注册表自动补全 & Action自动注册

test/experiments/camera.json

@@ -0,0 +1,45 @@
+{
+    "nodes": [
+        {
+            "id": "Camera",
+            "name": "摄像头",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "camera",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+                "camera_index": 0,
+                "period": 0.05
+            },
+            "data": {
+            }
+        },
+        {
+            "id": "Gripper1",
+            "name": "假夹爪",
+            "children": [
+            ],
+            "parent": null,
+            "type": "device",
+            "class": "gripper.mock",
+            "position": {
+                "x": 0,
+                "y": 0,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {
+            }
+        }
+    ],
+    "links": [
+
+    ]
+}

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -680,7 +680,7 @@
             "type": "fluid",
             "port": {
                 "multiway_valve_1": "5",
-                "rotavap_1": "sample_in"
+                "rotavap_1": "samplein"
             }
         },
         {
@@ -770,7 +770,7 @@
             "type": "transport",
             "port": {
                 "multiway_valve_2": "4",
-                "filter_1": "filter_in"
+                "filter_1": "filterin"
             }
         },
         {
@@ -800,7 +800,7 @@
             "type": "fluid",
             "port": {
                 "multiway_valve_2": "6",
-                "separator_1": "separator_in"
+                "separator_1": "separatorin"
             }
         },
         {
@@ -809,7 +809,7 @@
             "target": "collection_bottle_3",
             "type": "fluid",
             "port": {
-                "separator_1": "bottom_phase_out",
+                "separator_1": "bottomphaseout",
                 "collection_bottle_3": "top"
             }
         },
@@ -859,7 +859,7 @@
             "target": "waste_bottle_2",
             "type": "fluid",
             "port": {
-                "separator_1": "top_phase_out",
+                "separator_1": "topphaseout",
                 "waste_bottle_2": "top"
             }
         },
@@ -879,7 +879,7 @@
         "target": "collection_bottle_1",
         "type": "transport",
         "port": {
-            "filter_1": "filtrate_out",
+            "filter_1": "filtrateout",
             "collection_bottle_1": "top"
         }
         },
@@ -889,7 +889,7 @@
             "target": "waste_bottle_1",
             "type": "transport",
             "port": {
-                "filter_1": "retentate_out",
+                "filter_1": "retentateout",
                 "waste_bottle_1": "top"
             }
         }

unilabos-linux-64.yaml

@@ -48,8 +48,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit

unilabos-osx-arm64.yaml

@@ -50,8 +50,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit

unilabos-win64.yaml

@@ -6,12 +6,12 @@ channels:
 dependencies:
   # Basics
   - python=3.11.11
-  - compilers
-  - cmake
-  - make
-  - ninja
-  - sphinx
-  - sphinx_rtd_theme
+  # - compilers
+  # - cmake
+  # - make
+  # - ninja
+  # - sphinx
+  # - sphinx_rtd_theme
   # Data Visualization
   - numpy
   - scipy
@@ -23,7 +23,7 @@ dependencies:
   - pyserial
   - pyusb
   - pylibftdi
-  - pymodbus
+  - pymodbus==3.6.9
   - python-can
   - pyvisa
   - opencv
@@ -48,8 +48,9 @@ dependencies:
   - ros-humble-ros2-control
   - ros-humble-robot-state-publisher
   - ros-humble-joint-state-publisher
-  # web
+  # web and visualization
   - ros-humble-rosbridge-server
+  - ros-humble-cv-bridge
   # geometry & motion planning
   - ros-humble-tf2
   - ros-humble-moveit
@@ -61,5 +62,12 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   # ros-humble-unilabos-msgs
+  # driver
+  #- crcmod
   - pip:
-      - paho-mqtt
+      - paho-mqtt
+      # driver
+      #- ur-rtde  # set PYTHONUTF8=1
+      #- pyautogui
+      #- pywinauto
+      #- pywinauto_recorder

unilabos/app/controler.py

@@ -25,12 +25,13 @@ def job_add(req: JobAddReq) -> JobData:
     if req.job_id is None:
         req.job_id = str(uuid.uuid4())
     action_name = req.data["action"]
-    action_kwargs = req.data["action_kwargs"]
-    req.data['action'] = action_name
-    if action_name == "execute_command_from_outer":
-        action_kwargs = {"command": json.dumps(action_kwargs)}
-    elif "command" in action_kwargs:
-        action_kwargs = action_kwargs["command"]
+    action_type = req.data.get("action_type", "LocalUnknown")
+    action_args = req.data.get("action_kwargs", None)  # 兼容老版本，后续删除
+    if action_args is None:
+        action_args = req.data.get("action_args")
+    else:
+        if "command" in action_args:
+            action_args = action_args["command"]
     # print(f"job_add:{req.device_id} {action_name} {action_kwargs}")
-    HostNode.get_instance().send_goal(req.device_id, action_name=action_name, action_kwargs=action_kwargs, goal_uuid=req.job_id, server_info=req.server_info)
+    HostNode.get_instance().send_goal(req.device_id, action_type=action_type, action_name=action_name, action_kwargs=action_args, goal_uuid=req.job_id, server_info=req.server_info)
     return JobData(jobId=req.job_id)

unilabos/app/register.py

@@ -34,7 +34,7 @@ def main():
     """
     parser = argparse.ArgumentParser(description="注册设备和资源到 MQTT")
     parser.add_argument(
-        "--registry_path",
+        "--registry",
         type=str,
         default=None,
         action="append",
@@ -46,10 +46,16 @@ def main():
         default=None,
         help="配置文件路径，支持.py格式的Python配置文件",
     )
+    parser.add_argument(
+        "--complete_registry",
+        action="store_true",
+        default=False,
+        help="是否补全注册表",
+    )
     args = parser.parse_args()
 
     # 构建注册表
-    build_registry(args.registry_path)
+    build_registry(args.registry, args.complete_registry)
     load_config_from_file(args.config)
 
     from unilabos.app.mq import mqtt_client

unilabos/app/web/pages.py

@@ -7,6 +7,7 @@
 import json
 import os
 import sys
+import traceback
 from pathlib import Path
 from typing import Dict
 
@@ -17,7 +18,7 @@
 from unilabos.config.config import BasicConfig
 from unilabos.registry.registry import lab_registry
 from unilabos.ros.msgs.message_converter import msg_converter_manager
-from unilabos.utils.log import error
+from unilabos.utils.log import error, debug
 from unilabos.utils.type_check import TypeEncoder
 from unilabos.app.web.utils.device_utils import get_registry_info
 from unilabos.app.web.utils.host_utils import get_host_node_info
@@ -123,6 +124,7 @@ async def status_page() -> str:
 
             return html
         except Exception as e:
+            debug(traceback.format_exc())
             error(f"生成状态页面时出错: {str(e)}")
             raise HTTPException(status_code=500, detail=f"Error generating status page: {str(e)}")
 

unilabos/app/web/utils/action_utils.py

@@ -65,6 +65,8 @@ def get_yaml_from_goal_type(goal_type) -> str:
     Returns:
         str: 默认Goal参数的YAML格式字符串
     """
+    if isinstance(goal_type, str):
+        return "{}"
     if not goal_type:
         return "{}"