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Upgrade to py 3.11.14; ROS2 Humble 0.7; unilabos 0.10.16

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Workbench example, adjust log level, and ci check (#220)

* TestLatency Return Value Example & gitignore update

* Adjust log level & Add workbench virtual example & Add not action decorator & Add check_mode &

* Add CI Check

Fix/workstation yb revision (#217)

* Revert log change & update registry

* Revert opcua client & move electrolyte node

Workstation yb merge dev ready 260113 (#216)

* feat(bioyond): 添加计算实验设计功能，支持化合物配比和滴定比例参数

* feat(bioyond): 添加测量小瓶功能，支持基本参数配置

* feat(bioyond): 添加测量小瓶配置，支持新设备参数

* feat(bioyond): 更新仓库布局和尺寸，支持竖向排列的测量小瓶和试剂存放堆栈

* feat(bioyond): 优化任务创建流程，确保无论成功与否都清理任务队列以避免重复累积

* feat(bioyond): 添加设置反应器温度功能，支持温度范围和异常处理

* feat(bioyond): 调整反应器位置配置，统一坐标格式

* feat(bioyond): 添加调度器启动功能，支持任务队列执行并处理异常

* feat(bioyond): 优化调度器启动功能，添加异常处理并更新相关配置

* feat(opcua): 增强节点ID解析兼容性和数据类型处理

改进节点ID解析逻辑以支持多种格式，包括字符串和数字标识符
添加数据类型转换处理，确保写入值时类型匹配
优化错误提示信息，便于调试节点连接问题

* feat(registry): 新增后处理站的设备配置文件

添加后处理站的YAML配置文件，包含动作映射、状态类型和设备描述

* 添加调度器启动功能，合并物料参数配置，优化物料参数处理逻辑

* 添加从 Bioyond 系统自动同步工作流序列的功能，并更新相关配置

* fix：兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property

* fix:同步工作流序列

* feat: remove commented workflow synchronization from `reaction_station.py`.

* 添加时间约束功能及相关配置

* fix：自动更新物料缓存功能，添加物料时更新缓存并在删除时移除缓存项

* fix：在添加物料时处理字符串和字典返回值，确保正确更新缓存

* fix：更新奔曜错误处理报送为物料变更报送，调整日志记录和响应消息

* feat：添加实验报告简化功能，去除冗余信息并保留关键信息

* feat: 添加任务状态事件发布功能，监控并报告任务运行、超时、完成和错误状态

* fix: 修复添加物料时数据格式错误

* Refactor bioyond_dispensing_station and reaction_station_bioyond YAML configurations

- Removed redundant action value mappings from bioyond_dispensing_station.
- Updated goal properties in bioyond_dispensing_station to use enums for target_stack and other parameters.
- Changed data types for end_point and start_point in reaction_station_bioyond to use string enums (Start, End).
- Simplified descriptions and updated measurement units from μL to mL where applicable.
- Removed unused commands from reaction_station_bioyond to streamline the configuration.

* fix：Change the material unit from μL to mL

* fix：refresh_material_cache

* feat: 动态获取工作流步骤ID，优化工作流配置

* feat: 添加清空服务端所有非核心工作流功能

* fix：修复Bottle类的序列化和反序列化方法

* feat：增强材料缓存更新逻辑，支持处理返回数据中的详细信息

* Add debug log

* feat(workstation): update bioyond config migration and coin cell material search logic

- Migrate bioyond_cell config to JSON structure and remove global variable dependencies
- Implement material search confirmation dialog auto-handling
- Add documentation: 20260113_物料搜寻确认弹窗自动处理功能.md and 20260113_配置迁移修改总结.md

* Refactor module paths for Bioyond devices in YAML configuration files

- Updated the module path for BioyondDispensingStation in bioyond_dispensing_station.yaml to reflect the new directory structure.
- Updated the module path for BioyondReactionStation and BioyondReactor in reaction_station_bioyond.yaml to align with the revised organization of the codebase.

* fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

* refactor: Move config from module to instance initialization

* fix: 修正 reaction_station 目录名拼写错误

* feat: Integrate material search logic and cleanup deprecated files

- Update coin_cell_assembly.py with material search dialog handling
- Update YB_warehouses.py with latest warehouse configurations
- Remove outdated documentation and test data files

* Refactor: Use instance attributes for action names and workflow step IDs

* refactor: Split tipbox storage into left and right warehouses

* refactor: Merge tipbox storage left and right into single warehouse

---------

Co-authored-by: ZiWei <131428629+ZiWei09@users.noreply.github.com>
Co-authored-by: Andy6M <xieqiming1132@qq.com>

fix: WareHouse 的不可哈希类型错误，优化父节点去重逻辑

fix parent_uuid fetch when bind_parent_id == node_name

物料更新也是用父节点进行报送

Add None conversion for tube rack etc.

Add set_liquid example.

Add create_resource and test_resource example.

Add restart.
Temp allow action message.

Add no_update_feedback option.

Create session_id by edge.

bump version to 0.10.15

temp cancel update req
This commit is contained in:
Xuwznln
2026-01-08 15:26:31 +08:00
parent 8580b84167
commit 2a5ddd611d
106 changed files with 17805 additions and 25458 deletions
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unilabos/devices/workstation/bioyond_studio/config.py.deprecated Normal file
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# config.py
"""
Bioyond工作站配置文件
包含API配置、工作流映射、物料类型映射、仓库库位映射等所有配置信息
"""
from unilabos.resources.bioyond.decks import BIOYOND_PolymerReactionStation_Deck
# ============================================================================
# 基础配置
# ============================================================================
# API配置
API_CONFIG = {
"api_key": "DE9BDDA0",
"api_host": "http://192.168.1.200:44402"
}
# HTTP 报送服务配置
HTTP_SERVICE_CONFIG = {
"http_service_host": "127.0.0.1", # 监听地址
"http_service_port": 8080, # 监听端口
}
# Deck配置 - 反应站工作台配置
DECK_CONFIG = BIOYOND_PolymerReactionStation_Deck(setup=True)
# ============================================================================
# 工作流配置
# ============================================================================
# 工作流ID映射
WORKFLOW_MAPPINGS = {
"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
"Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
"liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a",
}
# 工作流名称到显示名称的映射
WORKFLOW_TO_SECTION_MAP = {
'reactor_taken_in': '反应器放入',
'reactor_taken_out': '反应器取出',
'Solid_feeding_vials': '固体投料-小瓶',
'Liquid_feeding_vials(non-titration)': '液体投料-小瓶（非滴定）',
'Liquid_feeding_solvents': '液体投料-溶剂',
'Liquid_feeding(titration)': '液体投料-滴定',
'liquid_feeding_beaker': '液体投料-烧杯',
'Drip_back': '液体回滴'
}
# 工作流步骤ID配置
WORKFLOW_STEP_IDS = {
"reactor_taken_in": {
"config": "60a06f85-c5b3-29eb-180f-4f62dd7e2154"
},
"liquid_feeding_beaker": {
"liquid": "6808cda7-fee7-4092-97f0-5f9c2ffa60e3",
"observe": "1753c0de-dffc-4ee6-8458-805a2e227362"
},
"liquid_feeding_vials_non_titration": {
"liquid": "62ea6e95-3d5d-43db-bc1e-9a1802673861",
"observe": "3a167d99-6172-b67b-5f22-a7892197142e"
},
"liquid_feeding_solvents": {
"liquid": "1fcea355-2545-462b-b727-350b69a313bf",
"observe": "0553dfb3-9ac5-4ace-8e00-2f11029919a8"
},
"solid_feeding_vials": {
"feeding": "f7ae7448-4f20-4c1d-8096-df6fbadd787a",
"observe": "263c7ed5-7277-426b-bdff-d6fbf77bcc05"
},
"liquid_feeding_titration": {
"liquid": "a00ec41b-e666-4422-9c20-bfcd3cd15c54",
"observe": "ac738ff6-4c58-4155-87b1-d6f65a2c9ab5"
},
"drip_back": {
"liquid": "371be86a-ab77-4769-83e5-54580547c48a",
"observe": "ce024b9d-bd20-47b8-9f78-ca5ce7f44cf1"
}
}
# 工作流动作名称配置
ACTION_NAMES = {
"reactor_taken_in": {
"config": "通量-配置",
"stirring": "反应模块-开始搅拌"
},
"solid_feeding_vials": {
"feeding": "粉末加样模块-投料",
"observe": "反应模块-观察搅拌结果"
},
"liquid_feeding_vials_non_titration": {
"liquid": "稀释液瓶加液位-液体投料",
"observe": "反应模块-滴定结果观察"
},
"liquid_feeding_solvents": {
"liquid": "试剂AB放置位-试剂吸液分液",
"observe": "反应模块-观察搅拌结果"
},
"liquid_feeding_titration": {
"liquid": "稀释液瓶加液位-稀释液吸液分液",
"observe": "反应模块-滴定结果观察"
},
"liquid_feeding_beaker": {
"liquid": "烧杯溶液放置位-烧杯吸液分液",
"observe": "反应模块-观察搅拌结果"
},
"drip_back": {
"liquid": "试剂AB放置位-试剂吸液分液",
"observe": "反应模块-向下滴定结果观察"
}
}
# ============================================================================
# 仓库配置
# ============================================================================
# 说明:
# - 出库和入库操作都需要UUID
WAREHOUSE_MAPPING = {
# ========== 反应站仓库 ==========
# 堆栈1左 - 反应站左侧堆栈 (4行×4列=16个库位, A01～D04)
"堆栈1左": {
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
"site_uuids": {
"A01": "3a14aa17-0d49-11d7-a6e1-f236b3e5e5a3",
"A02": "3a14aa17-0d49-4bc5-8836-517b75473f5f",
"A03": "3a14aa17-0d49-c2bc-6222-5cee8d2d94f8",
"A04": "3a14aa17-0d49-3ce2-8e9a-008c38d116fb",
"B01": "3a14aa17-0d49-f49c-6b66-b27f185a3b32",
"B02": "3a14aa17-0d49-cf46-df85-a979c9c9920c",
"B03": "3a14aa17-0d49-7698-4a23-f7ffb7d48ba3",
"B04": "3a14aa17-0d49-1231-99be-d5870e6478e9",
"C01": "3a14aa17-0d49-be34-6fae-4aed9d48b70b",
"C02": "3a14aa17-0d49-11d7-0897-34921dcf6b7c",
"C03": "3a14aa17-0d49-9840-0bd5-9c63c1bb2c29",
"C04": "3a14aa17-0d49-8335-3bff-01da69ea4911",
"D01": "3a14aa17-0d49-2bea-c8e5-2b32094935d5",
"D02": "3a14aa17-0d49-cff4-e9e8-5f5f0bc1ef32",
"D03": "3a14aa17-0d49-4948-cb0a-78f30d1ca9b8",
"D04": "3a14aa17-0d49-fd2f-9dfb-a29b11e84099",
},
},
# 堆栈1右 - 反应站右侧堆栈 (4行×4列=16个库位, A05～D08)
"堆栈1右": {
"uuid": "3a14aa17-0d49-dce4-486e-4b5c85c8b366",
"site_uuids": {
"A05": "3a14aa17-0d49-2c61-edc8-72a8ca7192dd",
"A06": "3a14aa17-0d49-60c8-2b00-40b17198f397",
"A07": "3a14aa17-0d49-ec5b-0b75-634dce8eed25",
"A08": "3a14aa17-0d49-3ec9-55b3-f3189c4ec53d",
"B05": "3a14aa17-0d49-6a4e-abcf-4c113eaaeaad",
"B06": "3a14aa17-0d49-e3f6-2dd6-28c2e8194fbe",
"B07": "3a14aa17-0d49-11a6-b861-ee895121bf52",
"B08": "3a14aa17-0d49-9c7d-1145-d554a6e482f0",
"C05": "3a14aa17-0d49-45c4-7a34-5105bc3e2368",
"C06": "3a14aa17-0d49-867e-39ab-31b3fe9014be",
"C07": "3a14aa17-0d49-ec56-c4b4-39fd9b2131e7",
"C08": "3a14aa17-0d49-1128-d7d9-ffb1231c98c0",
"D05": "3a14aa17-0d49-e843-f961-ea173326a14b",
"D06": "3a14aa17-0d49-4d26-a985-f188359c4f8b",
"D07": "3a14aa17-0d49-223a-b520-bc092bb42fe0",
"D08": "3a14aa17-0d49-4fa3-401a-6a444e1cca22",
},
},
# 站内试剂存放堆栈
"站内试剂存放堆栈": {
"uuid": "3a14aa3b-9fab-9d8e-d1a7-828f01f51f0c",
"site_uuids": {
"A01": "3a14aa3b-9fab-adac-7b9c-e1ee446b51d5",
"A02": "3a14aa3b-9fab-ca72-febc-b7c304476c78"
}
},
# 测量小瓶仓库（测密度）
"测量小瓶仓库": {
"uuid": "3a15012f-705b-c0de-3f9e-950c205f9921",
"site_uuids": {
"A01": "3a15012f-705e-0524-3161-c523b5aebc97",
"A02": "3a15012f-705e-7cd1-32ab-ad4fd1ab75c8",
"A03": "3a15012f-705e-a5d6-edac-bdbfec236260",
"B01": "3a15012f-705e-e0ee-80e0-10a6b3fc500d",
"B02": "3a15012f-705e-e499-180d-de06d60d0b21",
"B03": "3a15012f-705e-eff6-63f1-09f742096b26"
}
},
# 站内Tip盒堆栈 - 用于存放枪头盒 (耗材)
"站内Tip盒堆栈": {
"uuid": "3a14aa3a-2d3c-b5c1-9ddf-7c4a957d459a",
"site_uuids": {
"A01": "3a14aa3a-2d3d-e700-411a-0ddf85e1f18a",
"A02": "3a14aa3a-2d3d-a7ce-099a-d5632fdafa24",
"A03": "3a14aa3a-2d3d-bdf6-a702-c60b38b08501",
"B01": "3a14aa3a-2d3d-d704-f076-2a8d5bc72cb8",
"B02": "3a14aa3a-2d3d-c350-2526-0778d173a5ac",
"B03": "3a14aa3a-2d3d-bc38-b356-f0de2e44e0c7"
}
},
# ========== 配液站仓库 ==========
"粉末堆栈": {
"uuid": "3a14198e-6928-121f-7ca6-88ad3ae7e6a0",
"site_uuids": {
"A01": "3a14198e-6929-31f0-8a22-0f98f72260df",
"A02": "3a14198e-6929-4379-affa-9a2935c17f99",
"A03": "3a14198e-6929-56da-9a1c-7f5fbd4ae8af",
"A04": "3a14198e-6929-5e99-2b79-80720f7cfb54",
"B01": "3a14198e-6929-f525-9a1b-1857552b28ee",
"B02": "3a14198e-6929-bf98-0fd5-26e1d68bf62d",
"B03": "3a14198e-6929-2d86-a468-602175a2b5aa",
"B04": "3a14198e-6929-1a98-ae57-e97660c489ad",
"C01": "3a14198e-6929-46fe-841e-03dd753f1e4a",
"C02": "3a14198e-6929-72ac-32ce-9b50245682b8",
"C03": "3a14198e-6929-8a0b-b686-6f4a2955c4e2",
"C04": "3a14198e-6929-a0ec-5f15-c0f9f339f963",
"D01": "3a14198e-6929-1bc9-a9bd-3b7ca66e7f95",
"D02": "3a14198e-6929-3bd8-e6c7-4a9fd93be118",
"D03": "3a14198e-6929-dde1-fc78-34a84b71afdf",
"D04": "3a14198e-6929-7ac8-915a-fea51cb2e884"
}
},
"溶液堆栈": {
"uuid": "3a14198e-d723-2c13-7d12-50143e190a23",
"site_uuids": {
"A01": "3a14198e-d724-e036-afdc-2ae39a7f3383",
"A02": "3a14198e-d724-d818-6d4f-5725191a24b5",
"A03": "3a14198e-d724-b5bb-adf3-4c5a0da6fb31",
"A04": "3a14198e-d724-d378-d266-2508a224a19f",
"B01": "3a14198e-d724-afa4-fc82-0ac8a9016791",
"B02": "3a14198e-d724-be8a-5e0b-012675e195c6",
"B03": "3a14198e-d724-ab4e-48cb-817c3c146707",
"B04": "3a14198e-d724-f56e-468b-0110a8feb36a",
"C01": "3a14198e-d724-ca48-bb9e-7e85751e55b6",
"C02": "3a14198e-d724-cc1e-5c2c-228a130f40a8",
"C03": "3a14198e-d724-7f18-1853-39d0c62e1d33",
"C04": "3a14198e-d724-0cf1-dea9-a1f40fe7e13c",
"D01": "3a14198e-d724-df6d-5e32-5483b3cab583",
"D02": "3a14198e-d724-1e28-c885-574c3df468d0",
"D03": "3a14198e-d724-28a2-a760-baa896f46b66",
"D04": "3a14198e-d724-0ddd-9654-f9352a421de9"
}
},
"试剂堆栈": {
"uuid": "3a14198c-c2cc-0290-e086-44a428fba248",
"site_uuids": {
"A01": "3a14198c-c2cf-8b40-af28-b467808f1c36", # x=1, y=1, code=0001-0001
"A02": "3a14198c-c2d0-dc7d-b8d0-e1d88cee3094", # x=1, y=2, code=0001-0002
"A03": "3a14198c-c2d0-354f-39ad-642e1a72fcb8", # x=1, y=3, code=0001-0003
"A04": "3a14198c-c2d0-725e-523d-34c037ac2440", # x=1, y=4, code=0001-0004
"B01": "3a14198c-c2d0-f3e7-871a-e470d144296f", # x=2, y=1, code=0001-0005
"B02": "3a14198c-c2d0-2070-efc8-44e245f10c6f", # x=2, y=2, code=0001-0006
"B03": "3a14198c-c2d0-1559-105d-0ea30682cab4", # x=2, y=3, code=0001-0007
"B04": "3a14198c-c2d0-efce-0939-69ca5a7dfd39" # x=2, y=4, code=0001-0008
}
}
}
# ============================================================================
# 物料类型配置
# ============================================================================
# 说明:
# - 格式: PyLabRobot资源类型名称 → Bioyond系统typeId的UUID
# - 这个映射基于 resource.model 属性 (不是显示名称!)
# - UUID为空表示该类型暂未在Bioyond系统中定义
MATERIAL_TYPE_MAPPINGS = {
# ================================================配液站资源============================================================
# ==================================================样品===============================================================
"BIOYOND_PolymerStation_1FlaskCarrier": ("烧杯", "3a14196b-24f2-ca49-9081-0cab8021bf1a"), # 配液站-样品-烧杯
"BIOYOND_PolymerStation_1BottleCarrier": ("试剂瓶", "3a14196b-8bcf-a460-4f74-23f21ca79e72"), # 配液站-样品-试剂瓶
"BIOYOND_PolymerStation_6StockCarrier": ("分装板", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"), # 配液站-样品-分装板
"BIOYOND_PolymerStation_Liquid_Vial": ("10%分装小瓶", "3a14196c-76be-2279-4e22-7310d69aed68"), # 配液站-样品-分装板-第一排小瓶
"BIOYOND_PolymerStation_Solid_Vial": ("90%分装小瓶", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"), # 配液站-样品-分装板-第二排小瓶
# ==================================================试剂===============================================================
"BIOYOND_PolymerStation_8StockCarrier": ("样品板", "3a14196e-b7a0-a5da-1931-35f3000281e9"), # 配液站-试剂-样品板（8孔）
"BIOYOND_PolymerStation_Solid_Stock": ("样品瓶", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"), # 配液站-试剂-样品板-样品瓶
}
# ============================================================================
# 动态生成的库位UUID映射（从WAREHOUSE_MAPPING中提取）
# ============================================================================
LOCATION_MAPPING = {}
for warehouse_name, warehouse_config in WAREHOUSE_MAPPING.items():
if "site_uuids" in warehouse_config:
LOCATION_MAPPING.update(warehouse_config["site_uuids"])
# ============================================================================
# 物料默认参数配置
# ============================================================================
# 说明:
# - 为特定物料名称自动添加默认参数（如密度、分子量、单位等）
# - 格式: 物料名称 → {参数字典}
# - 在创建或更新物料时，会自动合并这些参数到 Parameters 字段
# - unit: 物料的计量单位（会用于 unit 字段）
# - density/densityUnit: 密度信息（会添加到 Parameters 中）
MATERIAL_DEFAULT_PARAMETERS = {
# 溶剂类
"NMP": {
"unit": "毫升",
"density": "1.03",
"densityUnit": "g/mL",
"description": "N-甲基吡咯烷酮 (N-Methyl-2-pyrrolidone)"
},
# 可以继续添加其他物料...
}
# ============================================================================
# 物料类型默认参数配置
# ============================================================================
# 说明:
# - 为特定物料类型（UUID）自动添加默认参数
# - 格式: Bioyond类型UUID → {参数字典}
# - 优先级低于按名称匹配的配置
MATERIAL_TYPE_PARAMETERS = {
# 示例:
# "3a14196b-24f2-ca49-9081-0cab8021bf1a": { # 烧杯
# "unit": "个"
# }
}