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feat: workstation example
This commit is contained in:
Xuwznln
0
unilabos/devices/workstation/__init__.py
Normal file
0
unilabos/devices/workstation/__init__.py
Normal file
@@ -5,27 +5,26 @@ Workstation Base Class - 简化版
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基于PLR Deck的简化工作站架构
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专注于核心物料系统和工作流管理
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"""
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import collections
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import time
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from typing import Dict, Any, List, Optional, Union
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from abc import ABC, abstractmethod
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from dataclasses import dataclass
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from enum import Enum
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from pylabrobot.resources import Deck, Plate, Resource as PLRResource
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try:
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from pylabrobot.resources import Deck, Resource as PLRResource
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PYLABROBOT_AVAILABLE = True
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except ImportError:
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PYLABROBOT_AVAILABLE = False
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class Deck: pass
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class PLRResource: pass
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from pylabrobot.resources.coordinate import Coordinate
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from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
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from unilabos.utils.log import logger
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class WorkflowStatus(Enum):
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"""工作流状态"""
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IDLE = "idle"
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INITIALIZING = "initializing"
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INITIALIZING = "initializing"
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RUNNING = "running"
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PAUSED = "paused"
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STOPPING = "stopping"
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@@ -37,6 +36,7 @@ class WorkflowStatus(Enum):
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@dataclass
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class WorkflowInfo:
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"""工作流信息"""
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name: str
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description: str
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estimated_duration: float # 预估持续时间（秒）
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@@ -45,25 +45,82 @@ class WorkflowInfo:
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parameters_schema: Dict[str, Any] # 参数架构
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class WorkStationContainer(Plate):
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"""
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WorkStation 专用 Container 类，继承自 Plate和TipRack
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注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化
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"""
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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category: str,
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ordering: collections.OrderedDict,
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model: Optional[str] = None,
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):
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"""
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这里的初始化入参要和plr的保持一致
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"""
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super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
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self._unilabos_state = {} # 必须有此行，自己的类描述的是物料的
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def load_state(self, state: Dict[str, Any]) -> None:
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"""从给定的状态加载工作台信息。"""
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super().load_state(state)
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self._unilabos_state = state
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
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data = super().serialize_state()
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data.update(
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self._unilabos_state
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) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等）
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return data
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def get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法
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"""
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用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml
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可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错
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:param name: 资源名称
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:return: Resource对象
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"""
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plate = WorkStationContainer(
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name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict()
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)
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tip_rack = WorkStationContainer(
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"tip_rack_inside_plate",
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size_x=50,
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size_y=50,
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size_z=10,
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category="tip_rack",
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ordering=collections.OrderedDict(),
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)
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plate.assign_child_resource(tip_rack, Coordinate.zero())
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return plate
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class ResourceSynchronizer(ABC):
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"""资源同步器基类
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负责与外部物料系统的同步，并对 self.deck 做修改
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"""
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def __init__(self, workstation: 'WorkstationBase'):
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def __init__(self, workstation: "WorkstationBase"):
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self.workstation = workstation
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@abstractmethod
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async def sync_from_external(self) -> bool:
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"""从外部系统同步物料到本地deck"""
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pass
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@abstractmethod
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async def sync_to_external(self, plr_resource: PLRResource) -> bool:
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"""将本地物料同步到外部系统"""
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pass
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@abstractmethod
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async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
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"""处理外部系统的变更通知"""
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@@ -72,81 +129,80 @@ class ResourceSynchronizer(ABC):
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class WorkstationBase(ABC):
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"""工作站基类 - 简化版
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核心功能：
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1. 基于 PLR Deck 的物料系统，支持格式转换
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2. 可选的资源同步器支持外部物料系统
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3. 简化的工作流管理
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"""
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_ros_node: ROS2WorkstationNode
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@property
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def _children(self) -> Dict[str, Any]: # 不要删除这个下划线，不然会自动导入注册表，后面改成装饰器识别
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return self._ros_node.children
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async def update_resource_example(self):
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return await self._ros_node.update_resource([get_workstation_plate_resource("test")])
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def __init__(
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self,
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device_id: str,
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deck_config: Dict[str, Any],
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children: Optional[Dict[str, Any]] = None,
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resource_synchronizer: Optional[ResourceSynchronizer] = None,
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station_resource: PLRResource,
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*args,
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**kwargs,
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**kwargs, # 必须有kwargs
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):
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if not PYLABROBOT_AVAILABLE:
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raise ImportError("PyLabRobot 未安装，无法创建工作站")
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# 基本配置
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self.device_id = device_id
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self.deck_config = deck_config
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self.children = children or {}
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print(station_resource)
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self.deck_config = station_resource
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# PLR 物料系统
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self.deck: Optional[Deck] = None
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self.plr_resources: Dict[str, PLRResource] = {}
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# 资源同步器（可选）
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self.resource_synchronizer = resource_synchronizer
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self.resource_synchronizer = ResourceSynchronizer(self) # 要在driver中自行初始化，只有workstation用
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# 硬件接口
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self.hardware_interface: Union[Any, str] = None
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# 协议节点引用（用于代理模式）
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self._workstation_node: Optional['ROS2WorkstationNode'] = None
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# 工作流状态
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self.current_workflow_status = WorkflowStatus.IDLE
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self.current_workflow_info = None
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self.workflow_start_time = None
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self.workflow_parameters = {}
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# 支持的工作流（静态预定义）
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self.supported_workflows: Dict[str, WorkflowInfo] = {}
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# 初始化物料系统
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self._initialize_material_system()
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# 注册支持的工作流
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self._register_supported_workflows()
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logger.info(f"工作站 {device_id} 初始化完成（简化版）")
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def _initialize_material_system(self):
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"""初始化物料系统 - 使用 graphio 转换"""
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try:
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from unilabos.resources.graphio import resource_ulab_to_plr
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# 1. 合并 deck_config 和 children 创建完整的资源树
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complete_resource_config = self._create_complete_resource_config()
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# 2. 使用 graphio 转换为 PLR 资源
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self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True)
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# 3. 建立资源映射
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self._build_resource_mappings(self.deck)
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# 4. 如果有资源同步器，执行初始同步
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if self.resource_synchronizer:
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# 这里可以异步执行，暂时跳过
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pass
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logger.info(f"工作站 {self.device_id} 物料系统初始化成功，创建了 {len(self.plr_resources)} 个资源")
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except Exception as e:
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logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}")
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raise
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@@ -163,21 +219,21 @@ class WorkstationBase(ABC):
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"size_x": self.deck_config.get("size_x", 1000.0),
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"size_y": self.deck_config.get("size_y", 1000.0),
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"size_z": self.deck_config.get("size_z", 100.0),
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**{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]}
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**{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]},
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},
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"data": {},
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"children": [],
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"parent": None
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"parent": None,
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}
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# 添加子资源
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if self.children:
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if self._children:
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children_list = []
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for child_id, child_config in self.children.items():
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for child_id, child_config in self._children.items():
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child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"])
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children_list.append(child_resource)
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deck_resource["children"] = children_list
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return deck_resource
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def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]:
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@@ -190,7 +246,7 @@ class WorkstationBase(ABC):
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"config": config.get("config", {}),
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"data": config.get("data", {}),
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"children": [], # 简化版本：只支持一层子资源
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"parent": parent_id
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"parent": parent_id,
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}
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def _normalize_position(self, position: Any) -> Dict[str, float]:
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@@ -199,70 +255,71 @@ class WorkstationBase(ABC):
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return {
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"x": float(position.get("x", 0)),
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"y": float(position.get("y", 0)),
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"z": float(position.get("z", 0))
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"z": float(position.get("z", 0)),
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}
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elif isinstance(position, (list, tuple)) and len(position) >= 2:
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return {
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"x": float(position[0]),
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"y": float(position[1]),
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"z": float(position[2]) if len(position) > 2 else 0.0
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"z": float(position[2]) if len(position) > 2 else 0.0,
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}
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else:
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return {"x": 0.0, "y": 0.0, "z": 0.0}
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def _build_resource_mappings(self, deck: Deck):
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"""递归构建资源映射"""
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def add_resource_recursive(resource: PLRResource):
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if hasattr(resource, 'name'):
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if hasattr(resource, "name"):
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self.plr_resources[resource.name] = resource
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if hasattr(resource, 'children'):
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if hasattr(resource, "children"):
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for child in resource.children:
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add_resource_recursive(child)
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add_resource_recursive(deck)
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# ============ 硬件接口管理 ============
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def set_hardware_interface(self, hardware_interface: Union[Any, str]):
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"""设置硬件接口"""
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self.hardware_interface = hardware_interface
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logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}")
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def set_workstation_node(self, workstation_node: 'ROS2WorkstationNode'):
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def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"):
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"""设置协议节点引用（用于代理模式）"""
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self._workstation_node = workstation_node
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self._ros_node = workstation_node
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logger.info(f"工作站 {self.device_id} 关联协议节点")
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# ============ 设备操作接口 ============
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def call_device_method(self, method: str, *args, **kwargs) -> Any:
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"""调用设备方法的统一接口"""
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# 1. 代理模式：通过协议节点转发
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if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
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if not self._workstation_node:
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if not self._ros_node:
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raise RuntimeError("代理模式需要设置workstation_node")
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device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀
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return self._workstation_node.call_device_method(device_id, method, *args, **kwargs)
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return self._ros_node.call_device_method(device_id, method, *args, **kwargs)
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# 2. 直接模式：直接调用硬件接口方法
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elif self.hardware_interface and hasattr(self.hardware_interface, method):
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return getattr(self.hardware_interface, method)(*args, **kwargs)
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else:
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raise AttributeError(f"硬件接口不支持方法: {method}")
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def get_device_status(self) -> Dict[str, Any]:
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"""获取设备状态"""
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try:
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return self.call_device_method('get_status')
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return self.call_device_method("get_status")
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except AttributeError:
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# 如果设备不支持get_status方法，返回基础状态
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return {
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"status": "unknown",
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"interface_type": type(self.hardware_interface).__name__,
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"timestamp": time.time()
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"timestamp": time.time(),
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}
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def is_device_available(self) -> bool:
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@@ -274,30 +331,29 @@ class WorkstationBase(ABC):
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return False
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# ============ 物料系统接口 ============
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def get_deck(self) -> Deck:
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"""获取主 Deck"""
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return self.deck
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def get_all_resources(self) -> Dict[str, PLRResource]:
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"""获取所有 PLR 资源"""
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return self.plr_resources.copy()
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def find_resource_by_name(self, name: str) -> Optional[PLRResource]:
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"""按名称查找资源"""
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return self.plr_resources.get(name)
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def find_resources_by_type(self, resource_type: type) -> List[PLRResource]:
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"""按类型查找资源"""
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return [res for res in self.plr_resources.values()
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if isinstance(res, resource_type)]
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return [res for res in self.plr_resources.values() if isinstance(res, resource_type)]
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async def sync_with_external_system(self) -> bool:
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"""与外部物料系统同步"""
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if not self.resource_synchronizer:
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logger.info(f"工作站 {self.device_id} 没有配置资源同步器")
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return True
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try:
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success = await self.resource_synchronizer.sync_from_external()
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if success:
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@@ -318,19 +374,19 @@ class WorkstationBase(ABC):
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self.current_workflow_status = WorkflowStatus.INITIALIZING
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self.workflow_parameters = parameters
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self.workflow_start_time = time.time()
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# 委托给子类实现
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success = self._execute_workflow_impl(workflow_name, parameters)
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if success:
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self.current_workflow_status = WorkflowStatus.RUNNING
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logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功")
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else:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败")
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return success
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except Exception as e:
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self.current_workflow_status = WorkflowStatus.ERROR
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logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}")
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@@ -342,28 +398,28 @@ class WorkstationBase(ABC):
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if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]:
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logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流")
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return True
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||||
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||||
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||||
self.current_workflow_status = WorkflowStatus.STOPPING
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||||
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||||
# 委托给子类实现
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success = self._stop_workflow_impl(emergency)
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||||
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||||
if success:
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self.current_workflow_status = WorkflowStatus.STOPPED
|
||||
logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})")
|
||||
else:
|
||||
self.current_workflow_status = WorkflowStatus.ERROR
|
||||
logger.error(f"工作站 {self.device_id} 工作流停止失败")
|
||||
|
||||
|
||||
return success
|
||||
|
||||
|
||||
except Exception as e:
|
||||
self.current_workflow_status = WorkflowStatus.ERROR
|
||||
logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}")
|
||||
return False
|
||||
|
||||
# ============ 状态属性 ============
|
||||
|
||||
|
||||
@property
|
||||
def workflow_status(self) -> WorkflowStatus:
|
||||
"""获取当前工作流状态"""
|
||||
@@ -375,7 +431,7 @@ class WorkstationBase(ABC):
|
||||
return self.current_workflow_status in [
|
||||
WorkflowStatus.INITIALIZING,
|
||||
WorkflowStatus.RUNNING,
|
||||
WorkflowStatus.STOPPING
|
||||
WorkflowStatus.STOPPING,
|
||||
]
|
||||
|
||||
@property
|
||||
@@ -386,18 +442,48 @@ class WorkstationBase(ABC):
|
||||
return time.time() - self.workflow_start_time
|
||||
|
||||
# ============ 抽象方法 - 子类必须实现 ============
|
||||
|
||||
|
||||
@abstractmethod
|
||||
def _register_supported_workflows(self):
|
||||
"""注册支持的工作流 - 子类必须实现"""
|
||||
pass
|
||||
|
||||
|
||||
@abstractmethod
|
||||
def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
|
||||
"""执行工作流的具体实现 - 子类必须实现"""
|
||||
pass
|
||||
|
||||
|
||||
@abstractmethod
|
||||
def _stop_workflow_impl(self, emergency: bool = False) -> bool:
|
||||
"""停止工作流的具体实现 - 子类必须实现"""
|
||||
pass
|
||||
|
||||
class WorkstationExample(WorkstationBase):
|
||||
"""工作站示例实现"""
|
||||
|
||||
def _register_supported_workflows(self):
|
||||
"""注册支持的工作流"""
|
||||
self.supported_workflows["example_workflow"] = WorkflowInfo(
|
||||
name="example_workflow",
|
||||
description="这是一个示例工作流",
|
||||
estimated_duration=300.0,
|
||||
required_materials=["sample_plate"],
|
||||
output_product="processed_plate",
|
||||
parameters_schema={"param1": "string", "param2": "integer"},
|
||||
)
|
||||
|
||||
def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
|
||||
"""执行工作流的具体实现"""
|
||||
if workflow_name not in self.supported_workflows:
|
||||
logger.error(f"工作站 {self.device_id} 不支持工作流: {workflow_name}")
|
||||
return False
|
||||
|
||||
# 这里添加实际的工作流逻辑
|
||||
logger.info(f"工作站 {self.device_id} 正在执行工作流: {workflow_name} with parameters {parameters}")
|
||||
return True
|
||||
|
||||
def _stop_workflow_impl(self, emergency: bool = False) -> bool:
|
||||
"""停止工作流的具体实现"""
|
||||
# 这里添加实际的停止逻辑
|
||||
logger.info(f"工作站 {self.device_id} 正在停止工作流 (紧急: {emergency})")
|
||||
return True
|
||||
Reference in New Issue
Block a user