ci(deps): bump actions/upload-pages-artifact from 4 to 5

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

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

Signed-off-by: dependabot[bot] <support@github.com>

.conda/base/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos
-  version: 0.11.1
+  version: 0.10.19
 
 source:
   path: ../../unilabos
@@ -54,7 +54,7 @@ requirements:
   - pymodbus
   - matplotlib
   - pylibftdi
-  - uni-lab::unilabos-env ==0.11.1
+  - uni-lab::unilabos-env ==0.10.19
 
 about:
   repository: https://github.com/deepmodeling/Uni-Lab-OS

.conda/environment/recipe.yaml

@@ -2,7 +2,7 @@
 
 package:
   name: unilabos-env
-  version: 0.11.1
+  version: 0.10.19
 
 build:
   noarch: generic

.conda/full/recipe.yaml

@@ -3,7 +3,7 @@
 
 package:
   name: unilabos-full
-  version: 0.11.1
+  version: 0.10.19
 
 build:
   noarch: generic
@@ -11,7 +11,7 @@ build:
 requirements:
   run:
   # Base unilabos package (includes unilabos-env)
-  - uni-lab::unilabos ==0.11.1
+  - uni-lab::unilabos ==0.10.19
   # Documentation tools
   - sphinx
   - sphinx_rtd_theme

.github/workflows/deploy-docs.yml

@@ -105,7 +105,7 @@ jobs:
           test -f docs/_build/html/index.html && echo "✓ index.html exists" || echo "✗ index.html missing"
 
       - name: Upload build artifacts
-        uses: actions/upload-pages-artifact@v4
+        uses: actions/upload-pages-artifact@v5
         if: |
           github.event.workflow_run.head_branch == 'main' ||
           (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_pages == 'true')

recipes/msgs/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: ros-humble-unilabos-msgs
-  version: 0.11.1
+  version: 0.10.19
 source:
   path: ../../unilabos_msgs
   target_directory: src

recipes/unilabos/recipe.yaml

@@ -1,6 +1,6 @@
 package:
   name: unilabos
-  version: "0.11.1"
+  version: "0.10.19"
 
 source:
   path: ../..

setup.py

@@ -4,7 +4,7 @@ package_name = 'unilabos'
 
 setup(
     name=package_name,
-    version='0.11.1',
+    version='0.10.19',
     packages=find_packages(),
     include_package_data=True,
     install_requires=['setuptools'],

unilabos/__init__.py

@@ -1 +1 @@
-__version__ = "0.11.1"
+__version__ = "0.10.19"

unilabos/app/main.py

@@ -12,15 +12,6 @@ from typing import Dict, Any, List
 import networkx as nx
 import yaml
 
-# Windows 中文系统 stdout 默认 GBK，无法编码 banner / emoji 日志中的 Unicode 字符
-# 强制 stdout/stderr 用 UTF-8，避免 print 触发 UnicodeEncodeError 导致进程崩溃
-if sys.platform == "win32":
-    for _stream in (sys.stdout, sys.stderr):
-        try:
-            _stream.reconfigure(encoding="utf-8", errors="replace")  # type: ignore[attr-defined]
-        except (AttributeError, OSError):
-            pass
-
 # 首先添加项目根目录到路径
 current_dir = os.path.dirname(os.path.abspath(__file__))
 unilabos_dir = os.path.dirname(os.path.dirname(current_dir))

unilabos/devices/virtual/virtual_multiway_valve.py

@@ -2,8 +2,6 @@ import time
 import logging
 from typing import Union, Dict, Optional
 
-from unilabos.registry.decorators import topic_config
-
 
 class VirtualMultiwayValve:
     """
@@ -43,11 +41,13 @@ class VirtualMultiwayValve:
     def target_position(self) -> int:
         return self._target_position
 
-    @property
-    @topic_config()
-    def current_port(self) -> str:
-        """当前连接的端口名称 🔌"""
-        return self.port
+    def get_current_position(self) -> int:
+        """获取当前阀门位置 📍"""
+        return self._current_position
+
+    def get_current_port(self) -> str:
+        """获取当前连接的端口名称 🔌"""
+        return self._current_position
 
     def set_position(self, command: Union[int, str]):
         """
@@ -169,14 +169,12 @@ class VirtualMultiwayValve:
         self._status = "Idle"
         self._valve_state = "Closed"
         
-        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.port})"
+        close_msg = f"🔒 阀门已关闭，保持在位置 {self._current_position} ({self.get_current_port()})"
         self.logger.info(close_msg)
         return close_msg
 
-    @property
-    @topic_config()
-    def valve_position(self) -> int:
-        """阀门位置 📍"""
+    def get_valve_position(self) -> int:
+        """获取阀门位置 - 兼容性方法 📍"""
         return self._current_position
 
     def set_valve_position(self, command: Union[int, str]):
@@ -231,16 +229,19 @@ class VirtualMultiwayValve:
             self.logger.info(f"🔄 从端口 {self._current_position} 切换到泵位置...")
             return self.set_to_pump_position()
 
-    @property
-    @topic_config()
-    def flow_path(self) -> str:
-        """当前流路路径描述 🌊"""
+    def get_flow_path(self) -> str:
+        """获取当前流路路径描述 🌊"""
+        current_port = self.get_current_port()
         if self._current_position == 0:
-            return f"🚰 转移泵已连接 (位置 {self._current_position})"
-        return f"🔌 端口 {self._current_position} 已连接 ({self.current_port})"
+            flow_path = f"🚰 转移泵已连接 (位置 {self._current_position})"
+        else:
+            flow_path = f"🔌 端口 {self._current_position} 已连接 ({current_port})"
+        
+        # 删除debug日志：self.logger.debug(f"🌊 当前流路: {flow_path}")
+        return flow_path
 
     def __str__(self):
-        current_port = self.current_port
+        current_port = self.get_current_port()
         status_emoji = "✅" if self._status == "Idle" else "🔄" if self._status == "Busy" else "❌"
         
         return f"🔄 VirtualMultiwayValve({status_emoji} 位置: {self._current_position}/{self.max_positions}, 端口: {current_port}, 状态: {self._status})"
@@ -252,7 +253,7 @@ if __name__ == "__main__":
     
     print("🔄 === 虚拟九通阀门测试 === ✨")
     print(f"🏠 初始状态: {valve}")
-    print(f"🌊 当前流路: {valve.flow_path}")
+    print(f"🌊 当前流路: {valve.get_flow_path()}")
     
     # 切换到试剂瓶1（1号位）
     print(f"\n🔌 切换到1号位: {valve.set_position(1)}")

unilabos/devices/virtual/virtual_stirrer.py

@@ -3,7 +3,6 @@ import logging
 import time as time_module
 from typing import Dict, Any
 
-from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 class VirtualStirrer:
@@ -315,11 +314,9 @@ class VirtualStirrer:
     def min_speed(self) -> float:
         return self._min_speed
     
-    @property
-    @topic_config()
-    def device_info(self) -> Dict[str, Any]:
-        """设备状态快照信息 📊"""
-        return {
+    def get_device_info(self) -> Dict[str, Any]:
+        """获取设备状态信息 📊"""
+        info = {
             "device_id": self.device_id,
             "status": self.status,
             "operation_mode": self.operation_mode,
@@ -328,9 +325,12 @@ class VirtualStirrer:
             "is_stirring": self.is_stirring,
             "remaining_time": self.remaining_time,
             "max_speed": self._max_speed,
-            "min_speed": self._min_speed,
+            "min_speed": self._min_speed
         }
-
+        
+        # self.logger.debug(f"📊 设备信息: 模式={self.operation_mode}, 速度={self.current_speed} RPM, 搅拌={self.is_stirring}")
+        return info
+    
     def __str__(self):
         status_emoji = "✅" if self.operation_mode == "Idle" else "🌪️" if self.operation_mode == "Stirring" else "🛑" if self.operation_mode == "Settling" else "❌"
         return f"🌪️ VirtualStirrer({status_emoji} {self.device_id}: {self.operation_mode}, {self.current_speed} RPM)"

unilabos/devices/virtual/virtual_transferpump.py

@@ -4,7 +4,6 @@ from enum import Enum
 from typing import Union, Optional
 import logging
 
-from unilabos.registry.decorators import topic_config
 from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
 
 
@@ -386,10 +385,8 @@ class VirtualTransferPump:
         """获取当前体积"""
         return self._current_volume
 
-    @property
-    @topic_config()
-    def remaining_capacity(self) -> float:
-        """剩余容量 (ml)"""
+    def get_remaining_capacity(self) -> float:
+        """获取剩余容量"""
         return self.max_volume - self._current_volume
 
     def is_empty(self) -> bool:

unilabos/registry/devices/virtual_device.yaml

@@ -3960,14 +3960,6 @@ virtual_separator:
     io_type: source
     label: bottom_phase_out
     side: SOUTH
-  - data_key: top_outlet
-    data_source: executor
-    data_type: fluid
-    description: 上相（轻相）液体输出口
-    handler_key: topphaseout
-    io_type: source
-    label: top_phase_out
-    side: NORTH
   - data_key: mechanical_port
     data_source: handle
     data_type: mechanical

unilabos/ros/nodes/base_device_node.py

@@ -1971,15 +1971,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
 
         mapped_plr_resources = []
         for uuid in uuids_list:
-            found = None
             for plr_resource in figured_resources:
                 r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
-                if r is not None:
-                    found = r
-                    break
-            if found is None:
-                raise Exception(f"未能在已解析的资源树中找到 uuid={uuid} 对应的资源")
-            mapped_plr_resources.append(found)
+                mapped_plr_resources.append(r)
+                break
 
         return mapped_plr_resources
 

unilabos/utils/environment_check.py

@@ -188,13 +188,7 @@ class EnvironmentChecker:
             "crcmod": "crcmod-plus",
         }
 
-        # 中文 locale 下走 Gitee 镜像，规避 GitHub 拉取失败
-        pylabrobot_url = (
-            "git+https://gitee.com/xuwznln/pylabrobot.git"
-            if _is_chinese_locale()
-            else "git+https://github.com/Xuwznln/pylabrobot.git"
-        )
-        self.special_packages = {"pylabrobot": pylabrobot_url}
+        self.special_packages = {"pylabrobot": "git+https://github.com/Xuwznln/pylabrobot.git"}
 
         self.version_requirements = {
             "msgcenterpy": "0.1.8",

unilabos_msgs/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>unilabos_msgs</name>
-  <version>0.11.1</version>
+  <version>0.10.19</version>
   <description>ROS2 Messages package for unilabos devices</description>
   <maintainer email="changjh@pku.edu.cn">Junhan Chang</maintainer>
   <maintainer email="18435084+Xuwznln@users.noreply.github.com">Xuwznln</maintainer>