Feature/xprbalance-zhida

.gitignore

@@ -246,3 +246,5 @@ local_test2.py
 ros-humble-unilabos-msgs-0.9.13-h6403a04_5.tar.bz2
 *.bz2
 test_config.py
+
+

unilabos-linux-64.yaml

@@ -63,6 +63,9 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   - uni-lab::ros-humble-unilabos-msgs
+  - zeep
+  - jinja2
+  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data

unilabos-osx-64.yaml

@@ -62,6 +62,9 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   - uni-lab::ros-humble-unilabos-msgs
+  - zeep
+  - jinja2
+  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data

unilabos-osx-arm64.yaml

@@ -65,6 +65,9 @@ dependencies:
   # ros-humble-gazebo-ros // ignored because of the conflict with ign-gazebo
   # ilab equipments
   - uni-lab::ros-humble-unilabos-msgs
+  - zeep
+  - jinja2
+  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data

unilabos-win64.yaml

@@ -65,6 +65,9 @@ dependencies:
   - uni-lab::ros-humble-unilabos-msgs
   # driver
   #- crcmod
+  - zeep
+  - jinja2
+  - pprp
   - pip:
       - paho-mqtt
       - opentrons_shared_data

unilabos/devices/balance/__init__.py

@@ -0,0 +1,6 @@
+# Balance devices module
+
+# Import balance device modules
+from . import mettler_toledo_xpr
+
+__all__ = ['mettler_toledo_xpr']

unilabos/devices/balance/mettler_toledo_xpr/MT.Laboratory.Balance.XprXsr.V03.wsdl.template

@@ -0,0 +1,51 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- 
+  WSDL Template for Mettler Toledo XPR/XSR Balance
+
+  IMPORTANT: This is a template file. You need to obtain the actual WSDL file 
+  from Mettler Toledo for your specific balance model.
+
+  To use this driver:
+  1. Contact Mettler Toledo support to obtain the official WSDL file
+  2. Replace this template with the actual WSDL file
+  3. Rename it to: MT.Laboratory.Balance.XprXsr.V03.wsdl
+
+  The WSDL file contains proprietary information and cannot be distributed
+  with this open-source project.
+-->
+<wsdl:definitions xmlns:wsx="http://schemas.xmlsoap.org/ws/2004/09/mex" 
+                  xmlns:wsu="http://docs.oasis-open.org/wss/2004/01/oasis-200401-wss-wssecurity-utility-1.0.xsd" 
+                  xmlns:wsa10="http://www.w3.org/2005/08/addressing" 
+                  xmlns:wsp="http://schemas.xmlsoap.org/ws/2004/09/policy" 
+                  xmlns:wsap="http://schemas.xmlsoap.org/ws/2004/08/addressing/policy" 
+                  xmlns:msc="http://schemas.microsoft.com/ws/2005/12/wsdl/contract" 
+                  xmlns:soap12="http://schemas.xmlsoap.org/wsdl/soap12/" 
+                  xmlns:wsa="http://schemas.xmlsoap.org/ws/2004/08/addressing" 
+                  xmlns:wsam="http://www.w3.org/2007/05/addressing/metadata" 
+                  xmlns:xsd="http://www.w3.org/2001/XMLSchema" 
+                  xmlns:tns="http://MT/Laboratory/Balance/XprXsr/V03" 
+                  xmlns:soap="http://schemas.xmlsoap.org/wsdl/soap/" 
+                  xmlns:wsaw="http://www.w3.org/2006/05/addressing/wsdl" 
+                  xmlns:soapenc="http://schemas.xmlsoap.org/soap/encoding/" 
+                  targetNamespace="http://MT/Laboratory/Balance/XprXsr/V03" 
+                  xmlns:wsdl="http://schemas.xmlsoap.org/wsdl/">
+
+  <!-- 
+    PLACEHOLDER CONTENT
+
+    This template contains only the basic structure.
+    The actual WSDL file should contain:
+    - Service definitions
+    - Port types
+    - Message definitions
+    - Binding information
+    - Endpoint addresses with template variables: {{host}}, {{port}}, {{api_path}}
+  -->
+
+  <wsdl:types>
+    <!-- Schema definitions will be here in the actual WSDL -->
+  </wsdl:types>
+
+  <!-- Service definitions will be here in the actual WSDL -->
+
+</wsdl:definitions>

unilabos/devices/balance/mettler_toledo_xpr/Mettler_Toledo_Balance_ROS2_User_Guide.md

@@ -0,0 +1,255 @@
+# 梅特勒天平 ROS2 使用指南 / Mettler Toledo Balance ROS2 User Guide
+
+## 概述 / Overview
+
+梅特勒托利多XPR/XSR天平驱动支持通过ROS2动作进行操作，包括去皮、清零、读取重量等功能。
+
+The Mettler Toledo XPR/XSR balance driver supports operations through ROS2 actions, including tare, zero, weight reading, and other functions.
+
+## 主要功能 / Main Features
+
+### 1. 去皮操作 / Tare Operation (`tare`)
+
+- **功能 / Function**: 执行天平去皮操作 / Perform balance tare operation
+- **输入 / Input**: `{"immediate": bool}` - 是否立即去皮 / Whether to tare immediately
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 2. 清零操作 / Zero Operation (`zero`)
+
+- **功能 / Function**: 执行天平清零操作 / Perform balance zero operation
+- **输入 / Input**: `{"immediate": bool}` - 是否立即清零 / Whether to zero immediately
+- **输出 / Output**: `{"return_info": str, "success": bool}`
+
+### 3. 读取重量 / Read Weight (`read` / `get_weight`)
+
+- **功能 / Function**: 读取当前天平重量 / Read current balance weight
+- **输入 / Input**: 无参数 / No parameters
+- **输出 / Output**: `{"return_info": str, "success": bool}` - 包含重量信息 / Contains weight information
+
+
+
+## 使用方法 / Usage Methods
+
+### ROS2命令行使用 / ROS2 Command Line Usage
+
+### 1. 去皮操作 / Tare Operation
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+### 2. 清零操作 / Zero Operation
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"zero\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+### 3. 读取重量 / Read Weight
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+
+### 4. 推荐的去皮读取流程 / Recommended Tare and Read Workflow
+
+**步骤1: 去皮操作 / Step 1: Tare Operation**
+```bash
+# 放置空容器后执行去皮 / Execute tare after placing empty container
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"tare\", \"params\": {\"immediate\": false}}'
+}"
+```
+
+**步骤2: 读取净重 / Step 2: Read Net Weight**
+```bash
+# 添加物质后读取净重 / Read net weight after adding substance
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+**优势 / Advantages**:
+- 可以在去皮和读取之间进行确认 / Can confirm between taring and reading
+- 更好的错误处理和调试 / Better error handling and debugging
+- 操作流程更加清晰 / Clearer operation workflow
+
+
+
+## 命令格式说明 / Command Format Description
+
+所有命令都使用JSON格式，包含以下字段 / All commands use JSON format with the following fields：
+
+```json
+{
+  "command": "命令名称 / Command name",
+  "params": {
+    "参数名 / Parameter name": "参数值 / Parameter value"
+  }
+}
+```
+
+**注意事项 / Notes：**
+1. JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
+2. 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
+3. 如果命令不需要参数，可以省略`params`字段 / If command doesn't need parameters, `params` field can be omitted
+
+## 返回结果 / Return Results
+
+所有命令都会返回包含以下字段的结果 / All commands return results with the following fields：
+
+- `success`: 布尔值，表示操作是否成功 / Boolean value indicating operation success
+- `return_info`: 字符串，包含操作结果的详细信息 / String containing detailed operation result information
+
+## 成功执行示例 / Successful Execution Example
+
+以下是一个成功执行读取重量命令的示例 / Here is an example of successfully executing a weight reading command：
+
+```bash
+ros2 action send_goal /devices/BALANCE_STATION/send_cmd unilabos_msgs/action/SendCmd "{
+  command: '{\"command\": \"read\"}'
+}"
+```
+
+**成功返回结果 / Successful Return Result：**
+```
+Waiting for an action server to become available...
+Sending goal:
+     command: '{"command": "read"}'
+
+Goal accepted :)
+
+Result:
+    success: True
+    return_info: Weight: 0.24866 Milligram
+
+Goal finished with status: SUCCEEDED
+```
+
+### Python代码使用 / Python Code Usage
+
+```python
+import rclpy
+from rclpy.node import Node
+from rclpy.action import ActionClient
+from unilabos_msgs.action import SendCmd
+import json
+
+class BalanceController(Node):
+    """梅特勒天平控制器 / Mettler Balance Controller"""
+    def __init__(self):
+        super().__init__('balance_controller')
+        self._action_client = ActionClient(self, SendCmd, '/devices/BALANCE_STATION/send_cmd')
+
+    def send_command(self, command, params=None):
+        """发送命令到天平 / Send command to balance"""
+        goal_msg = SendCmd.Goal()
+
+        cmd_data = {'command': command}
+        if params:
+            cmd_data['params'] = params
+
+        goal_msg.command = json.dumps(cmd_data)
+
+        self._action_client.wait_for_server()
+        future = self._action_client.send_goal_async(goal_msg)
+
+        return future
+
+    def tare_balance(self, immediate=False):
+        """去皮操作 / Tare operation"""
+        return self.send_command('tare', {'immediate': immediate})
+
+    def zero_balance(self, immediate=False):
+        """清零操作 / Zero operation"""
+        return self.send_command('zero', {'immediate': immediate})
+
+    def read_weight(self):
+        """读取重量 / Read weight"""
+        return self.send_command('read')
+
+
+
+
+# 使用示例 / Usage Example
+def main():
+    rclpy.init()
+    controller = BalanceController()
+
+    # 去皮操作 / Tare operation
+    future = controller.tare_balance(immediate=False)
+    rclpy.spin_until_future_complete(controller, future)
+    result = future.result().result
+    print(f"去皮结果 / Tare result: {result.success}, 信息 / Info: {result.return_info}")
+
+    # 读取重量 / Read weight
+    future = controller.read_weight()
+    rclpy.spin_until_future_complete(controller, future)
+    result = future.result().result
+    print(f"读取结果 / Read result: {result.success}, 信息 / Info: {result.return_info}")
+
+    controller.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
+```
+
+## 使用注意事项 / Usage Notes
+
+1. **设备连接 / Device Connection**: 确保梅特勒天平设备已连接并可访问 / Ensure Mettler balance device is connected and accessible
+2. **命令格式 / Command Format**: JSON字符串需要正确转义引号 / JSON strings need proper quote escaping
+3. **参数类型 / Parameter Types**: 布尔值使用小写（true/false）/ Boolean values use lowercase (true/false)
+4. **权限 / Permissions**: 确保有操作天平的权限 / Ensure you have permission to operate the balance
+
+## 故障排除 / Troubleshooting
+
+### 常见问题 / Common Issues
+
+1. **JSON格式错误 / JSON Format Error**: 确保JSON字符串格式正确且引号已转义 / Ensure JSON string format is correct and quotes are escaped
+2. **未知命令名称 / Unknown Command Name**: 检查命令名称是否正确 / Check if command name is correct
+3. **设备连接失败 / Device Connection Failed**: 检查网络连接和设备状态 / Check network connection and device status
+4. **操作超时 / Operation Timeout**: 检查设备是否响应正常 / Check if device is responding normally
+
+### 错误处理 / Error Handling
+
+如果命令执行失败，返回结果中的`success`字段将为`false`，`return_info`字段将包含错误信息。
+
+If command execution fails, the `success` field in the return result will be `false`, and the `return_info` field will contain error information.
+
+### 调试技巧 / Debugging Tips
+
+1. 检查设备节点是否正在运行 / Check if device node is running：
+   ```bash
+   ros2 node list | grep BALANCE
+   ```
+
+2. 查看可用的action / View available actions：
+   ```bash
+   ros2 action list | grep BALANCE
+   ```
+
+3. 检查action接口 / Check action interface：
+   ```bash
+   ros2 action info /devices/BALANCE_STATION/send_cmd
+   ```
+
+4. 查看节点日志 / View node logs：
+   ```bash
+   ros2 topic echo /rosout
+   ```
+
+## 总结 / Summary
+
+梅特勒托利多天平设备现在支持 / Mettler Toledo balance device now supports:
+
+1. 通过ROS2 SendCmd动作进行统一操作 / Unified operations through ROS2 SendCmd actions
+2. 完整的天平功能支持（去皮、清零、读重等）/ Complete balance function support (tare, zero, weight reading, etc.)
+3. 完善的错误处理和日志记录 / Comprehensive error handling and logging
+4. 简化的操作流程和调试方法 / Simplified operation workflow and debugging methods