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Merge branch 'workstation_dev_YB3' into workstation_dev_YB3

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This commit is contained in:
Calvin Cao
2025-11-08 15:21:25 +08:00
committed by GitHub
parent 45a778b928 c44ae32070
commit 04004c9b6f
34 changed files with 1344 additions and 881 deletions
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33
test/registry/example_devices.py
View File

@@ -3,7 +3,8 @@
""" """
import asyncio import asyncio
from typing import Dict, Any, Optional, List from typing import Dict, Any, List
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class SmartPumpController: class SmartPumpController:
@@ -14,6 +15,8 @@ class SmartPumpController:
适用于实验室自动化系统中的液体处理任务。 适用于实验室自动化系统中的液体处理任务。
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"): def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"):
""" """
初始化智能泵控制器 初始化智能泵控制器
@@ -30,6 +33,9 @@ class SmartPumpController:
self.calibration_factor = 1.0 self.calibration_factor = 1.0
self.pump_mode = "continuous" # continuous, volume, rate self.pump_mode = "continuous" # continuous, volume, rate
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def connect_device(self, timeout: int = 10) -> bool: def connect_device(self, timeout: int = 10) -> bool:
""" """
连接到泵设备 连接到泵设备
@@ -90,7 +96,7 @@ class SmartPumpController:
pump_time = (volume / flow_rate) * 60 # 转换为秒 pump_time = (volume / flow_rate) * 60 # 转换为秒
self.current_flow_rate = flow_rate self.current_flow_rate = flow_rate
await asyncio.sleep(min(pump_time, 3.0)) # 模拟泵送过程 await self._ros_node.sleep(min(pump_time, 3.0)) # 模拟泵送过程
self.total_volume_pumped += volume self.total_volume_pumped += volume
self.current_flow_rate = 0.0 self.current_flow_rate = 0.0
@@ -170,6 +176,8 @@ class AdvancedTemperatureController:
适用于需要精确温度控制的化学反应和材料处理过程。 适用于需要精确温度控制的化学反应和材料处理过程。
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, controller_id: str = "temp_controller_01"): def __init__(self, controller_id: str = "temp_controller_01"):
""" """
初始化温度控制器 初始化温度控制器
@@ -185,6 +193,9 @@ class AdvancedTemperatureController:
self.pid_enabled = True self.pid_enabled = True
self.temperature_history: List[Dict] = [] self.temperature_history: List[Dict] = []
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool: def set_target_temperature(self, temperature: float, rate: float = 10.0) -> bool:
""" """
设置目标温度 设置目标温度
@@ -238,7 +249,7 @@ class AdvancedTemperatureController:
} }
) )
await asyncio.sleep(step_time) await self._ros_node.sleep(step_time)
# 保持历史记录不超过100条 # 保持历史记录不超过100条
if len(self.temperature_history) > 100: if len(self.temperature_history) > 100:
@@ -330,6 +341,8 @@ class MultiChannelAnalyzer:
常用于光谱分析、电化学测量等应用场景。 常用于光谱分析、电化学测量等应用场景。
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8): def __init__(self, analyzer_id: str = "analyzer_01", channels: int = 8):
""" """
初始化多通道分析仪 初始化多通道分析仪
@@ -344,6 +357,9 @@ class MultiChannelAnalyzer:
self.is_measuring = False self.is_measuring = False
self.sample_rate = 1000 # Hz self.sample_rate = 1000 # Hz
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool: def configure_channel(self, channel: int, enabled: bool = True, unit: str = "V") -> bool:
""" """
配置通道 配置通道
@@ -376,7 +392,7 @@ class MultiChannelAnalyzer:
# 模拟数据采集 # 模拟数据采集
measurements = [] measurements = []
for second in range(duration): for _ in range(duration):
timestamp = asyncio.get_event_loop().time() timestamp = asyncio.get_event_loop().time()
frame_data = {} frame_data = {}
@@ -391,7 +407,7 @@ class MultiChannelAnalyzer:
measurements.append({"timestamp": timestamp, "data": frame_data}) measurements.append({"timestamp": timestamp, "data": frame_data})
await asyncio.sleep(1.0) # 每秒采集一次 await self._ros_node.sleep(1.0) # 每秒采集一次
self.is_measuring = False self.is_measuring = False
@@ -465,6 +481,8 @@ class AutomatedDispenser:
集成称重功能，确保分配精度和重现性。 集成称重功能，确保分配精度和重现性。
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, dispenser_id: str = "dispenser_01"): def __init__(self, dispenser_id: str = "dispenser_01"):
""" """
初始化自动分配器 初始化自动分配器
@@ -479,6 +497,9 @@ class AutomatedDispenser:
self.container_capacity = 1000.0 # mL self.container_capacity = 1000.0 # mL
self.precision_mode = True self.precision_mode = True
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def move_to_position(self, x: float, y: float, z: float) -> bool: def move_to_position(self, x: float, y: float, z: float) -> bool:
""" """
移动到指定位置 移动到指定位置
@@ -517,7 +538,7 @@ class AutomatedDispenser:
if viscosity == "high": if viscosity == "high":
dispense_time *= 2 # 高粘度液体需要更长时间 dispense_time *= 2 # 高粘度液体需要更长时间
await asyncio.sleep(min(dispense_time, 5.0)) # 最多等待5秒 await self._ros_node.sleep(min(dispense_time, 5.0)) # 最多等待5秒
self.dispensed_total += volume self.dispensed_total += volume

4
unilabos/app/backend.py
View File

@@ -13,7 +13,7 @@ def start_backend(
graph=None, graph=None,
controllers_config: dict = {}, controllers_config: dict = {},
bridges=[], bridges=[],
without_host: bool = False, is_slave: bool = False,
visual: str = "None", visual: str = "None",
resources_mesh_config: dict = {}, resources_mesh_config: dict = {},
**kwargs, **kwargs,
@@ -32,7 +32,7 @@ def start_backend(
raise ValueError(f"Unsupported backend: {backend}") raise ValueError(f"Unsupported backend: {backend}")
backend_thread = threading.Thread( backend_thread = threading.Thread(
target=main if not without_host else slave, target=main if not is_slave else slave,
args=( args=(
devices_config, devices_config,
resources_config, resources_config,

25
unilabos/app/main.py
View File

@@ -375,22 +375,23 @@ def main():
args_dict["bridges"] = [] args_dict["bridges"] = []
# 获取通信客户端（仅支持WebSocket）
comm_client = get_communication_client()
if "websocket" in args_dict["app_bridges"]:
args_dict["bridges"].append(comm_client)
if "fastapi" in args_dict["app_bridges"]: if "fastapi" in args_dict["app_bridges"]:
args_dict["bridges"].append(http_client) args_dict["bridges"].append(http_client)
if "websocket" in args_dict["app_bridges"]: # 获取通信客户端（仅支持WebSocket）
if BasicConfig.is_host_mode:
comm_client = get_communication_client()
if "websocket" in args_dict["app_bridges"]:
args_dict["bridges"].append(comm_client)
def _exit(signum, frame):
comm_client.stop()
sys.exit(0)
def _exit(signum, frame): signal.signal(signal.SIGINT, _exit)
comm_client.stop() signal.signal(signal.SIGTERM, _exit)
sys.exit(0) comm_client.start()
else:
print_status("SlaveMode跳过Websocket连接")
signal.signal(signal.SIGINT, _exit)
signal.signal(signal.SIGTERM, _exit)
comm_client.start()
args_dict["resources_mesh_config"] = {} args_dict["resources_mesh_config"] = {}
args_dict["resources_edge_config"] = resource_edge_info args_dict["resources_edge_config"] = resource_edge_info
# web visiualize 2D # web visiualize 2D

5
unilabos/app/register.py
View File

@@ -1,11 +1,12 @@
import json import json
import time import time
from typing import Optional, Tuple, Dict, Any
from unilabos.utils.log import logger from unilabos.utils.log import logger
from unilabos.utils.type_check import TypeEncoder from unilabos.utils.type_check import TypeEncoder
def register_devices_and_resources(lab_registry): def register_devices_and_resources(lab_registry, gather_only=False) -> Optional[Tuple[Dict[str, Any], Dict[str, Any]]]:
""" """
注册设备和资源到服务器（仅支持HTTP） 注册设备和资源到服务器（仅支持HTTP）
""" """
@@ -28,6 +29,8 @@ def register_devices_and_resources(lab_registry):
resources_to_register[resource_info["id"]] = resource_info resources_to_register[resource_info["id"]] = resource_info
logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}") logger.debug(f"[UniLab Register] 收集资源: {resource_info['id']}")
if gather_only:
return devices_to_register, resources_to_register
# 注册设备 # 注册设备
if devices_to_register: if devices_to_register:
try: try:

11
unilabos/devices/cnc/grbl_async.py
View File

@@ -12,6 +12,7 @@ from serial import Serial
from serial.serialutil import SerialException from serial.serialutil import SerialException
from unilabos.messages import Point3D from unilabos.messages import Point3D
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class GrblCNCConnectionError(Exception): class GrblCNCConnectionError(Exception):
@@ -32,6 +33,7 @@ class GrblCNCInfo:
class GrblCNCAsync: class GrblCNCAsync:
_status: str = "Offline" _status: str = "Offline"
_position: Point3D = Point3D(x=0.0, y=0.0, z=0.0) _position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
_ros_node: BaseROS2DeviceNode
def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)): def __init__(self, port: str, address: str = "1", limits: tuple[int, int, int, int, int, int] = (-150, 150, -200, 0, 0, 60)):
self.port = port self.port = port
@@ -58,6 +60,9 @@ class GrblCNCAsync:
self._run_future: Optional[Future[Any]] = None self._run_future: Optional[Future[Any]] = None
self._run_lock = Lock() self._run_lock = Lock()
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _read_all(self): def _read_all(self):
data = self._serial.read_until(b"\n") data = self._serial.read_until(b"\n")
data_decoded = data.decode() data_decoded = data.decode()
@@ -148,7 +153,7 @@ class GrblCNCAsync:
try: try:
await self._query(command) await self._query(command)
while True: while True:
await asyncio.sleep(0.2) # Wait for 0.5 seconds before polling again await self._ros_node.sleep(0.2) # Wait for 0.5 seconds before polling again
status = await self.get_status() status = await self.get_status()
if "Idle" in status: if "Idle" in status:
@@ -214,7 +219,7 @@ class GrblCNCAsync:
self._pose_number = i self._pose_number = i
self.pose_number_remaining = len(points) - i self.pose_number_remaining = len(points) - i
await self.set_position(point) await self.set_position(point)
await asyncio.sleep(0.5) await self._ros_node.sleep(0.5)
self._step_number = -1 self._step_number = -1
async def stop_operation(self): async def stop_operation(self):
@@ -235,7 +240,7 @@ class GrblCNCAsync:
async def open(self): async def open(self):
if self._read_task: if self._read_task:
raise GrblCNCConnectionError raise GrblCNCConnectionError
self._read_task = asyncio.create_task(self._read_loop()) self._read_task = self._ros_node.create_task(self._read_loop())
try: try:
await self.get_status() await self.get_status()

9
unilabos/devices/cnc/mock.py
View File

@@ -2,6 +2,8 @@ import time
import asyncio import asyncio
from pydantic import BaseModel from pydantic import BaseModel
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class Point3D(BaseModel): class Point3D(BaseModel):
x: float x: float
@@ -14,10 +16,15 @@ def d(a: Point3D, b: Point3D) -> float:
class MockCNCAsync: class MockCNCAsync:
_ros_node: BaseROS2DeviceNode["MockCNCAsync"]
def __init__(self): def __init__(self):
self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0) self._position: Point3D = Point3D(x=0.0, y=0.0, z=0.0)
self._status = "Idle" self._status = "Idle"
def post_create(self, ros_node):
self._ros_node = ros_node
@property @property
def position(self) -> Point3D: def position(self) -> Point3D:
return self._position return self._position
@@ -38,5 +45,5 @@ class MockCNCAsync:
self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1) self._position.x = current_pos.x + (position.x - current_pos.x) / 20 * (i+1)
self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1) self._position.y = current_pos.y + (position.y - current_pos.y) / 20 * (i+1)
self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1) self._position.z = current_pos.z + (position.z - current_pos.z) / 20 * (i+1)
await asyncio.sleep(move_time / 20) await self._ros_node.sleep(move_time / 20)
self._status = "Idle" self._status = "Idle"

145
unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py
View File

@@ -15,9 +15,12 @@ from typing import List, Optional, Dict, Any, Union, Tuple
from dataclasses import dataclass from dataclasses import dataclass
from abc import ABC, abstractmethod from abc import ABC, abstractmethod
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
# 基础导入 # 基础导入
try: try:
from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well
PYLABROBOT_AVAILABLE = True PYLABROBOT_AVAILABLE = True
except ImportError: except ImportError:
# 如果 pylabrobot 不可用，创建基础的模拟类 # 如果 pylabrobot 不可用，创建基础的模拟类
@@ -42,17 +45,16 @@ except ImportError:
class Well(Resource): class Well(Resource):
pass pass
# LaiYu_Liquid 控制器导入 # LaiYu_Liquid 控制器导入
try: try:
from .controllers.pipette_controller import ( from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters
PipetteController, TipStatus, LiquidClass, LiquidParameters from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis
)
from .controllers.xyz_controller import (
XYZController, MachineConfig, CoordinateOrigin, MotorAxis
)
CONTROLLERS_AVAILABLE = True CONTROLLERS_AVAILABLE = True
except ImportError: except ImportError:
CONTROLLERS_AVAILABLE = False CONTROLLERS_AVAILABLE = False
# 创建模拟的控制器类 # 创建模拟的控制器类
class PipetteController: class PipetteController:
def __init__(self, *args, **kwargs): def __init__(self, *args, **kwargs):
@@ -71,17 +73,20 @@ except ImportError:
def connect_device(self): def connect_device(self):
return True return True
logger = logging.getLogger(__name__) logger = logging.getLogger(__name__)
class LaiYuLiquidError(RuntimeError): class LaiYuLiquidError(RuntimeError):
"""LaiYu_Liquid 设备异常""" """LaiYu_Liquid 设备异常"""
pass pass
@dataclass @dataclass
class LaiYuLiquidConfig: class LaiYuLiquidConfig:
"""LaiYu_Liquid 设备配置""" """LaiYu_Liquid 设备配置"""
port: str = "/dev/cu.usbserial-3130" # RS485转USB端口 port: str = "/dev/cu.usbserial-3130" # RS485转USB端口
address: int = 1 # 设备地址 address: int = 1 # 设备地址
baudrate: int = 9600 # 波特率 baudrate: int = 9600 # 波特率
@@ -155,7 +160,17 @@ class LaiYuLiquidDeck:
class LaiYuLiquidContainer: class LaiYuLiquidContainer:
"""LaiYu_Liquid 容器类""" """LaiYu_Liquid 容器类"""
def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, container_type: str = "", volume: float = 0.0, max_volume: float = 1000.0, lid_height: float = 0.0): def __init__(
self,
name: str,
size_x: float = 0,
size_y: float = 0,
size_z: float = 0,
container_type: str = "",
volume: float = 0.0,
max_volume: float = 1000.0,
lid_height: float = 0.0,
):
self.name = name self.name = name
self.size_x = size_x self.size_x = size_x
self.size_y = size_y self.size_y = size_y
@@ -197,17 +212,22 @@ class LaiYuLiquidContainer:
def assign_child_resource(self, resource, location=None): def assign_child_resource(self, resource, location=None):
"""分配子资源 - 与 PyLabRobot 资源管理系统兼容""" """分配子资源 - 与 PyLabRobot 资源管理系统兼容"""
if hasattr(resource, 'name'): if hasattr(resource, "name"):
self.child_resources[resource.name] = { self.child_resources[resource.name] = {"resource": resource, "location": location}
'resource': resource,
'location': location
}
class LaiYuLiquidTipRack: class LaiYuLiquidTipRack:
"""LaiYu_Liquid 吸头架类""" """LaiYu_Liquid 吸头架类"""
def __init__(self, name: str, size_x: float = 0, size_y: float = 0, size_z: float = 0, tip_count: int = 96, tip_volume: float = 1000.0): def __init__(
self,
name: str,
size_x: float = 0,
size_y: float = 0,
size_z: float = 0,
tip_count: int = 96,
tip_volume: float = 1000.0,
):
self.name = name self.name = name
self.size_x = size_x self.size_x = size_x
self.size_y = size_y self.size_y = size_y
@@ -240,10 +260,7 @@ class LaiYuLiquidTipRack:
def assign_child_resource(self, resource, location=None): def assign_child_resource(self, resource, location=None):
"""分配子资源到指定位置""" """分配子资源到指定位置"""
self.child_resources[resource.name] = { self.child_resources[resource.name] = {"resource": resource, "location": location}
'resource': resource,
'location': location
}
def get_module_info(): def get_module_info():
@@ -253,24 +270,17 @@ def get_module_info():
"version": "1.0.0", "version": "1.0.0",
"description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能", "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能",
"author": "UniLabOS Team", "author": "UniLabOS Team",
"capabilities": [ "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"],
"移液器控制", "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]},
"XYZ轴运动控制",
"吸头架管理",
"板和容器管理",
"资源位置管理"
],
"dependencies": {
"required": ["serial"],
"optional": ["pylabrobot"]
}
} }
class LaiYuLiquidBackend: class LaiYuLiquidBackend:
"""LaiYu_Liquid 硬件通信后端""" """LaiYu_Liquid 硬件通信后端"""
def __init__(self, config: LaiYuLiquidConfig, deck: Optional['LaiYuLiquidDeck'] = None): _ros_node: BaseROS2DeviceNode
def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None):
self.config = config self.config = config
self.deck = deck # 工作台引用，用于获取资源位置信息 self.deck = deck # 工作台引用，用于获取资源位置信息
self.pipette_controller = None self.pipette_controller = None
@@ -283,6 +293,9 @@ class LaiYuLiquidBackend:
self.tip_attached = False self.tip_attached = False
self.current_volume = 0.0 self.current_volume = 0.0
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _validate_position(self, x: float, y: float, z: float) -> bool: def _validate_position(self, x: float, y: float, z: float) -> bool:
"""验证位置是否在安全范围内""" """验证位置是否在安全范围内"""
try: try:
@@ -348,7 +361,7 @@ class LaiYuLiquidBackend:
safe_position = ( safe_position = (
self.config.deck_width / 2, # 工作台中心X self.config.deck_width / 2, # 工作台中心X
self.config.deck_height / 2, # 工作台中心Y self.config.deck_height / 2, # 工作台中心Y
self.config.safe_height # 安全高度Z self.config.safe_height, # 安全高度Z
) )
if not self._validate_position(*safe_position): if not self._validate_position(*safe_position):
@@ -375,17 +388,12 @@ class LaiYuLiquidBackend:
try: try:
if CONTROLLERS_AVAILABLE: if CONTROLLERS_AVAILABLE:
# 初始化移液器控制器 # 初始化移液器控制器
self.pipette_controller = PipetteController( self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address)
port=self.config.port,
address=self.config.address
)
# 初始化XYZ控制器 # 初始化XYZ控制器
machine_config = MachineConfig() machine_config = MachineConfig()
self.xyz_controller = XYZController( self.xyz_controller = XYZController(
port=self.config.port, port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config
baudrate=self.config.baudrate,
machine_config=machine_config
) )
# 连接设备 # 连接设备
@@ -412,10 +420,10 @@ class LaiYuLiquidBackend:
async def stop(self): async def stop(self):
"""停止设备""" """停止设备"""
try: try:
if self.pipette_controller and hasattr(self.pipette_controller, 'disconnect'): if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"):
await asyncio.to_thread(self.pipette_controller.disconnect) await asyncio.to_thread(self.pipette_controller.disconnect)
if self.xyz_controller and hasattr(self.xyz_controller, 'disconnect'): if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"):
await asyncio.to_thread(self.xyz_controller.disconnect) await asyncio.to_thread(self.xyz_controller.disconnect)
self.is_connected = False self.is_connected = False
@@ -432,7 +440,7 @@ class LaiYuLiquidBackend:
raise LaiYuLiquidError("设备未连接") raise LaiYuLiquidError("设备未连接")
# 模拟移动 # 模拟移动
await asyncio.sleep(0.1) # 模拟移动时间 await self._ros_node.sleep(0.1) # 模拟移动时间
self.current_position = (x, y, z) self.current_position = (x, y, z)
logger.debug(f"移动到位置: ({x}, {y}, {z})") logger.debug(f"移动到位置: ({x}, {y}, {z})")
return True return True
@@ -472,9 +480,11 @@ class LaiYuLiquidBackend:
pickup_z = tip_z - self.config.tip_pickup_force_depth pickup_z = tip_z - self.config.tip_pickup_force_depth
retract_z = tip_z + self.config.tip_pickup_retract_height retract_z = tip_z + self.config.tip_pickup_retract_height
if not (self._validate_position(tip_x, tip_y, safe_z) and if not (
self._validate_position(tip_x, tip_y, pickup_z) and self._validate_position(tip_x, tip_y, safe_z)
self._validate_position(tip_x, tip_y, retract_z)): and self._validate_position(tip_x, tip_y, pickup_z)
and self._validate_position(tip_x, tip_y, retract_z)
):
logger.error("枪头拾取位置超出安全范围") logger.error("枪头拾取位置超出安全范围")
return False return False
@@ -487,8 +497,7 @@ class LaiYuLiquidBackend:
safe_z = tip_z + self.config.tip_approach_height safe_z = tip_z + self.config.tip_approach_height
logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})") logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})")
move_success = await asyncio.to_thread( move_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z
tip_x, tip_y, safe_z
) )
if not move_success: if not move_success:
logger.error("移动到枪头上方失败") logger.error("移动到枪头上方失败")
@@ -498,22 +507,20 @@ class LaiYuLiquidBackend:
pickup_z = tip_z - self.config.tip_pickup_force_depth pickup_z = tip_z - self.config.tip_pickup_force_depth
logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm") logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm")
z_down_success = await asyncio.to_thread( z_down_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z
tip_x, tip_y, pickup_z
) )
if not z_down_success: if not z_down_success:
logger.error("Z轴下降到枪头位置失败") logger.error("Z轴下降到枪头位置失败")
return False return False
# 3. 等待一小段时间确保枪头牢固附着 # 3. 等待一小段时间确保枪头牢固附着
await asyncio.sleep(0.2) await self._ros_node.sleep(0.2)
# 4. Z轴上升到回退高度 # 4. Z轴上升到回退高度
retract_z = tip_z + self.config.tip_pickup_retract_height retract_z = tip_z + self.config.tip_pickup_retract_height
logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm") logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm")
z_up_success = await asyncio.to_thread( z_up_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z
tip_x, tip_y, retract_z
) )
if not z_up_success: if not z_up_success:
logger.error("Z轴上升失败") logger.error("Z轴上升失败")
@@ -533,7 +540,7 @@ class LaiYuLiquidBackend:
else: else:
# 模拟模式 # 模拟模式
logger.info("模拟模式：执行枪头拾取动作") logger.info("模拟模式：执行枪头拾取动作")
await asyncio.sleep(1.0) # 模拟整个拾取过程的时间 await self._ros_node.sleep(1.0) # 模拟整个拾取过程的时间
self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height) self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height)
# 6. 标记枪头已附着 # 6. 标记枪头已附着
@@ -578,8 +585,10 @@ class LaiYuLiquidBackend:
safe_z = drop_z + self.config.safe_height safe_z = drop_z + self.config.safe_height
drop_height_z = drop_z + self.config.tip_drop_height drop_height_z = drop_z + self.config.tip_drop_height
if not (self._validate_position(drop_x, drop_y, safe_z) and if not (
self._validate_position(drop_x, drop_y, drop_height_z)): self._validate_position(drop_x, drop_y, safe_z)
and self._validate_position(drop_x, drop_y, drop_height_z)
):
logger.error("枪头丢弃位置超出安全范围") logger.error("枪头丢弃位置超出安全范围")
return False return False
@@ -592,8 +601,7 @@ class LaiYuLiquidBackend:
safe_z = drop_z + self.config.tip_drop_height safe_z = drop_z + self.config.tip_drop_height
logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})") logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})")
move_success = await asyncio.to_thread( move_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
drop_x, drop_y, safe_z
) )
if not move_success: if not move_success:
logger.error("移动到丢弃位置上方失败") logger.error("移动到丢弃位置上方失败")
@@ -602,8 +610,7 @@ class LaiYuLiquidBackend:
# 2. Z轴下降到丢弃高度 # 2. Z轴下降到丢弃高度
logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm") logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm")
z_down_success = await asyncio.to_thread( z_down_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z
drop_x, drop_y, drop_z
) )
if not z_down_success: if not z_down_success:
logger.error("Z轴下降到丢弃位置失败") logger.error("Z轴下降到丢弃位置失败")
@@ -619,13 +626,12 @@ class LaiYuLiquidBackend:
logger.warning(f"枪头弹出命令失败: {e}") logger.warning(f"枪头弹出命令失败: {e}")
# 4. 等待一小段时间确保枪头完全脱离 # 4. 等待一小段时间确保枪头完全脱离
await asyncio.sleep(0.3) await self._ros_node.sleep(0.3)
# 5. Z轴上升到安全高度 # 5. Z轴上升到安全高度
logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm") logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm")
z_up_success = await asyncio.to_thread( z_up_success = await asyncio.to_thread(
self.xyz_controller.move_to_work_coord, self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z
drop_x, drop_y, safe_z
) )
if not z_up_success: if not z_up_success:
logger.error("Z轴上升失败") logger.error("Z轴上升失败")
@@ -645,7 +651,7 @@ class LaiYuLiquidBackend:
else: else:
# 模拟模式 # 模拟模式
logger.info("模拟模式：执行枪头丢弃动作") logger.info("模拟模式：执行枪头丢弃动作")
await asyncio.sleep(0.8) # 模拟整个丢弃过程的时间 await self._ros_node.sleep(0.8) # 模拟整个丢弃过程的时间
self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height) self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height)
# 7. 标记枪头已脱离，清空体积 # 7. 标记枪头已脱离，清空体积
@@ -671,7 +677,7 @@ class LaiYuLiquidBackend:
raise LaiYuLiquidError(f"体积超出范围: {volume}") raise LaiYuLiquidError(f"体积超出范围: {volume}")
# 模拟吸取 # 模拟吸取
await asyncio.sleep(0.3) await self._ros_node.sleep(0.3)
self.current_volume += volume self.current_volume += volume
logger.debug(f"从 {location} 吸取 {volume} μL") logger.debug(f"从 {location} 吸取 {volume} μL")
return True return True
@@ -693,7 +699,7 @@ class LaiYuLiquidBackend:
raise LaiYuLiquidError(f"分配体积无效: {volume}") raise LaiYuLiquidError(f"分配体积无效: {volume}")
# 模拟分配 # 模拟分配
await asyncio.sleep(0.3) await self._ros_node.sleep(0.3)
self.current_volume -= volume self.current_volume -= volume
logger.debug(f"向 {location} 分配 {volume} μL") logger.debug(f"向 {location} 分配 {volume} μL")
return True return True
@@ -765,8 +771,9 @@ class LaiYuLiquid:
await self.backend.stop() await self.backend.stop()
self.is_setup = False self.is_setup = False
async def transfer(self, source: str, target: str, volume: float, async def transfer(
tip_rack: str = "tip_rack_1", tip_position: int = 0) -> bool: self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0
) -> bool:
"""液体转移""" """液体转移"""
try: try:
if not self.is_setup: if not self.is_setup:
@@ -788,7 +795,7 @@ class LaiYuLiquid:
("吸取液体", self.backend.aspirate(volume, source)), ("吸取液体", self.backend.aspirate(volume, source)),
("移动到目标位置", self.backend.move_to(*target_pos)), ("移动到目标位置", self.backend.move_to(*target_pos)),
("分配液体", self.backend.dispense(volume, target)), ("分配液体", self.backend.dispense(volume, target)),
("丢弃吸头", self.backend.drop_tip()) ("丢弃吸头", self.backend.drop_tip()),
] ]
for step_name, step_coro in steps: for step_name, step_coro in steps:
@@ -823,7 +830,7 @@ class LaiYuLiquid:
"current_position": self.backend.current_position, "current_position": self.backend.current_position,
"tip_attached": self.backend.tip_attached, "tip_attached": self.backend.tip_attached,
"current_volume": self.backend.current_volume, "current_volume": self.backend.current_volume,
"resources": self.deck.list_resources() "resources": self.deck.list_resources(),
} }
@@ -846,7 +853,7 @@ def create_quick_setup() -> LaiYuLiquidDeck:
create_tip_rack_1000ul, create_tip_rack_1000ul,
create_tip_rack_200ul, create_tip_rack_200ul,
create_96_well_plate, create_96_well_plate,
create_waste_container create_waste_container,
) )
# 添加基本资源 # 添加基本资源
@@ -877,5 +884,5 @@ __all__ = [
"LaiYuLiquidTipRack", "LaiYuLiquidTipRack",
"LaiYuLiquidError", "LaiYuLiquidError",
"create_quick_setup", "create_quick_setup",
"get_module_info" "get_module_info",
] ]

20
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -1,11 +1,11 @@
from __future__ import annotations from __future__ import annotations
import re
import traceback
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
from collections import Counter
import asyncio import asyncio
import time import time
import pprint as pp import traceback
from collections import Counter
from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast
from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness
from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod from pylabrobot.liquid_handling.liquid_handler import TipPresenceProbingMethod
from pylabrobot.liquid_handling.standard import GripDirection from pylabrobot.liquid_handling.standard import GripDirection
@@ -25,6 +25,8 @@ from pylabrobot.resources import (
Tip, Tip,
) )
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class LiquidHandlerMiddleware(LiquidHandler): class LiquidHandlerMiddleware(LiquidHandler):
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8):
@@ -536,6 +538,7 @@ class LiquidHandlerMiddleware(LiquidHandler):
class LiquidHandlerAbstract(LiquidHandlerMiddleware): class LiquidHandlerAbstract(LiquidHandlerMiddleware):
"""Extended LiquidHandler with additional operations.""" """Extended LiquidHandler with additional operations."""
support_touch_tip = True support_touch_tip = True
_ros_node: BaseROS2DeviceNode
def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8):
"""Initialize a LiquidHandler. """Initialize a LiquidHandler.
@@ -548,8 +551,11 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
self.group_info = dict() self.group_info = dict()
super().__init__(backend, deck, simulator, channel_num) super().__init__(backend, deck, simulator, channel_num)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
@classmethod @classmethod
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]):
"""Set the liquid in a well.""" """Set the liquid in a well."""
for well, liquid_name, volume in zip(wells, liquid_names, volumes): for well, liquid_name, volume in zip(wells, liquid_names, volumes):
well.set_liquids([(liquid_name, volume)]) # type: ignore well.set_liquids([(liquid_name, volume)]) # type: ignore
@@ -1081,7 +1087,7 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
print(f"Waiting time: {msg}") print(f"Waiting time: {msg}")
print(f"Current time: {time.strftime('%H:%M:%S')}") print(f"Current time: {time.strftime('%H:%M:%S')}")
print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}") print(f"Time to finish: {time.strftime('%H:%M:%S', time.localtime(time.time() + seconds))}")
await asyncio.sleep(seconds) await self._ros_node.sleep(seconds)
if msg: if msg:
print(f"Done: {msg}") print(f"Done: {msg}")
print(f"Current time: {time.strftime('%H:%M:%S')}") print(f"Current time: {time.strftime('%H:%M:%S')}")

389
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import (
from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash
from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class PRCXIError(RuntimeError): class PRCXIError(RuntimeError):
@@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
) )
super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num) super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num)
def post_init(self, ros_node: BaseROS2DeviceNode):
super().post_init(ros_node)
self._unilabos_backend.post_init(ros_node)
def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]):
return super().set_liquid(wells, liquid_names, volumes) return super().set_liquid(wells, liquid_names, volumes)
@@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
_num_channels = 8 # 默认通道数为 8 _num_channels = 8 # 默认通道数为 8
_is_reset_ok = False _is_reset_ok = False
_ros_node: BaseROS2DeviceNode
@property @property
def is_reset_ok(self) -> bool: def is_reset_ok(self) -> bool:
@@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self._execute_setup = setup self._execute_setup = setup
self.debug = debug self.debug = debug
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def create_protocol(self, protocol_name): def create_protocol(self, protocol_name):
self.protocol_name = protocol_name self.protocol_name = protocol_name
self.steps_todo_list = [] self.steps_todo_list = []
@@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend):
self.api_client.call("IAutomation", "Reset") self.api_client.call("IAutomation", "Reset")
while not self.is_reset_ok: while not self.is_reset_ok:
print("Waiting for PRCXI9300 to reset...") print("Waiting for PRCXI9300 to reset...")
await asyncio.sleep(1) await self._ros_node.sleep(1)
print("PRCXI9300 reset successfully.") print("PRCXI9300 reset successfully.")
except ConnectionRefusedError as e: except ConnectionRefusedError as e:
raise RuntimeError( raise RuntimeError(
@@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend):
tipspot_index = tipspot.parent.children.index(tipspot) tipspot_index = tipspot.parent.children.index(tipspot)
tip_columns.append(tipspot_index // 8) tip_columns.append(tipspot_index // 8)
if len(set(tip_columns)) != 1: if len(set(tip_columns)) != 1:
raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns)) raise ValueError(
"All pickups must be from the same tip column. Found different columns: " + str(tip_columns)
)
PlateNo = plate_indexes[0] + 1 PlateNo = plate_indexes[0] + 1
hole_col = tip_columns[0] + 1 hole_col = tip_columns[0] + 1
hole_row = 1 hole_row = 1
@@ -1109,12 +1120,15 @@ class PRCXI9300Api:
"LiquidDispensingMethod": liquid_method, "LiquidDispensingMethod": liquid_method,
} }
class DefaultLayout: class DefaultLayout:
def __init__(self, product_name: str = "PRCXI9300"): def __init__(self, product_name: str = "PRCXI9300"):
self.labresource = {} self.labresource = {}
if product_name not in ["PRCXI9300", "PRCXI9320"]: if product_name not in ["PRCXI9300", "PRCXI9320"]:
raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.") raise ValueError(
f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported."
)
if product_name == "PRCXI9300": if product_name == "PRCXI9300":
self.rows = 2 self.rows = 2
@@ -1129,25 +1143,93 @@ class DefaultLayout:
self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16] self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16]
self.trash_slot = 16 self.trash_slot = 16
self.waste_liquid_slot = 12 self.waste_liquid_slot = 12
self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets": self.default_layout = {
[{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "MatrixId": f"{time.time()}",
{"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "MatrixName": f"{time.time()}",
{"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "MatrixCount": 16,
{"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "WorkTablets": [
{"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, {
{"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "Number": 1,
{"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "Code": "T1",
{"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
{"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, },
{"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, {
{"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "Number": 2,
{"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示 "Code": "T2",
{"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
{"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, },
{"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, {
{"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示 "Number": 3,
] "Code": "T3",
} "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 4,
"Code": "T4",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 5,
"Code": "T5",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 6,
"Code": "T6",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 7,
"Code": "T7",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 8,
"Code": "T8",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 9,
"Code": "T9",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 10,
"Code": "T10",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 11,
"Code": "T11",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 12,
"Code": "T12",
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
}, # 这个设置成废液槽，用储液槽表示
{
"Number": 13,
"Code": "T13",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 14,
"Code": "T14",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 15,
"Code": "T15",
"Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0},
},
{
"Number": 16,
"Code": "T16",
"Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0},
}, # 这个设置成垃圾桶，用储液槽表示
],
}
def get_layout(self) -> Dict[str, Any]: def get_layout(self) -> Dict[str, Any]:
return { return {
@@ -1155,7 +1237,7 @@ class DefaultLayout:
"columns": self.columns, "columns": self.columns,
"layout": self.layout, "layout": self.layout,
"trash_slot": self.trash_slot, "trash_slot": self.trash_slot,
"waste_liquid_slot": self.waste_liquid_slot "waste_liquid_slot": self.waste_liquid_slot,
} }
def get_trash_slot(self) -> int: def get_trash_slot(self) -> int:
@@ -1178,17 +1260,19 @@ class DefaultLayout:
reserved_positions = {12, 16} reserved_positions = {12, 16}
available_positions = [i for i in range(1, 17) if i not in reserved_positions] available_positions = [i for i in range(1, 17) if i not in reserved_positions]
# 计算总需求 # 计算总需求
total_needed = sum(count for _, _, count in needs) total_needed = sum(count for _, _, count in needs)
if total_needed > len(available_positions): if total_needed > len(available_positions):
raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）") raise ValueError(
f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）"
)
# 依次分配位置 # 依次分配位置
current_pos = 0 current_pos = 0
for reagent_name, material_name, count in needs: for reagent_name, material_name, count in needs:
material_uuid = self.labresource[material_name]['uuid'] material_uuid = self.labresource[material_name]["uuid"]
material_enum = self.labresource[material_name]['materialEnum'] material_enum = self.labresource[material_name]["materialEnum"]
for _ in range(count): for _ in range(count):
if current_pos >= len(available_positions): if current_pos >= len(available_positions):
@@ -1196,17 +1280,18 @@ class DefaultLayout:
position = available_positions[current_pos] position = available_positions[current_pos]
# 找到对应的tablet并更新 # 找到对应的tablet并更新
for tablet in self.default_layout['WorkTablets']: for tablet in self.default_layout["WorkTablets"]:
if tablet['Number'] == position: if tablet["Number"] == position:
tablet['Material']['uuid'] = material_uuid tablet["Material"]["uuid"] = material_uuid
tablet['Material']['materialEnum'] = material_enum tablet["Material"]["materialEnum"] = material_enum
layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position)) layout_list.append(
dict(reagent_name=reagent_name, material_name=material_name, positions=position)
)
break break
current_pos += 1 current_pos += 1
return self.default_layout, layout_list return self.default_layout, layout_list
if __name__ == "__main__": if __name__ == "__main__":
# Example usage # Example usage
# 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分 # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分
@@ -1302,9 +1387,6 @@ if __name__ == "__main__":
# # # plate2.set_well_liquids(plate_2_liquids) # # # plate2.set_well_liquids(plate_2_liquids)
# handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999,
# timeout=10.0, setup=False, debug=False, # timeout=10.0, setup=False, debug=False,
# simulator=True, # simulator=True,
@@ -1391,10 +1473,7 @@ if __name__ == "__main__":
# # input("Press Enter to continue...") # Wait for user input before proceeding # # input("Press Enter to continue...") # Wait for user input before proceeding
# # print("PRCXI9300Handler initialized with deck and host settings.") # # print("PRCXI9300Handler initialized with deck and host settings.")
### 9320 ###
### 9320 ###
deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100) deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100)
@@ -1412,12 +1491,15 @@ if __name__ == "__main__":
new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers) new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
return new_plate return new_plate
def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container: def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container:
tip_racks = opentrons_96_tiprack_10ul(name).serialize() tip_racks = opentrons_96_tiprack_10ul(name).serialize()
tip_rack = PRCXI9300Container( tip_rack = PRCXI9300Container(
name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({ name=name,
k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items() size_x=50,
}) size_y=50,
size_z=10,
category="tip_rack",
ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}),
) )
tip_rack_serialized = tip_rack.serialize() tip_rack_serialized = tip_rack.serialize()
tip_rack_serialized["parent_name"] = deck.name tip_rack_serialized["parent_name"] = deck.name
@@ -1629,6 +1711,7 @@ if __name__ == "__main__":
) )
backend: PRCXI9300Backend = handler.backend backend: PRCXI9300Backend = handler.backend
from pylabrobot.resources import set_volume_tracking from pylabrobot.resources import set_volume_tracking
set_volume_tracking(enabled=True) set_volume_tracking(enabled=True)
# res = backend.api_client.get_all_materials() # res = backend.api_client.get_all_materials()
asyncio.run(handler.setup()) # Initialize the handler and setup the connection asyncio.run(handler.setup()) # Initialize the handler and setup the connection
@@ -1641,7 +1724,7 @@ if __name__ == "__main__":
for well in plate13.get_all_items(): for well in plate13.get_all_items():
# well_pos = well.name.split("_")[1] # 走一行 # well_pos = well.name.split("_")[1] # 走一行
# if well_pos.startswith("A"): # if well_pos.startswith("A"):
if well.name.startswith("PlateT13"): # 走整个Plate if well.name.startswith("PlateT13"): # 走整个Plate
asyncio.run(handler.dispense([well], [0.01], [0])) asyncio.run(handler.dispense([well], [0.01], [0]))
# asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0])) # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0]))
@@ -1652,26 +1735,25 @@ if __name__ == "__main__":
asyncio.run(handler.run_protocol()) asyncio.run(handler.run_protocol())
time.sleep(5) time.sleep(5)
os._exit(0) os._exit(0)
# 第一种情景：一个孔往多个孔加液 # 第一种情景：一个孔往多个孔加液
# plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300]) # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300])
# plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23) # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23)
# 第二个情景：多个孔往多个孔加液(但是个数得对应) # 第二个情景：多个孔往多个孔加液(但是个数得对应)
plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23) plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23)
plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23) plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23)
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8 # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
# plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8 # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8
# A = tree_to_list([resource_plr_to_ulab(deck)]) # A = tree_to_list([resource_plr_to_ulab(deck)])
# # with open("deck.json", "w", encoding="utf-8") as f: # # with open("deck.json", "w", encoding="utf-8") as f:
# # json.dump(A, f, indent=4, ensure_ascii=False) # # json.dump(A, f, indent=4, ensure_ascii=False)
# print(plate11.get_well(0).tracker.get_used_volume()) # print(plate11.get_well(0).tracker.get_used_volume())
# Initialize the backend and setup the connection # Initialize the backend and setup the connection
asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking
# asyncio.run(handler.pick_up_tips([plate8.children[8]],[0])) # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0]))
# print(plate8.children[8]) # print(plate8.children[8])
# asyncio.run(handler.run_protocol()) # asyncio.run(handler.run_protocol())
@@ -1685,121 +1767,118 @@ if __name__ == "__main__":
# print(plate1.children[0]) # print(plate1.children[0])
# asyncio.run(handler.discard_tips([0])) # asyncio.run(handler.discard_tips([0]))
# asyncio.run(handler.add_liquid( # asyncio.run(handler.add_liquid(
# asp_vols=[10]*7, # asp_vols=[10]*7,
# dis_vols=[10]*7, # dis_vols=[10]*7,
# reagent_sources=plate11.children[:7], # reagent_sources=plate11.children[:7],
# targets=plate1.children[2:9], # targets=plate1.children[2:9],
# use_channels=[0], # use_channels=[0],
# flow_rates=[None] * 7, # flow_rates=[None] * 7,
# offsets=[Coordinate(0, 0, 0)] * 7, # offsets=[Coordinate(0, 0, 0)] * 7,
# liquid_height=[None] * 7, # liquid_height=[None] * 7,
# blow_out_air_volume=[None] * 2, # blow_out_air_volume=[None] * 2,
# delays=None, # delays=None,
# mix_time=3, # mix_time=3,
# mix_vol=5, # mix_vol=5,
# spread="custom", # spread="custom",
# )) # ))
# asyncio.run(handler.run_protocol()) # Run the protocol # asyncio.run(handler.run_protocol()) # Run the protocol
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[10]*2,
# # # dis_vols=[10]*2,
# # # sources=plate11.children[:2],
# # # targets=plate11.children[-2:],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # mix_times=3,
# # # mix_vol=5,
# # # spread="wide",
# # # tip_racks=[plate8]
# # # ))
# # # asyncio.run(handler.remove_liquid(
# # # vols=[10]*2,
# # # sources=plate11.children[:2],
# # # waste_liquid=plate11.children[43],
# # # use_channels=[0],
# # # offsets=[Coordinate(0, 0, 0)] * 4,
# # # liquid_height=[None] * 2,
# # # blow_out_air_volume=[None] * 2,
# # # delays=None,
# # # spread="wide"
# # # ))
# # asyncio.run(handler.run_protocol())
# # # asyncio.run(handler.discard_tips())
# # # asyncio.run(handler.mix(well_containers.children[:8
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100))
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # asyncio.run(handler.transfer_liquid( # # # asyncio.run(handler.remove_liquid(
# # # asp_vols=[10]*2, # # # vols=[100]*16,
# # # dis_vols=[10]*2, # # # sources=well_containers.children[-16:],
# # # sources=plate11.children[:2], # # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
# # # targets=plate11.children[-2:], # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # use_channels=[0], # # # flow_rates=[None] * 32,
# # # offsets=[Coordinate(0, 0, 0)] * 4, # # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # liquid_height=[None] * 2, # # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 2, # # # blow_out_air_volume=[None] * 32,
# # # delays=None, # # # spread="wide",
# # # mix_times=3, # # # ))
# # # mix_vol=5, # # # asyncio.run(handler.transfer_liquid(
# # # spread="wide", # # # asp_vols=[100]*16,
# # # tip_racks=[plate8] # # # dis_vols=[100]*16,
# # # )) # # # tip_racks=[tip_rack],
# # # sources=well_containers.children[-16:],
# # # asyncio.run(handler.remove_liquid( # # # targets=well_containers.children[:16],
# # # vols=[10]*2, # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # sources=plate11.children[:2], # # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # waste_liquid=plate11.children[43], # # # asp_flow_rates=[None] * 16,
# # # use_channels=[0], # # # dis_flow_rates=[None] * 16,
# # # offsets=[Coordinate(0, 0, 0)] * 4, # # # liquid_height=[None] * 32,
# # # liquid_height=[None] * 2, # # # blow_out_air_volume=[None] * 32,
# # # blow_out_air_volume=[None] * 2, # # # mix_times=3,
# # # delays=None, # # # mix_vol=50,
# # # spread="wide" # # # spread="wide",
# # # )) # # # ))
# # asyncio.run(handler.run_protocol()) # # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # input("pick_up_tips add step")
# # # asyncio.run(handler.discard_tips()) # asyncio.run(handler.run_protocol()) # Run the protocol
# # # asyncio.run(handler.mix(well_containers.children[:8 # # # input("Running protocol...")
# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) # # # input("Press Enter to continue...") # Wait for user input before proceeding
# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info # # # print("PRCXI9300Handler initialized with deck and host settings.")
# # # asyncio.run(handler.remove_liquid(
# # # vols=[100]*16,
# # # sources=well_containers.children[-16:],
# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # flow_rates=[None] * 32,
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # spread="wide",
# # # ))
# # # asyncio.run(handler.transfer_liquid(
# # # asp_vols=[100]*16,
# # # dis_vols=[100]*16,
# # # tip_racks=[tip_rack],
# # # sources=well_containers.children[-16:],
# # # targets=well_containers.children[:16],
# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7],
# # # offsets=[Coordinate(0, 0, 0)] * 32,
# # # asp_flow_rates=[None] * 16,
# # # dis_flow_rates=[None] * 16,
# # # liquid_height=[None] * 32,
# # # blow_out_air_volume=[None] * 32,
# # # mix_times=3,
# # # mix_vol=50,
# # # spread="wide",
# # # ))
# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info
# # # input("pick_up_tips add step")
#asyncio.run(handler.run_protocol()) # Run the protocol
# # # input("Running protocol...")
# # # input("Press Enter to continue...") # Wait for user input before proceeding
# # # print("PRCXI9300Handler initialized with deck and host settings.")
# 一些推荐版位组合的测试样例：
# 一些推荐版位组合的测试样例：
# 一些推荐版位组合的测试样例：
# 一些推荐版位组合的测试样例：
with open("prcxi_material.json", "r") as f: with open("prcxi_material.json", "r") as f:
material_info = json.load(f) material_info = json.load(f)
layout = DefaultLayout("PRCXI9320") layout = DefaultLayout("PRCXI9320")
layout.add_lab_resource(material_info) layout.add_lab_resource(material_info)
MatrixLayout_1, dict_1 = layout.recommend_layout([ MatrixLayout_1, dict_1 = layout.recommend_layout(
("reagent_1", "96 细胞培养皿", 3), [
("reagent_2", "12道储液槽", 1), ("reagent_1", "96 细胞培养皿", 3),
("reagent_3", "200μL Tip头", 7), ("reagent_2", "12道储液槽", 1),
("reagent_4", "10μL加长 Tip头", 1), ("reagent_3", "200μL Tip头", 7),
]) ("reagent_4", "10μL加长 Tip头", 1),
]
)
print(dict_1) print(dict_1)
MatrixLayout_2, dict_2 = layout.recommend_layout([ MatrixLayout_2, dict_2 = layout.recommend_layout(
("reagent_1", "96深孔板", 4), [
("reagent_2", "12道储液槽", 1), ("reagent_1", "96深孔板", 4),
("reagent_3", "200μL Tip头", 1), ("reagent_2", "12道储液槽", 1),
("reagent_4", "10μL加长 Tip头", 1), ("reagent_3", "200μL Tip头", 1),
]) ("reagent_4", "10μL加长 Tip头", 1),
]
)
# with open("prcxi_material.json", "r") as f: # with open("prcxi_material.json", "r") as f:
# material_info = json.load(f) # material_info = json.load(f)

11
unilabos/devices/pump_and_valve/runze_async.py
View File

@@ -8,6 +8,8 @@ import serial.tools.list_ports
from serial import Serial from serial import Serial
from serial.serialutil import SerialException from serial.serialutil import SerialException
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class RunzeSyringePumpMode(Enum): class RunzeSyringePumpMode(Enum):
Normal = 0 Normal = 0
@@ -77,6 +79,8 @@ class RunzeSyringePumpInfo:
class RunzeSyringePumpAsync: class RunzeSyringePumpAsync:
_ros_node: BaseROS2DeviceNode
def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None): def __init__(self, port: str, address: str = "1", volume: float = 25000, mode: RunzeSyringePumpMode = None):
self.port = port self.port = port
self.address = address self.address = address
@@ -102,6 +106,9 @@ class RunzeSyringePumpAsync:
self._run_future: Optional[Future[Any]] = None self._run_future: Optional[Future[Any]] = None
self._run_lock = Lock() self._run_lock = Lock()
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
def _adjust_total_steps(self): def _adjust_total_steps(self):
self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000 self.total_steps = 6000 if self.mode == RunzeSyringePumpMode.Normal else 48000
self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000 self.total_steps_vel = 48000 if self.mode == RunzeSyringePumpMode.AccuratePosVel else 6000
@@ -182,7 +189,7 @@ class RunzeSyringePumpAsync:
try: try:
await self._query(command) await self._query(command)
while True: while True:
await asyncio.sleep(0.5) # Wait for 0.5 seconds before polling again await self._ros_node.sleep(0.5) # Wait for 0.5 seconds before polling again
status = await self.query_device_status() status = await self.query_device_status()
if status == '`': if status == '`':
@@ -364,7 +371,7 @@ class RunzeSyringePumpAsync:
if self._read_task: if self._read_task:
raise RunzeSyringePumpConnectionError raise RunzeSyringePumpConnectionError
self._read_task = asyncio.create_task(self._read_loop()) self._read_task = self._ros_node.create_task(self._read_loop())
try: try:
await self.query_device_status() await self.query_device_status()

9
unilabos/devices/virtual/virtual_centrifuge.py
View File

@@ -3,10 +3,14 @@ import logging
import time as time_module import time as time_module
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualCentrifuge: class VirtualCentrifuge:
"""Virtual centrifuge device - 简化版，只保留核心功能""" """Virtual centrifuge device - 简化版，只保留核心功能"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and "id" in kwargs: if device_id is None and "id" in kwargs:
@@ -33,6 +37,9 @@ class VirtualCentrifuge:
if key not in skip_keys and not hasattr(self, key): if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value) setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual centrifuge""" """Initialize virtual centrifuge"""
self.logger.info(f"Initializing virtual centrifuge {self.device_id}") self.logger.info(f"Initializing virtual centrifuge {self.device_id}")
@@ -132,7 +139,7 @@ class VirtualCentrifuge:
break break
# 每秒更新一次 # 每秒更新一次
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
# 离心完成 # 离心完成
self.data.update({ self.data.update({

9
unilabos/devices/virtual/virtual_column.py
View File

@@ -2,9 +2,13 @@ import asyncio
import logging import logging
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualColumn: class VirtualColumn:
"""Virtual column device for RunColumn protocol 🏛️""" """Virtual column device for RunColumn protocol 🏛️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and 'id' in kwargs: if device_id is None and 'id' in kwargs:
@@ -28,6 +32,9 @@ class VirtualColumn:
print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨") print(f"🏛️ === 虚拟色谱柱 {self.device_id} 已创建 === ✨")
print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬") print(f"📏 柱参数: 流速={self._max_flow_rate}mL/min | 长度={self._column_length}cm | 直径={self._column_diameter}cm 🔬")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual column 🚀""" """Initialize virtual column 🚀"""
self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟色谱柱 {self.device_id} ✨")
@@ -101,7 +108,7 @@ class VirtualColumn:
step_time = separation_time / steps step_time = separation_time / steps
for i in range(steps): for i in range(steps):
await asyncio.sleep(step_time) await self._ros_node.sleep(step_time)
progress = (i + 1) / steps * 100 progress = (i + 1) / steps * 100
volume_processed = (i + 1) * 5.0 # 假设每步处理5mL volume_processed = (i + 1) * 5.0 # 假设每步处理5mL

118
unilabos/devices/virtual/virtual_filter.py
View File

@@ -4,16 +4,19 @@ import time as time_module
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.compile.utils.vessel_parser import get_vessel from unilabos.compile.utils.vessel_parser import get_vessel
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualFilter: class VirtualFilter:
"""Virtual filter device - 完全按照 Filter.action 规范 🌊""" """Virtual filter device - 完全按照 Filter.action 规范 🌊"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
if device_id is None and 'id' in kwargs: if device_id is None and "id" in kwargs:
device_id = kwargs.pop('id') device_id = kwargs.pop("id")
if config is None and 'config' in kwargs: if config is None and "config" in kwargs:
config = kwargs.pop('config') config = kwargs.pop("config")
self.device_id = device_id or "unknown_filter" self.device_id = device_id or "unknown_filter"
self.config = config or {} self.config = config or {}
@@ -21,29 +24,34 @@ class VirtualFilter:
self.data = {} self.data = {}
# 从config或kwargs中获取配置参数 # 从config或kwargs中获取配置参数
self.port = self.config.get('port') or kwargs.get('port', 'VIRTUAL') self.port = self.config.get("port") or kwargs.get("port", "VIRTUAL")
self._max_temp = self.config.get('max_temp') or kwargs.get('max_temp', 100.0) self._max_temp = self.config.get("max_temp") or kwargs.get("max_temp", 100.0)
self._max_stir_speed = self.config.get('max_stir_speed') or kwargs.get('max_stir_speed', 1000.0) self._max_stir_speed = self.config.get("max_stir_speed") or kwargs.get("max_stir_speed", 1000.0)
self._max_volume = self.config.get('max_volume') or kwargs.get('max_volume', 500.0) self._max_volume = self.config.get("max_volume") or kwargs.get("max_volume", 500.0)
# 处理其他kwargs参数 # 处理其他kwargs参数
skip_keys = {'port', 'max_temp', 'max_stir_speed', 'max_volume'} skip_keys = {"port", "max_temp", "max_stir_speed", "max_volume"}
for key, value in kwargs.items(): for key, value in kwargs.items():
if key not in skip_keys and not hasattr(self, key): if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value) setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual filter 🚀""" """Initialize virtual filter 🚀"""
self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟过滤器 {self.device_id} ✨")
# 按照 Filter.action 的 feedback 字段初始化 # 按照 Filter.action 的 feedback 字段初始化
self.data.update({ self.data.update(
"status": "Idle", {
"progress": 0.0, # Filter.action feedback "status": "Idle",
"current_temp": 25.0, # Filter.action feedback "progress": 0.0, # Filter.action feedback
"filtered_volume": 0.0, # Filter.action feedback "current_temp": 25.0, # Filter.action feedback
"message": "Ready for filtration" "filtered_volume": 0.0, # Filter.action feedback
}) "message": "Ready for filtration",
}
)
self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊") self.logger.info(f"✅ 过滤器 {self.device_id} 初始化完成 🌊")
return True return True
@@ -52,9 +60,7 @@ class VirtualFilter:
"""Cleanup virtual filter 🧹""" """Cleanup virtual filter 🧹"""
self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚") self.logger.info(f"🧹 清理虚拟过滤器 {self.device_id} 🔚")
self.data.update({ self.data.update({"status": "Offline"})
"status": "Offline"
})
self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤") self.logger.info(f"✅ 过滤器 {self.device_id} 清理完成 💤")
return True return True
@@ -67,7 +73,7 @@ class VirtualFilter:
stir_speed: float = 300.0, stir_speed: float = 300.0,
temp: float = 25.0, temp: float = 25.0,
continue_heatchill: bool = False, continue_heatchill: bool = False,
volume: float = 0.0 volume: float = 0.0,
) -> bool: ) -> bool:
"""Execute filter action - 完全按照 Filter.action 参数 🌊""" """Execute filter action - 完全按照 Filter.action 参数 🌊"""
vessel_id, _ = get_vessel(vessel) vessel_id, _ = get_vessel(vessel)
@@ -79,7 +85,7 @@ class VirtualFilter:
temp = 25.0 # 0度自动设置为室温 temp = 25.0 # 0度自动设置为室温
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠") self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (室温) 🏠")
elif temp < 4.0: elif temp < 4.0:
temp = 4.0 # 小于4度自动设置为4度 temp = 4.0 # 小于4度自动设置为4度
self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️") self.logger.info(f"🌡️ 温度自动调整: {original_temp}°C → {temp}°C (最低温度) ❄️")
self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰") self.logger.info(f"🌊 开始过滤操作: {vessel_id} → {filtrate_vessel_id} 🚰")
@@ -92,41 +98,34 @@ class VirtualFilter:
if temp > self._max_temp or temp < 4.0: if temp > self._max_temp or temp < 4.0:
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️" error_msg = f"🌡️ 温度 {temp}°C 超出范围 (4-{self._max_temp}°C) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update({"status": f"Error: 温度超出范围 ⚠️", "message": error_msg})
"status": f"Error: 温度超出范围 ⚠️",
"message": error_msg
})
return False return False
if stir and stir_speed > self._max_stir_speed: if stir and stir_speed > self._max_stir_speed:
error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️" error_msg = f"🌪️ 搅拌速度 {stir_speed} RPM 超出范围 (0-{self._max_stir_speed} RPM) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update({"status": f"Error: 搅拌速度超出范围 ⚠️", "message": error_msg})
"status": f"Error: 搅拌速度超出范围 ⚠️",
"message": error_msg
})
return False return False
if volume > self._max_volume: if volume > self._max_volume:
error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️" error_msg = f"💧 过滤体积 {volume} mL 超出范围 (0-{self._max_volume} mL) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update({"status": f"Error", "message": error_msg})
"status": f"Error",
"message": error_msg
})
return False return False
# 开始过滤 # 开始过滤
filter_volume = volume if volume > 0 else 50.0 filter_volume = volume if volume > 0 else 50.0
self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧") self.logger.info(f"🚀 开始过滤 {filter_volume}mL 液体 💧")
self.data.update({ self.data.update(
"status": f"Running", {
"current_temp": temp, "status": f"Running",
"filtered_volume": 0.0, "current_temp": temp,
"progress": 0.0, "filtered_volume": 0.0,
"message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}" "progress": 0.0,
}) "message": f"🚀 Starting filtration: {vessel_id} → {filtrate_vessel_id}",
}
)
try: try:
# 过滤过程 - 实时更新进度 # 过滤过程 - 实时更新进度
@@ -157,13 +156,15 @@ class VirtualFilter:
status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM" status_msg += f" | 🌪️ 搅拌: {stir_speed} RPM"
status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL" status_msg += f" | 🌡️ {temp}°C | 📊 {progress:.1f}% | 💧 已过滤: {current_filtered:.1f}mL"
self.data.update({ self.data.update(
"progress": progress, # Filter.action feedback {
"current_temp": temp, # Filter.action feedback "progress": progress, # Filter.action feedback
"filtered_volume": current_filtered, # Filter.action feedback "current_temp": temp, # Filter.action feedback
"status": "Running", "filtered_volume": current_filtered, # Filter.action feedback
"message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered" "status": "Running",
}) "message": f"🌊 Filtering: {progress:.1f}% complete, {current_filtered:.1f}mL filtered",
}
)
# 进度日志（每25%打印一次） # 进度日志（每25%打印一次）
if progress >= 25 and progress % 25 < 1: if progress >= 25 and progress % 25 < 1:
@@ -172,7 +173,7 @@ class VirtualFilter:
if remaining <= 0: if remaining <= 0:
break break
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
# 过滤完成 # 过滤完成
final_temp = temp if continue_heatchill else 25.0 final_temp = temp if continue_heatchill else 25.0
@@ -181,13 +182,15 @@ class VirtualFilter:
final_status += " | 🔥 继续加热搅拌" final_status += " | 🔥 继续加热搅拌"
self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️") self.logger.info(f"🔥 继续保持加热搅拌状态 🌪️")
self.data.update({ self.data.update(
"status": final_status, {
"progress": 100.0, # Filter.action feedback "status": final_status,
"current_temp": final_temp, # Filter.action feedback "progress": 100.0, # Filter.action feedback
"filtered_volume": filter_volume, # Filter.action feedback "current_temp": final_temp, # Filter.action feedback
"message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}" "filtered_volume": filter_volume, # Filter.action feedback
}) "message": f"✅ Filtration completed: {filter_volume}mL filtered from {vessel_id}",
}
)
self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨") self.logger.info(f"🎉 过滤完成! 💧 {filter_volume}mL 从 {vessel_id} 过滤到 {filtrate_vessel_id} ✨")
self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁") self.logger.info(f"📊 最终状态: 温度 {final_temp}°C | 进度 100% | 体积 {filter_volume}mL 🏁")
@@ -196,10 +199,7 @@ class VirtualFilter:
except Exception as e: except Exception as e:
error_msg = f"过滤过程中发生错误: {str(e)} 💥" error_msg = f"过滤过程中发生错误: {str(e)} 💥"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update({"status": f"Error", "message": f"❌ Filtration failed: {str(e)}"})
"status": f"Error",
"message": f"❌ Filtration failed: {str(e)}"
})
return False return False
# === 核心状态属性 - 按照 Filter.action feedback 字段 === # === 核心状态属性 - 按照 Filter.action feedback 字段 ===

9
unilabos/devices/virtual/virtual_heatchill.py
View File

@@ -3,9 +3,13 @@ import logging
import time as time_module # 重命名time模块，避免与参数冲突 import time as time_module # 重命名time模块，避免与参数冲突
from typing import Dict, Any from typing import Dict, Any
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualHeatChill: class VirtualHeatChill:
"""Virtual heat chill device for HeatChillProtocol testing 🌡️""" """Virtual heat chill device for HeatChillProtocol testing 🌡️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and 'id' in kwargs: if device_id is None and 'id' in kwargs:
@@ -35,6 +39,9 @@ class VirtualHeatChill:
print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨") print(f"🌡️ === 虚拟温控设备 {self.device_id} 已创建 === ✨")
print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM") print(f"🔥 温度范围: {self._min_temp}°C ~ {self._max_temp}°C | 🌪️ 最大搅拌: {self._max_stir_speed} RPM")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual heat chill 🚀""" """Initialize virtual heat chill 🚀"""
self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟温控设备 {self.device_id} ✨")
@@ -177,7 +184,7 @@ class VirtualHeatChill:
break break
# 等待1秒后再次检查 # 等待1秒后再次检查
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
# 操作完成 # 操作完成
final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else "" final_stir_info = f" | 🌪️ 搅拌: {stir_speed} RPM" if stir else ""

221
unilabos/devices/virtual/virtual_rotavap.py
View File

@@ -3,13 +3,19 @@ import logging
import time as time_module import time as time_module
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
def debug_print(message): def debug_print(message):
"""调试输出 🔍""" """调试输出 🔍"""
print(f"🌪️ [ROTAVAP] {message}", flush=True) print(f"🌪️ [ROTAVAP] {message}", flush=True)
class VirtualRotavap: class VirtualRotavap:
"""Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️""" """Virtual rotary evaporator device - 简化版，只保留核心功能 🌪️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and "id" in kwargs: if device_id is None and "id" in kwargs:
@@ -38,40 +44,49 @@ class VirtualRotavap:
print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨") print(f"🌪️ === 虚拟旋转蒸发仪 {self.device_id} 已创建 === ✨")
print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM") print(f"🔥 温度范围: 10°C ~ {self._max_temp}°C | 🌀 转速范围: 10 ~ {self._max_rotation_speed} RPM")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual rotary evaporator 🚀""" """Initialize virtual rotary evaporator 🚀"""
self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟旋转蒸发仪 {self.device_id} ✨")
# 只保留核心状态 # 只保留核心状态
self.data.update({ self.data.update(
"status": "🏠 待机中", {
"rotavap_state": "Ready", # Ready, Evaporating, Completed, Error "status": "🏠 待机中",
"current_temp": 25.0, "rotavap_state": "Ready", # Ready, Evaporating, Completed, Error
"target_temp": 25.0, "current_temp": 25.0,
"rotation_speed": 0.0, "target_temp": 25.0,
"vacuum_pressure": 1.0, # 大气压 "rotation_speed": 0.0,
"evaporated_volume": 0.0, "vacuum_pressure": 1.0, # 大气压
"progress": 0.0, "evaporated_volume": 0.0,
"remaining_time": 0.0, "progress": 0.0,
"message": "🌪️ Ready for evaporation" "remaining_time": 0.0,
}) "message": "🌪️ Ready for evaporation",
}
)
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️") self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 初始化完成 🌪️")
self.logger.info(f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM") self.logger.info(
f"📊 设备规格: 温度范围 10°C ~ {self._max_temp}°C | 转速范围 10 ~ {self._max_rotation_speed} RPM"
)
return True return True
async def cleanup(self) -> bool: async def cleanup(self) -> bool:
"""Cleanup virtual rotary evaporator 🧹""" """Cleanup virtual rotary evaporator 🧹"""
self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚") self.logger.info(f"🧹 清理虚拟旋转蒸发仪 {self.device_id} 🔚")
self.data.update({ self.data.update(
"status": "💤 离线", {
"rotavap_state": "Offline", "status": "💤 离线",
"current_temp": 25.0, "rotavap_state": "Offline",
"rotation_speed": 0.0, "current_temp": 25.0,
"vacuum_pressure": 1.0, "rotation_speed": 0.0,
"message": "💤 System offline" "vacuum_pressure": 1.0,
}) "message": "💤 System offline",
}
)
self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤") self.logger.info(f"✅ 旋转蒸发仪 {self.device_id} 清理完成 💤")
return True return True
@@ -84,7 +99,7 @@ class VirtualRotavap:
time: float = 180.0, time: float = 180.0,
stir_speed: float = 100.0, stir_speed: float = 100.0,
solvent: str = "", solvent: str = "",
**kwargs **kwargs,
) -> bool: ) -> bool:
"""Execute evaporate action - 简化版 🌪️""" """Execute evaporate action - 简化版 🌪️"""
@@ -114,11 +129,11 @@ class VirtualRotavap:
self.logger.info(f"🧪 识别到溶剂: {solvent}") self.logger.info(f"🧪 识别到溶剂: {solvent}")
# 根据溶剂调整参数 # 根据溶剂调整参数
solvent_lower = solvent.lower() solvent_lower = solvent.lower()
if any(s in solvent_lower for s in ['water', 'aqueous']): if any(s in solvent_lower for s in ["water", "aqueous"]):
temp = max(temp, 80.0) temp = max(temp, 80.0)
pressure = max(pressure, 0.2) pressure = max(pressure, 0.2)
self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar") self.logger.info(f"💧 水系溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
elif any(s in solvent_lower for s in ['ethanol', 'methanol', 'acetone']): elif any(s in solvent_lower for s in ["ethanol", "methanol", "acetone"]):
temp = min(temp, 50.0) temp = min(temp, 50.0)
pressure = min(pressure, 0.05) pressure = min(pressure, 0.05)
self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar") self.logger.info(f"⚡ 易挥发溶剂：调整参数 → 温度 {temp}°C, 压力 {pressure} bar")
@@ -136,57 +151,65 @@ class VirtualRotavap:
if temp > self._max_temp or temp < 10.0: if temp > self._max_temp or temp < 10.0:
error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️" error_msg = f"🌡️ 温度 {temp}°C 超出范围 (10-{self._max_temp}°C) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update(
"status": f"❌ 错误: 温度超出范围", {
"rotavap_state": "Error", "status": f"❌ 错误: 温度超出范围",
"current_temp": 25.0, "rotavap_state": "Error",
"progress": 0.0, "current_temp": 25.0,
"evaporated_volume": 0.0, "progress": 0.0,
"message": error_msg "evaporated_volume": 0.0,
}) "message": error_msg,
}
)
return False return False
if stir_speed > self._max_rotation_speed or stir_speed < 10.0: if stir_speed > self._max_rotation_speed or stir_speed < 10.0:
error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️" error_msg = f"🌀 旋转速度 {stir_speed} RPM 超出范围 (10-{self._max_rotation_speed} RPM) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update(
"status": f"❌ 错误: 转速超出范围", {
"rotavap_state": "Error", "status": f"❌ 错误: 转速超出范围",
"current_temp": 25.0, "rotavap_state": "Error",
"progress": 0.0, "current_temp": 25.0,
"evaporated_volume": 0.0, "progress": 0.0,
"message": error_msg "evaporated_volume": 0.0,
}) "message": error_msg,
}
)
return False return False
if pressure < 0.01 or pressure > 1.0: if pressure < 0.01 or pressure > 1.0:
error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️" error_msg = f"💨 真空度 {pressure} bar 超出范围 (0.01-1.0 bar) ⚠️"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update(
"status": f"❌ 错误: 压力超出范围", {
"rotavap_state": "Error", "status": f"❌ 错误: 压力超出范围",
"current_temp": 25.0, "rotavap_state": "Error",
"progress": 0.0, "current_temp": 25.0,
"evaporated_volume": 0.0, "progress": 0.0,
"message": error_msg "evaporated_volume": 0.0,
}) "message": error_msg,
}
)
return False return False
# 开始蒸发 - 🔧 现在time已经确保是float类型 # 开始蒸发 - 🔧 现在time已经确保是float类型
self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️") self.logger.info(f"🚀 启动蒸发程序! 预计用时 {time/60:.1f}分钟 ⏱️")
self.data.update({ self.data.update(
"status": f"🌪️ 蒸发中: {actual_vessel}", {
"rotavap_state": "Evaporating", "status": f"🌪️ 蒸发中: {actual_vessel}",
"current_temp": temp, "rotavap_state": "Evaporating",
"target_temp": temp, "current_temp": temp,
"rotation_speed": stir_speed, "target_temp": temp,
"vacuum_pressure": pressure, "rotation_speed": stir_speed,
"remaining_time": time, "vacuum_pressure": pressure,
"progress": 0.0, "remaining_time": time,
"evaporated_volume": 0.0, "progress": 0.0,
"message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM" "evaporated_volume": 0.0,
}) "message": f"🌪️ Evaporating {actual_vessel} at {temp}°C, {pressure} bar, {stir_speed} RPM",
}
)
try: try:
# 蒸发过程 - 实时更新进度 # 蒸发过程 - 实时更新进度
@@ -201,9 +224,9 @@ class VirtualRotavap:
progress = min(100.0, (elapsed / total_time) * 100) progress = min(100.0, (elapsed / total_time) * 100)
# 模拟蒸发体积 - 根据溶剂类型调整 # 模拟蒸发体积 - 根据溶剂类型调整
if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']): if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢 evaporated_vol = progress * 0.6 # 水系溶剂蒸发慢
elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']): elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快 evaporated_vol = progress * 1.0 # 易挥发溶剂蒸发快
else: else:
evaporated_vol = progress * 0.8 # 默认蒸发量 evaporated_vol = progress * 0.8 # 默认蒸发量
@@ -211,18 +234,22 @@ class VirtualRotavap:
# 🔧 更新状态 - 确保包含所有必需字段 # 🔧 更新状态 - 确保包含所有必需字段
status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s" status_msg = f"🌪️ 蒸发中: {actual_vessel} | 🌡️ {temp}°C | 💨 {pressure} bar | 🌀 {stir_speed} RPM | 📊 {progress:.1f}% | ⏰ 剩余: {remaining:.0f}s"
self.data.update({ self.data.update(
"remaining_time": remaining, {
"progress": progress, "remaining_time": remaining,
"evaporated_volume": evaporated_vol, "progress": progress,
"current_temp": temp, "evaporated_volume": evaporated_vol,
"status": status_msg, "current_temp": temp,
"message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining" "status": status_msg,
}) "message": f"🌪️ Evaporating: {progress:.1f}% complete, 💧 {evaporated_vol:.1f}mL evaporated, ⏰ {remaining:.0f}s remaining",
}
)
# 进度日志（每25%打印一次） # 进度日志（每25%打印一次）
if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress: if progress >= 25 and int(progress) % 25 == 0 and int(progress) != last_logged_progress:
self.logger.info(f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨") self.logger.info(
f"📊 蒸发进度: {progress:.0f}% | 💧 已蒸发: {evaporated_vol:.1f}mL | ⏰ 剩余: {remaining:.0f}s ✨"
)
last_logged_progress = int(progress) last_logged_progress = int(progress)
# 时间到了，退出循环 # 时间到了，退出循环
@@ -230,27 +257,29 @@ class VirtualRotavap:
break break
# 每秒更新一次 # 每秒更新一次
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
# 蒸发完成 # 蒸发完成
if solvent and any(s in solvent.lower() for s in ['water', 'aqueous']): if solvent and any(s in solvent.lower() for s in ["water", "aqueous"]):
final_evaporated = 60.0 # 水系溶剂 final_evaporated = 60.0 # 水系溶剂
elif solvent and any(s in solvent.lower() for s in ['ethanol', 'methanol', 'acetone']): elif solvent and any(s in solvent.lower() for s in ["ethanol", "methanol", "acetone"]):
final_evaporated = 100.0 # 易挥发溶剂 final_evaporated = 100.0 # 易挥发溶剂
else: else:
final_evaporated = 80.0 # 默认 final_evaporated = 80.0 # 默认
self.data.update({ self.data.update(
"status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL", {
"rotavap_state": "Completed", "status": f"✅ 蒸发完成: {actual_vessel} | 💧 蒸发量: {final_evaporated:.1f}mL",
"evaporated_volume": final_evaporated, "rotavap_state": "Completed",
"progress": 100.0, "evaporated_volume": final_evaporated,
"current_temp": temp, "progress": 100.0,
"remaining_time": 0.0, "current_temp": temp,
"rotation_speed": 0.0, "remaining_time": 0.0,
"vacuum_pressure": 1.0, "rotation_speed": 0.0,
"message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}" "vacuum_pressure": 1.0,
}) "message": f"✅ Evaporation completed: {final_evaporated}mL evaporated from {actual_vessel}",
}
)
self.logger.info(f"🎉 蒸发操作完成! ✨") self.logger.info(f"🎉 蒸发操作完成! ✨")
self.logger.info(f"📊 蒸发结果:") self.logger.info(f"📊 蒸发结果:")
@@ -270,16 +299,18 @@ class VirtualRotavap:
error_msg = f"蒸发过程中发生错误: {str(e)} 💥" error_msg = f"蒸发过程中发生错误: {str(e)} 💥"
self.logger.error(f"❌ {error_msg}") self.logger.error(f"❌ {error_msg}")
self.data.update({ self.data.update(
"status": f"❌ 蒸发错误: {str(e)}", {
"rotavap_state": "Error", "status": f"❌ 蒸发错误: {str(e)}",
"current_temp": 25.0, "rotavap_state": "Error",
"progress": 0.0, "current_temp": 25.0,
"evaporated_volume": 0.0, "progress": 0.0,
"rotation_speed": 0.0, "evaporated_volume": 0.0,
"vacuum_pressure": 1.0, "rotation_speed": 0.0,
"message": f"❌ Evaporation failed: {str(e)}" "vacuum_pressure": 1.0,
}) "message": f"❌ Evaporation failed: {str(e)}",
}
)
return False return False
# === 核心状态属性 === # === 核心状态属性 ===

11
unilabos/devices/virtual/virtual_separator.py
View File

@@ -2,10 +2,14 @@ import asyncio
import logging import logging
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSeparator: class VirtualSeparator:
"""Virtual separator device for SeparateProtocol testing""" """Virtual separator device for SeparateProtocol testing"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs): def __init__(self, device_id: Optional[str] = None, config: Optional[Dict[str, Any]] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and "id" in kwargs: if device_id is None and "id" in kwargs:
@@ -36,6 +40,9 @@ class VirtualSeparator:
if key not in skip_keys and not hasattr(self, key): if key not in skip_keys and not hasattr(self, key):
setattr(self, key, value) setattr(self, key, value)
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual separator""" """Initialize virtual separator"""
print(f"=== VirtualSeparator {self.device_id} initialize() called! ===") print(f"=== VirtualSeparator {self.device_id} initialize() called! ===")
@@ -119,14 +126,14 @@ class VirtualSeparator:
for repeat in range(repeats): for repeat in range(repeats):
# 搅拌阶段 # 搅拌阶段
for progress in range(0, 51, 10): for progress in range(0, 51, 10):
await asyncio.sleep(simulation_time / (repeats * 10)) await self._ros_node.sleep(simulation_time / (repeats * 10))
overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
self.data["progress"] = overall_progress self.data["progress"] = overall_progress
self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)" self.data["message"] = f"第{repeat+1}次分离 - 搅拌中 ({progress}%)"
# 静置分相阶段 # 静置分相阶段
for progress in range(50, 101, 10): for progress in range(50, 101, 10):
await asyncio.sleep(simulation_time / (repeats * 10)) await self._ros_node.sleep(simulation_time / (repeats * 10))
overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats overall_progress = ((repeat * 100) + (progress * 0.5)) / repeats
self.data["progress"] = overall_progress self.data["progress"] = overall_progress
self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)" self.data["message"] = f"第{repeat+1}次分离 - 静置分相中 ({progress}%)"

10
unilabos/devices/virtual/virtual_solenoid_valve.py
View File

@@ -2,11 +2,16 @@ import time
import asyncio import asyncio
from typing import Union from typing import Union
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSolenoidValve: class VirtualSolenoidValve:
""" """
虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态 虚拟电磁阀门 - 简单的开关型阀门，只有开启和关闭两个状态
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: dict = None, **kwargs): def __init__(self, device_id: str = None, config: dict = None, **kwargs):
# 从配置中获取参数，提供默认值 # 从配置中获取参数，提供默认值
if config is None: if config is None:
@@ -22,6 +27,9 @@ class VirtualSolenoidValve:
self._valve_state = "Closed" # "Open" or "Closed" self._valve_state = "Closed" # "Open" or "Closed"
self._is_open = False self._is_open = False
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""初始化设备""" """初始化设备"""
self._status = "Idle" self._status = "Idle"
@@ -63,7 +71,7 @@ class VirtualSolenoidValve:
self._status = "Busy" self._status = "Busy"
# 模拟阀门响应时间 # 模拟阀门响应时间
await asyncio.sleep(self.response_time) await self._ros_node.sleep(self.response_time)
# 处理不同的命令格式 # 处理不同的命令格式
if isinstance(command, str): if isinstance(command, str):

9
unilabos/devices/virtual/virtual_solid_dispenser.py
View File

@@ -3,6 +3,8 @@ import logging
import re import re
from typing import Dict, Any, Optional from typing import Dict, Any, Optional
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualSolidDispenser: class VirtualSolidDispenser:
""" """
虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️ 虚拟固体粉末加样器 - 用于处理 Add Protocol 中的固体试剂添加 ⚗️
@@ -13,6 +15,8 @@ class VirtualSolidDispenser:
- 简单反馈：成功/失败 + 消息 📊 - 简单反馈：成功/失败 + 消息 📊
""" """
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
self.device_id = device_id or "virtual_solid_dispenser" self.device_id = device_id or "virtual_solid_dispenser"
self.config = config or {} self.config = config or {}
@@ -32,6 +36,9 @@ class VirtualSolidDispenser:
print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨") print(f"⚗️ === 虚拟固体分配器 {self.device_id} 创建成功! === ✨")
print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯") print(f"📊 设备规格: 最大容量 {self.max_capacity}g | 精度 {self.precision}g 🎯")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""初始化固体加样器 🚀""" """初始化固体加样器 🚀"""
self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨") self.logger.info(f"🔧 初始化固体分配器 {self.device_id} ✨")
@@ -263,7 +270,7 @@ class VirtualSolidDispenser:
for i in range(steps): for i in range(steps):
progress = (i + 1) / steps * 100 progress = (i + 1) / steps * 100
await asyncio.sleep(step_time) await self._ros_node.sleep(step_time)
if i % 2 == 0: # 每隔一步显示进度 if i % 2 == 0: # 每隔一步显示进度
self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...") self.logger.debug(f"📊 加样进度: {progress:.0f}% | {amount_emoji} 正在分配 {reagent}...")

11
unilabos/devices/virtual/virtual_stirrer.py
View File

@@ -3,9 +3,13 @@ import logging
import time as time_module import time as time_module
from typing import Dict, Any from typing import Dict, Any
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualStirrer: class VirtualStirrer:
"""Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️""" """Virtual stirrer device for StirProtocol testing - 功能完整版 🌪️"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs): def __init__(self, device_id: str = None, config: Dict[str, Any] = None, **kwargs):
# 处理可能的不同调用方式 # 处理可能的不同调用方式
if device_id is None and 'id' in kwargs: if device_id is None and 'id' in kwargs:
@@ -34,6 +38,9 @@ class VirtualStirrer:
print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨") print(f"🌪️ === 虚拟搅拌器 {self.device_id} 已创建 === ✨")
print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}") print(f"🔧 速度范围: {self._min_speed} ~ {self._max_speed} RPM | 📱 端口: {self.port}")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""Initialize virtual stirrer 🚀""" """Initialize virtual stirrer 🚀"""
self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟搅拌器 {self.device_id} ✨")
@@ -134,7 +141,7 @@ class VirtualStirrer:
if remaining <= 0: if remaining <= 0:
break break
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s") self.logger.info(f"✅ 搅拌阶段完成! 🌪️ {stir_speed} RPM × {stir_time}s")
@@ -176,7 +183,7 @@ class VirtualStirrer:
if remaining <= 0: if remaining <= 0:
break break
await asyncio.sleep(1.0) await self._ros_node.sleep(1.0)
self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s") self.logger.info(f"✅ 沉降阶段完成! 🛑 静置 {settling_time}s")

13
unilabos/devices/virtual/virtual_transferpump.py
View File

@@ -4,6 +4,8 @@ from enum import Enum
from typing import Union, Optional from typing import Union, Optional
import logging import logging
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
class VirtualPumpMode(Enum): class VirtualPumpMode(Enum):
Normal = 0 Normal = 0
@@ -14,6 +16,8 @@ class VirtualPumpMode(Enum):
class VirtualTransferPump: class VirtualTransferPump:
"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰""" """虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: dict = None, **kwargs): def __init__(self, device_id: str = None, config: dict = None, **kwargs):
""" """
初始化虚拟转移泵 初始化虚拟转移泵
@@ -53,6 +57,9 @@ class VirtualTransferPump:
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s") print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}") print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool: async def initialize(self) -> bool:
"""初始化虚拟泵 🚀""" """初始化虚拟泵 🚀"""
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨") self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -104,7 +111,7 @@ class VirtualTransferPump:
async def _simulate_operation(self, duration: float): async def _simulate_operation(self, duration: float):
"""模拟操作延时 ⏱️""" """模拟操作延时 ⏱️"""
self._status = "Busy" self._status = "Busy"
await asyncio.sleep(duration) await self._ros_node.sleep(duration)
self._status = "Idle" self._status = "Idle"
def _calculate_duration(self, volume: float, velocity: float = None) -> float: def _calculate_duration(self, volume: float, velocity: float = None) -> float:
@@ -223,7 +230,7 @@ class VirtualTransferPump:
# 等待一小步时间 # 等待一小步时间
if i < steps and step_duration > 0: if i < steps and step_duration > 0:
await asyncio.sleep(step_duration) await self._ros_node.sleep(step_duration)
else: else:
# 移动距离很小，直接完成 # 移动距离很小，直接完成
self._position = target_position self._position = target_position
@@ -341,7 +348,7 @@ class VirtualTransferPump:
# 短暂停顿 # 短暂停顿
self.logger.debug("⏸️ 短暂停顿...") self.logger.debug("⏸️ 短暂停顿...")
await asyncio.sleep(0.1) await self._ros_node.sleep(0.1)
# 排液 # 排液
await self.dispense(volume, dispense_velocity) await self.dispense(volume, dispense_velocity)

BIN
unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx
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71
unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py
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@@ -3,6 +3,7 @@ from cgi import print_arguments
from doctest import debug from doctest import debug
from typing import Dict, Any, List, Optional from typing import Dict, Any, List, Optional
import requests import requests
from pylabrobot.resources.resource import Resource as ResourcePLR
from pathlib import Path from pathlib import Path
import pandas as pd import pandas as pd
import time import time
@@ -254,7 +255,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
def auto_feeding4to3( def auto_feeding4to3(
self, self,
# ★ 修改点：默认模板路径 # ★ 修改点：默认模板路径
xlsx_path: Optional[str] = "C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", xlsx_path: Optional[str] = "/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx",
# ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ----------------
WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0,
WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0,
@@ -306,7 +307,7 @@ class BioyondCellWorkstation(BioyondWorkstation):
# ---------- 模式 1: Excel 导入 ---------- # ---------- 模式 1: Excel 导入 ----------
if xlsx_path: if xlsx_path:
path = Path(xlsx_path) path = Path(__file__).parent / Path(xlsx_path)
if path.exists(): # ★ 修改点：路径存在才加载 if path.exists(): # ★ 修改点：路径存在才加载
try: try:
df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl") df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
@@ -471,14 +472,23 @@ class BioyondCellWorkstation(BioyondWorkstation):
- totalMass 自动计算为所有物料质量之和 - totalMass 自动计算为所有物料质量之和
- createTime 缺失或为空时自动填充为当前日期（YYYY/M/D） - createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
""" """
path = Path(xlsx_path) default_path = Path("/Users/sml/work/Unilab/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx")
path = Path(xlsx_path) if xlsx_path else default_path
print(f"[create_orders] 使用 Excel 路径: {path}")
if path != default_path:
print("[create_orders] 来源: 调用方传入自定义路径")
else:
print("[create_orders] 来源: 使用默认模板路径")
if not path.exists(): if not path.exists():
print(f"[create_orders] ⚠️ Excel 文件不存在: {path}")
raise FileNotFoundError(f"未找到 Excel 文件：{path}") raise FileNotFoundError(f"未找到 Excel 文件：{path}")
try: try:
df = pd.read_excel(path, sheet_name=0, engine="openpyxl") df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
except Exception as e: except Exception as e:
raise RuntimeError(f"读取 Excel 失败：{e}") raise RuntimeError(f"读取 Excel 失败：{e}")
print(f"[create_orders] Excel 读取成功，行数: {len(df)}, 列: {list(df.columns)}")
# 列名容错：返回可选列名，找不到则返回 None # 列名容错：返回可选列名，找不到则返回 None
def _pick(col_names: List[str]) -> Optional[str]: def _pick(col_names: List[str]) -> Optional[str]:
@@ -495,9 +505,20 @@ class BioyondCellWorkstation(BioyondWorkstation):
col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"]) col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
col_cond = _pick(["电导测试分液体积", "conductivityInfo"]) col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"]) col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
print("[create_orders] 列匹配结果:", {
"order_name": col_order_name,
"create_time": col_create_time,
"bottle_type": col_bottle_type,
"mix_time": col_mix_time,
"load": col_load,
"pouch": col_pouch,
"conductivity": col_cond,
"conductivity_bottle_count": col_cond_cnt,
})
# 物料列：所有以 (g) 结尾 # 物料列：所有以 (g) 结尾
material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")] material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
print(f"[create_orders] 识别到的物料列: {material_cols}")
if not material_cols: if not material_cols:
raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。") raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
@@ -545,6 +566,9 @@ class BioyondCellWorkstation(BioyondWorkstation):
if mass > 0: if mass > 0:
mats.append({"name": mcol.replace("(g)", ""), "mass": mass}) mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
total_mass += mass total_mass += mass
else:
if mass < 0:
print(f"[create_orders] 第 {idx+1} 行物料 {mcol} 数值为负数: {mass}")
order_data = { order_data = {
"batchId": batch_id, "batchId": batch_id,
@@ -559,11 +583,22 @@ class BioyondCellWorkstation(BioyondWorkstation):
"materialInfos": mats, "materialInfos": mats,
"totalMass": round(total_mass, 4) # 自动汇总 "totalMass": round(total_mass, 4) # 自动汇总
} }
print(f"[create_orders] 第 {idx+1} 行解析结果: orderName={order_data['orderName']}, "
f"loadShedding={order_data['loadSheddingInfo']}, pouchCell={order_data['pouchCellInfo']}, "
f"conductivity={order_data['conductivityInfo']}, totalMass={order_data['totalMass']}, "
f"material_count={len(mats)}")
if order_data["totalMass"] <= 0:
print(f"[create_orders] ⚠️ 第 {idx+1} 行总质量 <= 0，可能导致 LIMS 校验失败")
if not mats:
print(f"[create_orders] ⚠️ 第 {idx+1} 行未找到有效物料")
orders.append(order_data) orders.append(order_data)
print(f"[create_orders] 即将提交订单数量: {len(orders)}")
response = self._post_lims("/api/lims/order/orders", orders) response = self._post_lims("/api/lims/order/orders", orders)
print(response) print(f"[create_orders] 接口返回: {response}")
# 等待任务报送成功 # 等待任务报送成功
data_list = response.get("data", []) data_list = response.get("data", [])
if data_list: if data_list:
@@ -1014,7 +1049,35 @@ class BioyondCellWorkstation(BioyondWorkstation):
"create_result": create_result, "create_result": create_result,
"inbound_result": inbound_result, "inbound_result": inbound_result,
} }
def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR):
# ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{
# "old_parent": old_parent,
# "plr_resource": plr_resource,
# "parent_resource": parent_resource,
# })
print("resource_tree_transfer", plr_resource, parent_resource)
if hasattr(plr_resource, "unilabos_extra") and plr_resource.unilabos_extra:
if "update_resource_site" in plr_resource.unilabos_extra:
site = plr_resource.unilabos_extra["update_resource_site"]
plr_model = plr_resource.model
board_type = None
for key, (moudle_name,moudle_uuid) in MATERIAL_TYPE_MAPPINGS.items():
if plr_model == moudle_name:
board_type = key
break
if board_type is None:
pass
bottle1 = plr_resource.children[0]
bottle_moudle = bottle1.model
bottle_type = None
for key, (moudle_name, moudle_uuid) in MATERIAL_TYPE_MAPPINGS.items():
if bottle_moudle == moudle_name:
bottle_type = key
break
self.create_sample(plr_resource.name, board_type,bottle_type,site)
return
self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
def create_sample( def create_sample(
self, self,

6
unilabos/devices/workstation/bioyond_studio/config.py
View File

@@ -8,8 +8,8 @@ import os
# BioyondCellWorkstation 默认配置（包含所有必需参数） # BioyondCellWorkstation 默认配置（包含所有必需参数）
API_CONFIG = { API_CONFIG = {
# API 连接配置 # API 连接配置
# "api_host": os.getenv("BIOYOND_API_HOST", "http://172.21.32.65:44389"),#实机 # "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.1.143:44389"),#实机
"api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.10.169:44388"),# 仿真机 "api_host": os.getenv("BIOYOND_API_HOST", "http://172.16.7.149:44388"),# 仿真机
"api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"), "api_key": os.getenv("BIOYOND_API_KEY", "8A819E5C"),
"timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")), "timeout": int(os.getenv("BIOYOND_TIMEOUT", "30")),
@@ -17,7 +17,7 @@ API_CONFIG = {
"report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"),
# HTTP 服务配置 # HTTP 服务配置
"HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.115"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.16.2.140"), # HTTP服务监听地址，监听计算机飞连ip地址
"HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")),
"debug_mode": False,# 调试模式 "debug_mode": False,# 调试模式
} }

13
unilabos/devices/workstation/bioyond_studio/station.py
View File

@@ -177,7 +177,18 @@ class BioyondWorkstation(WorkstationBase):
ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
"resources": [self.deck] "resources": [self.deck]
}) })
def resource_tree_transfer(self, old_parent: ResourcePLR, plr_resource: ResourcePLR, parent_resource: ResourcePLR):
# ROS2DeviceNode.run_async_func(self._ros_node.resource_tree_transfer, True, **{
# "old_parent": old_parent,
# "plr_resource": plr_resource,
# "parent_resource": parent_resource,
# })
print("resource_tree_transfer", plr_resource, parent_resource)
if hasattr(plr_resource, "unilabos_data") and plr_resource.unilabos_data:
if "update_resource_site" in plr_resource.unilabos_data:
site = plr_resource.unilabos_data["update_resource_site"]
return
self.lab_logger().warning(f"无库位的上料，不处理，{plr_resource} 挂载到 {parent_resource}")
def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot): def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{ ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
"plr_resources": resource, "plr_resources": resource,

BIN
unilabos/devices/workstation/coin_cell_assembly.zip
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6
unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
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@@ -112,7 +112,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
def __init__( def __init__(
self, self,
deck: Deck=None, deck: Deck=None,
address: str = "172.21.33.176", address: str = "172.16.28.102",
port: str = "502", port: str = "502",
debug_mode: bool = False, debug_mode: bool = False,
*args, *args,
@@ -165,7 +165,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
print("测试模式，跳过连接") print("测试模式，跳过连接")
""" 工站的配置 """ """ 工站的配置 """
self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) self.nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_1105.csv'))
self.client = modbus_client.register_node_list(self.nodes) self.client = modbus_client.register_node_list(self.nodes)
self.success = False self.success = False
self.allow_data_read = False #允许读取函数运行标志位 self.allow_data_read = False #允许读取函数运行标志位
@@ -906,7 +906,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
return self.success return self.success
def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="C:\\Users\\67484\\Desktop") -> bool: def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="/Users/sml/work") -> bool:
elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure)
summary_csv_file = os.path.join(file_path, "duandian.csv") summary_csv_file = os.path.join(file_path, "duandian.csv")
# 如果断点文件存在，先读取之前的进度 # 如果断点文件存在，先读取之前的进度

64
unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_1105.csv Normal file
View File

@@ -0,0 +1,64 @@
Name,DataType,InitValue,Comment,Attribute,DeviceType,Address,
COIL_SYS_START_CMD,BOOL,,,,coil,9010,
COIL_SYS_STOP_CMD,BOOL,,,,coil,9020,
COIL_SYS_RESET_CMD,BOOL,,,,coil,9030,
COIL_SYS_HAND_CMD,BOOL,,,,coil,9040,
COIL_SYS_AUTO_CMD,BOOL,,,,coil,9050,
COIL_SYS_INIT_CMD,BOOL,,,,coil,9060,
COIL_UNILAB_SEND_MSG_SUCC_CMD,BOOL,,,,coil,9700,
COIL_UNILAB_REC_MSG_SUCC_CMD,BOOL,,,,coil,9710,unilab_rec_msg_succ_cmd
COIL_SYS_START_STATUS,BOOL,,,,coil,9210,
COIL_SYS_STOP_STATUS,BOOL,,,,coil,9220,
COIL_SYS_RESET_STATUS,BOOL,,,,coil,9230,
COIL_SYS_HAND_STATUS,BOOL,,,,coil,9240,
COIL_SYS_AUTO_STATUS,BOOL,,,,coil,9250,
COIL_SYS_INIT_STATUS,BOOL,,,,coil,9260,
COIL_REQUEST_REC_MSG_STATUS,BOOL,,,,coil,9500,
COIL_REQUEST_SEND_MSG_STATUS,BOOL,,,,coil,9510,request_send_msg_status
REG_MSG_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,17000,
REG_MSG_ELECTROLYTE_NUM,INT16,,,,hold_register,17002,unilab_send_msg_electrolyte_num
REG_MSG_ELECTROLYTE_VOLUME,INT16,,,,hold_register,17004,unilab_send_msg_electrolyte_vol
REG_MSG_ASSEMBLY_TYPE,INT16,,,,hold_register,17006,unilab_send_msg_assembly_type
REG_MSG_ASSEMBLY_PRESSURE,INT16,,,,hold_register,17008,unilab_send_msg_assembly_pressure
REG_DATA_ASSEMBLY_COIN_CELL_NUM,INT16,,,,hold_register,16000,data_assembly_coin_cell_num
REG_DATA_OPEN_CIRCUIT_VOLTAGE,FLOAT32,,,,hold_register,16002,data_open_circuit_voltage
REG_DATA_AXIS_X_POS,FLOAT32,,,,hold_register,16004,
REG_DATA_AXIS_Y_POS,FLOAT32,,,,hold_register,16006,
REG_DATA_AXIS_Z_POS,FLOAT32,,,,hold_register,16008,
REG_DATA_POLE_WEIGHT,FLOAT32,,,,hold_register,16010,data_pole_weight
REG_DATA_ASSEMBLY_PER_TIME,FLOAT32,,,,hold_register,16012,data_assembly_time
REG_DATA_ASSEMBLY_PRESSURE,INT16,,,,hold_register,16014,data_assembly_pressure
REG_DATA_ELECTROLYTE_VOLUME,INT16,,,,hold_register,16016,data_electrolyte_volume
REG_DATA_COIN_NUM,INT16,,,,hold_register,16018,data_coin_num
REG_DATA_ELECTROLYTE_CODE,STRING,,,,hold_register,16020,data_electrolyte_code()
REG_DATA_COIN_CELL_CODE,STRING,,,,hold_register,16030,data_coin_cell_code()
REG_DATA_STACK_VISON_CODE,STRING,,,,hold_register,18004,data_stack_vision_code()
REG_DATA_GLOVE_BOX_PRESSURE,FLOAT32,,,,hold_register,16050,data_glove_box_pressure
REG_DATA_GLOVE_BOX_WATER_CONTENT,FLOAT32,,,,hold_register,16052,data_glove_box_water_content
REG_DATA_GLOVE_BOX_O2_CONTENT,FLOAT32,,,,hold_register,16054,data_glove_box_o2_content
UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9720,
UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM,BOOL,,,,coil,9520,
REG_MSG_ELECTROLYTE_NUM_USED,INT16,,,,hold_register,17496,
REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,16000,
UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,9730,
UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,9530,
REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,16018,ASSEMBLY_TYPE7or8
COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,9340,
REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,17440,
REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,17450,
REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,17480,
REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,17443,
REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,17453,
REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,9360,电池压制模式
,,,,,,,
,BOOL,,视觉对位（false:使用，true:忽略）,,coil,9300,视觉对位
,BOOL,,复检（false:使用，true:忽略）,,coil,9310,视觉复检
,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,9320,手套箱左仓
,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,9420,手套箱右仓
,BOOL,,真空检知（false:使用，true:忽略）,,coil,9350,真空检知
,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,9370,滴液模式
,BOOL,,正极片称重（false:使用，true:忽略）,,coil,9380,正极片称重
,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,9390,正负极反装
,BOOL,,压制清洁（false:使用，true:忽略）,,coil,9400,压制清洁
,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,9410,负极片摆盘方式
REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,9460,
1 Name DataType InitValue Comment Attribute DeviceType Address
2 COIL_SYS_START_CMD BOOL coil 9010
3 COIL_SYS_STOP_CMD BOOL coil 9020
4 COIL_SYS_RESET_CMD BOOL coil 9030
5 COIL_SYS_HAND_CMD BOOL coil 9040
6 COIL_SYS_AUTO_CMD BOOL coil 9050
7 COIL_SYS_INIT_CMD BOOL coil 9060
8 COIL_UNILAB_SEND_MSG_SUCC_CMD BOOL coil 9700
9 COIL_UNILAB_REC_MSG_SUCC_CMD BOOL coil 9710 unilab_rec_msg_succ_cmd
10 COIL_SYS_START_STATUS BOOL coil 9210
11 COIL_SYS_STOP_STATUS BOOL coil 9220
12 COIL_SYS_RESET_STATUS BOOL coil 9230
13 COIL_SYS_HAND_STATUS BOOL coil 9240
14 COIL_SYS_AUTO_STATUS BOOL coil 9250
15 COIL_SYS_INIT_STATUS BOOL coil 9260
16 COIL_REQUEST_REC_MSG_STATUS BOOL coil 9500
17 COIL_REQUEST_SEND_MSG_STATUS BOOL coil 9510 request_send_msg_status
18 REG_MSG_ELECTROLYTE_USE_NUM INT16 hold_register 17000
19 REG_MSG_ELECTROLYTE_NUM INT16 hold_register 17002 unilab_send_msg_electrolyte_num
20 REG_MSG_ELECTROLYTE_VOLUME INT16 hold_register 17004 unilab_send_msg_electrolyte_vol
21 REG_MSG_ASSEMBLY_TYPE INT16 hold_register 17006 unilab_send_msg_assembly_type
22 REG_MSG_ASSEMBLY_PRESSURE INT16 hold_register 17008 unilab_send_msg_assembly_pressure
23 REG_DATA_ASSEMBLY_COIN_CELL_NUM INT16 hold_register 16000 data_assembly_coin_cell_num
24 REG_DATA_OPEN_CIRCUIT_VOLTAGE FLOAT32 hold_register 16002 data_open_circuit_voltage
25 REG_DATA_AXIS_X_POS FLOAT32 hold_register 16004
26 REG_DATA_AXIS_Y_POS FLOAT32 hold_register 16006
27 REG_DATA_AXIS_Z_POS FLOAT32 hold_register 16008
28 REG_DATA_POLE_WEIGHT FLOAT32 hold_register 16010 data_pole_weight
29 REG_DATA_ASSEMBLY_PER_TIME FLOAT32 hold_register 16012 data_assembly_time
30 REG_DATA_ASSEMBLY_PRESSURE INT16 hold_register 16014 data_assembly_pressure
31 REG_DATA_ELECTROLYTE_VOLUME INT16 hold_register 16016 data_electrolyte_volume
32 REG_DATA_COIN_NUM INT16 hold_register 16018 data_coin_num
33 REG_DATA_ELECTROLYTE_CODE STRING hold_register 16020 data_electrolyte_code()
34 REG_DATA_COIN_CELL_CODE STRING hold_register 16030 data_coin_cell_code()
35 REG_DATA_STACK_VISON_CODE STRING hold_register 18004 data_stack_vision_code()
36 REG_DATA_GLOVE_BOX_PRESSURE FLOAT32 hold_register 16050 data_glove_box_pressure
37 REG_DATA_GLOVE_BOX_WATER_CONTENT FLOAT32 hold_register 16052 data_glove_box_water_content
38 REG_DATA_GLOVE_BOX_O2_CONTENT FLOAT32 hold_register 16054 data_glove_box_o2_content
39 UNILAB_SEND_ELECTROLYTE_BOTTLE_NUM BOOL coil 9720
40 UNILAB_RECE_ELECTROLYTE_BOTTLE_NUM BOOL coil 9520
41 REG_MSG_ELECTROLYTE_NUM_USED INT16 hold_register 17496
42 REG_DATA_ELECTROLYTE_USE_NUM INT16 hold_register 16000
43 UNILAB_SEND_FINISHED_CMD BOOL coil 9730
44 UNILAB_RECE_FINISHED_CMD BOOL coil 9530
45 REG_DATA_ASSEMBLY_TYPE INT16 hold_register 16018 ASSEMBLY_TYPE7or8
46 COIL_ALUMINUM_FOIL BOOL 使用铝箔垫 coil 9340
47 REG_MSG_NE_PLATE_MATRIX INT16 负极片矩阵点位 hold_register 17440
48 REG_MSG_SEPARATOR_PLATE_MATRIX INT16 隔膜矩阵点位 hold_register 17450
49 REG_MSG_TIP_BOX_MATRIX INT16 移液枪头矩阵点位 hold_register 17480
50 REG_MSG_NE_PLATE_NUM INT16 负极片盘数 hold_register 17443
51 REG_MSG_SEPARATOR_PLATE_NUM INT16 隔膜盘数 hold_register 17453
52 REG_MSG_PRESS_MODE BOOL 压制模式（false:压力检测模式，True:距离模式） coil 9360 电池压制模式
53
54 BOOL 视觉对位（false:使用，true:忽略） coil 9300 视觉对位
55 BOOL 复检（false:使用，true:忽略） coil 9310 视觉复检
56 BOOL 手套箱_左仓（false:使用，true:忽略） coil 9320 手套箱左仓
57 BOOL 手套箱_右仓（false:使用，true:忽略） coil 9420 手套箱右仓
58 BOOL 真空检知（false:使用，true:忽略） coil 9350 真空检知
59 BOOL 电解液添加模式（false:单次滴液，true:二次滴液） coil 9370 滴液模式
60 BOOL 正极片称重（false:使用，true:忽略） coil 9380 正极片称重
61 BOOL 正负极片组装方式（false:正装，true:倒装） coil 9390 正负极反装
62 BOOL 压制清洁（false:使用，true:忽略） coil 9400 压制清洁
63 BOOL 物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘） coil 9410 负极片摆盘方式
64 REG_MSG_BATTERY_CLEAN_IGNORE BOOL 忽略电池清洁（false:使用，true:忽略） coil 9460

20
unilabos/resources/bioyond/YB_bottle_carriers.py
View File

@@ -233,7 +233,7 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier:
resource_size_y=beaker_diameter, resource_size_y=beaker_diameter,
name_prefix=name, name_prefix=name,
), ),
model="1BottleCarrier", model="YB_1BottleCarrier",
) )
carrier.num_items_x = 1 carrier.num_items_x = 1
carrier.num_items_y = 1 carrier.num_items_y = 1
@@ -270,7 +270,7 @@ def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier:
resource_size_y=beaker_diameter, resource_size_y=beaker_diameter,
name_prefix=name, name_prefix=name,
), ),
model="1GaoNianYeBottleCarrier", model="YB_1GaoNianYeBottleCarrier",
) )
carrier.num_items_x = 1 carrier.num_items_x = 1
carrier.num_items_y = 1 carrier.num_items_y = 1
@@ -307,7 +307,7 @@ def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier:
resource_size_y=beaker_diameter, resource_size_y=beaker_diameter,
name_prefix=name, name_prefix=name,
), ),
model="1Bottle100mlCarrier", model="YB_1Bottle100mlCarrier",
) )
carrier.num_items_x = 1 carrier.num_items_x = 1
carrier.num_items_y = 1 carrier.num_items_y = 1
@@ -355,7 +355,7 @@ def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier:
size_y=carrier_size_y, size_y=carrier_size_y,
size_z=carrier_size_z, size_z=carrier_size_z,
sites=sites, sites=sites,
model="6x5ml_DispensingVialCarrier", model="YB_6x5ml_DispensingVialCarrier",
) )
carrier.num_items_x = 4 carrier.num_items_x = 4
carrier.num_items_y = 2 carrier.num_items_y = 2
@@ -405,7 +405,7 @@ def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier:
size_y=carrier_size_y, size_y=carrier_size_y,
size_z=carrier_size_z, size_z=carrier_size_z,
sites=sites, sites=sites,
model="6x20ml_DispensingVialCarrier", model="YB_6x20ml_DispensingVialCarrier",
) )
carrier.num_items_x = 4 carrier.num_items_x = 4
carrier.num_items_y = 2 carrier.num_items_y = 2
@@ -455,7 +455,7 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier:
size_y=carrier_size_y, size_y=carrier_size_y,
size_z=carrier_size_z, size_z=carrier_size_z,
sites=sites, sites=sites,
model="6x_SmallSolutionBottleCarrier", model="YB_6x_SmallSolutionBottleCarrier",
) )
carrier.num_items_x = 4 carrier.num_items_x = 4
carrier.num_items_y = 2 carrier.num_items_y = 2
@@ -505,7 +505,7 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier:
size_y=carrier_size_y, size_y=carrier_size_y,
size_z=carrier_size_z, size_z=carrier_size_z,
sites=sites, sites=sites,
model="4x_LargeSolutionBottleCarrier", model="YB_4x_LargeSolutionBottleCarrier",
) )
carrier.num_items_x = 2 carrier.num_items_x = 2
carrier.num_items_y = 2 carrier.num_items_y = 2
@@ -554,7 +554,7 @@ def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier:
size_y=carrier_size_y, size_y=carrier_size_y,
size_z=carrier_size_z, size_z=carrier_size_z,
sites=sites, sites=sites,
model="6x_LargeDispenseHeadCarrier", model="YB_6x_LargeDispenseHeadCarrier",
) )
carrier.num_items_x = 1 carrier.num_items_x = 1
carrier.num_items_y = 1 carrier.num_items_y = 1
@@ -591,7 +591,7 @@ def YB_AdapterBlock(name: str) -> BottleCarrier:
resource_size_y=adapter_diameter, resource_size_y=adapter_diameter,
name_prefix=name, name_prefix=name,
), ),
model="AdapterBlock", model="YB_AdapterBlock",
) )
carrier.num_items_x = 1 carrier.num_items_x = 1
carrier.num_items_y = 1 carrier.num_items_y = 1
@@ -639,7 +639,7 @@ def YB_TipBox(name: str) -> BottleCarrier:
size_y=carrier_size_y, size_y=carrier_size_y,
size_z=carrier_size_z, size_z=carrier_size_z,
sites=sites, sites=sites,
model="TipBox", model="YB_TipBox",
) )
carrier.num_items_x = 12 carrier.num_items_x = 12
carrier.num_items_y = 8 carrier.num_items_y = 8

14
unilabos/resources/bioyond/YB_bottles.py
View File

@@ -15,7 +15,7 @@ def YB_jia_yang_tou_da(
height=height, height=height,
max_volume=max_volume, max_volume=max_volume,
barcode=barcode, barcode=barcode,
model="Solid_Stock", model="YB_jia_yang_tou_da_1X1_carrier",
) )
"""液1x1""" """液1x1"""
@@ -51,7 +51,7 @@ def YB_ye_100ml_Bottle(
height=height, height=height,
max_volume=max_volume, max_volume=max_volume,
barcode=barcode, barcode=barcode,
model="Liquid_Bottle_100ml", model="YB_1Bottle100mlCarrier",
) )
"""高粘液""" """高粘液"""
@@ -87,7 +87,7 @@ def YB_fen_ye_5ml_Bottle(
height=height, height=height,
max_volume=max_volume, max_volume=max_volume,
barcode=barcode, barcode=barcode,
model="Separation_Bottle_5ml", model="YB_fen_ye_5ml_Bottle",
) )
"""20ml分液瓶""" """20ml分液瓶"""
@@ -105,7 +105,7 @@ def YB_fen_ye_20ml_Bottle(
height=height, height=height,
max_volume=max_volume, max_volume=max_volume,
barcode=barcode, barcode=barcode,
model="Separation_Bottle_20ml", model="YB_fen_ye_20ml_Bottle",
) )
"""配液瓶(小)""" """配液瓶(小)"""
@@ -123,7 +123,7 @@ def YB_pei_ye_xiao_Bottle(
height=height, height=height,
max_volume=max_volume, max_volume=max_volume,
barcode=barcode, barcode=barcode,
model="Mixing_Bottle_Small", model="YB_pei_ye_xiao_Bottle",
) )
"""配液瓶(大)""" """配液瓶(大)"""
@@ -141,7 +141,7 @@ def YB_pei_ye_da_Bottle(
height=height, height=height,
max_volume=max_volume, max_volume=max_volume,
barcode=barcode, barcode=barcode,
model="Mixing_Bottle_Large", model="YB_pei_ye_da_Bottle",
) )
"""枪头""" """枪头"""
@@ -159,5 +159,5 @@ def YB_Pipette_Tip(
height=height, height=height,
max_volume=max_volume, max_volume=max_volume,
barcode=barcode, barcode=barcode,
model="Pipette_Tip", model="YB_Pipette_Tip",
) )

130
unilabos/ros/main_slave_run.py
View File

@@ -6,11 +6,12 @@ from typing import Optional, Dict, Any, List
import rclpy import rclpy
from unilabos_msgs.srv._serial_command import SerialCommand_Response from unilabos_msgs.srv._serial_command import SerialCommand_Response
from unilabos.app.register import register_devices_and_resources
from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet
from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher
from unilabos_msgs.srv import SerialCommand # type: ignore from unilabos_msgs.srv import SerialCommand # type: ignore
from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor from rclpy.executors import MultiThreadedExecutor
from rclpy.node import Node from rclpy.node import Node
from rclpy.timer import Timer from rclpy.timer import Timer
@@ -108,66 +109,51 @@ def slave(
rclpy_init_args: List[str] = ["--log-level", "debug"], rclpy_init_args: List[str] = ["--log-level", "debug"],
) -> None: ) -> None:
"""从节点函数""" """从节点函数"""
# 1. 初始化 ROS2
if not rclpy.ok(): if not rclpy.ok():
rclpy.init(args=rclpy_init_args) rclpy.init(args=rclpy_init_args)
executor = rclpy.__executor executor = rclpy.__executor
if not executor: if not executor:
executor = rclpy.__executor = MultiThreadedExecutor() executor = rclpy.__executor = MultiThreadedExecutor()
devices_instances = {}
for device_config in devices_config.root_nodes:
device_id = device_config.res_content.id
if device_config.res_content.type != "device":
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
devices_instances[device_id] = d
# 默认初始化
# if d is not None and isinstance(d, Node):
# executor.add_node(d)
# else:
# print(f"Warning: Device {device_id} could not be initialized or is not a valid Node")
n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[]) # 1.5 启动 executor 线程
executor.add_node(n)
if visual != "disable":
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_config, # type: ignore FIXME
resource_tracker=DeviceNodeResourceTracker(),
device_id="resource_mesh_manager",
)
joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread") thread = threading.Thread(target=executor.spin, daemon=True, name="slave_executor_thread")
thread.start() thread.start()
# 2. 创建 Slave Machine Node
n = Node(f"slaveMachine_{BasicConfig.machine_name}", parameter_overrides=[])
executor.add_node(n)
# 3. 向 Host 报送节点信息和物料，获取 UUID 映射
uuid_mapping = {}
if not BasicConfig.slave_no_host: if not BasicConfig.slave_no_host:
# 3.1 报送节点信息
sclient = n.create_client(SerialCommand, "/node_info_update") sclient = n.create_client(SerialCommand, "/node_info_update")
sclient.wait_for_service() sclient.wait_for_service()
registry_config = {}
devices_to_register, resources_to_register = register_devices_and_resources(lab_registry, True)
registry_config.update(devices_to_register)
registry_config.update(resources_to_register)
request = SerialCommand.Request() request = SerialCommand.Request()
request.command = json.dumps( request.command = json.dumps(
{ {
"machine_name": BasicConfig.machine_name, "machine_name": BasicConfig.machine_name,
"type": "slave", "type": "slave",
"devices_config": devices_config.dump(), "devices_config": devices_config.dump(),
"registry_config": lab_registry.obtain_registry_device_info(), "registry_config": registry_config,
}, },
ensure_ascii=False, ensure_ascii=False,
cls=TypeEncoder, cls=TypeEncoder,
) )
response = sclient.call_async(request).result() sclient.call_async(request).result()
logger.info(f"Slave node info updated.") logger.info(f"Slave node info updated.")
# 使用新的 c2s_update_resource_tree 服务 # 3.2 报送物料树，获取 UUID 映射
rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
rclient.wait_for_service()
# 序列化 ResourceTreeSet 为 JSON
if resources_config: if resources_config:
rclient = n.create_client(SerialCommand, "/c2s_update_resource_tree")
rclient.wait_for_service()
request = SerialCommand.Request() request = SerialCommand.Request()
request.command = json.dumps( request.command = json.dumps(
{ {
@@ -180,35 +166,61 @@ def slave(
}, },
ensure_ascii=False, ensure_ascii=False,
) )
tree_response: SerialCommand_Response = rclient.call_async(request).result() tree_response: SerialCommand_Response = rclient.call(request)
uuid_mapping = json.loads(tree_response.response) uuid_mapping = json.loads(tree_response.response)
# 创建反向映射：new_uuid -> old_uuid logger.info(f"Slave resource tree added. UUID mapping: {len(uuid_mapping)} nodes")
reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
for node in resources_config.root_nodes: # 3.3 使用 UUID 映射更新 resources_config 的 UUID（参考 client.py 逻辑）
if node.res_content.type == "device": old_uuids = {node.res_content.uuid: node for node in resources_config.all_nodes}
for sub_node in node.children: for old_uuid, node in old_uuids.items():
# 只有二级子设备 if old_uuid in uuid_mapping:
if sub_node.res_content.type != "device": new_uuid = uuid_mapping[old_uuid]
device_tracker = devices_instances[node.res_content.id].resource_tracker node.res_content.uuid = new_uuid
# sub_node.res_content.uuid 已经是新UUID，需要用旧UUID去查找 # 更新所有子节点的 parent_uuid
old_uuid = reverse_uuid_mapping.get(sub_node.res_content.uuid) for child in node.children:
if old_uuid: child.res_content.parent_uuid = new_uuid
# 找到旧UUID，使用UUID查找
resource_instance = device_tracker.figure_resource({"uuid": old_uuid})
else:
# 未找到旧UUID，使用name查找
resource_instance = device_tracker.figure_resource({"name": sub_node.res_content.name})
device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
else: else:
logger.error("Slave模式不允许新增非设备节点下的物料") logger.warning(f"资源UUID未更新: {old_uuid}")
continue
if tree_response:
logger.info(f"Slave resource tree added. Response: {tree_response.response}")
else:
logger.warning("Slave resource tree add response is None")
else: else:
logger.info("No resources to add.") logger.info("No resources to add.")
# 4. 初始化所有设备实例（此时 resources_config 的 UUID 已更新）
devices_instances = {}
for device_config in devices_config.root_nodes:
device_id = device_config.res_content.id
if device_config.res_content.type == "device":
d = initialize_device_from_dict(device_id, device_config.get_nested_dict())
if d is not None:
devices_instances[device_id] = d
logger.info(f"Device {device_id} initialized.")
else:
logger.warning(f"Device {device_id} initialization failed.")
# 5. 如果启用可视化，创建可视化相关节点
if visual != "disable":
from unilabos.ros.nodes.presets.joint_republisher import JointRepublisher
# 将 ResourceTreeSet 转换为 list 用于 visual 组件
resources_list = (
[node.res_content.model_dump(by_alias=True) for node in resources_config.all_nodes]
if resources_config
else []
)
resource_mesh_manager = ResourceMeshManager(
resources_mesh_config,
resources_list,
resource_tracker=DeviceNodeResourceTracker(),
device_id="resource_mesh_manager",
)
joint_republisher = JointRepublisher("joint_republisher", DeviceNodeResourceTracker())
lh_joint_pub = LiquidHandlerJointPublisher(
resources_config=resources_list, resource_tracker=DeviceNodeResourceTracker()
)
executor.add_node(resource_mesh_manager)
executor.add_node(joint_republisher)
executor.add_node(lh_joint_pub)
# 7. 保持运行
while True: while True:
time.sleep(1) time.sleep(1)

279
unilabos/ros/nodes/base_device_node.py
View File

@@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import (
) )
from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.x.rclpyx import get_event_loop
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
from unilabos.utils.async_util import run_async_func from rclpy.task import Task, Future
from unilabos.utils.import_manager import default_manager from unilabos.utils.import_manager import default_manager
from unilabos.utils.log import info, debug, warning, error, critical, logger, trace from unilabos.utils.log import info, debug, warning, error, critical, logger, trace
from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str
@@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]):
rclpy.get_global_executor().add_node(self) rclpy.get_global_executor().add_node(self)
self.lab_logger().debug(f"ROS节点初始化完成") self.lab_logger().debug(f"ROS节点初始化完成")
async def sleep(self, rel_time: float, callback_group=None):
if callback_group is None:
callback_group = self.callback_group
await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group)
@classmethod
async def create_task(cls, func, trace_error=True, **kwargs) -> Task:
return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs)
async def update_resource(self, resources: List["ResourcePLR"]): async def update_resource(self, resources: List["ResourcePLR"]):
r = SerialCommand.Request() r = SerialCommand.Request()
tree_set = ResourceTreeSet.from_plr_resources(resources) tree_set = ResourceTreeSet.from_plr_resources(resources)
@@ -629,6 +638,145 @@ class BaseROS2DeviceNode(Node, Generic[T]):
- remove: 从资源树中移除资源 - remove: 从资源树中移除资源
""" """
from pylabrobot.resources.resource import Resource as ResourcePLR from pylabrobot.resources.resource import Resource as ResourcePLR
def _handle_add(
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
) -> Dict[str, Any]:
"""
处理资源添加操作的内部函数
Args:
plr_resources: PLR资源列表
tree_set: 资源树集合
additional_add_params: 额外的添加参数
Returns:
操作结果字典
"""
for plr_resource, tree in zip(plr_resources, tree_set.trees):
self.resource_tracker.add_resource(plr_resource)
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
func = getattr(self.driver_instance, "resource_tree_add", None)
if callable(func):
func(plr_resources)
return {"success": True, "action": "add"}
def _handle_remove(resources_uuid: List[str]) -> Dict[str, Any]:
"""
处理资源移除操作的内部函数
Args:
resources_uuid: 要移除的资源UUID列表
Returns:
操作结果字典，包含移除的资源列表
"""
found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource(
[{"uuid": uid} for uid in resources_uuid], try_mode=True
)
found_plr_resources = []
other_plr_resources = []
for found_resource in found_resources:
for resource in found_resource:
if issubclass(resource.__class__, ResourcePLR):
found_plr_resources.append(resource)
else:
other_plr_resources.append(resource)
# 调用driver的remove回调
func = getattr(self.driver_instance, "resource_tree_remove", None)
if callable(func):
func(found_plr_resources)
# 从parent卸载并从tracker移除
for plr_resource in found_plr_resources:
if plr_resource.parent is not None:
plr_resource.parent.unassign_child_resource(plr_resource)
self.resource_tracker.remove_resource(plr_resource)
self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
for other_plr_resource in other_plr_resources:
self.resource_tracker.remove_resource(other_plr_resource)
self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
return {
"success": True,
"action": "remove",
# "removed_plr": found_plr_resources,
# "removed_other": other_plr_resources,
}
def _handle_update(
plr_resources: List[ResourcePLR], tree_set: ResourceTreeSet, additional_add_params: Dict[str, Any]
) -> Dict[str, Any]:
"""
处理资源更新操作的内部函数
Args:
plr_resources: PLR资源列表（包含新状态）
tree_set: 资源树集合
additional_add_params: 额外的参数
Returns:
操作结果字典
"""
for plr_resource, tree in zip(plr_resources, tree_set.trees):
states = plr_resource.serialize_all_state()
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
)
# Update操作中包含改名：需要先remove再add
if original_instance.name != plr_resource.name:
old_name = original_instance.name
new_name = plr_resource.name
self.lab_logger().info(f"物料改名操作：{old_name} -> {new_name}")
# 收集所有相关的uuid（包括子节点）
_handle_remove([original_instance.unilabos_uuid])
original_instance.name = new_name
_handle_add([original_instance], tree_set, additional_add_params)
self.lab_logger().info(f"物料改名完成：{old_name} -> {new_name}")
# 常规更新：不涉及改名
original_parent_resource = original_instance.parent
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
self.lab_logger().info(
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} "
f"目标父节点{target_parent_resource_uuid} 更新"
)
# 更新extra
if getattr(plr_resource, "unilabos_extra", None) is not None:
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") # type: ignore # noqa: E501
# 如果父节点变化，需要重新挂载
if (
original_parent_resource_uuid != target_parent_resource_uuid
and original_parent_resource is not None
):
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
# 加载状态
original_instance.load_all_state(states)
child_count = len(original_instance.get_all_children())
self.lab_logger().info(
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] " f"及其子节点 {child_count} 个"
)
# 调用driver的update回调
func = getattr(self.driver_instance, "resource_tree_update", None)
if callable(func):
func(plr_resources)
return {"success": True, "action": "update"}
try: try:
data = json.loads(req.command) data = json.loads(req.command)
results = [] results = []
@@ -647,7 +795,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
].call_async( ].call_async(
SerialCommand.Request( SerialCommand.Request(
command=json.dumps( command=json.dumps(
{"data": {"data": resources_uuid, "with_children": False}, "action": "get"} {"data": {"data": resources_uuid, "with_children": True if action == "add" else False}, "action": "get"}
) )
) )
) # type: ignore ) # type: ignore
@@ -655,68 +803,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
tree_set = ResourceTreeSet.from_raw_list(raw_nodes) tree_set = ResourceTreeSet.from_raw_list(raw_nodes)
try: try:
if action == "add": if action == "add":
# 添加资源到资源跟踪器 if tree_set is None:
raise ValueError("tree_set不能为None")
plr_resources = tree_set.to_plr_resources() plr_resources = tree_set.to_plr_resources()
for plr_resource, tree in zip(plr_resources, tree_set.trees): result = _handle_add(plr_resources, tree_set, additional_add_params)
self.resource_tracker.add_resource(plr_resource) results.append(result)
self.transfer_to_new_resource(plr_resource, tree, additional_add_params)
func = getattr(self.driver_instance, "resource_tree_add", None)
if callable(func):
func(plr_resources)
results.append({"success": True, "action": "add"})
elif action == "update": elif action == "update":
# 更新资源 if tree_set is None:
raise ValueError("tree_set不能为None")
plr_resources = tree_set.to_plr_resources() plr_resources = tree_set.to_plr_resources()
for plr_resource, tree in zip(plr_resources, tree_set.trees): result = _handle_update(plr_resources, tree_set, additional_add_params)
states = plr_resource.serialize_all_state() results.append(result)
original_instance: ResourcePLR = self.resource_tracker.figure_resource(
{"uuid": tree.root_node.res_content.uuid}, try_mode=False
)
original_parent_resource = original_instance.parent
original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None)
target_parent_resource_uuid = tree.root_node.res_content.uuid_parent
self.lab_logger().info(
f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新"
)
# todo: 对extra进行update
if getattr(plr_resource, "unilabos_extra", None) is not None:
original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra")
if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None:
self.transfer_to_new_resource(original_instance, tree, additional_add_params)
original_instance.load_all_state(states)
self.lab_logger().info(
f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个"
)
func = getattr(self.driver_instance, "resource_tree_update", None)
if callable(func):
func(plr_resources)
results.append({"success": True, "action": "update"})
elif action == "remove": elif action == "remove":
# 移除资源 result = _handle_remove(resources_uuid)
found_resources: List[List[Union[ResourcePLR, dict]]] = self.resource_tracker.figure_resource( results.append(result)
[{"uuid": uid} for uid in resources_uuid], try_mode=True
)
found_plr_resources = []
other_plr_resources = []
for found_resource in found_resources:
for resource in found_resource:
if issubclass(resource.__class__, ResourcePLR):
found_plr_resources.append(resource)
else:
other_plr_resources.append(resource)
func = getattr(self.driver_instance, "resource_tree_remove", None)
if callable(func):
func(found_plr_resources)
for plr_resource in found_plr_resources:
if plr_resource.parent is not None:
plr_resource.parent.unassign_child_resource(plr_resource)
self.resource_tracker.remove_resource(plr_resource)
self.lab_logger().info(f"移除物料 {plr_resource} 及其子节点")
for other_plr_resource in other_plr_resources:
self.resource_tracker.remove_resource(other_plr_resource)
self.lab_logger().info(f"移除物料 {other_plr_resource} 及其子节点")
results.append({"success": True, "action": "remove"})
except Exception as e: except Exception as e:
error_msg = f"Error processing {action} operation: {str(e)}" error_msg = f"Error processing {action} operation: {str(e)}"
self.lab_logger().error(f"[Resource Tree Update] {error_msg}") self.lab_logger().error(f"[Resource Tree Update] {error_msg}")
@@ -725,7 +825,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 返回处理结果 # 返回处理结果
result_json = {"results": results, "total": len(data)} result_json = {"results": results, "total": len(data)}
res.response = json.dumps(result_json, ensure_ascii=False) res.response = json.dumps(result_json, ensure_ascii=False, cls=TypeEncoder)
self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations") self.lab_logger().info(f"[Resource Tree Update] Completed processing {len(data)} operations")
except json.JSONDecodeError as e: except json.JSONDecodeError as e:
@@ -995,9 +1095,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 通过资源跟踪器获取本地实例 # 通过资源跟踪器获取本地实例
final_resources = queried_resources if is_sequence else queried_resources[0] final_resources = queried_resources if is_sequence else queried_resources[0]
final_resources = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) if not is_sequence else [ final_resources = (
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) for res in queried_resources self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
] if not is_sequence
else [
self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
for res in queried_resources
]
)
action_kwargs[k] = final_resources action_kwargs[k] = final_resources
except Exception as e: except Exception as e:
@@ -1218,6 +1323,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
raise JsonCommandInitError( raise JsonCommandInitError(
f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}" f"执行动作时JSON缺少function_name或function_args: {ex}\n原JSON: {string}\n{traceback.format_exc()}"
) )
def _convert_resource_sync(self, resource_data: Dict[str, Any]): def _convert_resource_sync(self, resource_data: Dict[str, Any]):
"""同步转换资源数据为实例""" """同步转换资源数据为实例"""
# 创建资源查询请求 # 创建资源查询请求
@@ -1385,18 +1491,27 @@ class ROS2DeviceNode:
它不继承设备类，而是通过代理模式访问设备类的属性和方法。 它不继承设备类，而是通过代理模式访问设备类的属性和方法。
""" """
# 类变量，用于循环管理 @classmethod
_loop = None def run_async_func(cls, func, trace_error=True, **kwargs) -> Task:
_loop_running = False def _handle_future_exception(fut):
_loop_thread = None try:
fut.result()
except Exception as e:
error(f"异步任务 {func.__name__} 报错了")
error(traceback.format_exc())
future = rclpy.get_global_executor().create_task(func(**kwargs))
if trace_error:
future.add_done_callback(_handle_future_exception)
return future
@classmethod @classmethod
def get_loop(cls): async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None):
return cls._loop future = Future()
timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock())
@classmethod await future
def run_async_func(cls, func, trace_error=True, **kwargs): timer.cancel()
return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs) node.destroy_timer(timer)
@property @property
def driver_instance(self): def driver_instance(self):
@@ -1436,11 +1551,6 @@ class ROS2DeviceNode:
print_publish: 是否打印发布信息 print_publish: 是否打印发布信息
driver_is_ros: driver_is_ros:
""" """
# 在初始化时检查循环状态
if ROS2DeviceNode._loop_running and ROS2DeviceNode._loop_thread is not None:
pass
elif ROS2DeviceNode._loop_thread is None:
self._start_loop()
# 保存设备类是否支持异步上下文 # 保存设备类是否支持异步上下文
self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__") self._has_async_context = hasattr(driver_class, "__aenter__") and hasattr(driver_class, "__aexit__")
@@ -1529,17 +1639,6 @@ class ROS2DeviceNode:
except Exception as e: except Exception as e:
self._ros_node.lab_logger().error(f"设备后初始化失败: {e}") self._ros_node.lab_logger().error(f"设备后初始化失败: {e}")
def _start_loop(self):
def run_event_loop():
loop = asyncio.new_event_loop()
ROS2DeviceNode._loop = loop
asyncio.set_event_loop(loop)
loop.run_forever()
ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop")
ROS2DeviceNode._loop_thread.start()
logger.info(f"循环线程已启动")
class DeviceInfoType(TypedDict): class DeviceInfoType(TypedDict):
id: str id: str

57
unilabos/ros/nodes/presets/host_node.py
View File

@@ -18,7 +18,8 @@ from unilabos_msgs.srv import (
ResourceDelete, ResourceDelete,
ResourceUpdate, ResourceUpdate,
ResourceList, ResourceList,
SerialCommand, ResourceGet, SerialCommand,
ResourceGet,
) # type: ignore ) # type: ignore
from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
from unique_identifier_msgs.msg import UUID from unique_identifier_msgs.msg import UUID
@@ -164,29 +165,16 @@ class HostNode(BaseROS2DeviceNode):
# resources_config 的 root node 是 # resources_config 的 root node 是
# # 创建反向映射：new_uuid -> old_uuid # # 创建反向映射：new_uuid -> old_uuid
# reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()} # reverse_uuid_mapping = {new_uuid: old_uuid for old_uuid, new_uuid in uuid_mapping.items()}
# for tree in resources_config.trees: for tree in resources_config.trees:
# node = tree.root_node node = tree.root_node
# if node.res_content.type == "device": if node.res_content.type == "device":
# if node.res_content.id == "host_node": continue
# continue else:
# # slave节点走c2s更新接口，拿到add自行update uuid try:
# device_tracker = self.devices_instances[node.res_content.id].resource_tracker for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
# old_uuid = reverse_uuid_mapping.get(node.res_content.uuid) self._resource_tracker.add_resource(plr_resource)
# if old_uuid: except Exception as ex:
# # 找到旧UUID，使用UUID查找 self.lab_logger().warning(f"[Host Node-Resource] 根节点物料{tree}序列化失败！")
# resource_instance = device_tracker.uuid_to_resources.get(old_uuid)
# else:
# # 未找到旧UUID，使用name查找
# resource_instance = device_tracker.figure_resource(
# {"name": node.res_content.name}
# )
# device_tracker.loop_update_uuid(resource_instance, uuid_mapping)
# else:
# try:
# for plr_resource in ResourceTreeSet([tree]).to_plr_resources():
# self.resource_tracker.add_resource(plr_resource)
# except Exception as ex:
# self.lab_logger().warning("[Host Node-Resource] 根节点物料序列化失败！")
except Exception as ex: except Exception as ex:
logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}") logger.error(f"[Host Node-Resource] 添加物料出错！\n{traceback.format_exc()}")
# 初始化Node基类，传递空参数覆盖列表 # 初始化Node基类，传递空参数覆盖列表
@@ -877,11 +865,10 @@ class HostNode(BaseROS2DeviceNode):
success = False success = False
uuid_mapping = {} uuid_mapping = {}
if len(self.bridges) > 0: if len(self.bridges) > 0:
from unilabos.app.web.client import HTTPClient from unilabos.app.web.client import HTTPClient, http_client
client: HTTPClient = self.bridges[-1]
resource_start_time = time.time() resource_start_time = time.time()
uuid_mapping = client.resource_tree_add(resource_tree_set, mount_uuid, first_add) uuid_mapping = http_client.resource_tree_add(resource_tree_set, mount_uuid, first_add)
success = True success = True
resource_end_time = time.time() resource_end_time = time.time()
self.lab_logger().info( self.lab_logger().info(
@@ -989,9 +976,10 @@ class HostNode(BaseROS2DeviceNode):
""" """
更新节点信息回调 更新节点信息回调
""" """
self.lab_logger().info(f"[Host Node] Node info update request received: {request}") # self.lab_logger().info(f"[Host Node] Node info update request received: {request}")
try: try:
from unilabos.app.communication import get_communication_client from unilabos.app.communication import get_communication_client
from unilabos.app.web.client import HTTPClient, http_client
info = json.loads(request.command) info = json.loads(request.command)
if "SYNC_SLAVE_NODE_INFO" in info: if "SYNC_SLAVE_NODE_INFO" in info:
@@ -1000,10 +988,10 @@ class HostNode(BaseROS2DeviceNode):
edge_device_id = info["edge_device_id"] edge_device_id = info["edge_device_id"]
self.device_machine_names[edge_device_id] = machine_name self.device_machine_names[edge_device_id] = machine_name
else: else:
comm_client = get_communication_client() devices_config = info.pop("devices_config")
registry_config = info["registry_config"] registry_config = info.pop("registry_config")
for device_config in registry_config: if registry_config:
comm_client.publish_registry(device_config["id"], device_config) http_client.resource_registry({"resources": registry_config})
self.lab_logger().debug(f"[Host Node] Node info update: {info}") self.lab_logger().debug(f"[Host Node] Node info update: {info}")
response.response = "OK" response.response = "OK"
except Exception as e: except Exception as e:
@@ -1029,10 +1017,9 @@ class HostNode(BaseROS2DeviceNode):
success = False success = False
if len(self.bridges) > 0: # 边的提交待定 if len(self.bridges) > 0: # 边的提交待定
from unilabos.app.web.client import HTTPClient from unilabos.app.web.client import HTTPClient, http_client
client: HTTPClient = self.bridges[-1] r = http_client.resource_add(add_schema(resources))
r = client.resource_add(add_schema(resources))
success = bool(r) success = bool(r)
response.success = success response.success = success

51
unilabos/ros/nodes/resource_tracker.py
View File

@@ -2,7 +2,7 @@ import traceback
import uuid import uuid
from pydantic import BaseModel, field_serializer, field_validator from pydantic import BaseModel, field_serializer, field_validator
from pydantic import Field from pydantic import Field
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING, Union
from unilabos.utils.log import logger from unilabos.utils.log import logger
@@ -894,7 +894,7 @@ class DeviceNodeResourceTracker(object):
new_uuid = name_to_uuid_map[resource_name] new_uuid = name_to_uuid_map[resource_name]
self.set_resource_uuid(res, new_uuid) self.set_resource_uuid(res, new_uuid)
self.uuid_to_resources[new_uuid] = res self.uuid_to_resources[new_uuid] = res
logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}") logger.trace(f"设置资源UUID: {resource_name} -> {new_uuid}")
return 1 return 1
return 0 return 0
@@ -917,7 +917,8 @@ class DeviceNodeResourceTracker(object):
if resource_name and resource_name in name_to_extra_map: if resource_name and resource_name in name_to_extra_map:
extra = name_to_extra_map[resource_name] extra = name_to_extra_map[resource_name]
self.set_resource_extra(res, extra) self.set_resource_extra(res, extra)
logger.debug(f"设置资源Extra: {resource_name} -> {extra}") if len(extra):
logger.debug(f"设置资源Extra: {resource_name} -> {extra}")
return 1 return 1
return 0 return 0
@@ -927,7 +928,7 @@ class DeviceNodeResourceTracker(object):
""" """
递归遍历资源树，更新所有节点的uuid 递归遍历资源树，更新所有节点的uuid
Args:0 Args:
resource: 资源对象（可以是dict或实例） resource: 资源对象（可以是dict或实例）
uuid_map: uuid映射字典，{old_uuid: new_uuid} uuid_map: uuid映射字典，{old_uuid: new_uuid}
@@ -952,6 +953,27 @@ class DeviceNodeResourceTracker(object):
return self._traverse_and_process(resource, process) return self._traverse_and_process(resource, process)
def loop_gather_uuid(self, resource) -> List[str]:
"""
递归遍历资源树，收集所有节点的uuid
Args:
resource: 资源对象（可以是dict或实例）
Returns:
收集到的uuid列表
"""
uuid_list = []
def process(res):
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
if current_uuid:
uuid_list.append(current_uuid)
return 0
self._traverse_and_process(resource, process)
return uuid_list
def _collect_uuid_mapping(self, resource): def _collect_uuid_mapping(self, resource):
""" """
递归收集资源的 uuid 映射到 uuid_to_resources 递归收集资源的 uuid 映射到 uuid_to_resources
@@ -965,14 +987,15 @@ class DeviceNodeResourceTracker(object):
if current_uuid: if current_uuid:
old = self.uuid_to_resources.get(current_uuid) old = self.uuid_to_resources.get(current_uuid)
self.uuid_to_resources[current_uuid] = res self.uuid_to_resources[current_uuid] = res
logger.debug( logger.trace(
f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}" f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}"
) )
return 1
return 0 return 0
self._traverse_and_process(resource, process) self._traverse_and_process(resource, process)
def _remove_uuid_mapping(self, resource): def _remove_uuid_mapping(self, resource) -> int:
""" """
递归清除资源的 uuid 映射 递归清除资源的 uuid 映射
@@ -984,10 +1007,11 @@ class DeviceNodeResourceTracker(object):
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid") current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
if current_uuid and current_uuid in self.uuid_to_resources: if current_uuid and current_uuid in self.uuid_to_resources:
self.uuid_to_resources.pop(current_uuid) self.uuid_to_resources.pop(current_uuid)
logger.debug(f"移除资源UUID映射: {current_uuid} -> {res}") logger.trace(f"移除资源UUID映射: {current_uuid} -> {res}")
return 1
return 0 return 0
self._traverse_and_process(resource, process) return self._traverse_and_process(resource, process)
def parent_resource(self, resource): def parent_resource(self, resource):
if id(resource) in self.resource2parent_resource: if id(resource) in self.resource2parent_resource:
@@ -1042,13 +1066,12 @@ class DeviceNodeResourceTracker(object):
removed = True removed = True
break break
if not removed: # 递归清除uuid映射
count = self._remove_uuid_mapping(resource)
if not count:
logger.warning(f"尝试移除不存在的资源: {resource}") logger.warning(f"尝试移除不存在的资源: {resource}")
return False return False
# 递归清除uuid映射
self._remove_uuid_mapping(resource)
# 清除 resource2parent_resource 中与该资源相关的映射 # 清除 resource2parent_resource 中与该资源相关的映射
# 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射 # 需要清除：1) 该资源作为 key 的映射 2) 该资源作为 value 的映射
keys_to_remove = [] keys_to_remove = []
@@ -1071,7 +1094,9 @@ class DeviceNodeResourceTracker(object):
self.uuid_to_resources.clear() self.uuid_to_resources.clear()
self.resource2parent_resource.clear() self.resource2parent_resource.clear()
def figure_resource(self, query_resource, try_mode=False): def figure_resource(
self, query_resource: Union[List[Union[dict, "PLRResource"]], dict, "PLRResource"], try_mode=False
) -> Union[List[Union[dict, "PLRResource", List[Union[dict, "PLRResource"]]]], dict, "PLRResource"]:
if isinstance(query_resource, list): if isinstance(query_resource, list):
return [self.figure_resource(r, try_mode) for r in query_resource] return [self.figure_resource(r, try_mode) for r in query_resource]
elif ( elif (

22
unilabos/utils/async_util.py
View File

@@ -1,22 +0,0 @@
import asyncio
import traceback
from asyncio import get_event_loop
from unilabos.utils.log import error
def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
if loop is None:
loop = get_event_loop()
def _handle_future_exception(fut):
try:
fut.result()
except Exception as e:
error(f"异步任务 {func.__name__} 报错了")
error(traceback.format_exc())
future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
if trace_error:
future.add_done_callback(_handle_future_exception)
return future