From be749bd842bcf26cd0073d227984ceafee68f752 Mon Sep 17 00:00:00 2001 From: xiaoyu10031 Date: Thu, 18 Dec 2025 17:23:49 +0800 Subject: [PATCH 1/2] add a virtual printer device --- unilabos/devices/virtual/virtual_printer.py | 100 ++++++++++++ unilabos/registry/devices/virtual_device.yaml | 145 ++++++++++++++++++ 2 files changed, 245 insertions(+) create mode 100644 unilabos/devices/virtual/virtual_printer.py diff --git a/unilabos/devices/virtual/virtual_printer.py b/unilabos/devices/virtual/virtual_printer.py new file mode 100644 index 00000000..080d1a03 --- /dev/null +++ b/unilabos/devices/virtual/virtual_printer.py @@ -0,0 +1,100 @@ +import json +import logging +from datetime import datetime +from typing import Any, Dict, Optional + +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode + + +class VirtualPrinter: + _ros_node: BaseROS2DeviceNode + + 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 "virtual_printer" + self.config = config or {} + + self.logger = logging.getLogger(f"VirtualPrinter.{self.device_id}") + self.data: Dict[str, Any] = {} + + self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL") + self.prefix = self.config.get("prefix") or kwargs.get("prefix", "[VIRTUAL-PRINTER]") + self.pretty = bool(self.config.get("pretty", True)) + + print(f"{self.prefix} created: id={self.device_id}, port={self.port}") + + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + + async def initialize(self) -> bool: + self.data.update( + { + "status": "Idle", + "message": "Ready", + "last_received": None, + "received_count": 0, + } + ) + self.logger.info("Initialized") + return True + + async def cleanup(self) -> bool: + self.data.update({"status": "Offline", "message": "System offline"}) + self.logger.info("Cleaned up") + return False + + async def print_message(self, content: Any = None, **kwargs) -> Dict[str, Any]: + """打印虚拟设备接收到的内容（推荐 action）""" + await self._record_and_print(action="print_message", content=content, kwargs=kwargs) + return {"success": True, "message": "printed", "return_info": "printed"} + + async def receive(self, *args, **kwargs) -> Dict[str, Any]: + payload = {"args": list(args), "kwargs": kwargs} + await self._record_and_print(action="receive", content=payload, kwargs={}) + return {"success": True, "message": "received", "return_info": "received"} + + async def _record_and_print(self, action: str, content: Any, kwargs: Dict[str, Any]) -> None: + ts = datetime.now().isoformat(timespec="seconds") + record = { + "timestamp": ts, + "device_id": self.device_id, + "action": action, + "content": content, + "kwargs": kwargs, + } + + self.data["last_received"] = record + self.data["received_count"] = int(self.data.get("received_count", 0)) + 1 + self.data["status"] = "Idle" + self.data["message"] = f"Last action: {action} @ {ts}" + + if self.pretty: + try: + txt = json.dumps(record, ensure_ascii=False, indent=2, default=str) + except Exception: + txt = str(record) + else: + txt = str(record) + + print(f"{self.prefix} received:\n{txt}") + self.logger.info("Received: %s", record) + + @property + def status(self) -> str: + return self.data.get("status", "Unknown") + + @property + def message(self) -> str: + return self.data.get("message", "") + + @property + def last_received(self) -> Any: + return self.data.get("last_received") + + @property + def received_count(self) -> int: + return int(self.data.get("received_count", 0)) \ No newline at end of file diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 77ac5336..2e0b0941 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -5792,3 +5792,148 @@ virtual_vacuum_pump: - status type: object version: 1.0.0 +virtual_printer: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: cleanup的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: cleanup参数 + type: object + type: UniLabJsonCommandAsync + auto-initialize: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + print_message: + feedback: {} + goal: + content: content + goal_default: + content: null + handles: {} + result: + return_info: message + success: success + schema: + description: 打印虚拟设备接收到的内容 + properties: + feedback: + properties: {} + required: [] + title: PrintMessage_Feedback + type: object + goal: + properties: + content: {} + required: + - content + title: PrintMessage_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - success + - return_info + title: PrintMessage_Result + type: object + required: + - goal + title: PrintMessage + type: object + type: UniLabJsonCommandAsync + module: unilabos.devices.virtual.virtual_printer:VirtualPrinter + status_types: + last_received: dict + message: str + received_count: int + status: str + type: python + config_info: [] + description: Virtual Printer device for debugging (prints received payload) + handles: [] + icon: '' + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + last_received: + type: object + message: + type: string + received_count: + type: integer + status: + type: string + required: + - status \ No newline at end of file From a84c6903f3c89c4f0301418356af575e9ba99839 Mon Sep 17 00:00:00 2001 From: Harvey Date: Thu, 18 Dec 2025 18:10:55 +0800 Subject: [PATCH 2/2] Add virtual printer device configuration and mock data --- test/mock/laiyu.json | 21 ++ test/mock/mock.json | 24 ++ unilabos/registry/devices/laiyu_liquid.yaml | 11 +- unilabos/registry/devices/liquid_handler.yaml | 33 +- unilabos/registry/devices/virtual_device.yaml | 291 +++++++++--------- 5 files changed, 219 insertions(+), 161 deletions(-) create mode 100644 test/mock/laiyu.json create mode 100644 test/mock/mock.json diff --git a/test/mock/laiyu.json b/test/mock/laiyu.json new file mode 100644 index 00000000..befca9de --- /dev/null +++ b/test/mock/laiyu.json @@ -0,0 +1,21 @@ +{ + "nodes": [ + { + "id": "xyz_and_pipette", + "name": "laiyu_liquid xyz and pipette", + "children": [], + "parent": "", + "type": "device", + "class": "xyz_pipette_device", + "position": { + "x": 450, + "y": 450, + "z": 0 + }, + "config": { + "port": "/dev/ttyUSB0" + } + } + ], + "links": [] +} \ No newline at end of file diff --git a/test/mock/mock.json b/test/mock/mock.json new file mode 100644 index 00000000..fce9195f --- /dev/null +++ b/test/mock/mock.json @@ -0,0 +1,24 @@ +{ + "nodes": [ + { + "id": "virtual_printer_device", + "name": "虚拟打印设备", + "children": [], + "parent": "", + "type": "device", + "class": "virtual_printer", + "position": { + "x": 600, + "y": 450, + "z": 0 + }, + "config": { + "host_id": "demo-host", + "port": "VIRTUAL", + "prefix": "[VIRTUAL-PRINTER]", + "pretty": true + } + } + ], + "links": [] +} diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml index 64c0c182..98201a7d 100644 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ b/unilabos/registry/devices/laiyu_liquid.yaml @@ -1361,7 +1361,8 @@ laiyu_liquid: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -1491,9 +1492,11 @@ laiyu_liquid: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index fdfb6b5c..ec49db17 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -4019,7 +4019,8 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -4175,9 +4176,11 @@ liquid_handler: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -5037,7 +5040,8 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -5180,9 +5184,11 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -9261,7 +9267,8 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -9417,9 +9424,11 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/virtual_device.yaml b/unilabos/registry/devices/virtual_device.yaml index 2e0b0941..4d632e91 100644 --- a/unilabos/registry/devices/virtual_device.yaml +++ b/unilabos/registry/devices/virtual_device.yaml @@ -2411,6 +2411,152 @@ virtual_multiway_valve: - flow_path type: object version: 1.0.0 +virtual_printer: + category: + - virtual_device + class: + action_value_mappings: + auto-cleanup: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: cleanup的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: cleanup参数 + type: object + type: UniLabJsonCommandAsync + auto-initialize: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: initialize的参数schema + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: initialize参数 + type: object + type: UniLabJsonCommandAsync + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + print_message: + feedback: {} + goal: + content: content + goal_default: + content: null + handles: {} + result: + return_info: message + success: success + schema: + description: 打印虚拟设备接收到的内容 + properties: + feedback: + properties: {} + required: [] + title: PrintMessage_Feedback + type: object + goal: + properties: + content: {} + required: + - content + title: PrintMessage_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - success + - return_info + title: PrintMessage_Result + type: object + required: + - goal + title: PrintMessage + type: object + type: UniLabJsonCommandAsync + module: unilabos.devices.virtual.virtual_printer:VirtualPrinter + status_types: + last_received: dict + message: str + received_count: int + status: str + type: python + config_info: [] + description: Virtual Printer device for debugging (prints received payload) + handles: [] + icon: '' + init_param_schema: + config: + properties: + config: + type: object + device_id: + type: string + required: [] + type: object + data: + properties: + last_received: + type: object + message: + type: string + received_count: + type: integer + status: + type: string + required: + - status + version: 1.0.0 virtual_rotavap: category: - virtual_device @@ -5792,148 +5938,3 @@ virtual_vacuum_pump: - status type: object version: 1.0.0 -virtual_printer: - category: - - virtual_device - class: - action_value_mappings: - auto-cleanup: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: cleanup的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: cleanup参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: initialize的参数schema - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: initialize参数 - type: object - type: UniLabJsonCommandAsync - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - print_message: - feedback: {} - goal: - content: content - goal_default: - content: null - handles: {} - result: - return_info: message - success: success - schema: - description: 打印虚拟设备接收到的内容 - properties: - feedback: - properties: {} - required: [] - title: PrintMessage_Feedback - type: object - goal: - properties: - content: {} - required: - - content - title: PrintMessage_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - success - - return_info - title: PrintMessage_Result - type: object - required: - - goal - title: PrintMessage - type: object - type: UniLabJsonCommandAsync - module: unilabos.devices.virtual.virtual_printer:VirtualPrinter - status_types: - last_received: dict - message: str - received_count: int - status: str - type: python - config_info: [] - description: Virtual Printer device for debugging (prints received payload) - handles: [] - icon: '' - init_param_schema: - config: - properties: - config: - type: object - device_id: - type: string - required: [] - type: object - data: - properties: - last_received: - type: object - message: - type: string - received_count: - type: integer - status: - type: string - required: - - status \ No newline at end of file