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107 Commits

Author SHA1 Message Date
ZiWei
c4a2f68649 Merge remote-tracking branch 'origin/dev' into feature/organic-extraction 2026-04-27 11:13:13 +08:00
Xuwznln
f77ac2a5e8 Change uni-lab. to leap-lab. 
Support unit in pylabrobot
 2026-04-12 15:32:27 +08:00
ZiWei
f0ea32f163 Merge remote-tracking branch 'origin/dev' into feature/organic-extraction 
# Conflicts:
#	.cursor/skills/add-device/SKILL.md
#	.cursor/skills/add-resource/SKILL.md
#	AGENTS.md
#	CLAUDE.md
 2026-03-24 17:06:54 +08:00
Xuwznln
0f6264503a new registry sys 
exp. support with add device
 2026-03-21 19:26:24 +08:00
ZiWei
97996d316f Merge remote-tracking branch 'origin/dev' into feature/organic-extraction 2026-03-13 15:07:30 +08:00
Xuwznln
38bf95b13c re signal host ready event 2026-03-10 14:13:06 +08:00
ZiWei
b61c818f7f Merge remote-tracking branch 'origin/dev' into feature/organic-extraction 2026-03-09 09:39:17 +08:00
Xuwznln
b993c1f590 add gzip 2026-03-04 19:18:09 +08:00
Xuwznln
e0fae94c10 change pose extra to any 2026-03-04 19:06:58 +08:00
Xuwznln
b5cd181ac1 add isFlapY 2026-03-04 18:59:45 +08:00
Xuwznln
5c047beb83 support container as example 
add z index

(cherry picked from commit 145fcaae65)
 2026-03-03 18:04:13 +08:00
Xuwznln
b40c087143 fix container volume 2026-03-03 17:13:32 +08:00
Xuwznln
a54e7c0f23 new workflow & prcxi slot removal 2026-03-02 18:29:25 +08:00
Xuwznln
e5015cd5e0 fix size change 2026-03-02 15:52:44 +08:00
ZiWei
9c6f7c7505 Merge branch 'dev' into feature/organic-extraction 2026-03-02 15:32:36 +08:00
Xuwznln
f9ed6cb3fb add test_resource_schema 2026-02-11 14:02:21 +08:00
Xuwznln
341a1b537c Adapt to new scheduler, sampels, and edge upload format (#230) 
* add sample_material

* adapt to new samples sys

* fix pump transfer. fix resource update when protocol & ros callback

* Adapt to new scheduler.
 2026-02-06 00:49:53 +08:00
Xuwznln
26271bcab8 adapt to new samples sys 2026-02-04 18:49:08 +08:00
ZiWei
e4e4bfbe20 Merge branch 'dev' into feature/organic-extraction 2026-02-04 15:47:47 +08:00
Xuwznln
84a8223173 adapt to new edge format 2026-02-03 23:22:38 +08:00
ZiWei
64c748d921 Merge branch 'vibe/dev' into feature/organic-extraction 2026-02-03 10:39:44 +08:00
ZiWei
15ff0e9d30 feat: add Bioyond deck imports to resource registration 2026-02-03 10:28:51 +08:00
ZiWei
f8a52860ad Add BIOYOND deck imports and update JSON configurations with new UUIDs for various components 2026-02-03 10:25:47 +08:00
Xuwznln
e30c01d54e Dev backward (#228) 
* Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

* CI Check Fix 1

* CI Check Fix 2

* CI Check Fix 3

* CI Check Fix 4

* CI Check Fix 5

* Upgrade to py 3.11.14; ros 0.7; unilabos 0.10.16

* Update to ROS2 Humble 0.7

* Fix Build 1

* Fix Build 2

* Fix Build 3

* Fix Build 4

* Fix Build 5

* Fix Build 6

* Fix Build 7

* ci(deps): bump actions/configure-pages from 4 to 5 (#222)

Bumps [actions/configure-pages](https://github.com/actions/configure-pages) from 4 to 5.
- [Release notes](https://github.com/actions/configure-pages/releases)
- [Commits](https://github.com/actions/configure-pages/compare/v4...v5)

---
updated-dependencies:
- dependency-name: actions/configure-pages
  dependency-version: '5'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-artifact from 4 to 6 (#224)

Bumps [actions/upload-artifact](https://github.com/actions/upload-artifact) from 4 to 6.
- [Release notes](https://github.com/actions/upload-artifact/releases)
- [Commits](https://github.com/actions/upload-artifact/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/upload-artifact
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/upload-pages-artifact from 3 to 4 (#225)

Bumps [actions/upload-pages-artifact](https://github.com/actions/upload-pages-artifact) from 3 to 4.
- [Release notes](https://github.com/actions/upload-pages-artifact/releases)
- [Commits](https://github.com/actions/upload-pages-artifact/compare/v3...v4)

---
updated-dependencies:
- dependency-name: actions/upload-pages-artifact
  dependency-version: '4'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* ci(deps): bump actions/checkout from 4 to 6 (#223)

Bumps [actions/checkout](https://github.com/actions/checkout) from 4 to 6.
- [Release notes](https://github.com/actions/checkout/releases)
- [Changelog](https://github.com/actions/checkout/blob/main/CHANGELOG.md)
- [Commits](https://github.com/actions/checkout/compare/v4...v6)

---
updated-dependencies:
- dependency-name: actions/checkout
  dependency-version: '6'
  dependency-type: direct:production
  update-type: version-update:semver-major
...

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>

* Fix Build 8

* Fix Build 9

* Fix Build 10

* Fix Build 11

* Fix Build 12

* Fix Build 13

* v0.10.17

(cherry picked from commit 176de521b4)

* CI Check use production mode

* Fix OT2 & ReAdd Virtual Devices

* add msg goal

* transfer liquid handles

* gather query

* add unilabos_class

* Support root node change pos

* save class name when deserialize & protocol execute test

* fix upload workflow json

* workflow upload & set liquid fix & add set liquid with plate

* speed up registry load

---------

Signed-off-by: dependabot[bot] <support@github.com>
Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
Co-authored-by: hanhua@dp.tech <2509856570@qq.com>
 2026-02-02 23:57:13 +08:00
Xuwznln
23ce145f74 workflow upload & set liquid fix & add set liquid with plate 2026-02-02 18:23:33 +08:00
Xuwznln
07c9e6f0fe save class name when deserialize & protocol execute test 2026-02-02 16:05:17 +08:00
Xuwznln
ccec6b9d77 Support root node change pos 2026-02-02 12:03:19 +08:00
ZiWei
37ec49f318 Refactor Bioyond resource handling: update warehouse mapping retrieval, add TipBox support, and improve liquid tracking logic. Migrate TipBox creation to bottle_carriers.py for better structure. 2026-01-29 16:31:14 +08:00
Xuwznln
7eacae6442 Fix OT2 & ReAdd Virtual Devices 2026-01-28 01:05:32 +08:00
Xuwznln
4c8022ee95 Workstation yb merge dev ready 260113 (#216) 
* feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数

* feat(bioyond): 添加测量小瓶功能，支持基本参数配置

* feat(bioyond): 添加测量小瓶配置，支持新设备参数

* feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈

* feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积

* feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理

* feat(bioyond): 调整反应器位置配置，统一坐标格式

* feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常

* feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置

* feat(opcua): 增强节点ID解析兼容性和数据类型处理

改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符
添加数据类型转换处理，确保写入值时类型匹配
优化错误提示信息，便于调试节点连接问题

* feat(registry): 新增后处理站的设备配置文件

添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述

* 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑

* 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置

* fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property

* fix:同步工作流序列

* feat: remove commented workflow synchronization from `reaction_station.py`.

* 添加时间约束功能及相关配置

* fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项

* fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存

* fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息

* feat：添加实验报告简化功能，去除冗余信息并保留关键信息

* feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态

* fix: 修复添加物料时数据格式错误

* Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations

- Removed redundant action value mappings from bioyond_dispensing_station.
- Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters.
- Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End).
- Simplified descriptions and updated measurement units from μL to mL where applicable.
- Removed unused commands from reaction_station_bioyond to streamline the configuration.

* fix：Change the material unit from μL to mL

* fix：refresh_material_cache

* feat: 动态获取工作流步骤ID，优化工作流配置

* feat: 添加清空服务端所有非核心工作流功能

* fix：修复Bottle类的序列化和反序列化方法

* feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息

* Add debug log

* feat(workstation): update bioyond config migration and coin cell material search logic

- Migrate bioyond_cell config to JSON structure and remove global variable dependencies
- Implement material search confirmation dialog auto-handling
- Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md

* Refactor module paths for Bioyond devices in YAML configuration files

- Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure.
- Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase.

* fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

* refactor: Move config from module to instance initialization

* fix: 修正 reaction_station 目录名拼写错误

* feat: Integrate material search logic and cleanup deprecated files

- Update coin_cell_assembly.py with material search dialog handling
- Update YB_warehouses.py with latest warehouse configurations
- Remove outdated documentation and test data files

* Refactor: Use instance attributes for action names and workflow step IDs

* refactor: Split tipbox storage into left and right warehouses

* refactor: Merge tipbox storage left and right into single warehouse

---------

Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Andy6M <xieqiming1132@qq.com>
 2026-01-17 15:44:18 +08:00
Xuwznln
31c9f9a172 物料更新也是用父节点进行报送 2026-01-13 20:21:37 +08:00
Xuwznln
02cd8de4c5 Add None conversion for tube rack etc. 2026-01-13 17:49:11 +08:00
Xuwznln
ec015e16cd Add create_resource and test_resource example. 2026-01-12 21:17:28 +08:00
Xuwznln
bad1db5094 location not passed to ItemizedCarrier when assign child resource 2026-01-08 03:07:11 +08:00
Xuwznln
f26eb69eca Fix size not pass through. 2026-01-08 03:07:11 +08:00
Xuwznln
3d2d428a96 Update README.md 
Modify resource_tracker file module path.

(cherry picked from commit 8066c200b9)
 2026-01-07 20:54:43 +08:00
Xuwznln
66c18c080a Update create_resource to resource tree mode. 2026-01-07 02:03:43 +08:00
shuchang
acbaff7bb7 prcxi resource (#202) 
* prcxi resource

* prcxi_resource

* Fix upload error not showing.
Support str type category.

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
 2025-12-23 15:08:04 +08:00
Xuwznln
d0ac452405 Update organic syn station. 
(cherry picked from commit 13a6795657)
 2025-12-15 02:34:51 +08:00
Xuwznln
ed56c1eba2 reduce logs 2025-12-08 19:23:53 +08:00
Xuwznln
154048107d print all logs to file 
fix resource dict dump error
 2025-12-04 16:04:56 +08:00
Xuwznln
ee609e4aa2 Fix startup with remote resource error 2025-12-02 11:49:59 +08:00
Xuwznln
5551fbf360 Resource dict fully change to "pose" key 2025-12-02 03:45:16 +08:00
Xuwznln
b8278c5026 Reduce pylabrobot conversion warning & force enable log dump. 2025-11-28 22:41:50 +08:00
Xuwznln
97681ba433 Add get_regular_container func 2025-11-27 13:47:47 +08:00
Xuwznln
3fa81ab4f6 Add get_regular_container func 
(cherry picked from commit ed8ee29732)
 2025-11-27 13:47:46 +08:00
ZiWei
c68d5246d0 feat(bioyond): 添加测量小瓶仓库和更新仓库工厂函数参数 2025-11-19 11:28:35 +08:00
ZiWei
f81d20bb1d fix(warehouse): 修正BioYond 4x4x1仓库的物品尺寸参数 2025-11-16 15:47:10 +08:00
ZiWei
850eeae55a HR物料同步，前端展示位置修复 (#135) 
* 更新Bioyond工作站配置，添加新的物料类型映射和载架定义，优化物料查询逻辑

* 添加Bioyond实验配置文件，定义物料类型映射和设备配置

* 更新bioyond_warehouse_reagent_stack方法，修正试剂堆栈尺寸和布局描述

* 更新Bioyond实验配置，修正物料类型映射，优化设备配置

* 更新Bioyond资源同步逻辑，优化物料入库流程，增强错误处理和日志记录

* 更新Bioyond资源，添加配液站和反应站专用载架，优化仓库工厂函数的排序方式

* 更新Bioyond资源，添加配液站和反应站相关载架，优化试剂瓶和样品瓶配置

* 更新Bioyond实验配置，修正试剂瓶载架ID，确保与设备匹配

* 更新Bioyond资源，移除反应站单烧杯载架，添加反应站单烧瓶载架分类

* Refactor Bioyond resource synchronization and update bottle carrier definitions

- Removed traceback printing in error handling for Bioyond synchronization.
- Enhanced logging for existing Bioyond material ID usage during synchronization.
- Added new bottle carrier definitions for single flask and updated existing ones.
- Refactored dispensing station and reaction station bottle definitions for clarity and consistency.
- Improved resource mapping and error handling in graphio for Bioyond resource conversion.
- Introduced layout parameter in warehouse factory for better warehouse configuration.

* 更新Bioyond仓库工厂，添加排序方式支持，优化坐标计算逻辑

* 更新Bioyond载架和甲板配置，调整样品板尺寸和仓库坐标

* 更新Bioyond资源同步，增强占用位置日志信息，修正坐标转换逻辑

* 更新Bioyond反应站和分配站配置，调整材料类型映射和ID，移除不必要的项

* support name change during materials change

* fix json dumps

* correct tip

* 优化调度器API路径，更新相关方法描述

* 更新 BIOYOND 载架相关文档，调整 API 以支持自带试剂瓶的载架类型，修复资源获取时的子物料处理逻辑

* 实现资源删除时的同步处理，优化出库操作逻辑

* 修复 ItemizedCarrier 中的可见性逻辑

* 保存 Bioyond 原始信息到 unilabos_extra，以便出库时查询

* 根据 resource.capacity 判断是试剂瓶（载架）还是多瓶载架，走不同的奔曜转换

* Fix bioyond bottle_carriers ordering

* 优化 Bioyond 物料同步逻辑，增强坐标解析和位置更新处理

* disable slave connect websocket

* correct remove_resource stats

* change uuid logger to trace level

* enable slave mode

* refactor(bioyond): 统一资源命名并优化物料同步逻辑

- 将DispensingStation和ReactionStation资源统一为PolymerStation命名
- 优化物料同步逻辑，支持耗材类型(typeMode=0)的查询
- 添加物料默认参数配置功能
- 调整仓库坐标布局
- 清理废弃资源定义

* feat(warehouses): 为仓库函数添加col_offset和layout参数

* refactor: 更新实验配置中的物料类型映射命名

将DispensingStation和ReactionStation的物料类型映射统一更名为PolymerStation，保持命名一致性

* fix: 更新实验配置中的载体名称从6VialCarrier到6StockCarrier

* feat(bioyond): 实现物料创建与入库分离逻辑

将物料同步流程拆分为两个独立阶段：transfer阶段只创建物料，add阶段执行入库
简化状态检查接口，仅返回连接状态

* fix(reaction_station): 修正液体进料烧杯体积单位并增强返回结果

将液体进料烧杯的体积单位从μL改为g以匹配实际使用场景
在返回结果中添加merged_workflow和order_params字段，提供更完整的工作流信息

* feat(dispensing_station): 在任务创建返回结果中添加order_params信息

在create_order方法返回结果中增加order_params字段，以便调用方获取完整的任务参数

* fix(dispensing_station): 修改90%物料分配逻辑从分成3份改为直接使用

原逻辑将主称固体平均分成3份作为90%物料，现改为直接使用main_portion

* feat(bioyond): 添加任务编码和任务ID的输出，支持批量任务创建后的状态监控

* refactor(registry): 简化设备配置中的任务结果处理逻辑

将多个单独的任务编码和ID字段合并为统一的return_info字段
更新相关描述以反映新的数据结构

* feat(工作站): 添加HTTP报送服务和任务完成状态跟踪

- 在graphio.py中添加API必需字段
- 实现工作站HTTP服务启动和停止逻辑
- 添加任务完成状态跟踪字典和等待方法
- 重写任务完成报送处理方法记录状态
- 支持批量任务完成等待和报告获取

* refactor(dispensing_station): 移除wait_for_order_completion_and_get_report功能

该功能已被wait_for_multiple_orders_and_get_reports替代，简化代码结构

* fix: 更新任务报告API错误

* fix(workstation_http_service): 修复状态查询中device_id获取逻辑

处理状态查询时安全获取device_id，避免因属性不存在导致的异常

* fix(bioyond_studio): 改进物料入库失败时的错误处理和日志记录

在物料入库API调用失败时，添加更详细的错误信息打印
同时修正station.py中对空响应和失败情况的判断逻辑

* refactor(bioyond): 优化瓶架载体的分配逻辑和注释说明

重构瓶架载体的分配逻辑，使用嵌套循环替代硬编码索引分配
添加更详细的坐标映射说明，明确PLR与Bioyond坐标的对应关系

* fix(bioyond_rpc): 修复物料入库成功时无data字段返回空的问题

当API返回成功但无data字段时，返回包含success标识的字典而非空字典

---------

Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com>
Co-authored-by: Junhan Chang <changjh@dp.tech>
 2025-11-15 02:57:48 +08:00
q434343
a599eb70e5 3d sim (#97) 
* 修改lh的json启动

* 修改lh的json启动

* 修改backend，做成sim的通用backend

* 修改yaml的地址，3D模型适配网页生产环境

* 添加laiyu硬件连接

* 修改移液枪的状态判断方法，

修改移液枪的状态判断方法，
添加三轴的表定点与零点之间的转换
添加三轴真实移动的backend

* 修改laiyu移液站

简化移动方法，
取消软件限制位置，
修改当值使用Z轴时也需要重新复位Z轴的问题

* 更新lh以及laiyu workshop

1,现在可以直接通过修改backend，适配其他的移液站，主类依旧使用LiquidHandler，不用重新编写

2,修改枪头判断标准，使用枪头自身判断而不是类的判断，

3,将归零参数用毫米计算，方便手动调整，

4,修改归零方式，上电使用机械归零，确定机械零点，手动归零设置工作区域零点方便计算，二者互不干涉

* 修改枪头动作

* 修改虚拟仿真方法

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Co-authored-by: zhangshixiang <@zhangshixiang>
Co-authored-by: Junhan Chang <changjh@dp.tech>
 2025-11-15 02:50:17 +08:00