mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
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Add battery resources, bioyond_cell device registry, and fix file path resolution
This commit is contained in:
dijkstra402
@@ -1,25 +1,8 @@
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from datetime import datetime
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import json
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import time
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from typing import Optional, Dict, Any, List
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from typing_extensions import TypedDict
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import requests
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from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
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from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
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from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
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from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
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import json
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import sys
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from pathlib import Path
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import importlib
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class ComputeExperimentDesignReturn(TypedDict):
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solutions: list
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titration: dict
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solvents: dict
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feeding_order: list
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return_info: str
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class BioyondDispensingStation(BioyondWorkstation):
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@@ -40,111 +23,6 @@ class BioyondDispensingStation(BioyondWorkstation):
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# self._logger = SimpleLogger()
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# self.is_running = False
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# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
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self.order_completion_status = {}
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def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
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"""项目接口通用POST调用
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参数:
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endpoint: 接口路径（例如 /api/lims/order/brief-step-paramerers）
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data: 请求体中的 data 字段内容
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返回:
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dict: 服务端响应，失败时返回 {code:0,message,...}
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"""
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request_data = {
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"apiKey": API_CONFIG["api_key"],
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"requestTime": self.hardware_interface.get_current_time_iso8601(),
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"data": data
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}
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try:
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response = requests.post(
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f"{self.hardware_interface.host}{endpoint}",
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json=request_data,
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headers={"Content-Type": "application/json"},
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timeout=30
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)
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result = response.json()
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return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
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except json.JSONDecodeError:
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return {"code": 0, "message": "非JSON响应"}
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except requests.exceptions.Timeout:
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return {"code": 0, "message": "请求超时"}
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except requests.exceptions.RequestException as e:
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return {"code": 0, "message": str(e)}
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def _delete_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
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"""项目接口通用DELETE调用
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参数:
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endpoint: 接口路径（例如 /api/lims/order/workflows）
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data: 请求体中的 data 字段内容
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返回:
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dict: 服务端响应，失败时返回 {code:0,message,...}
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"""
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request_data = {
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"apiKey": API_CONFIG["api_key"],
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"requestTime": self.hardware_interface.get_current_time_iso8601(),
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"data": data
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}
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try:
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response = requests.delete(
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f"{self.hardware_interface.host}{endpoint}",
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json=request_data,
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headers={"Content-Type": "application/json"},
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timeout=30
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)
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result = response.json()
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return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
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except json.JSONDecodeError:
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return {"code": 0, "message": "非JSON响应"}
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except requests.exceptions.Timeout:
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return {"code": 0, "message": "请求超时"}
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except requests.exceptions.RequestException as e:
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return {"code": 0, "message": str(e)}
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def compute_experiment_design(
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self,
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ratio: dict,
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wt_percent: str = "0.25",
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m_tot: str = "70",
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titration_percent: str = "0.03",
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) -> ComputeExperimentDesignReturn:
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try:
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if isinstance(ratio, str):
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try:
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ratio = json.loads(ratio)
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except Exception:
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ratio = {}
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root = str(Path(__file__).resolve().parents[3])
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if root not in sys.path:
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sys.path.append(root)
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try:
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mod = importlib.import_module("tem.compute")
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except Exception as e:
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raise BioyondException(f"无法导入计算模块: {e}")
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try:
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wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
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mt = float(m_tot) if isinstance(m_tot, str) else m_tot
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tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
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except Exception as e:
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raise BioyondException(f"参数解析失败: {e}")
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res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
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out = {
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"solutions": res.get("solutions", []),
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"titration": res.get("titration", {}),
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"solvents": res.get("solvents", {}),
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"feeding_order": res.get("feeding_order", []),
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"return_info": json.dumps(res, ensure_ascii=False)
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}
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return out
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except BioyondException:
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raise
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except Exception as e:
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raise BioyondException(str(e))
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# 90%10%小瓶投料任务创建方法
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def create_90_10_vial_feeding_task(self,
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order_name: str = None,
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@@ -392,45 +270,7 @@ class BioyondDispensingStation(BioyondWorkstation):
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# 7. 调用create_order方法创建任务
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result = self.hardware_interface.create_order(json_str)
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self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务结果: {result}")
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# 8. 解析结果获取order_id
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order_id = None
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if isinstance(result, str):
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# result 格式: "{'3a1d895c-4d39-d504-1398-18f5a40bac1e': [{'id': '...', ...}]}"
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# 第一个键就是order_id (UUID)
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try:
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# 尝试解析字符串为字典
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import ast
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result_dict = ast.literal_eval(result)
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# 获取第一个键作为order_id
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if result_dict and isinstance(result_dict, dict):
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first_key = list(result_dict.keys())[0]
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order_id = first_key
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self.hardware_interface._logger.info(f"✓ 成功提取order_id: {order_id}")
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else:
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self.hardware_interface._logger.warning(f"result_dict格式异常: {result_dict}")
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except Exception as e:
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self.hardware_interface._logger.error(f"✗ 无法从结果中提取order_id: {e}, result类型={type(result)}")
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elif isinstance(result, dict):
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# 如果已经是字典
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if result:
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first_key = list(result.keys())[0]
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order_id = first_key
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self.hardware_interface._logger.info(f"✓ 成功提取order_id(dict): {order_id}")
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if not order_id:
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self.hardware_interface._logger.warning(
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f"⚠ 未能提取order_id，result={result[:100] if isinstance(result, str) else result}"
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)
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# 返回成功结果和构建的JSON数据
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return json.dumps({
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"suc": True,
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"order_code": order_code,
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"order_id": order_id,
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"result": result,
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"order_params": order_data
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})
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return json.dumps({"suc": True})
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except BioyondException:
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# 重新抛出BioyondException
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@@ -558,37 +398,7 @@ class BioyondDispensingStation(BioyondWorkstation):
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result = self.hardware_interface.create_order(json_str)
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self.hardware_interface._logger.info(f"创建二胺溶液配置任务结果: {result}")
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# 8. 解析结果获取order_id
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order_id = None
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if isinstance(result, str):
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try:
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import ast
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result_dict = ast.literal_eval(result)
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if result_dict and isinstance(result_dict, dict):
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first_key = list(result_dict.keys())[0]
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order_id = first_key
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self.hardware_interface._logger.info(f"✓ 成功提取order_id: {order_id}")
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else:
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self.hardware_interface._logger.warning(f"result_dict格式异常: {result_dict}")
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except Exception as e:
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self.hardware_interface._logger.error(f"✗ 无法从结果中提取order_id: {e}")
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elif isinstance(result, dict):
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if result:
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first_key = list(result.keys())[0]
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order_id = first_key
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self.hardware_interface._logger.info(f"✓ 成功提取order_id(dict): {order_id}")
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if not order_id:
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self.hardware_interface._logger.warning(f"⚠ 未能提取order_id")
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# 返回成功结果和构建的JSON数据
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return json.dumps({
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"suc": True,
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"order_code": order_code,
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"order_id": order_id,
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"result": result,
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"order_params": order_data
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})
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return json.dumps({"suc": True})
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except BioyondException:
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# 重新抛出BioyondException
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@@ -689,24 +499,15 @@ class BioyondDispensingStation(BioyondWorkstation):
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hold_m_name=hold_m_name
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)
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# 解析返回结果以获取order_code和order_id
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result_data = json.loads(result) if isinstance(result, str) else result
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order_code = result_data.get("order_code")
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order_id = result_data.get("order_id")
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order_params = result_data.get("order_params", {})
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results.append({
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"index": idx + 1,
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"name": name,
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"success": True,
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"order_code": order_code,
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"order_id": order_id,
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"hold_m_name": hold_m_name,
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"order_params": order_params
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"hold_m_name": hold_m_name
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})
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success_count += 1
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self.hardware_interface._logger.info(
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f"成功创建二胺溶液配置任务: {name}, order_code={order_code}, order_id={order_id}"
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f"成功创建二胺溶液配置任务: {name}"
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)
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except BioyondException as e:
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@@ -732,17 +533,11 @@ class BioyondDispensingStation(BioyondWorkstation):
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f"创建第 {idx + 1} 个任务时发生未知错误: {str(e)}"
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)
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# 提取所有成功任务的order_code和order_id
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order_codes = [r["order_code"] for r in results if r["success"]]
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order_ids = [r["order_id"] for r in results if r["success"]]
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# 返回汇总结果
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summary = {
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"total": len(solutions),
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"success": success_count,
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"failed": failed_count,
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"order_codes": order_codes,
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"order_ids": order_ids,
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"details": results
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}
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@@ -751,13 +546,8 @@ class BioyondDispensingStation(BioyondWorkstation):
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f"成功={success_count}, 失败={failed_count}"
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)
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# 构建返回结果
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summary["return_info"] = {
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"order_codes": order_codes,
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"order_ids": order_ids,
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}
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return summary
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# 返回JSON字符串格式
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return json.dumps(summary, ensure_ascii=False)
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except BioyondException:
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raise
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@@ -766,40 +556,6 @@ class BioyondDispensingStation(BioyondWorkstation):
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self.hardware_interface._logger.error(error_msg)
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raise BioyondException(error_msg)
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def brief_step_parameters(self, data: Dict[str, Any]) -> Dict[str, Any]:
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"""获取简要步骤参数（站点项目接口）
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参数:
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data: 查询参数字典
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返回值:
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dict: 接口返回数据
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"""
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return self._post_project_api("/api/lims/order/brief-step-paramerers", data)
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def project_order_report(self, order_id: str) -> Dict[str, Any]:
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"""查询项目端订单报告（兼容旧路径）
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参数:
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order_id: 订单ID
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返回值:
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dict: 报告数据
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"""
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return self._post_project_api("/api/lims/order/project-order-report", order_id)
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def workflow_sample_locations(self, workflow_id: str) -> Dict[str, Any]:
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"""查询工作流样品库位（站点项目接口）
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参数:
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workflow_id: 工作流ID
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返回值:
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dict: 位置信息数据
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"""
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return self._post_project_api("/api/lims/storage/workflow-sample-locations", workflow_id)
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# 批量创建90%10%小瓶投料任务
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def batch_create_90_10_vial_feeding_tasks(self,
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titration,
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@@ -857,15 +613,22 @@ class BioyondDispensingStation(BioyondWorkstation):
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if not all([name, main_portion is not None, titration_portion is not None, titration_solvent is not None]):
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raise BioyondException("titration 数据缺少必要参数")
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# 将main_portion平均分成3份作为90%物料（3个小瓶）
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portion_90 = main_portion / 3
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# 调用单个任务创建方法
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result = self.create_90_10_vial_feeding_task(
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order_name=f"90%10%小瓶投料-{name}",
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speed=speed,
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temperature=temperature,
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delay_time=delay_time,
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# 90%物料 - 主称固体直接使用main_portion
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# 90%物料 - 主称固体平均分成3份
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percent_90_1_assign_material_name=name,
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percent_90_1_target_weigh=str(round(main_portion, 6)),
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percent_90_1_target_weigh=str(round(portion_90, 6)),
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percent_90_2_assign_material_name=name,
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percent_90_2_target_weigh=str(round(portion_90, 6)),
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percent_90_3_assign_material_name=name,
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percent_90_3_target_weigh=str(round(portion_90, 6)),
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# 10%物料 - 滴定固体 + 滴定溶剂（只使用第1个10%小瓶）
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percent_10_1_assign_material_name=name,
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percent_10_1_target_weigh=str(round(titration_portion, 6)),
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@@ -874,54 +637,29 @@ class BioyondDispensingStation(BioyondWorkstation):
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hold_m_name=hold_m_name
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)
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# 解析返回结果以获取order_code和order_id
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result_data = json.loads(result) if isinstance(result, str) else result
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order_code = result_data.get("order_code")
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order_id = result_data.get("order_id")
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order_params = result_data.get("order_params", {})
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# 构建详细信息（保持原有结构）
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detail = {
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"index": 1,
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"name": name,
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summary = {
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"success": True,
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"order_code": order_code,
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"order_id": order_id,
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"hold_m_name": hold_m_name,
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"material_name": name,
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"90_vials": {
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"count": 1,
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"weight_per_vial": round(main_portion, 6),
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"count": 3,
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"weight_per_vial": round(portion_90, 6),
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"total_weight": round(main_portion, 6)
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},
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"10_vials": {
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"count": 1,
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"solid_weight": round(titration_portion, 6),
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"liquid_volume": round(titration_solvent, 6)
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},
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"order_params": order_params
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}
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# 构建批量结果格式（与diamine_solution_tasks保持一致）
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summary = {
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"total": 1,
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"success": 1,
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"failed": 0,
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"order_codes": [order_code],
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"order_ids": [order_id],
|
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"details": [detail]
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}
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}
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self.hardware_interface._logger.info(
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f"成功创建90%10%小瓶投料任务: {name}, order_code={order_code}, order_id={order_id}"
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f"成功创建90%10%小瓶投料任务: {hold_m_name}, "
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f"90%物料={portion_90:.6f}g×3, 10%物料={titration_portion:.6f}g+{titration_solvent:.6f}mL"
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)
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# 构建返回结果
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summary["return_info"] = {
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"order_codes": [order_code],
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"order_ids": [order_id],
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}
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return summary
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# 返回JSON字符串格式
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return json.dumps(summary, ensure_ascii=False)
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|
||||
except BioyondException:
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raise
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@@ -930,571 +668,6 @@ class BioyondDispensingStation(BioyondWorkstation):
|
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self.hardware_interface._logger.error(error_msg)
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raise BioyondException(error_msg)
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def _extract_actuals_from_report(self, report) -> Dict[str, Any]:
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data = report.get('data') if isinstance(report, dict) else None
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actual_target_weigh = None
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||||
actual_volume = None
|
||||
if data:
|
||||
extra = data.get('extraProperties') or {}
|
||||
if isinstance(extra, dict):
|
||||
for v in extra.values():
|
||||
obj = None
|
||||
try:
|
||||
obj = json.loads(v) if isinstance(v, str) else v
|
||||
except Exception:
|
||||
obj = None
|
||||
if isinstance(obj, dict):
|
||||
tw = obj.get('targetWeigh')
|
||||
vol = obj.get('volume')
|
||||
if tw is not None:
|
||||
try:
|
||||
actual_target_weigh = float(tw)
|
||||
except Exception:
|
||||
pass
|
||||
if vol is not None:
|
||||
try:
|
||||
actual_volume = float(vol)
|
||||
except Exception:
|
||||
pass
|
||||
return {
|
||||
'actualTargetWeigh': actual_target_weigh,
|
||||
'actualVolume': actual_volume
|
||||
}
|
||||
|
||||
# 等待多个任务完成并获取实验报告
|
||||
def wait_for_multiple_orders_and_get_reports(self,
|
||||
batch_create_result: str = None,
|
||||
timeout: int = 7200,
|
||||
check_interval: int = 10) -> Dict[str, Any]:
|
||||
"""
|
||||
同时等待多个任务完成并获取实验报告
|
||||
|
||||
参数说明:
|
||||
- batch_create_result: 批量创建任务的返回结果JSON字符串，包含order_codes和order_ids数组
|
||||
- timeout: 超时时间（秒），默认7200秒（2小时）
|
||||
- check_interval: 检查间隔（秒），默认10秒
|
||||
|
||||
返回: 包含所有任务状态和报告的字典
|
||||
{
|
||||
"total": 2,
|
||||
"completed": 2,
|
||||
"timeout": 0,
|
||||
"elapsed_time": 120.5,
|
||||
"reports": [
|
||||
{
|
||||
"order_code": "task_vial_1",
|
||||
"order_id": "uuid1",
|
||||
"status": "completed",
|
||||
"completion_status": 30,
|
||||
"report": {...}
|
||||
},
|
||||
...
|
||||
]
|
||||
}
|
||||
|
||||
异常:
|
||||
- BioyondException: 所有任务都超时或发生错误
|
||||
"""
|
||||
try:
|
||||
# 参数类型转换
|
||||
timeout = int(timeout) if timeout else 7200
|
||||
check_interval = int(check_interval) if check_interval else 10
|
||||
|
||||
# 验证batch_create_result参数
|
||||
if not batch_create_result or batch_create_result == "":
|
||||
raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
|
||||
|
||||
# 解析batch_create_result JSON对象
|
||||
try:
|
||||
# 清理可能存在的截断标记 [...]
|
||||
if isinstance(batch_create_result, str) and '[...]' in batch_create_result:
|
||||
batch_create_result = batch_create_result.replace('[...]', '[]')
|
||||
|
||||
result_obj = json.loads(batch_create_result) if isinstance(batch_create_result, str) else batch_create_result
|
||||
|
||||
# 兼容外层包装格式 {error, suc, return_value}
|
||||
if isinstance(result_obj, dict) and "return_value" in result_obj:
|
||||
inner = result_obj.get("return_value")
|
||||
if isinstance(inner, str):
|
||||
result_obj = json.loads(inner)
|
||||
elif isinstance(inner, dict):
|
||||
result_obj = inner
|
||||
|
||||
# 从summary对象中提取order_codes和order_ids
|
||||
order_codes = result_obj.get("order_codes", [])
|
||||
order_ids = result_obj.get("order_ids", [])
|
||||
|
||||
except json.JSONDecodeError as e:
|
||||
raise BioyondException(f"解析batch_create_result失败: {e}")
|
||||
except Exception as e:
|
||||
raise BioyondException(f"处理batch_create_result时出错: {e}")
|
||||
|
||||
# 验证提取的数据
|
||||
if not order_codes:
|
||||
raise BioyondException("batch_create_result中未找到order_codes字段或为空")
|
||||
if not order_ids:
|
||||
raise BioyondException("batch_create_result中未找到order_ids字段或为空")
|
||||
|
||||
# 确保order_codes和order_ids是列表类型
|
||||
if not isinstance(order_codes, list):
|
||||
order_codes = [order_codes] if order_codes else []
|
||||
if not isinstance(order_ids, list):
|
||||
order_ids = [order_ids] if order_ids else []
|
||||
|
||||
codes_list = order_codes
|
||||
ids_list = order_ids
|
||||
|
||||
if len(codes_list) != len(ids_list):
|
||||
raise BioyondException(
|
||||
f"order_codes数量({len(codes_list)})与order_ids数量({len(ids_list)})不匹配"
|
||||
)
|
||||
|
||||
if not codes_list or not ids_list:
|
||||
raise BioyondException("order_codes和order_ids不能为空")
|
||||
|
||||
# 初始化跟踪变量
|
||||
total = len(codes_list)
|
||||
pending_orders = {code: {"order_id": ids_list[i], "completed": False}
|
||||
for i, code in enumerate(codes_list)}
|
||||
reports = []
|
||||
|
||||
start_time = time.time()
|
||||
self.hardware_interface._logger.info(
|
||||
f"开始等待 {total} 个任务完成: {', '.join(codes_list)}"
|
||||
)
|
||||
|
||||
# 轮询检查任务状态
|
||||
while pending_orders:
|
||||
elapsed_time = time.time() - start_time
|
||||
|
||||
# 检查超时
|
||||
if elapsed_time > timeout:
|
||||
# 收集超时任务
|
||||
timeout_orders = list(pending_orders.keys())
|
||||
self.hardware_interface._logger.error(
|
||||
f"等待任务完成超时，剩余未完成任务: {', '.join(timeout_orders)}"
|
||||
)
|
||||
|
||||
# 为超时任务添加记录
|
||||
for order_code in timeout_orders:
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": pending_orders[order_code]["order_id"],
|
||||
"status": "timeout",
|
||||
"completion_status": None,
|
||||
"report": None,
|
||||
"extracted": None,
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
|
||||
break
|
||||
|
||||
# 检查每个待完成的任务
|
||||
completed_in_this_round = []
|
||||
for order_code in list(pending_orders.keys()):
|
||||
order_id = pending_orders[order_code]["order_id"]
|
||||
|
||||
# 检查任务是否完成
|
||||
if order_code in self.order_completion_status:
|
||||
completion_info = self.order_completion_status[order_code]
|
||||
self.hardware_interface._logger.info(
|
||||
f"检测到任务 {order_code} 已完成，状态: {completion_info.get('status')}"
|
||||
)
|
||||
|
||||
# 获取实验报告
|
||||
try:
|
||||
report = self.project_order_report(order_id)
|
||||
|
||||
if not report:
|
||||
self.hardware_interface._logger.warning(
|
||||
f"任务 {order_code} 已完成但无法获取报告"
|
||||
)
|
||||
report = {"error": "无法获取报告"}
|
||||
else:
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功获取任务 {order_code} 的实验报告"
|
||||
)
|
||||
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"status": "completed",
|
||||
"completion_status": completion_info.get('status'),
|
||||
"report": report,
|
||||
"extracted": self._extract_actuals_from_report(report),
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
|
||||
# 标记为已完成
|
||||
completed_in_this_round.append(order_code)
|
||||
|
||||
# 清理完成状态记录
|
||||
del self.order_completion_status[order_code]
|
||||
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(
|
||||
f"查询任务 {order_code} 报告失败: {str(e)}"
|
||||
)
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"status": "error",
|
||||
"completion_status": completion_info.get('status'),
|
||||
"report": None,
|
||||
"extracted": None,
|
||||
"error": str(e),
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
completed_in_this_round.append(order_code)
|
||||
|
||||
# 从待完成列表中移除已完成的任务
|
||||
for order_code in completed_in_this_round:
|
||||
del pending_orders[order_code]
|
||||
|
||||
# 如果还有待完成的任务，等待后继续
|
||||
if pending_orders:
|
||||
time.sleep(check_interval)
|
||||
|
||||
# 每分钟记录一次等待状态
|
||||
new_elapsed_time = time.time() - start_time
|
||||
if int(new_elapsed_time) % 60 == 0 and new_elapsed_time > 0:
|
||||
self.hardware_interface._logger.info(
|
||||
f"批量等待任务中... 已完成 {len(reports)}/{total}, "
|
||||
f"待完成: {', '.join(pending_orders.keys())}, "
|
||||
f"已等待 {int(new_elapsed_time/60)} 分钟"
|
||||
)
|
||||
|
||||
# 统计结果
|
||||
completed_count = sum(1 for r in reports if r['status'] == 'completed')
|
||||
timeout_count = sum(1 for r in reports if r['status'] == 'timeout')
|
||||
error_count = sum(1 for r in reports if r['status'] == 'error')
|
||||
|
||||
final_elapsed_time = time.time() - start_time
|
||||
|
||||
summary = {
|
||||
"total": total,
|
||||
"completed": completed_count,
|
||||
"timeout": timeout_count,
|
||||
"error": error_count,
|
||||
"elapsed_time": round(final_elapsed_time, 2),
|
||||
"reports": reports
|
||||
}
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"批量等待任务完成: 总数={total}, 成功={completed_count}, "
|
||||
f"超时={timeout_count}, 错误={error_count}, 耗时={final_elapsed_time:.1f}秒"
|
||||
)
|
||||
|
||||
# 返回字典格式，在顶层包含统计信息
|
||||
return {
|
||||
"return_info": json.dumps(summary, ensure_ascii=False)
|
||||
}
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
except Exception as e:
|
||||
error_msg = f"批量等待任务完成时发生未预期的错误: {str(e)}"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
|
||||
"""
|
||||
重写父类方法，处理任务完成报送并记录到 order_completion_status
|
||||
|
||||
Args:
|
||||
report_request: WorkstationReportRequest 对象，包含任务完成信息
|
||||
used_materials: 物料使用记录列表
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 处理结果
|
||||
"""
|
||||
try:
|
||||
# 调用父类方法
|
||||
result = super().process_order_finish_report(report_request, used_materials)
|
||||
|
||||
# 记录任务完成状态
|
||||
data = report_request.data
|
||||
order_code = data.get('orderCode')
|
||||
|
||||
if order_code:
|
||||
self.order_completion_status[order_code] = {
|
||||
'status': data.get('status'),
|
||||
'order_name': data.get('orderName'),
|
||||
'timestamp': datetime.now().isoformat(),
|
||||
'start_time': data.get('startTime'),
|
||||
'end_time': data.get('endTime')
|
||||
}
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"已记录任务完成状态: {order_code}, status={data.get('status')}"
|
||||
)
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(f"处理任务完成报送失败: {e}")
|
||||
return {"processed": False, "error": str(e)}
|
||||
|
||||
def transfer_materials_to_reaction_station(
|
||||
self,
|
||||
target_device_id: str,
|
||||
transfer_groups: list
|
||||
) -> dict:
|
||||
"""
|
||||
将配液站完成的物料转移到指定反应站的堆栈库位
|
||||
支持多组转移任务,每组包含物料名称、目标堆栈和目标库位
|
||||
|
||||
Args:
|
||||
target_device_id: 目标反应站设备ID(所有转移组使用同一个设备)
|
||||
transfer_groups: 转移任务组列表,每组包含:
|
||||
- materials: 物料名称(字符串,将通过RPC查询)
|
||||
- target_stack: 目标堆栈名称(如"堆栈1左")
|
||||
- target_sites: 目标库位(如"A01")
|
||||
|
||||
Returns:
|
||||
dict: 转移结果
|
||||
{
|
||||
"success": bool,
|
||||
"total_groups": int,
|
||||
"successful_groups": int,
|
||||
"failed_groups": int,
|
||||
"target_device_id": str,
|
||||
"details": [...]
|
||||
}
|
||||
"""
|
||||
try:
|
||||
# 验证参数
|
||||
if not target_device_id:
|
||||
raise ValueError("目标设备ID不能为空")
|
||||
|
||||
if not transfer_groups:
|
||||
raise ValueError("转移任务组列表不能为空")
|
||||
|
||||
if not isinstance(transfer_groups, list):
|
||||
raise ValueError("transfer_groups必须是列表类型")
|
||||
|
||||
# 标准化设备ID格式: 确保以 /devices/ 开头
|
||||
if not target_device_id.startswith("/devices/"):
|
||||
if target_device_id.startswith("/"):
|
||||
target_device_id = f"/devices{target_device_id}"
|
||||
else:
|
||||
target_device_id = f"/devices/{target_device_id}"
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"目标设备ID标准化为: {target_device_id}"
|
||||
)
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
|
||||
)
|
||||
|
||||
from .config import WAREHOUSE_MAPPING
|
||||
results = []
|
||||
successful_count = 0
|
||||
failed_count = 0
|
||||
|
||||
for idx, group in enumerate(transfer_groups, 1):
|
||||
try:
|
||||
# 提取参数
|
||||
material_name = group.get("materials", "")
|
||||
target_stack = group.get("target_stack", "")
|
||||
target_sites = group.get("target_sites", "")
|
||||
|
||||
# 验证必填参数
|
||||
if not material_name:
|
||||
raise ValueError(f"第{idx}组: 物料名称不能为空")
|
||||
if not target_stack:
|
||||
raise ValueError(f"第{idx}组: 目标堆栈不能为空")
|
||||
if not target_sites:
|
||||
raise ValueError(f"第{idx}组: 目标库位不能为空")
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"处理第{idx}组转移: {material_name} -> "
|
||||
f"{target_device_id}/{target_stack}/{target_sites}"
|
||||
)
|
||||
|
||||
# 通过物料名称从deck获取ResourcePLR对象
|
||||
try:
|
||||
material_resource = self.deck.get_resource(material_name)
|
||||
if not material_resource:
|
||||
raise ValueError(f"在deck中未找到物料: {material_name}")
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"从deck获取到物料 {material_name}: {material_resource}"
|
||||
)
|
||||
except Exception as e:
|
||||
raise ValueError(
|
||||
f"获取物料 {material_name} 失败: {str(e)}，请确认物料已正确加载到deck中"
|
||||
)
|
||||
|
||||
# 验证目标堆栈是否存在
|
||||
if target_stack not in WAREHOUSE_MAPPING:
|
||||
raise ValueError(
|
||||
f"未知的堆栈名称: {target_stack}，"
|
||||
f"可选值: {list(WAREHOUSE_MAPPING.keys())}"
|
||||
)
|
||||
|
||||
# 验证库位是否有效
|
||||
stack_sites = WAREHOUSE_MAPPING[target_stack].get("site_uuids", {})
|
||||
if target_sites not in stack_sites:
|
||||
raise ValueError(
|
||||
f"库位 {target_sites} 不存在于堆栈 {target_stack} 中，"
|
||||
f"可选库位: {list(stack_sites.keys())}"
|
||||
)
|
||||
|
||||
# 获取目标库位的UUID
|
||||
target_site_uuid = stack_sites[target_sites]
|
||||
if not target_site_uuid:
|
||||
raise ValueError(
|
||||
f"库位 {target_sites} 的 UUID 未配置，请在 WAREHOUSE_MAPPING 中完善"
|
||||
)
|
||||
|
||||
# 目标位点（包含UUID）
|
||||
future = ROS2DeviceNode.run_async_func(
|
||||
self._ros_node.get_resource_with_dir,
|
||||
True,
|
||||
**{
|
||||
"resource_id": f"/reaction_station_bioyond/Bioyond_Deck/{target_stack}",
|
||||
"with_children": True,
|
||||
},
|
||||
)
|
||||
# 等待异步完成后再获取结果
|
||||
if not future:
|
||||
raise ValueError(f"获取目标堆栈资源future无效: {target_stack}")
|
||||
while not future.done():
|
||||
time.sleep(0.1)
|
||||
target_site_resource = future.result()
|
||||
|
||||
# 调用父类的 transfer_resource_to_another 方法
|
||||
# 传入ResourcePLR对象和目标位点资源
|
||||
future = self.transfer_resource_to_another(
|
||||
resource=[material_resource],
|
||||
mount_resource=[target_site_resource],
|
||||
sites=[target_sites],
|
||||
mount_device_id=target_device_id
|
||||
)
|
||||
|
||||
# 等待异步任务完成（轮询直到完成，再取结果）
|
||||
if future:
|
||||
try:
|
||||
while not future.done():
|
||||
time.sleep(0.1)
|
||||
future.result()
|
||||
self.hardware_interface._logger.info(
|
||||
f"异步转移任务已完成: {material_name}"
|
||||
)
|
||||
except Exception as e:
|
||||
raise ValueError(f"转移任务执行失败: {str(e)}")
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"第{idx}组转移成功: {material_name} -> "
|
||||
f"{target_device_id}/{target_stack}/{target_sites}"
|
||||
)
|
||||
|
||||
successful_count += 1
|
||||
results.append({
|
||||
"group_index": idx,
|
||||
"success": True,
|
||||
"material_name": material_name,
|
||||
"target_stack": target_stack,
|
||||
"target_site": target_sites,
|
||||
"message": "转移成功"
|
||||
})
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"第{idx}组转移失败: {str(e)}"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
failed_count += 1
|
||||
results.append({
|
||||
"group_index": idx,
|
||||
"success": False,
|
||||
"material_name": group.get("materials", ""),
|
||||
"error": str(e)
|
||||
})
|
||||
|
||||
# 返回汇总结果
|
||||
return {
|
||||
"success": failed_count == 0,
|
||||
"total_groups": len(transfer_groups),
|
||||
"successful_groups": successful_count,
|
||||
"failed_groups": failed_count,
|
||||
"target_device_id": target_device_id,
|
||||
"details": results,
|
||||
"message": f"完成 {len(transfer_groups)} 组转移任务到 {target_device_id}: "
|
||||
f"{successful_count} 成功, {failed_count} 失败"
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"批量转移物料失败: {str(e)}"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
return {
|
||||
"success": False,
|
||||
"total_groups": len(transfer_groups) if transfer_groups else 0,
|
||||
"successful_groups": 0,
|
||||
"failed_groups": len(transfer_groups) if transfer_groups else 0,
|
||||
"target_device_id": target_device_id if target_device_id else "",
|
||||
"error": error_msg
|
||||
}
|
||||
|
||||
def query_resource_by_name(self, material_name: str):
|
||||
"""
|
||||
通过物料名称查询资源对象(适用于Bioyond系统)
|
||||
|
||||
Args:
|
||||
material_name: 物料名称
|
||||
|
||||
Returns:
|
||||
物料ID或None
|
||||
"""
|
||||
try:
|
||||
# Bioyond系统使用material_cache存储物料信息
|
||||
if not hasattr(self.hardware_interface, 'material_cache'):
|
||||
self.hardware_interface._logger.error(
|
||||
"hardware_interface没有material_cache属性"
|
||||
)
|
||||
return None
|
||||
|
||||
material_cache = self.hardware_interface.material_cache
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"查询物料 '{material_name}', 缓存中共有 {len(material_cache)} 个物料"
|
||||
)
|
||||
|
||||
# 调试: 打印前几个物料信息
|
||||
if material_cache:
|
||||
cache_items = list(material_cache.items())[:5]
|
||||
for name, material_id in cache_items:
|
||||
self.hardware_interface._logger.debug(
|
||||
f"缓存物料: name={name}, id={material_id}"
|
||||
)
|
||||
|
||||
# 直接从缓存中查找
|
||||
if material_name in material_cache:
|
||||
material_id = material_cache[material_name]
|
||||
self.hardware_interface._logger.info(
|
||||
f"找到物料: {material_name} -> ID: {material_id}"
|
||||
)
|
||||
return material_id
|
||||
|
||||
self.hardware_interface._logger.warning(
|
||||
f"未找到物料: {material_name} (缓存中无此物料)"
|
||||
)
|
||||
|
||||
# 打印所有可用物料名称供参考
|
||||
available_materials = list(material_cache.keys())
|
||||
if available_materials:
|
||||
self.hardware_interface._logger.info(
|
||||
f"可用物料列表(前10个): {available_materials[:10]}"
|
||||
)
|
||||
|
||||
return None
|
||||
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(
|
||||
f"查询物料失败 {material_name}: {str(e)}"
|
||||
)
|
||||
return None
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
bioyond = BioyondDispensingStation(config={
|
||||
@@ -1916,3 +1089,4 @@ if __name__ == "__main__":
|
||||
|
||||
# id = "3a1bce3c-4f31-c8f3-5525-f3b273bc34dc"
|
||||
# bioyond.sample_waste_removal(id)
|
||||
|
||||
|
||||
Reference in New Issue
Block a user