open_pub/Uni-Lab-OS
1
0
Fork 0
mirror of https://github.com/dptech-corp/Uni-Lab-OS.git synced 2026-02-04 05:15:10 +00:00
Code Issues Packages Projects Releases Wiki Activity

Revert "Merge branch 'dev' into prcix9320"

Browse Source 
This reverts commit ae75f07c8e.
This commit is contained in:
zhangshixiang
2026-01-13 18:33:32 +08:00
parent ae75f07c8e
commit 1340bae838
7 changed files with 75 additions and 170 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -9284,13 +9284,7 @@ liquid_handler.prcxi:
z: 0.0
sample_id: ''
type: ''
handles:
input:
- data_key: wells
data_source: handle
data_type: resource
handler_key: input_wells
label: InputWells
handles: {}
placeholder_keys:
wells: unilabos_resources
result: {}

32
unilabos/registry/registry.py
View File

@@ -124,25 +124,11 @@ class Registry:
"output": [
{
"handler_key": "labware",
"data_type": "resource",
"label": "Labware",
"data_source": "executor",
"data_key": "created_resource_tree.@flatten",
},
{
"handler_key": "liquid_slots",
"data_type": "resource",
"label": "LiquidSlots",
"data_source": "executor",
"data_key": "liquid_input_resource_tree.@flatten",
},
{
"handler_key": "materials",
"data_type": "resource",
"label": "AllMaterials",
"data_source": "executor",
"data_key": "[created_resource_tree,liquid_input_resource_tree].@flatten.@flatten",
},
"data_source": "handle",
"data_key": "liquid",
}
]
},
"placeholder_keys": {
@@ -200,17 +186,7 @@ class Registry:
"resources": "unilabos_resources",
},
"goal_default": {},
"handles": {
"input": [
{
"handler_key": "input_resources",
"data_type": "resource",
"label": "InputResources",
"data_source": "handle",
"data_key": "resources", # 不为空
},
]
},
"handles": {},
},
},
},

6
unilabos/resources/graphio.py
View File

@@ -1151,7 +1151,11 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
if resource_class_config["type"] == "pylabrobot":
resource_plr = RESOURCE(name=resource_config["name"])
if resource_type != ResourcePLR:
tree_sets = ResourceTreeSet.from_plr_resources([resource_plr], known_newly_created=True)
tree_sets = ResourceTreeSet.from_plr_resources([resource_plr])
# r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
# # r = resource_plr_to_ulab(resource_plr=resource_plr)
# if resource_config.get("position") is not None:
# r["position"] = resource_config["position"]
r = tree_sets.dump()
else:
r = resource_plr

50
unilabos/resources/resource_tracker.py
View File

@@ -147,17 +147,17 @@ class ResourceDictInstance(object):
if not content.get("extra"): # MagicCode
content["extra"] = {}
if "position" in content:
pose = content.get("pose", {})
if "position" not in pose:
pose = content.get("pose",{})
if "position" not in pose :
if "position" in content["position"]:
pose["position"] = content["position"]["position"]
else:
pose["position"] = {"x": 0, "y": 0, "z": 0}
if "size" not in pose:
pose["size"] = {
"width": content["config"].get("size_x", 0),
"height": content["config"].get("size_y", 0),
"depth": content["config"].get("size_z", 0),
"width": content["config"].get("size_x", 0),
"height": content["config"].get("size_y", 0),
"depth": content["config"].get("size_z", 0)
}
content["pose"] = pose
return ResourceDictInstance(ResourceDict.model_validate(content))
@@ -322,7 +322,7 @@ class ResourceTreeSet(object):
)
@classmethod
def from_plr_resources(cls, resources: List["PLRResource"], known_newly_created=False) -> "ResourceTreeSet":
def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet":
"""
从plr资源创建ResourceTreeSet
"""
@@ -349,8 +349,7 @@ class ResourceTreeSet(object):
if not uid:
uid = str(uuid.uuid4())
res.unilabos_uuid = uid
if not known_newly_created:
logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}")
# 获取unilabos_extra，默认为空字典
extra = getattr(res, "unilabos_extra", {})
@@ -449,13 +448,7 @@ class ResourceTreeSet(object):
from pylabrobot.utils.object_parsing import find_subclass
# 类型映射
TYPE_MAP = {
"plate": "Plate",
"well": "Well",
"deck": "Deck",
"container": "RegularContainer",
"tip_spot": "TipSpot",
}
TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"}
def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict):
"""一次遍历收集 name_to_uuid, all_states 和 name_to_extra"""
@@ -925,33 +918,6 @@ class DeviceNodeResourceTracker(object):
return self._traverse_and_process(resource, process)
def loop_find_with_uuid(self, resource, target_uuid: str):
"""
递归遍历资源树，根据 uuid 查找并返回对应的资源
Args:
resource: 资源对象（可以是list、dict或实例）
target_uuid: 要查找的uuid
Returns:
找到的资源对象，未找到则返回None
"""
found_resource = None
def process(res):
nonlocal found_resource
if found_resource is not None:
return 0 # 已找到，跳过后续处理
current_uuid = self._get_resource_attr(res, "uuid", "unilabos_uuid")
if current_uuid and current_uuid == target_uuid:
found_resource = res
logger.trace(f"找到资源UUID: {target_uuid}")
return 1
return 0
self._traverse_and_process(resource, process)
return found_resource
def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int:
"""
递归遍历资源树，根据 name 设置所有节点的 extra

6
unilabos/ros/msgs/message_converter.py
View File

@@ -159,14 +159,10 @@ _msg_converter: Dict[Type, Any] = {
else Pose()
),
config=json.dumps(x.get("config", {})),
data=json.dumps(obtain_data_with_uuid(x)),
data=json.dumps(x.get("data", {})),
),
}
def obtain_data_with_uuid(x: dict):
data = x.get("data", {})
data["unilabos_uuid"] = x.get("uuid", None)
return data
def json_or_yaml_loads(data: str) -> Any:
try:

120
unilabos/ros/nodes/base_device_node.py
View File

@@ -430,14 +430,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
})
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
plr_instances = rts.to_plr_resources()
for plr_instance in plr_instances:
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances)
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
final_response = {
"created_resource_tree": rts.dump(),
"liquid_input_resource_tree": [],
"created_resources": rts.dump(),
"liquid_input_resources": [],
}
res.response = json.dumps(final_response)
# 如果driver自己就有assign的方法，那就使用driver自己的assign方法
@@ -463,7 +460,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return res
try:
if len(rts.root_nodes) == 1 and parent_resource is not None:
plr_instance = plr_instances[0]
plr_instance = rts.to_plr_resources()[0]
if isinstance(plr_instance, Plate):
empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
@@ -488,7 +485,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
input_wells = []
for r in LIQUID_INPUT_SLOT:
input_wells.append(plr_instance.children[r])
final_response["liquid_input_resource_tree"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
final_response["liquid_input_resources"] = ResourceTreeSet.from_plr_resources(input_wells).dump()
res.response = json.dumps(final_response)
if issubclass(parent_resource.__class__, Deck) and hasattr(parent_resource, "assign_child_at_slot") and "slot" in other_calling_param:
other_calling_param["slot"] = int(other_calling_param["slot"])
@@ -1266,8 +1263,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
ACTION, action_paramtypes = self.get_real_function(self.driver_instance, action_name)
action_kwargs = convert_from_ros_msg_with_mapping(goal, action_value_mapping["goal"])
self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {str(action_kwargs)[:1000]}")
self.lab_logger().trace(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
self.lab_logger().debug(f"任务 {ACTION.__name__} 接收到原始目标: {action_kwargs}")
error_skip = False
# 向Host查询物料当前状态，如果是host本身的增加物料的请求，则直接跳过
if action_name not in ["create_resource_detailed", "create_resource"]:
@@ -1283,14 +1279,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 批量查询资源
queried_resources = []
for resource_data in resource_inputs:
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
if unilabos_uuid is None:
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
else:
resource_tree = await self.get_resource([unilabos_uuid])
plr_resource = resource_tree.to_plr_resources()[0]
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources.append(plr_resource)
@@ -1339,8 +1330,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
execution_success = True
except Exception as _:
execution_error = traceback.format_exc()
error(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
trace(f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
error(
f"异步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
)
future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
future.add_done_callback(_handle_future_exception)
@@ -1360,9 +1352,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
except Exception as _:
execution_error = traceback.format_exc()
error(
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{str(action_kwargs)[:1000]}")
trace(
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}")
f"同步任务 {ACTION.__name__} 报错了\n{traceback.format_exc()}\n原始输入：{action_kwargs}"
)
future.add_done_callback(_handle_future_exception)
@@ -1430,7 +1421,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for r in rs:
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
else:
res = self.resource_tracker.parent_resource(rs)
res = self.resource_tracker.parent_resource(r)
if id(res) not in seen:
seen.add(id(res))
unique_resources.append(res)
@@ -1506,7 +1497,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
resource_data = function_args[arg_name]
if isinstance(resource_data, dict) and "id" in resource_data:
try:
function_args[arg_name] = self._convert_resources_sync(resource_data["uuid"])[0]
converted_resource = self._convert_resource_sync(resource_data)
function_args[arg_name] = converted_resource
except Exception as e:
self.lab_logger().error(
f"转换ResourceSlot参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
@@ -1520,8 +1512,12 @@ class BaseROS2DeviceNode(Node, Generic[T]):
resource_list = function_args[arg_name]
if isinstance(resource_list, list):
try:
uuids = [r["uuid"] for r in resource_list if isinstance(r, dict) and "id" in r]
function_args[arg_name] = self._convert_resources_sync(*uuids) if uuids else []
converted_resources = []
for resource_data in resource_list:
if isinstance(resource_data, dict) and "id" in resource_data:
converted_resource = self._convert_resource_sync(resource_data)
converted_resources.append(converted_resource)
function_args[arg_name] = converted_resources
except Exception as e:
self.lab_logger().error(
f"转换ResourceSlot列表参数 {arg_name} 失败: {e}\n{traceback.format_exc()}"
@@ -1534,27 +1530,20 @@ class BaseROS2DeviceNode(Node, Generic[T]):
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_resources_sync(self, *uuids: str) -> List["ResourcePLR"]:
"""同步转换资源 UUID 为实例
Args:
*uuids: 一个或多个资源 UUID
Returns:
单个 UUID 时返回单个资源实例，多个 UUID 时返回资源实例列表
"""
if not uuids:
raise ValueError("至少需要提供一个 UUID")
uuids_list = list(uuids)
future = self._resource_clients["c2s_update_resource_tree"].call_async(SerialCommand.Request(
command=json.dumps(
{
"data": {"data": uuids_list, "with_children": True},
"action": "get",
}
)
))
def _convert_resource_sync(self, resource_data: Dict[str, Any]):
"""同步转换资源数据为实例"""
# 创建资源查询请求
r = SerialCommand.Request()
r.command = json.dumps(
{
"id": resource_data.get("id", None),
"uuid": resource_data.get("uuid", None),
"with_children": True,
}
)
# 同步调用资源查询服务
future = self._resource_clients["resource_get"].call_async(r)
# 等待结果（使用while循环，每次sleep 0.05秒，最多等待30秒）
timeout = 30.0
@@ -1564,40 +1553,27 @@ class BaseROS2DeviceNode(Node, Generic[T]):
elapsed += 0.05
if not future.done():
raise Exception(f"资源查询超时: {uuids_list}")
raise Exception(f"资源查询超时: {resource_data}")
response = future.result()
if response is None:
raise Exception(f"资源查询返回空结果: {uuids_list}")
raise Exception(f"资源查询返回空结果: {resource_data}")
raw_data = json.loads(response.response)
# 转换为 PLR 资源
tree_set = ResourceTreeSet.from_raw_dict_list(raw_data)
if not len(tree_set.trees):
raise Exception(f"资源查询返回空树: {raw_data}")
plr_resources = tree_set.to_plr_resources()
plr_resource = tree_set.to_plr_resources()[0]
# 通过资源跟踪器获取本地实例
figured_resources: List[ResourcePLR] = []
for plr_resource, tree in zip(plr_resources, tree_set.trees):
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
if len(res) == 0:
self.lab_logger().warning(f"资源转换未能索引到实例: {tree.root_node.res_content}，返回新建实例")
figured_resources.append(plr_resource)
elif len(res) == 1:
figured_resources.append(res[0])
else:
raise ValueError(f"资源转换得到多个实例: {res}")
mapped_plr_resources = []
for uuid in uuids_list:
for plr_resource in figured_resources:
r = self.resource_tracker.loop_find_with_uuid(plr_resource, uuid)
mapped_plr_resources.append(r)
break
return mapped_plr_resources
res = self.resource_tracker.figure_resource(plr_resource, try_mode=True)
if len(res) == 0:
self.lab_logger().warning(f"资源转换未能索引到实例: {resource_data}，返回新建实例")
return plr_resource
elif len(res) == 1:
return res[0]
else:
raise ValueError(f"资源转换得到多个实例: {res}")
async def _execute_driver_command_async(self, string: str):
try:

23
unilabos/ros/nodes/presets/host_node.py
View File

@@ -23,7 +23,6 @@ from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialComma
from unique_identifier_msgs.msg import UUID
from unilabos.registry.registry import lab_registry
from unilabos.resources.container import RegularContainer
from unilabos.resources.graphio import initialize_resource
from unilabos.resources.registry import add_schema
from unilabos.ros.initialize_device import initialize_device_from_dict
@@ -587,10 +586,11 @@ class HostNode(BaseROS2DeviceNode):
)
try:
assert len(response) == 1, "Create Resource应当只返回一个结果"
new_li = []
for i in response:
res = json.loads(i)
return res
new_li.append(res)
return {"resources": new_li, "liquid_input_resources": new_li}
except Exception as ex:
pass
_n = "\n"
@@ -795,8 +795,7 @@ class HostNode(BaseROS2DeviceNode):
assign_sample_id(action_kwargs)
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {str(goal_msg)[:1000]}")
self.lab_logger().trace(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}")
action_client.wait_for_server()
goal_uuid_obj = UUID(uuid=list(u.bytes))
@@ -1134,11 +1133,11 @@ class HostNode(BaseROS2DeviceNode):
接收序列化的 ResourceTreeSet 数据并进行处理
"""
self.lab_logger().info(f"[Host Node-Resource] Resource tree add request received")
try:
# 解析请求数据
data = json.loads(request.command)
action = data["action"]
self.lab_logger().info(f"[Host Node-Resource] Resource tree {action} request received")
data = data["data"]
if action == "add":
await self._resource_tree_action_add_callback(data, response)
@@ -1244,7 +1243,7 @@ class HostNode(BaseROS2DeviceNode):
data = json.loads(request.command)
if "uuid" in data and data["uuid"] is not None:
http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
elif "id" in data:
elif "id" in data and data["id"].startswith("/"):
http_req = http_client.resource_get(data["id"], data["with_children"])
else:
raise ValueError("没有使用正确的物料 id 或 uuid")
@@ -1454,16 +1453,10 @@ class HostNode(BaseROS2DeviceNode):
}
def test_resource(
self, resource: ResourceSlot = None, resources: List[ResourceSlot] = None, device: DeviceSlot = None, devices: List[DeviceSlot] = None
self, resource: ResourceSlot, resources: List[ResourceSlot], device: DeviceSlot, devices: List[DeviceSlot]
) -> TestResourceReturn:
if resources is None:
resources = []
if devices is None:
devices = []
if resource is None:
resource = RegularContainer("test_resource传入None")
return {
"resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
"resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
"devices": [device, *devices],
}