Visualizer Update v1.0 #864
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multi-channel wip, integrated arm wip
previously described as "modules" but there are so many meaning of modules and it has no self-explaining connotation
…zation - LiquidHandler: replace single `_resource_pickup` with `_resource_pickups` dict keyed by arm index, with backward-compatible property for arm 0 - LiquidHandler: only create head96 trackers when `core96_head_installed` is True - LiquidHandler: serialize head96_state and arm_state (resource name, type, direction, dimensions) for downstream consumers (e.g. visualizer) - LiquidHandler: register _state_updated callback on head/head96 trackers, and fire it on pick_up_resource / drop_resource - LiquidHandler: guard pick_up_resource with RuntimeError if no arm installed - Backends: add `num_arms` attribute to STARBackend, ChatterboxBackend, STARChatterboxBackend (configurable `iswap_installed` param) - TipTracker: propagate state-update callback to tip's volume tracker on commit() Co-Authored-By: Claude Opus 4.5 <noreply@anthropic.com>
…robot into pr/multi-arm-head96
Resource names flow from the Python backend into innerHTML, allowing vectors like <img src=x onerror=...> to execute arbitrary JS. Use textContent + DOM element creation instead. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
_handle_state_update_callback wrote to _pending_state_updates from arbitrary threads while _flush_state_updates read it on the event loop. This could lose updates when a thread wrote to the dict between the flush clearing it and resetting _flush_scheduled. Move all dict writes onto the event loop via call_soon_threadsafe so both enqueue and flush are single-threaded. Preserves batching behavior. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
set_state was calling buildResourceTree() which destroys and recreates the entire sidebar DOM on every state change (e.g. a single well volume update). Use the existing updateSidepanelState() for each changed resource instead, which does a targeted DOM update via querySelector. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
setup() was globally enabling tip and volume tracking, silently overriding user settings. This is the caller's responsibility. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
inspect.signature was called for every method of every resource instance. For a 96-well plate that's 97 × ~50 calls. Take the class as argument instead and cache with lru_cache since all instances share the same methods. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
The string-replace approach (': Infinity' -> ': "Infinity"') could
false-positive on resource names containing that substring. Use
allow_nan=False with a custom default handler instead.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
The allow_nan=False + default handler approach doesn't work because
float('inf') is a native float type — json raises ValueError before
the default handler is ever called. Revert to the original string
replacement which handles this correctly.
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
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Pull request overview
Updates the PyLabRobot Visualizer UI and backend event/serialization to support a richer interface (toolbars/sidepanel, source name + favicon, actuator panels) and reduce UI churn by batching state updates.
Changes:
- Enrich resource serialization with public method signatures and recursively serialized children.
- Add configurable visualizer header name/favicon and an optional “show actuators at start” event.
- Update JS/HTML/CSS for a revamped layout (toolbars, sidepanel/tree, zoom controls) and more defensive state handling.
Reviewed changes
Copilot reviewed 5 out of 10 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
| pylabrobot/visualizer/visualizer_tests.py | Updates tests to match new serialization helper and additional startup event. |
| pylabrobot/visualizer/visualizer.py | Adds method-enriched serialization, UI metadata injection (name/favicon), actuator startup event, and batched state updates. |
| pylabrobot/visualizer/vis.js | Updates root rendering workflow, sidepanel/tree updates, snapshots on unassign, and handles new show_actuators event. |
| pylabrobot/visualizer/main.css | Major UI styling additions for new navbar/toolbars/sidepanel and overlays. |
| pylabrobot/visualizer/index.html | Adds favicon link, cache-busting query params, new toolbar/sidepanel layout, and new UI panels/controls. |
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