.debug(
f"[QueueProcessor] Sending busy status for {len(queued_jobs)} queued jobs: {queue_summary}"
)
for job_info in queued_jobs:
# 快照可能已过期：在遍历过程中 end_job() 可能已将此 job 移至 READY，
@@ -1260,7 +1292,7 @@ class QueueProcessor:
"task_id": job_info.task_id,
"job_id": job_info.job_id,
"free": False,
"need_more": 10,
"need_more": 10 + 1,
},
}
success = self.message_processor.send_message(message)
@@ -1343,6 +1375,10 @@ class WebSocketClient(BaseCommunicationClient):
self.message_processor = MessageProcessor(self.websocket_url, self.send_queue, self.device_manager)
self.queue_processor = QueueProcessor(self.device_manager, self.message_processor)
# running状态debounce缓存: {job_id: (last_send_timestamp, last_feedback_data)}
self._job_running_last_sent: Dict[str, tuple] = {}
self._job_running_debounce_interval: float = 10.0 # 秒
# 设置相互引用
self.message_processor.set_queue_processor(self.queue_processor)
self.message_processor.set_websocket_client(self)
@@ -1442,22 +1478,32 @@ class WebSocketClient(BaseCommunicationClient):
logger.debug(f"[WebSocketClient] Not connected, cannot publish job status for job_id: {item.job_id}")
return
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
# 拦截最终结果状态，与原版本逻辑一致
if status in ["success", "failed"]:
self._job_running_last_sent.pop(item.job_id, None)
host_node = HostNode.get_instance(0)
if host_node:
# 从HostNode的device_action_status中移除job_id
try:
host_node._device_action_status[item.device_action_key].job_ids.pop(item.job_id, None)
except (KeyError, AttributeError):
logger.warning(f"[WebSocketClient] Failed to remove job {item.job_id} from HostNode status")
# logger.debug(f"[WebSocketClient] Intercepting final status for job_id: {item.job_id} - {status}")
# 通知队列处理器job完成（包括timeout的job）
self.queue_processor.handle_job_completed(item.job_id, status)
# 发送job状态消息
# running状态按job_id做debounce，内容变化时仍然上报
if status == "running":
now = time.time()
cached = self._job_running_last_sent.get(item.job_id)
if cached is not None:
last_ts, last_data = cached
if now - last_ts < self._job_running_debounce_interval and last_data == feedback_data:
logger.trace(f"[WebSocketClient] Job status debounced (skip): {job_log} - {status}")
return
self._job_running_last_sent[item.job_id] = (now, feedback_data)
message = {
"action": "job_status",
"data": {
@@ -1473,7 +1519,6 @@ class WebSocketClient(BaseCommunicationClient):
}
self.message_processor.send_message(message)
job_log = format_job_log(item.job_id, item.task_id, item.device_id, item.action_name)
logger.trace(f"[WebSocketClient] Job status published: {job_log} - {status}")
def send_ping(self, ping_id: str, timestamp: float) -> None:

2
unilabos/config/config.py
View File

@@ -46,7 +46,7 @@ class WSConfig:
# HTTP配置
class HTTPConfig:
remote_addr = "https://uni-lab.bohrium.com/api/v1"
remote_addr = "https://leap-lab.bohrium.com/api/v1"
# ROS配置

88
unilabos/devices/virtual/virtual_sample_demo.py Normal file
View File

@@ -0,0 +1,88 @@
"""虚拟样品演示设备 — 用于前端 sample tracking 功能的极简 demo"""
import asyncio
import logging
import random
import time
from typing import Any, Dict, List, Optional
class VirtualSampleDemo:
"""虚拟样品追踪演示设备，提供两种典型返回模式：
- measure_samples: 等长输入输出 (前端按 index 自动对齐)
- split_and_measure: 输出比输入长，附带 samples 列标注归属
"""
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
if device_id is None and "id" in kwargs:
device_id = kwargs.pop("id")
if config is None and "config" in kwargs:
config = kwargs.pop("config")
self.device_id = device_id or "unknown_sample_demo"
self.config = config or {}
self.logger = logging.getLogger(f"VirtualSampleDemo.{self.device_id}")
self.data: Dict[str, Any] = {"status": "Idle"}
# ------------------------------------------------------------------
# Action 1: 等长输入输出，无 samples 列
# ------------------------------------------------------------------
async def measure_samples(self, concentrations: List[float]) -> Dict[str, Any]:
"""模拟光度测量。absorbance = concentration * 0.05 + noise
入参和出参 list 长度相等，前端按 index 自动对齐。
"""
self.logger.info(f"measure_samples: concentrations={concentrations}")
absorbance = [round(c * 0.05 + random.gauss(0, 0.005), 4) for c in concentrations]
return {"concentrations": concentrations, "absorbance": absorbance}
# ------------------------------------------------------------------
# Action 2: 输出比输入长，带 samples 列
# ------------------------------------------------------------------
async def split_and_measure(self, volumes: List[float], split_count: int = 3) -> Dict[str, Any]:
"""将每个样品均分为 split_count 份后逐份测量。
返回的 list 长度 = len(volumes) * split_count，
附带 samples 列标注每行属于第几个输入样品 (0-based index)。
"""
self.logger.info(f"split_and_measure: volumes={volumes}, split_count={split_count}")
out_volumes: List[float] = []
readings: List[float] = []
samples: List[int] = []
for idx, vol in enumerate(volumes):
split_vol = round(vol / split_count, 2)
for _ in range(split_count):
out_volumes.append(split_vol)
readings.append(round(random.uniform(0.1, 1.0), 4))
samples.append(idx)
return {"volumes": out_volumes, "readings": readings, "unilabos_samples": samples}
# ------------------------------------------------------------------
# Action 3: 入参和出参都带 samples 列（不等长）
# ------------------------------------------------------------------
async def analyze_readings(self, readings: List[float], samples: List[int]) -> Dict[str, Any]:
"""对 split_and_measure 的输出做二次分析。
入参 readings/samples 长度相同但 > 原始样品数，
出参同样带 samples 列，长度与入参一致。
"""
self.logger.info(f"analyze_readings: readings={readings}, samples={samples}")
scores: List[float] = []
passed: List[bool] = []
threshold = 0.4
for r in readings:
score = round(r * 100 + random.gauss(0, 2), 2)
scores.append(score)
passed.append(r >= threshold)
return {"scores": scores, "passed": passed, "unilabos_samples": samples}
# ------------------------------------------------------------------
# 状态属性
# ------------------------------------------------------------------
@property
def status(self) -> str:
return self.data.get("status", "Idle")

127
unilabos/devices/virtual/workbench.py
View File

@@ -22,10 +22,11 @@ from threading import Lock, RLock
from typing_extensions import TypedDict
from unilabos.registry.decorators import (
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action
device, action, ActionInputHandle, ActionOutputHandle, DataSource, topic_config, not_action, NodeType
)
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode, ROS2DeviceNode
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, ResourceTreeSet
# ============ TypedDict 返回类型定义 ============
@@ -290,6 +291,126 @@ class VirtualWorkbench:
self._update_data_status(f"机械臂已释放 (完成: {task})")
self.logger.info(f"机械臂已释放 (完成: {task})")
@action(
always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
"assignee_user_ids": "unilabos_manual_confirm"
}, goal_default={
"timeout_seconds": 3600,
"assignee_user_ids": []
}, feedback_interval=300,
handles=[
ActionInputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
ActionInputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="collector_mass", data_type="collector_mass",
label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
ActionInputHandle(key="active_material", data_type="active_material",
label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
ActionInputHandle(key="capacity", data_type="capacity",
label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
ActionInputHandle(key="battery_system", data_type="battery_system",
label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
# transfer使用
ActionOutputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource.@flatten", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource.@flatten", data_source=DataSource.EXECUTOR),
# test使用
ActionOutputHandle(key="collector_mass", data_type="collector_mass",
label="极流体质量", data_key="collector_mass", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="active_material", data_type="active_material",
label="活性物质含量", data_key="active_material", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="capacity", data_type="capacity",
label="克容量", data_key="capacity", data_source=DataSource.EXECUTOR),
ActionOutputHandle(key="battery_system", data_type="battery_system",
label="电池体系", data_key="battery_system", data_source=DataSource.EXECUTOR),
]
)
def manual_confirm(
self,
resource: List[ResourceSlot],
target_device: DeviceSlot,
mount_resource: List[ResourceSlot],
collector_mass: List[float],
active_material: List[float],
capacity: List[float],
battery_system: List[str],
timeout_seconds: int,
assignee_user_ids: list[str],
**kwargs
) -> dict:
"""
timeout_seconds: 超时时间（秒），默认3600秒
collector_mass: 极流体质量
active_material: 活性物质含量
capacity: 克容量（mAh/g）
battery_system: 电池体系
修改的结果无效，是只读的
"""
resource = ResourceTreeSet.from_plr_resources(resource).dump()
mount_resource = ResourceTreeSet.from_plr_resources(mount_resource).dump()
kwargs.update(locals())
kwargs.pop("kwargs")
kwargs.pop("self")
return kwargs
@action(
description="转移物料",
handles=[
ActionInputHandle(key="target_device", data_type="device_id",
label="目标设备", data_key="target_device", data_source=DataSource.HANDLE),
ActionInputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
]
)
async def transfer(self, resource: List[ResourceSlot], target_device: DeviceSlot, mount_resource: List[ResourceSlot]):
future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True,
**{
"plr_resources": resource,
"target_device_id": target_device,
"target_resources": mount_resource,
"sites": [None] * len(mount_resource),
})
result = await future
return result
@action(
description="扣电测试启动",
handles=[
ActionInputHandle(key="resource", data_type="resource",
label="待转移资源", data_key="resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="mount_resource", data_type="resource",
label="目标孔位", data_key="mount_resource", data_source=DataSource.HANDLE),
ActionInputHandle(key="collector_mass", data_type="collector_mass",
label="极流体质量", data_key="collector_mass", data_source=DataSource.HANDLE),
ActionInputHandle(key="active_material", data_type="active_material",
label="活性物质含量", data_key="active_material", data_source=DataSource.HANDLE),
ActionInputHandle(key="capacity", data_type="capacity",
label="克容量", data_key="capacity", data_source=DataSource.HANDLE),
ActionInputHandle(key="battery_system", data_type="battery_system",
label="电池体系", data_key="battery_system", data_source=DataSource.HANDLE),
]
)
async def test(
self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], collector_mass: List[float], active_material: List[float], capacity: List[float], battery_system: list[str]
):
print(resource)
print(mount_resource)
print(collector_mass)
print(active_material)
print(capacity)
print(battery_system)
@action(
auto_prefix=True,
description="批量准备物料 - 虚拟起始节点, 生成A1-A5物料, 输出5个handle供后续节点使用",

30
unilabos/registry/ast_registry_scanner.py
View File

@@ -139,6 +139,7 @@ def scan_directory(
executor: ThreadPoolExecutor = None,
exclude_files: Optional[set] = None,
cache: Optional[Dict[str, Any]] = None,
include_files: Optional[List[Union[str, Path]]] = None,
) -> Dict[str, Any]:
"""
Recursively scan .py files under *root_dir* for @device and @resource
@@ -164,6 +165,7 @@ def scan_directory(
exclude_files: 要排除的文件名集合 (如 {"lab_resources.py"})
cache: Mutable cache dict (``load_scan_cache()`` result). Hits are read
from here; misses are written back so the caller can persist later.
include_files: 指定扫描的文件列表，提供时跳过目录递归收集，直接扫描这些文件。
"""
if executor is None:
raise ValueError("executor is required and must not be None")
@@ -175,7 +177,10 @@ def scan_directory(
python_path = Path(python_path).resolve()
# --- Collect files (depth/count limited) ---
py_files = _collect_py_files(root_dir, max_depth=max_depth, max_files=max_files, exclude_files=exclude_files)
if include_files is not None:
py_files = [Path(f).resolve() for f in include_files if Path(f).resolve().exists()]
else:
py_files = _collect_py_files(root_dir, max_depth=max_depth, max_files=max_files, exclude_files=exclude_files)
cache_files: Dict[str, Any] = cache.get("files", {}) if cache else {}
@@ -674,14 +679,17 @@ def _resolve_name(name: str, import_map: Dict[str, str]) -> str:
return name
_DECORATOR_ENUM_CLASSES = frozenset({"Side", "DataSource", "NodeType"})
def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str:
"""
Resolve an attribute access like Side.NORTH or DataSource.HANDLE.
Returns a string like "NORTH" for enum values, or
"module.path:Class.attr" for imported references.
对于来自 ``unilabos.registry.decorators`` 的枚举类 (Side / DataSource / NodeType)，
直接返回枚举成员名 (如 ``"NORTH"`` / ``"HANDLE"`` / ``"MANUAL_CONFIRM"``)，
省去消费端二次 rsplit 解析。其它 import 仍返回完整模块路径。
"""
# Get the full dotted path
parts = []
current = node
while isinstance(current, ast.Attribute):
@@ -691,21 +699,20 @@ def _resolve_attribute(node: ast.Attribute, import_map: Dict[str, str]) -> str:
parts.append(current.id)
parts.reverse()
# parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"]
# parts = ["Side", "NORTH"] or ["DataSource", "HANDLE"] or ["NodeType", "MANUAL_CONFIRM"]
if len(parts) >= 2:
base = parts[0]
attr = ".".join(parts[1:])
# If the base is an imported name, resolve it
if base in _DECORATOR_ENUM_CLASSES:
source = import_map.get(base, "")
if not source or _REGISTRY_DECORATOR_MODULE in source:
return parts[-1]
if base in import_map:
return f"{import_map[base]}.{attr}"
# For known enum-like patterns, return just the value
# e.g. Side.NORTH -> "NORTH"
if base in ("Side", "DataSource"):
return parts[-1]
return ".".join(parts)
@@ -818,6 +825,7 @@ def _extract_class_body(
action_args.setdefault("placeholder_keys", {})
action_args.setdefault("always_free", False)
action_args.setdefault("is_protocol", False)
action_args.setdefault("feedback_interval", 1.0)
action_args.setdefault("description", "")
action_args.setdefault("auto_prefix", False)
action_args.setdefault("parent", False)

62
unilabos/registry/decorators.py
View File

@@ -8,7 +8,7 @@ Usage:
device, action, resource,
InputHandle, OutputHandle,
ActionInputHandle, ActionOutputHandle,
HardwareInterface, Side, DataSource,
HardwareInterface, Side, DataSource, NodeType,
)
@device(
@@ -73,6 +73,13 @@ class DataSource(str, Enum):
EXECUTOR = "executor" # 从执行器输出数据 (用于 OutputHandle)
class NodeType(str, Enum):
"""动作的节点类型（用于区分 ILab 节点和人工确认节点等）"""
ILAB = "ILab"
MANUAL_CONFIRM = "manual_confirm"
# ---------------------------------------------------------------------------
# Device / Resource Handle (设备/资源级别端口, 序列化时包含 io_type)
# ---------------------------------------------------------------------------
@@ -335,6 +342,8 @@ def action(
description: str = "",
auto_prefix: bool = False,
parent: bool = False,
node_type: Optional["NodeType"] = None,
feedback_interval: Optional[float] = None,
):
"""
动作方法装饰器
@@ -365,12 +374,21 @@ def action(
description: 动作描述
auto_prefix: 若为 True，动作名使用 auto-{method_name} 形式（与无 @action 时一致）
parent: 若为 True，当方法参数为空 (*args, **kwargs) 时，通过 MRO 从父类获取真实方法参数
node_type: 动作的节点类型 (NodeType.ILAB / NodeType.MANUAL_CONFIRM)。
不填写时不写入注册表。
"""
def decorator(func: F) -> F:
@wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
import asyncio as _asyncio
if _asyncio.iscoroutinefunction(func):
@wraps(func)
async def wrapper(*args, **kwargs):
return await func(*args, **kwargs)
else:
@wraps(func)
def wrapper(*args, **kwargs):
return func(*args, **kwargs)
# action_type 为哨兵值 => 用户没传, 视为 None (UniLabJsonCommand)
resolved_type = None if action_type is _ACTION_TYPE_UNSET else action_type
@@ -389,6 +407,10 @@ def action(
"auto_prefix": auto_prefix,
"parent": parent,
}
if feedback_interval is not None:
meta["feedback_interval"] = feedback_interval
if node_type is not None:
meta["node_type"] = node_type.value if isinstance(node_type, NodeType) else str(node_type)
wrapper._action_registry_meta = meta # type: ignore[attr-defined]
# 设置 _is_always_free 保持与旧 @always_free 装饰器兼容
@@ -515,6 +537,38 @@ def clear_registry():
_registered_resources.clear()
# ---------------------------------------------------------------------------
# 枚举值归一化
# ---------------------------------------------------------------------------
def normalize_enum_value(raw: Any, enum_cls) -> Optional[str]:
"""将 AST 提取的枚举成员名 / YAML 值字符串 / 旧格式长路径统一归一化为枚举值。
适用于 Side、DataSource、NodeType 等继承自 ``str, Enum`` 的装饰器枚举。
处理以下格式:
- "MANUAL_CONFIRM" → NodeType["MANUAL_CONFIRM"].value = "manual_confirm"
- "manual_confirm" → NodeType("manual_confirm").value = "manual_confirm"
- "HANDLE" → DataSource["HANDLE"].value = "handle"
- "NORTH" → Side["NORTH"].value = "NORTH"
- 旧缓存长路径 "unilabos...NodeType.MANUAL_CONFIRM" → 先 rsplit 再查找
"""
if not raw:
return None
raw_str = str(raw)
if "." in raw_str:
raw_str = raw_str.rsplit(".", 1)[-1]
try:
return enum_cls[raw_str].value
except KeyError:
pass
try:
return enum_cls(raw_str).value
except ValueError:
return raw_str
# ---------------------------------------------------------------------------
# topic_config / not_action / always_free 装饰器
# ---------------------------------------------------------------------------

2
unilabos/registry/devices/hotel.yaml
View File

@@ -31,6 +31,6 @@ hotel.thermo_orbitor_rs2_hotel:
type: object
model:
mesh: thermo_orbitor_rs2_hotel
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/thermo_orbitor_rs2_hotel/macro_device.xacro
type: device
version: 1.0.0

2
unilabos/registry/devices/robot_arm.yaml
View File

@@ -329,7 +329,7 @@ robotic_arm.SCARA_with_slider.moveit.virtual:
type: object
model:
mesh: arm_slider
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/arm_slider/macro_device.xacro
type: device
version: 1.0.0
robotic_arm.UR:

197
unilabos/registry/devices/virtual_device.yaml
View File

@@ -2804,6 +2804,203 @@ virtual_rotavap:
- vacuum_pressure
type: object
version: 1.0.0
virtual_sample_demo:
category:
- virtual_device
class:
action_value_mappings:
analyze_readings:
feedback: {}
goal:
readings: readings
samples: samples
goal_default:
readings: null
samples: null
handles:
input:
- data_key: readings
data_source: handle
data_type: sample_list
handler_key: readings_in
label: 测量读数
- data_key: samples
data_source: handle
data_type: sample_index
handler_key: samples_in
label: 样品索引
output:
- data_key: scores
data_source: executor
data_type: sample_list
handler_key: scores_out
label: 分析得分
- data_key: passed
data_source: executor
data_type: sample_list
handler_key: passed_out
label: 是否通过
- data_key: samples
data_source: executor
data_type: sample_index
handler_key: samples_result_out
label: 样品索引
placeholder_keys: {}
result: {}
schema:
description: 对 split_and_measure 输出做二次分析，入参和出参都带 samples 列
properties:
feedback:
title: AnalyzeReadings_Feedback
goal:
properties:
readings:
description: 测量读数（来自 split_and_measure）
items:
type: number
type: array
samples:
description: 每行归属的输入样品 index (0-based)
items:
type: integer
type: array
required:
- readings
- samples
title: AnalyzeReadings_Goal
type: object
result:
title: AnalyzeReadings_Result
type: object
required:
- goal
title: analyze_readings参数
type: object
type: UniLabJsonCommandAsync
measure_samples:
feedback: {}
goal:
concentrations: concentrations
goal_default:
concentrations: null
handles:
output:
- data_key: concentrations
data_source: executor
data_type: sample_list
handler_key: concentrations_out
label: 浓度列表
- data_key: absorbance
data_source: executor
data_type: sample_list
handler_key: absorbance_out
label: 吸光度列表
placeholder_keys: {}
result: {}
schema:
description: 模拟光度测量，入参出参等长
properties:
feedback:
title: MeasureSamples_Feedback
goal:
properties:
concentrations:
description: 样品浓度列表
items:
type: number
type: array
required:
- concentrations
title: MeasureSamples_Goal
type: object
result:
title: MeasureSamples_Result
type: object
required:
- goal
title: measure_samples参数
type: object
type: UniLabJsonCommandAsync
split_and_measure:
feedback: {}
goal:
split_count: split_count
volumes: volumes
goal_default:
split_count: 3
volumes: null
handles:
output:
- data_key: readings
data_source: executor
data_type: sample_list
handler_key: readings_out
label: 测量读数
- data_key: samples
data_source: executor
data_type: sample_index
handler_key: samples_out
label: 样品索引
- data_key: volumes
data_source: executor
data_type: sample_list
handler_key: volumes_out
label: 均分体积
placeholder_keys: {}
result: {}
schema:
description: 均分样品后逐份测量，输出带 samples 列标注归属
properties:
feedback:
title: SplitAndMeasure_Feedback
goal:
properties:
split_count:
default: 3
description: 每个样品均分的份数
type: integer
volumes:
description: 样品体积列表
items:
type: number
type: array
required:
- volumes
title: SplitAndMeasure_Goal
type: object
result:
title: SplitAndMeasure_Result
type: object
required:
- goal
title: split_and_measure参数
type: object
type: UniLabJsonCommandAsync
module: unilabos.devices.virtual.virtual_sample_demo:VirtualSampleDemo
status_types:
status: str
type: python
config_info: []
description: Virtual sample tracking demo device
handles: []
icon: ''
init_param_schema:
config:
properties:
config:
type: object
device_id:
type: string
required: []
type: object
data:
properties:
status:
type: string
required:
- status
type: object
version: 1.0.0
virtual_separator:
category:
- virtual_device

103
unilabos/registry/registry.py
View File

@@ -33,6 +33,8 @@ from unilabos.registry.decorators import (
is_not_action,
is_always_free,
get_topic_config,
NodeType,
normalize_enum_value,
)
from unilabos.registry.utils import (
ROSMsgNotFound,
@@ -112,7 +114,7 @@ class Registry:
# 统一入口
# ------------------------------------------------------------------
def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False):
def setup(self, devices_dirs=None, upload_registry=False, complete_registry=False, external_only=False):
"""统一构建注册表入口。"""
if self._setup_called:
logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -123,24 +125,27 @@ class Registry:
)
# 1. AST 静态扫描 (快速, 无需 import)
self._run_ast_scan(devices_dirs, upload_registry=upload_registry)
self._run_ast_scan(devices_dirs, upload_registry=upload_registry, external_only=external_only)
# 2. Host node 内置设备
self._setup_host_node()
# 3. YAML 注册表加载 (兼容旧格式)
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
for i, path in enumerate(self.registry_paths):
sys_path = path.parent
logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
sys.path.append(str(sys_path))
self.load_device_types(path, complete_registry=complete_registry)
if BasicConfig.enable_resource_load:
self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
else:
logger.warning(
"[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
)
# 3. YAML 注册表加载 (兼容旧格式) — external_only 模式下跳过
if external_only:
logger.info("[UniLab Registry] external_only 模式: 跳过 YAML 注册表加载")
else:
self.registry_paths = [Path(path).absolute() for path in self.registry_paths]
for i, path in enumerate(self.registry_paths):
sys_path = path.parent
logger.trace(f"[UniLab Registry] Path {i+1}/{len(self.registry_paths)}: {sys_path}")
sys.path.append(str(sys_path))
self.load_device_types(path, complete_registry=complete_registry)
if BasicConfig.enable_resource_load:
self.load_resource_types(path, upload_registry, complete_registry=complete_registry)
else:
logger.warning(
"[UniLab Registry] 资源加载已禁用 (enable_resource_load=False)，跳过资源注册表加载"
)
self._startup_executor.shutdown(wait=True)
self._startup_executor = None
self._setup_called = True
@@ -156,9 +161,10 @@ class Registry:
ast_entry = self.device_type_registry.get("host_node", {})
ast_actions = ast_entry.get("class", {}).get("action_value_mappings", {})
# 取出 AST 生成的 auto-method entries, 补充特定覆写
# 取出 AST 生成的 action entries, 补充特定覆写
test_latency_action = ast_actions.get("auto-test_latency", {})
test_resource_action = ast_actions.get("auto-test_resource", {})
manual_confirm_action = ast_actions.get("manual_confirm", {})
test_resource_action["handles"] = {
"input": [
{
@@ -231,9 +237,12 @@ class Registry:
"parent": "unilabos_nodes",
"class_name": "unilabos_class",
},
"always_free": True,
"feedback_interval": 300.0,
},
"test_latency": test_latency_action,
"auto-test_resource": test_resource_action,
"manual_confirm": manual_confirm_action,
},
"init_params": {},
},
@@ -253,7 +262,7 @@ class Registry:
# AST 静态扫描
# ------------------------------------------------------------------
def _run_ast_scan(self, devices_dirs=None, upload_registry=False):
def _run_ast_scan(self, devices_dirs=None, upload_registry=False, external_only=False):
"""
执行 AST 静态扫描，从 Python 代码中提取 @device / @resource 装饰器元数据。
无需 import 任何驱动模块，速度极快。
@@ -298,16 +307,30 @@ class Registry:
extra_dirs.append(d_path)
# 主扫描
exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
scan_result = scan_directory(
scan_root, python_path=python_path, executor=self._startup_executor,
exclude_files=exclude_files, cache=ast_cache,
)
if exclude_files:
logger.info(
f"[UniLab Registry] 排除扫描文件: {exclude_files} "
f"(可通过 --extra_resource 启用加载)"
if external_only:
core_files = [
pkg_root / "ros" / "nodes" / "presets" / "host_node.py",
pkg_root / "resources" / "container.py",
]
scan_result = scan_directory(
scan_root, python_path=python_path, executor=self._startup_executor,
cache=ast_cache, include_files=core_files,
)
logger.info(
f"[UniLab Registry] external_only 模式: 仅扫描核心文件 "
f"({', '.join(f.name for f in core_files)})"
)
else:
exclude_files = {"lab_resources.py"} if not BasicConfig.extra_resource else None
scan_result = scan_directory(
scan_root, python_path=python_path, executor=self._startup_executor,
exclude_files=exclude_files, cache=ast_cache,
)
if exclude_files:
logger.info(
f"[UniLab Registry] 排除扫描文件: {exclude_files} "
f"(可通过 --extra_resource 启用加载)"
)
# 合并缓存统计
total_stats = scan_result.pop("_cache_stats", {"hits": 0, "misses": 0, "total": 0})
@@ -807,8 +830,9 @@ class Registry:
raw_handles = (action_args or {}).get("handles")
handles = normalize_ast_action_handles(raw_handles) if isinstance(raw_handles, list) else (raw_handles or {})
# placeholder_keys: 优先用装饰器显式配置，否则从参数类型检测
pk = (action_args or {}).get("placeholder_keys") or detect_placeholder_keys(params)
# placeholder_keys: 先从参数类型自动检测，再用装饰器显式配置覆盖/补充
pk = detect_placeholder_keys(params)
pk.update((action_args or {}).get("placeholder_keys") or {})
# 从方法返回值类型生成 result schema
result_schema = None
@@ -830,6 +854,11 @@ class Registry:
}
if (action_args or {}).get("always_free") or method_info.get("always_free"):
entry["always_free"] = True
_fb_iv = (action_args or {}).get("feedback_interval", method_info.get("feedback_interval", 1.0))
entry["feedback_interval"] = _fb_iv
nt = normalize_enum_value((action_args or {}).get("node_type"), NodeType)
if nt:
entry["node_type"] = nt
return action_name, entry
# 1) auto- actions
@@ -950,10 +979,15 @@ class Registry:
"schema": schema,
"goal_default": goal_default,
"handles": handles,
"placeholder_keys": action_args.get("placeholder_keys") or detect_placeholder_keys(method_params),
"placeholder_keys": {**detect_placeholder_keys(method_params), **(action_args.get("placeholder_keys") or {})},
}
if action_args.get("always_free") or method_info.get("always_free"):
action_entry["always_free"] = True
_fb_iv = action_args.get("feedback_interval", method_info.get("feedback_interval", 1.0))
action_entry["feedback_interval"] = _fb_iv
nt = normalize_enum_value(action_args.get("node_type"), NodeType)
if nt:
action_entry["node_type"] = nt
action_value_mappings[action_name] = action_entry
action_value_mappings = dict(sorted(action_value_mappings.items()))
@@ -1136,7 +1170,7 @@ class Registry:
return Path(BasicConfig.working_dir) / "registry_cache.pkl"
return None
_CACHE_VERSION = 3
_CACHE_VERSION = 4
def _load_config_cache(self) -> dict:
import pickle
@@ -1534,9 +1568,9 @@ class Registry:
del resource_info["config_info"]
if "file_path" in resource_info:
del resource_info["file_path"]
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
resource_info["registry_type"] = "resource"
resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
for rid in skip_ids:
data.pop(rid, None)
@@ -1861,6 +1895,9 @@ class Registry:
}
if v.get("always_free"):
entry["always_free"] = True
old_node_type = old_cfg.get("node_type")
if old_node_type in [NodeType.ILAB.value, NodeType.MANUAL_CONFIRM.value]:
entry["node_type"] = old_node_type
device_config["class"]["action_value_mappings"][action_key] = entry
device_config["init_param_schema"] = {}
@@ -2175,7 +2212,7 @@ class Registry:
lab_registry = Registry()
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False):
def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False, check_mode=False, complete_registry=False, external_only=False):
"""
构建或获取Registry单例实例
"""
@@ -2189,7 +2226,7 @@ def build_registry(registry_paths=None, devices_dirs=None, upload_registry=False
if path not in current_paths:
lab_registry.registry_paths.append(path)
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry)
lab_registry.setup(devices_dirs=devices_dirs, upload_registry=upload_registry, complete_registry=complete_registry, external_only=external_only)
# 将 AST 扫描的字符串类型替换为实际 ROS2 消息类（仅查找 ROS2 类型，不 import 设备模块）
lab_registry.resolve_all_types()

14
unilabos/registry/resources/common/resource_container.yaml
View File

@@ -17,7 +17,7 @@ hplc_plate:
- 0
- 0
- 3.1416
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/hplc_plate/modal.xacro
type: resource
version: 1.0.0
plate_96:
@@ -39,7 +39,7 @@ plate_96:
- 0
- 0
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96/modal.xacro
type: resource
version: 1.0.0
plate_96_high:
@@ -61,7 +61,7 @@ plate_96_high:
- 1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/plate_96_high/modal.xacro
type: resource
version: 1.0.0
tiprack_96_high:
@@ -76,7 +76,7 @@ tiprack_96_high:
init_param_schema: {}
model:
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_tf:
- 0.0018
- 0.0018
@@ -92,7 +92,7 @@ tiprack_96_high:
- 1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_96_high/modal.xacro
type: resource
version: 1.0.0
tiprack_box:
@@ -107,7 +107,7 @@ tiprack_box:
init_param_schema: {}
model:
children_mesh: tip/meshes/tip.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tip/modal.xacro
children_mesh_tf:
- 0.0045
- 0.0045
@@ -123,6 +123,6 @@ tiprack_box:
- 0
- 0
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tiprack_box/modal.xacro
type: resource
version: 1.0.0

8
unilabos/registry/resources/laiyu/container.yaml
View File

@@ -11,7 +11,7 @@ bottle_container:
init_param_schema: {}
model:
children_mesh: bottle/meshes/bottle.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle/modal.xacro
children_mesh_tf:
- 0.04
- 0.04
@@ -27,7 +27,7 @@ bottle_container:
- 0
- 0
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/bottle_container/modal.xacro
type: resource
version: 1.0.0
tube_container:
@@ -43,7 +43,7 @@ tube_container:
init_param_schema: {}
model:
children_mesh: tube/meshes/tube.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube/modal.xacro
children_mesh_tf:
- 0.017
- 0.017
@@ -59,6 +59,6 @@ tube_container:
- 0
- 0
- 0
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tube_container/modal.xacro
type: resource
version: 1.0.0

2
unilabos/registry/resources/laiyu/deck.yaml
View File

@@ -10,6 +10,6 @@ TransformXYZDeck:
init_param_schema: {}
model:
mesh: liquid_transform_xyz
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/liquid_transform_xyz/macro_device.xacro
type: device
version: 1.0.0

4
unilabos/registry/resources/opentrons/deck.yaml
View File

@@ -10,7 +10,7 @@ OTDeck:
init_param_schema: {}
model:
mesh: opentrons_liquid_handler
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/opentrons_liquid_handler/macro_device.xacro
type: device
version: 1.0.0
hplc_station:
@@ -25,6 +25,6 @@ hplc_station:
init_param_schema: {}
model:
mesh: hplc_station
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/devices/hplc_station/macro_device.xacro
type: device
version: 1.0.0

6
unilabos/registry/resources/opentrons/plates.yaml
View File

@@ -109,7 +109,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
init_param_schema: {}
model:
children_mesh: generic_labware_tube_10_75/meshes/0_base.stl
children_mesh_path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/generic_labware_tube_10_75/modal.xacro
children_mesh_tf:
- 0.0018
- 0.0018
@@ -125,7 +125,7 @@ nest_96_wellplate_100ul_pcr_full_skirt:
- -1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
version: 1.0.0
nest_96_wellplate_200ul_flat:
@@ -158,7 +158,7 @@ nest_96_wellplate_2ml_deep:
- -1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
version: 1.0.0
thermoscientificnunc_96_wellplate_1300ul:

2
unilabos/registry/resources/opentrons/tip_racks.yaml
View File

@@ -69,7 +69,7 @@ opentrons_96_filtertiprack_1000ul:
- -1.5708
- 0
- 1.5708
path: https://uni-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
path: https://leap-lab.oss-cn-zhangjiakou.aliyuncs.com/uni-lab/resources/tecan_nested_tip_rack/modal.xacro
type: resource
version: 1.0.0
opentrons_96_filtertiprack_10ul:

22
unilabos/registry/utils.py
View File

@@ -17,6 +17,7 @@ from typing import Any, Dict, List, Optional, Tuple, Union
from msgcenterpy.instances.typed_dict_instance import TypedDictMessageInstance
from unilabos.utils.cls_creator import import_class
from unilabos.registry.decorators import Side, DataSource, normalize_enum_value
_logger = logging.getLogger(__name__)
@@ -487,10 +488,7 @@ def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
}
side = h.get("side")
if side:
if isinstance(side, str) and "." in side:
val = side.rsplit(".", 1)[-1]
side = val.lower() if val in ("LEFT", "RIGHT", "TOP", "BOTTOM") else val
entry["side"] = side
entry["side"] = normalize_enum_value(side, Side) or side
label = h.get("label")
if label:
entry["label"] = label
@@ -499,10 +497,7 @@ def normalize_ast_handles(handles_raw: Any) -> List[Dict[str, Any]]:
entry["data_key"] = data_key
data_source = h.get("data_source")
if data_source:
if isinstance(data_source, str) and "." in data_source:
val = data_source.rsplit(".", 1)[-1]
data_source = val.lower() if val in ("HANDLE", "EXECUTOR") else val
entry["data_source"] = data_source
entry["data_source"] = normalize_enum_value(data_source, DataSource) or data_source
description = h.get("description")
if description:
entry["description"] = description
@@ -537,17 +532,12 @@ def normalize_ast_action_handles(handles_raw: Any) -> Dict[str, Any]:
"data_type": h.get("data_type", ""),
"label": h.get("label", ""),
}
_FIELD_ENUM_MAP = {"side": Side, "data_source": DataSource}
for opt_key in ("side", "data_key", "data_source", "description", "io_type"):
val = h.get(opt_key)
if val is not None:
# Only resolve enum-style refs (e.g. DataSource.HANDLE -> handle) for data_source/side
# data_key values like "wells.@flatten", "@this.0@@@plate" must be preserved as-is
if (
isinstance(val, str)
and "." in val
and opt_key not in ("io_type", "data_key")
):
val = val.rsplit(".", 1)[-1].lower()
if opt_key in _FIELD_ENUM_MAP:
val = normalize_enum_value(val, _FIELD_ENUM_MAP[opt_key]) or val
entry[opt_key] = val
# io_type: only add when explicitly set; do not default output to "sink" (YAML convention omits it)

6
unilabos/resources/graphio.py
View File

@@ -1033,7 +1033,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
logger.debug(f"🔍 [PLR→Bioyond] detail转换: {bottle.name} → PLR(x={site['x']},y={site['y']},id={site.get('identifier','?')}) → Bioyond(x={bioyond_x},y={bioyond_y})")
# 🔥 提取物料名称：从 tracker.liquids 中获取第一个液体的名称（去除PLR系统添加的后缀）
# tracker.liquids 格式: [(物料名称, 数量), ...]
# tracker.liquids 格式: [(物料名称, 数量, 单位), ...]
material_name = bottle_type_info[0] # 默认使用类型名称（如"样品瓶"）
if hasattr(bottle, "tracker") and bottle.tracker.liquids:
# 如果有液体，使用液体的名称
@@ -1051,7 +1051,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
"typeId": bottle_type_info[1],
"code": bottle.code if hasattr(bottle, "code") else "",
"name": material_name, # 使用物料名称（如"9090"），而不是类型名称（"样品瓶"）
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
"quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
"x": bioyond_x,
"y": bioyond_y,
"z": 1,
@@ -1124,7 +1124,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
"barCode": "",
"name": material_name, # 使用物料名称而不是资源名称
"unit": default_unit, # 使用配置的单位或默认单位
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
"quantity": sum(qty for _, qty, *_ in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
"Parameters": parameters_json # API 实际要求的字段（必需）
}

5
unilabos/ros/main_slave_run.py
View File

@@ -1,4 +1,5 @@
import json
import os
# from nt import device_encoding
import threading
@@ -61,7 +62,7 @@ def main(
rclpy.init(args=rclpy_init_args)
else:
logger.info("[ROS] rclpy already initialized, reusing context")
executor = rclpy.__executor = MultiThreadedExecutor()
executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
# 创建主机节点
host_node = HostNode(
"host_node",
@@ -122,7 +123,7 @@ def slave(
rclpy.init(args=rclpy_init_args)
executor = rclpy.__executor
if not executor:
executor = rclpy.__executor = MultiThreadedExecutor()
executor = rclpy.__executor = MultiThreadedExecutor(num_threads=max(os.cpu_count() * 4, 48))
# 1.5 启动 executor 线程
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")

295
unilabos/ros/nodes/base_device_node.py
View File

@@ -4,6 +4,8 @@ import json
import threading
import time
import traceback
from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
from typing import (
get_type_hints,
TypeVar,
@@ -78,6 +80,67 @@ if TYPE_CHECKING:
T = TypeVar("T")
class RclpyAsyncMutex:
"""rclpy executor 兼容的异步互斥锁
通过 executor.create_task 唤醒等待者，避免 timer 的 InvalidHandle 问题。
"""
def __init__(self, name: str = ""):
self._lock = threading.Lock()
self._acquired = False
self._queue: List[Future] = []
self._name = name
self._holder: Optional[str] = None
async def acquire(self, node: "BaseROS2DeviceNode", tag: str = ""):
"""获取锁。如果已被占用，则异步等待直到锁释放。"""
# t0 = time.time()
with self._lock:
# qlen = len(self._queue)
if not self._acquired:
self._acquired = True
self._holder = tag
# node.lab_logger().debug(
# f"[Mutex:{self._name}] 获取锁 tag={tag} (无等待, queue=0)"
# )
return
waiter = Future()
self._queue.append(waiter)
# node.lab_logger().info(
# f"[Mutex:{self._name}] 等待锁 tag={tag} "
# f"(holder={self._holder}, queue={qlen + 1})"
# )
await waiter
# wait_ms = (time.time() - t0) * 1000
self._holder = tag
# node.lab_logger().info(
# f"[Mutex:{self._name}] 获取锁 tag={tag} (等了 {wait_ms:.0f}ms)"
# )
def release(self, node: "BaseROS2DeviceNode"):
"""释放锁，通过 executor task 唤醒下一个等待者。"""
with self._lock:
# old_holder = self._holder
if self._queue:
next_waiter = self._queue.pop(0)
# node.lab_logger().debug(
# f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 唤醒下一个 (剩余 queue={len(self._queue)})"
# )
async def _wake():
if not next_waiter.done():
next_waiter.set_result(None)
rclpy.get_global_executor().create_task(_wake())
else:
self._acquired = False
self._holder = None
# node.lab_logger().debug(
# f"[Mutex:{self._name}] 释放锁 holder={old_holder} → 空闲"
# )
# 在线设备注册表
registered_devices: Dict[str, "DeviceInfoType"] = {}
@@ -355,6 +418,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
)
self._append_resource_lock = RclpyAsyncMutex(name=f"AR:{device_id}")
# 创建资源管理客户端
self._resource_clients: Dict[str, Client] = {
"resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
@@ -378,15 +443,40 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return res
async def append_resource(req: SerialCommand_Request, res: SerialCommand_Response):
_cmd = _fast_loads(req.command)
_res_name = _cmd.get("resource", [{}])
_res_name = (_res_name[0].get("id", "?") if isinstance(_res_name, list) and _res_name
else _res_name.get("id", "?") if isinstance(_res_name, dict) else "?")
_ar_tag = f"{_res_name}"
# _t_enter = time.time()
# self.lab_logger().info(f"[AR:{_ar_tag}] 进入 append_resource")
await self._append_resource_lock.acquire(self, tag=_ar_tag)
# _t_locked = time.time()
try:
return await _append_resource_inner(req, res, _ar_tag)
# _t_done = time.time()
# self.lab_logger().info(
# f"[AR:{_ar_tag}] 完成 "
# f"等锁={(_t_locked - _t_enter) * 1000:.0f}ms "
# f"执行={(_t_done - _t_locked) * 1000:.0f}ms "
# f"总计={(_t_done - _t_enter) * 1000:.0f}ms"
# )
except Exception as _ex:
self.lab_logger().error(f"[AR:{_ar_tag}] 异常: {_ex}")
raise
finally:
self._append_resource_lock.release(self)
async def _append_resource_inner(req: SerialCommand_Request, res: SerialCommand_Response, _ar_tag: str = ""):
from pylabrobot.resources.deck import Deck
from pylabrobot.resources import Coordinate
from pylabrobot.resources import Plate
# 物料传输到对应的node节点
# _t0 = time.time()
client = self._resource_clients["c2s_update_resource_tree"]
request = SerialCommand.Request()
request2 = SerialCommand.Request()
command_json = json.loads(req.command)
command_json = _fast_loads(req.command)
namespace = command_json["namespace"]
bind_parent_id = command_json["bind_parent_id"]
edge_device_id = command_json["edge_device_id"]
@@ -439,7 +529,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
f"更新物料{container_instance.name}出现不支持的数据类型{type(found_resource)} {found_resource}"
)
# noinspection PyUnresolvedReferences
request.command = json.dumps(
# _t1 = time.time()
# self.lab_logger().debug(
# f"[AR:{_ar_tag}] 准备完成 PLR转换+序列化 {((_t1 - _t0) * 1000):.0f}ms, 发送首次上传..."
# )
request.command = _fast_dumps_str(
{
"action": "add",
"data": {
@@ -450,7 +544,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
}
)
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
# _t2 = time.time()
# self.lab_logger().debug(
# f"[AR:{_ar_tag}] 首次上传完成 {((_t2 - _t1) * 1000):.0f}ms"
# )
uuid_maps = _fast_loads(tree_response.response)
plr_instances = rts.to_plr_resources()
for plr_instance in plr_instances:
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
@@ -486,18 +584,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if len(rts.root_nodes) == 1 and parent_resource is not None:
plr_instance = plr_instances[0]
if isinstance(plr_instance, Plate):
empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
ADD_LIQUID_TYPE = ADD_LIQUID_TYPE * len(LIQUID_INPUT_SLOT)
LIQUID_VOLUME = LIQUID_VOLUME * len(LIQUID_INPUT_SLOT)
self.lab_logger().warning(
f"增加液体资源时，数量为1，自动补全为 {len(LIQUID_INPUT_SLOT)} 个"
)
for liquid_type, liquid_volume, liquid_input_slot in zip(
ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
):
empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
plr_instance.set_well_liquids(empty_liquid_info_in)
try:
# noinspection PyProtectedMember
keys = list(plr_instance._ordering.keys())
@@ -511,6 +603,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
input_wells = []
for r in LIQUID_INPUT_SLOT:
input_wells.append(plr_instance.children[r])
for input_well, liquid_type, liquid_volume, liquid_input_slot in zip(
input_wells, ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
):
input_well.set_liquids([(liquid_type, liquid_volume, "ul")])
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(
input_wells
).dump()
@@ -529,12 +625,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
Coordinate(location["x"], location["y"], location["z"]),
**other_calling_param,
)
# 调整了液体以及Deck之后要重新Assign
# noinspection PyUnresolvedReferences
# _t3 = time.time()
rts_with_parent = ResourceTreeSet.from_plr_resources([parent_resource])
# _n_parent = len(rts_with_parent.all_nodes)
if rts_with_parent.root_nodes[0].res_content.uuid_parent is None:
rts_with_parent.root_nodes[0].res_content.parent_uuid = self.uuid
request.command = json.dumps(
request.command = _fast_dumps_str(
{
"action": "add",
"data": {
@@ -544,11 +641,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
},
}
)
# _t4 = time.time()
# self.lab_logger().debug(
# f"[AR:{_ar_tag}] 二次上传序列化 {_n_parent}节点 {((_t4 - _t3) * 1000):.0f}ms, 发送中..."
# )
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
# _t5 = time.time()
uuid_maps = _fast_loads(tree_response.response)
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
self._lab_logger.info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
# 这里created_resources不包含parent_resource
# self._lab_logger.info(
# f"[AR:{_ar_tag}] 二次上传完成 HTTP={(_t5 - _t4) * 1000:.0f}ms "
# f"UUID映射={len(uuid_maps)}节点 总执行={(_t5 - _t0) * 1000:.0f}ms"
# )
# 发送给ResourceMeshManager
action_client = ActionClient(
self,
@@ -685,7 +789,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
)
# 发送请求并等待响应
response: SerialCommand_Response = await self._resource_clients["resource_get"].call_async(r)
if not response.response:
raise ValueError(f"查询资源 {resource_id} 失败：服务端返回空响应")
raw_data = json.loads(response.response)
if not raw_data:
raise ValueError(f"查询资源 {resource_id} 失败：返回数据为空")
# 转换为 PLR 资源
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
@@ -1134,7 +1242,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
if uid is None:
raise ValueError(f"目标物料{target_resource}没有unilabos_uuid属性，无法转运")
target_uids.append(uid)
srv_address = f"/srv{target_device_id}/s2c_resource_tree"
_ns = target_device_id if target_device_id.startswith("/devices/") else f"/devices/{target_device_id.lstrip('/')}"
srv_address = f"/srv{_ns}/s2c_resource_tree"
sclient = self.create_client(SerialCommand, srv_address)
# 等待服务可用（设置超时）
if not sclient.wait_for_service(timeout_sec=5.0):
@@ -1184,7 +1293,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return False
time.sleep(0.05)
self.lab_logger().info(f"资源本地增加到{target_device_id}结果: {response.response}")
return None
return "转运完成"
def register_device(self):
"""向注册表中注册设备信息"""
@@ -1256,9 +1365,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return self._lab_logger
def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0):
"""创建ROS发布者，仅当方法/属性有 @topic_config 装饰器时才创建。"""
# 检测 @topic_config 装饰器配置
topic_config = {}
"""创建ROS发布者。已在 status_types 中声明的属性直接创建；@topic_config 用于覆盖默认参数。"""
topic_cfg = {}
driver_class = type(self.driver_instance)
# 区分 @property 和普通方法两种情况
@@ -1267,23 +1375,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
)
if is_prop:
# @property: 检测 fget 上的 @topic_config
class_attr = getattr(driver_class, attr_name)
if class_attr.fget is not None:
topic_config = get_topic_config(class_attr.fget)
topic_cfg = get_topic_config(class_attr.fget)
else:
# 普通方法: 直接检测 attr_name 方法上的 @topic_config
if hasattr(self.driver_instance, attr_name):
method = getattr(self.driver_instance, attr_name)
if callable(method):
topic_config = get_topic_config(method)
# 没有 @topic_config 装饰器则跳过发布
if not topic_config:
return
topic_cfg = get_topic_config(method)
# 发布名称优先级: @topic_config(name=...) > get_ 前缀去除 > attr_name
cfg_name = topic_config.get("name")
cfg_name = topic_cfg.get("name")
if cfg_name:
publish_name = cfg_name
elif attr_name.startswith("get_"):
@@ -1291,10 +1393,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
else:
publish_name = attr_name
# 使用装饰器配置或默认值
cfg_period = topic_config.get("period")
cfg_print = topic_config.get("print_publish")
cfg_qos = topic_config.get("qos")
# @topic_config 参数覆盖默认值
cfg_period = topic_cfg.get("period")
cfg_print = topic_cfg.get("print_publish")
cfg_qos = topic_cfg.get("qos")
period: float = cfg_period if cfg_period is not None else initial_period
print_publish: bool = cfg_print if cfg_print is not None else self._print_publish
qos: int = cfg_qos if cfg_qos is not None else 10
@@ -1576,37 +1678,75 @@ class BaseROS2DeviceNode(Node, Generic[T]):
feedback_msg_types = action_type.Feedback.get_fields_and_field_types()
result_msg_types = action_type.Result.get_fields_and_field_types()
while future is not None and not future.done():
if goal_handle.is_cancel_requested:
self.lab_logger().info(f"取消动作: {action_name}")
future.cancel() # 尝试取消线程池中的任务
goal_handle.canceled()
return action_type.Result()
# 低频 feedback timer（10s），不阻塞完成检测
_feedback_timer = None
self._time_spent = time.time() - time_start
self._time_remaining = time_overall - self._time_spent
def _publish_feedback():
if future is not None and not future.done():
self._time_spent = time.time() - time_start
self._time_remaining = time_overall - self._time_spent
feedback_values = {}
for msg_name, attr_name in action_value_mapping["feedback"].items():
if hasattr(self.driver_instance, f"get_{attr_name}"):
method = getattr(self.driver_instance, f"get_{attr_name}")
if not asyncio.iscoroutinefunction(method):
feedback_values[msg_name] = method()
elif hasattr(self.driver_instance, attr_name):
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
if self._print_publish:
self.lab_logger().info(f"反馈: {feedback_values}")
feedback_msg = convert_to_ros_msg_with_mapping(
ros_msg_type=action_type.Feedback(),
obj=feedback_values,
value_mapping=action_value_mapping["feedback"],
)
goal_handle.publish_feedback(feedback_msg)
# 发布反馈
feedback_values = {}
for msg_name, attr_name in action_value_mapping["feedback"].items():
if hasattr(self.driver_instance, f"get_{attr_name}"):
method = getattr(self.driver_instance, f"get_{attr_name}")
if not asyncio.iscoroutinefunction(method):
feedback_values[msg_name] = method()
elif hasattr(self.driver_instance, attr_name):
feedback_values[msg_name] = getattr(self.driver_instance, attr_name)
if self._print_publish:
self.lab_logger().info(f"反馈: {feedback_values}")
feedback_msg = convert_to_ros_msg_with_mapping(
ros_msg_type=action_type.Feedback(),
obj=feedback_values,
value_mapping=action_value_mapping["feedback"],
if action_value_mapping.get("feedback"):
_fb_interval = action_value_mapping.get("feedback_interval", 0.5)
_feedback_timer = self.create_timer(
_fb_interval, _publish_feedback, callback_group=self.callback_group
)
goal_handle.publish_feedback(feedback_msg)
time.sleep(0.5)
# 等待 action 完成
if future is not None:
if isinstance(future, Task):
# rclpy Task：直接 await，完成瞬间唤醒
try:
_raw_result = await future
except Exception as e:
_raw_result = e
else:
# concurrent.futures.Future（同步 action）：用 rclpy 兼容的轮询
_poll_future = Future()
def _on_sync_done(fut):
if not _poll_future.done():
_poll_future.set_result(None)
future.add_done_callback(_on_sync_done)
await _poll_future
try:
_raw_result = future.result()
except Exception as e:
_raw_result = e
# 确保 execution_error/success 被正确设置（不依赖 done callback 时序）
if isinstance(_raw_result, BaseException):
if not execution_error:
execution_error = traceback.format_exception(
type(_raw_result), _raw_result, _raw_result.__traceback__
)
execution_error = "".join(execution_error)
execution_success = False
action_return_value = _raw_result
elif not execution_error:
execution_success = True
action_return_value = _raw_result
# 清理 feedback timer
if _feedback_timer is not None:
_feedback_timer.cancel()
if future is not None and future.cancelled():
self.lab_logger().info(f"动作 {action_name} 已取消")
@@ -1615,8 +1755,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# self.lab_logger().info(f"动作执行完成: {action_name}")
del future
# 执行失败时跳过物料状态更新
if execution_error:
execution_success = False
# 向Host更新物料当前状态
if action_name not in ["create_resource_detailed", "create_resource"]:
if not execution_error and action_name not in ["create_resource_detailed", "create_resource"]:
for k, v in goal.get_fields_and_field_types().items():
if v not in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
continue
@@ -1672,7 +1816,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for attr_name in result_msg_types.keys():
if attr_name in ["success", "reached_goal"]:
setattr(result_msg, attr_name, True)
setattr(result_msg, attr_name, execution_success)
elif attr_name == "return_info":
setattr(
result_msg,
@@ -1778,7 +1922,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
raise ValueError("至少需要提供一个 UUID")
uuids_list = list(uuids)
future = self._resource_clients["c2s_update_resource_tree"].call_async(
future: Future = self._resource_clients["c2s_update_resource_tree"].call_async(
SerialCommand.Request(
command=json.dumps(
{
@@ -1804,6 +1948,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
raise Exception(f"资源查询返回空结果: {uuids_list}")
raw_data = json.loads(response.response)
if not raw_data:
raise Exception(f"资源原始查询返回空结果: {raw_data}")
# 转换为 PLR 资源
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
@@ -1921,16 +2067,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
)
async def _convert_resource_async(self, resource_data: Dict[str, Any]):
"""异步转换资源数据为实例"""
# 使用封装的get_resource_with_dir方法获取PLR资源
plr_resource = await self.get_resource_with_dir(resource_ids=resource_data["id"], with_children=True)
async def _convert_resource_async(self, resource_data: "ResourceDictType"):
"""异步转换 ResourceDictType 为 PLR 实例，优先用 uuid 查询"""
unilabos_uuid = resource_data.get("uuid")
if unilabos_uuid:
resource_tree = await self.get_resource([unilabos_uuid], with_children=True)
plr_resources = resource_tree.to_plr_resources()
if plr_resources:
plr_resource = plr_resources[0]
else:
raise ValueError(f"通过 uuid={unilabos_uuid} 查询资源为空")
else:
res_id = resource_data.get("id") or resource_data.get("name", "")
if not res_id:
raise ValueError(f"资源数据缺少 uuid 和 id: {list(resource_data.keys())}")
plr_resource = await self.get_resource_with_dir(resource_id=res_id, with_children=True)
# 通过资源跟踪器获取本地实例
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
if len(res) == 0:
# todo: 后续通过decoration来区分，减少warning
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data.get('id', '?')}，返回新建实例")
return plr_resource
elif len(res) == 1:
return res[0]

64
unilabos/ros/nodes/presets/host_node.py
View File

@@ -4,6 +4,8 @@ import threading
import time
import traceback
import uuid
from unilabos.utils.tools import fast_dumps_str as _fast_dumps_str, fast_loads as _fast_loads
from dataclasses import dataclass, field
from typing import TYPE_CHECKING, Optional, Dict, Any, List, ClassVar, Set, Union
@@ -24,7 +26,7 @@ from unilabos_msgs.srv import (
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unique_identifier_msgs.msg import UUID
from unilabos.registry.decorators import device
from unilabos.registry.decorators import device, action, NodeType
from unilabos.registry.placeholder_type import ResourceSlot, DeviceSlot
from unilabos.registry.registry import lab_registry
from unilabos.resources.container import RegularContainer
@@ -313,7 +315,9 @@ class HostNode(BaseROS2DeviceNode):
callback_group=self.callback_group,
),
} # 用来存储多个ActionClient实例
self._action_value_mappings: Dict[str, Dict] = {} # device_id -> action_value_mappings(本地+远程设备统一存储)
self._action_value_mappings: Dict[str, Dict] = {
device_id: self._action_value_mappings
} # device_id -> action_value_mappings(本地+远程设备统一存储)
self._slave_registry_configs: Dict[str, Dict] = {} # registry_name -> registry_config(含action_value_mappings)
self._goals: Dict[str, Any] = {} # 用来存储多个目标的状态
self._online_devices: Set[str] = {f"{self.namespace}/{device_id}"} # 用于跟踪在线设备
@@ -616,22 +620,17 @@ class HostNode(BaseROS2DeviceNode):
}
)
]
response: List[str] = await self.create_resource_detailed(
resources, device_ids, bind_parent_id, bind_location, other_calling_param
)
try:
assert len(response) == 1, "Create Resource应当只返回一个结果"
for i in response:
res = json.loads(i)
if "suc" in res:
raise ValueError(res.get("error"))
return res
except Exception as ex:
pass
_n = "\n"
raise ValueError(f"创建资源时失败！\n{_n.join(response)}")
assert len(response) == 1, "Create Resource应当只返回一个结果"
for i in response:
res = json.loads(i)
if "suc" in res and not res["suc"]:
raise ValueError(res.get("error", "未知错误"))
return res
raise ValueError(f"创建资源时失败！响应为空")
def initialize_device(self, device_id: str, device_config: ResourceDictInstance) -> None:
"""
@@ -1166,7 +1165,7 @@ class HostNode(BaseROS2DeviceNode):
else:
physical_setup_graph.nodes[resource_dict["id"]]["data"].update(resource_dict.get("data", {}))
response.response = json.dumps(uuid_mapping) if success else "FAILED"
response.response = _fast_dumps_str(uuid_mapping) if success else "FAILED"
self.lab_logger().info(f"[Host Node-Resource] Resource tree add completed, success: {success}")
async def _resource_tree_action_get_callback(self, data: dict, response: SerialCommand_Response): # OK
@@ -1176,6 +1175,7 @@ class HostNode(BaseROS2DeviceNode):
resource_response = http_client.resource_tree_get(uuid_list, with_children)
response.response = json.dumps(resource_response)
self.lab_logger().trace(f"[Host Node-Resource] Resource tree get request callback {response.response}")
async def _resource_tree_action_remove_callback(self, data: dict, response: SerialCommand_Response):
"""
@@ -1228,9 +1228,26 @@ class HostNode(BaseROS2DeviceNode):
"""
try:
# 解析请求数据
data = json.loads(request.command)
data = _fast_loads(request.command)
action = data["action"]
self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
inner = data.get("data", {})
if action == "add":
mount_uuid = inner.get("mount_uuid", "?")[:8] if isinstance(inner, dict) else "?"
tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
node_count = len(tree_data) if isinstance(tree_data, list) else "?"
source = f"mount={mount_uuid}.. nodes≈{node_count}"
elif action in ("get", "remove"):
uid_list = inner.get("data", inner) if isinstance(inner, dict) else inner
source = f"uuids={len(uid_list) if isinstance(uid_list, list) else '?'}"
elif action == "update":
tree_data = inner.get("data", []) if isinstance(inner, dict) else inner
node_count = len(tree_data) if isinstance(tree_data, list) else "?"
source = f"nodes≈{node_count}"
else:
source = ""
self.lab_logger().info(
f"[Host Node-Resource] Resource tree {action} request received ({source})"
)
data = data["data"]
if action == "add":
await self._resource_tree_action_add_callback(data, response)
@@ -1621,6 +1638,19 @@ class HostNode(BaseROS2DeviceNode):
}
return res
@action(always_free=True, node_type=NodeType.MANUAL_CONFIRM, placeholder_keys={
"assignee_user_ids": "unilabos_manual_confirm"
}, goal_default={
"timeout_seconds": 3600,
"assignee_user_ids": []
})
def manual_confirm(self, timeout_seconds: int, assignee_user_ids: list[str], **kwargs) -> dict:
"""
timeout_seconds: 超时时间（秒），默认3600秒
修改的结果无效，是只读的
"""
return kwargs
def test_resource(
self,
sample_uuids: SampleUUIDsType,

441
unilabos/test/experiments/virtual_bench.json
View File

@@ -22,6 +22,447 @@
"arm_state": "idle",
"message": "工作台就绪"
}
},
{
"id": "PRCXI",
"name": "PRCXI",
"type": "device",
"class": "liquid_handler.prcxi",
"parent": "",
"pose": {
"size": {
"width": 562,
"height": 394,
"depth": 0
}
},
"config": {
"axis": "Left",
"deck": {
"_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck",
"_resource_child_name": "PRCXI_Deck"
},
"host": "10.20.30.184",
"port": 9999,
"debug": true,
"setup": true,
"is_9320": true,
"timeout": 10,
"matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb",
"simulator": true,
"channel_num": 2
},
"data": {
"reset_ok": true
},
"schema": {},
"description": "",
"model": null,
"position": {
"x": 0,
"y": 240,
"z": 0
}
},
{
"id": "PRCXI_Deck",
"name": "PRCXI_Deck",
"children": [],
"parent": "PRCXI",
"type": "deck",
"class": "",
"position": {
"x": 10,
"y": 10,
"z": 0
},
"config": {
"type": "PRCXI9300Deck",
"size_x": 542,
"size_y": 374,
"size_z": 0,
"rotation": {
"x": 0,
"y": 0,
"z": 0,
"type": "Rotation"
},
"category": "deck",
"barcode": null,
"preferred_pickup_location": null,
"sites": [
{
"label": "T1",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"container",
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T2",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T3",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T4",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 0,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T5",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T6",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T7",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T8",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 96,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T9",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T10",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T11",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T12",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 192,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T13",
"visible": true,
"occupied_by": null,
"position": {
"x": 0,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T14",
"visible": true,
"occupied_by": null,
"position": {
"x": 138,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T15",
"visible": true,
"occupied_by": null,
"position": {
"x": 276,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
},
{
"label": "T16",
"visible": true,
"occupied_by": null,
"position": {
"x": 414,
"y": 288,
"z": 0
},
"size": {
"width": 128.0,
"height": 86,
"depth": 0
},
"content_type": [
"plate",
"tip_rack",
"plates",
"tip_racks",
"tube_rack",
"adaptor"
]
}
]
},
"data": {}
}
],
"links": []

317
unilabos/utils/environment_check.py
View File

@@ -6,20 +6,180 @@
import argparse
import importlib
import locale
import shutil
import subprocess
import sys
from pathlib import Path
from typing import List, Optional
from unilabos.utils.banner_print import print_status
# ---------------------------------------------------------------------------
# 底层安装工具
# ---------------------------------------------------------------------------
def _is_chinese_locale() -> bool:
try:
lang = locale.getdefaultlocale()[0]
return bool(lang and ("zh" in lang.lower() or "chinese" in lang.lower()))
except Exception:
return False
_USE_UV: Optional[bool] = None
def _has_uv() -> bool:
global _USE_UV
if _USE_UV is None:
_USE_UV = shutil.which("uv") is not None
return _USE_UV
def _install_packages(
packages: List[str],
upgrade: bool = False,
label: str = "",
) -> bool:
"""
安装/升级一组包。优先 uv pip install，回退 sys pip。
逐个安装，任意一个失败不影响后续包。
Returns:
True if all succeeded, False otherwise.
"""
if not packages:
return True
is_chinese = _is_chinese_locale()
use_uv = _has_uv()
failed: List[str] = []
for pkg in packages:
action_word = "升级" if upgrade else "安装"
if label:
print_status(f"[{label}] 正在{action_word} {pkg}...", "info")
else:
print_status(f"正在{action_word} {pkg}...", "info")
if use_uv:
cmd = ["uv", "pip", "install"]
if upgrade:
cmd.append("--upgrade")
cmd.append(pkg)
if is_chinese:
cmd.extend(["--index-url", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
else:
cmd = [sys.executable, "-m", "pip", "install"]
if upgrade:
cmd.append("--upgrade")
cmd.append(pkg)
if is_chinese:
cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
try:
result = subprocess.run(cmd, capture_output=True, text=True, timeout=300)
if result.returncode == 0:
installer = "uv" if use_uv else "pip"
print_status(f"✓ {pkg} {action_word}成功 (via {installer})", "success")
else:
stderr_short = result.stderr.strip().split("\n")[-1] if result.stderr else "unknown error"
print_status(f"× {pkg} {action_word}失败: {stderr_short}", "error")
failed.append(pkg)
except subprocess.TimeoutExpired:
print_status(f"× {pkg} {action_word}超时 (300s)", "error")
failed.append(pkg)
except Exception as e:
print_status(f"× {pkg} {action_word}异常: {e}", "error")
failed.append(pkg)
if failed:
print_status(f"有 {len(failed)} 个包操作失败: {', '.join(failed)}", "error")
return False
return True
# ---------------------------------------------------------------------------
# requirements.txt 安装（可多次调用）
# ---------------------------------------------------------------------------
def install_requirements_txt(req_path: str | Path, label: str = "") -> bool:
"""
读取一个 requirements.txt 文件，检查缺失的包并安装。
Args:
req_path: requirements.txt 文件路径
label: 日志前缀标签（如 "device_package_sim"）
Returns:
True if all ok, False if any install failed.
"""
req_path = Path(req_path)
if not req_path.exists():
return True
tag = label or req_path.parent.name
print_status(f"[{tag}] 检查依赖: {req_path}", "info")
reqs: List[str] = []
with open(req_path, "r", encoding="utf-8") as f:
for line in f:
line = line.strip()
if line and not line.startswith("#") and not line.startswith("-"):
reqs.append(line)
if not reqs:
return True
missing: List[str] = []
for req in reqs:
pkg_import = req.split(">=")[0].split("==")[0].split("<")[0].split("[")[0].split(">")[0].strip()
pkg_import = pkg_import.replace("-", "_")
try:
importlib.import_module(pkg_import)
except ImportError:
missing.append(req)
if not missing:
print_status(f"[{tag}] ✓ 依赖检查通过 ({len(reqs)} 个包)", "success")
return True
print_status(f"[{tag}] 缺失 {len(missing)} 个依赖: {', '.join(missing)}", "warning")
return _install_packages(missing, label=tag)
def check_device_package_requirements(devices_dirs: list[str]) -> bool:
"""
检查 --devices 指定的所有外部设备包目录中的 requirements.txt。
对每个目录查找 requirements.txt（先在目录内找，再在父目录找）。
"""
if not devices_dirs:
return True
all_ok = True
for d in devices_dirs:
d_path = Path(d).resolve()
req_file = d_path / "requirements.txt"
if not req_file.exists():
req_file = d_path.parent / "requirements.txt"
if not req_file.exists():
continue
if not install_requirements_txt(req_file, label=d_path.name):
all_ok = False
return all_ok
# ---------------------------------------------------------------------------
# UniLabOS 核心环境检查
# ---------------------------------------------------------------------------
class EnvironmentChecker:
"""环境检查器"""
def __init__(self):
# 定义必需的包及其安装名称的映射
self.required_packages = {
# 包导入名 : pip安装名
# "pymodbus.framer.FramerType": "pymodbus==3.9.2",
"websockets": "websockets",
"msgcenterpy": "msgcenterpy",
"orjson": "orjson",
@@ -28,33 +188,17 @@ class EnvironmentChecker:
"crcmod": "crcmod-plus",
}
# 特殊安装包（需要特殊处理的包）
self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
# 包版本要求（包名: 最低版本）
self.version_requirements = {
"msgcenterpy": "0.1.8", # msgcenterpy 最低版本要求
"msgcenterpy": "0.1.8",
}
self.missing_packages = []
self.failed_installs = []
self.packages_need_upgrade = []
# 检测系统语言
self.is_chinese = self._is_chinese_locale()
def _is_chinese_locale(self) -> bool:
"""检测系统是否为中文环境"""
try:
lang = locale.getdefaultlocale()[0]
if lang and ("zh" in lang.lower() or "chinese" in lang.lower()):
return True
except Exception:
pass
return False
self.missing_packages: List[tuple] = []
self.failed_installs: List[tuple] = []
self.packages_need_upgrade: List[tuple] = []
def check_package_installed(self, package_name: str) -> bool:
"""检查包是否已安装"""
try:
importlib.import_module(package_name)
return True
@@ -62,7 +206,6 @@ class EnvironmentChecker:
return False
def get_package_version(self, package_name: str) -> str | None:
"""获取已安装包的版本"""
try:
module = importlib.import_module(package_name)
return getattr(module, "__version__", None)
@@ -70,88 +213,32 @@ class EnvironmentChecker:
return None
def compare_version(self, current: str, required: str) -> bool:
"""
比较版本号
Returns:
True: current >= required
False: current < required
"""
try:
current_parts = [int(x) for x in current.split(".")]
required_parts = [int(x) for x in required.split(".")]
# 补齐长度
max_len = max(len(current_parts), len(required_parts))
current_parts.extend([0] * (max_len - len(current_parts)))
required_parts.extend([0] * (max_len - len(required_parts)))
return current_parts >= required_parts
except Exception:
return True # 如果无法比较，假设版本满足要求
def install_package(self, package_name: str, pip_name: str, upgrade: bool = False) -> bool:
"""安装包"""
try:
action = "升级" if upgrade else "安装"
print_status(f"正在{action} {package_name} ({pip_name})...", "info")
# 构建安装命令
cmd = [sys.executable, "-m", "pip", "install"]
# 如果是升级操作，添加 --upgrade 参数
if upgrade:
cmd.append("--upgrade")
cmd.append(pip_name)
# 如果是中文环境，使用清华镜像源
if self.is_chinese:
cmd.extend(["-i", "https://mirrors.tuna.tsinghua.edu.cn/pypi/web/simple"])
# 执行安装
result = subprocess.run(cmd, capture_output=True, text=True, timeout=300) # 5分钟超时
if result.returncode == 0:
print_status(f"✓ {package_name} {action}成功", "success")
return True
else:
print_status(f"× {package_name} {action}失败: {result.stderr}", "error")
return False
except subprocess.TimeoutExpired:
print_status(f"× {package_name} {action}超时", "error")
return False
except Exception as e:
print_status(f"× {package_name} {action}异常: {str(e)}", "error")
return False
def upgrade_package(self, package_name: str, pip_name: str) -> bool:
"""升级包"""
return self.install_package(package_name, pip_name, upgrade=True)
return True
def check_all_packages(self) -> bool:
"""检查所有必需的包"""
print_status("开始检查环境依赖...", "info")
# 检查常规包
for import_name, pip_name in self.required_packages.items():
if not self.check_package_installed(import_name):
self.missing_packages.append((import_name, pip_name))
else:
# 检查版本要求
if import_name in self.version_requirements:
current_version = self.get_package_version(import_name)
required_version = self.version_requirements[import_name]
elif import_name in self.version_requirements:
current_version = self.get_package_version(import_name)
required_version = self.version_requirements[import_name]
if current_version and not self.compare_version(current_version, required_version):
print_status(
f"{import_name} 版本过低 (当前: {current_version}, 需要: >={required_version})",
"warning",
)
self.packages_need_upgrade.append((import_name, pip_name))
if current_version:
if not self.compare_version(current_version, required_version):
print_status(
f"{import_name} 版本过低 (当前: {current_version}, 需要: >={required_version})",
"warning",
)
self.packages_need_upgrade.append((import_name, pip_name))
# 检查特殊包
for package_name, install_url in self.special_packages.items():
if not self.check_package_installed(package_name):
self.missing_packages.append((package_name, install_url))
@@ -170,7 +257,6 @@ class EnvironmentChecker:
return False
def install_missing_packages(self, auto_install: bool = True) -> bool:
"""安装缺失的包"""
if not self.missing_packages and not self.packages_need_upgrade:
return True
@@ -178,62 +264,36 @@ class EnvironmentChecker:
if self.missing_packages:
print_status("缺失以下包:", "warning")
for import_name, pip_name in self.missing_packages:
print_status(f" - {import_name} (pip install {pip_name})", "warning")
print_status(f" - {import_name} ({pip_name})", "warning")
if self.packages_need_upgrade:
print_status("需要升级以下包:", "warning")
for import_name, pip_name in self.packages_need_upgrade:
print_status(f" - {import_name} (pip install --upgrade {pip_name})", "warning")
print_status(f" - {import_name} ({pip_name})", "warning")
return False
# 安装缺失的包
if self.missing_packages:
print_status(f"开始自动安装 {len(self.missing_packages)} 个缺失的包...", "info")
pkgs = [pip_name for _, pip_name in self.missing_packages]
if not _install_packages(pkgs, label="unilabos"):
self.failed_installs.extend(self.missing_packages)
success_count = 0
for import_name, pip_name in self.missing_packages:
if self.install_package(import_name, pip_name):
success_count += 1
else:
self.failed_installs.append((import_name, pip_name))
print_status(f"✓ 成功安装 {success_count}/{len(self.missing_packages)} 个包", "success")
# 升级需要更新的包
if self.packages_need_upgrade:
print_status(f"开始自动升级 {len(self.packages_need_upgrade)} 个包...", "info")
pkgs = [pip_name for _, pip_name in self.packages_need_upgrade]
if not _install_packages(pkgs, upgrade=True, label="unilabos"):
self.failed_installs.extend(self.packages_need_upgrade)
upgrade_success_count = 0
for import_name, pip_name in self.packages_need_upgrade:
if self.upgrade_package(import_name, pip_name):
upgrade_success_count += 1
else:
self.failed_installs.append((import_name, pip_name))
print_status(f"✓ 成功升级 {upgrade_success_count}/{len(self.packages_need_upgrade)} 个包", "success")
if self.failed_installs:
print_status(f"有 {len(self.failed_installs)} 个包操作失败:", "error")
for import_name, pip_name in self.failed_installs:
print_status(f" - {import_name} ({pip_name})", "error")
return False
return True
return not self.failed_installs
def verify_installation(self) -> bool:
"""验证安装结果"""
if not self.missing_packages and not self.packages_need_upgrade:
return True
print_status("验证安装结果...", "info")
failed_verification = []
# 验证新安装的包
for import_name, pip_name in self.missing_packages:
if not self.check_package_installed(import_name):
failed_verification.append((import_name, pip_name))
# 验证升级的包
for import_name, pip_name in self.packages_need_upgrade:
if not self.check_package_installed(import_name):
failed_verification.append((import_name, pip_name))
@@ -270,17 +330,14 @@ def check_environment(auto_install: bool = True, show_details: bool = True) -> b
"""
checker = EnvironmentChecker()
# 检查包
if checker.check_all_packages():
return True
# 安装缺失的包
if not checker.install_missing_packages(auto_install):
if show_details:
print_status("请手动安装缺失的包后重新启动程序", "error")
return False
# 验证安装
if not checker.verify_installation():
if show_details:
print_status("安装验证失败，请检查网络连接或手动安装", "error")
@@ -290,14 +347,12 @@ def check_environment(auto_install: bool = True, show_details: bool = True) -> b
if __name__ == "__main__":
# 命令行参数解析
parser = argparse.ArgumentParser(description="UniLabOS 环境依赖检查工具")
parser.add_argument("--no-auto-install", action="store_true", help="仅检查环境，不自动安装缺失的包")
parser.add_argument("--silent", action="store_true", help="静默模式，不显示详细信息")
args = parser.parse_args()
# 执行环境检查
auto_install = not args.no_auto_install
show_details = not args.silent

16
unilabos/utils/tools.py
View File

@@ -17,6 +17,14 @@ try:
default=json_default,
)
def fast_loads(data) -> dict:
"""JSON 反序列化，优先使用 orjson。接受 str / bytes。"""
return orjson.loads(data)
def fast_dumps_str(obj, **kwargs) -> str:
"""JSON 序列化为 str，优先使用 orjson。用于需要 str 而非 bytes 的场景（如 ROS msg）。"""
return orjson.dumps(obj, option=orjson.OPT_NON_STR_KEYS, default=json_default).decode("utf-8")
def normalize_json(info: dict) -> dict:
"""经 JSON 序列化/反序列化一轮来清理非标准类型。"""
return orjson.loads(orjson.dumps(info, default=json_default))
@@ -29,6 +37,14 @@ except ImportError:
def fast_dumps_pretty(obj, **kwargs) -> bytes: # type: ignore[misc]
return json.dumps(obj, indent=2, ensure_ascii=False, cls=TypeEncoder).encode("utf-8")
def fast_loads(data) -> dict: # type: ignore[misc]
if isinstance(data, bytes):
data = data.decode("utf-8")
return json.loads(data)
def fast_dumps_str(obj, **kwargs) -> str: # type: ignore[misc]
return json.dumps(obj, ensure_ascii=False, cls=TypeEncoder)
def normalize_json(info: dict) -> dict: # type: ignore[misc]
return json.loads(json.dumps(info, ensure_ascii=False, cls=TypeEncoder))

11
unilabos/utils/type_check.py
View File

@@ -80,11 +80,12 @@ def get_result_info_str(error: str, suc: bool, return_value=None) -> str:
Returns:
JSON字符串格式的结果信息
"""
samples = None
if isinstance(return_value, dict):
if "samples" in return_value:
samples = return_value.pop("samples")
result_info = {"error": error, "suc": suc, "return_value": return_value, "samples": samples}
# 请在返回的字典中使用 unilabos_samples进行返回
# samples = None
# if isinstance(return_value, dict):
# if "samples" in return_value and type(return_value["samples"]) in [list, tuple] and type(return_value["samples"][0]) == dict:
# samples = return_value.pop("samples")
result_info = {"error": error, "suc": suc, "return_value": return_value}
return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)

2
unilabos/workflow/common.py
View File

@@ -346,7 +346,7 @@ def refactor_data(
"template_name": template_name,
"resource_name": resource_name,
"description": step.get("description", step.get("purpose", f"{operation} operation")),
"lab_node_type": "Device",
"lab_node_type": "ILab",
"param": step.get("parameters", step.get("action_args", {})),
"footer": f"{template_name}-{resource_name}",
}