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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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289
unilabos/devices/workstation/bioyond_studio/station.py
View File

@@ -6,6 +6,7 @@ Bioyond Workstation Implementation
"""
import time
import traceback
import threading
from datetime import datetime
from typing import Dict, Any, List, Optional, Union
import json
@@ -23,12 +24,94 @@ from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
from pylabrobot.resources.resource import Resource as ResourcePLR
from unilabos.devices.workstation.bioyond_studio.config import (
API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS, WAREHOUSE_MAPPING, HTTP_SERVICE_CONFIG
)
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
class ConnectionMonitor:
"""Bioyond连接监控器"""
def __init__(self, workstation, check_interval=30):
self.workstation = workstation
self.check_interval = check_interval
self._running = False
self._thread = None
self._last_status = "unknown"
def start(self):
if self._running:
return
self._running = True
self._thread = threading.Thread(target=self._monitor_loop, daemon=True, name="BioyondConnectionMonitor")
self._thread.start()
logger.info("Bioyond连接监控器已启动")
def stop(self):
self._running = False
if self._thread:
self._thread.join(timeout=2)
logger.info("Bioyond连接监控器已停止")
def _monitor_loop(self):
while self._running:
try:
# 使用 lightweight API 检查连接
# query_matial_type_list 是比较快的查询
start_time = time.time()
result = self.workstation.hardware_interface.material_type_list()
status = "online" if result else "offline"
msg = "Connection established" if status == "online" else "Failed to get material type list"
if status != self._last_status:
logger.info(f"Bioyond连接状态变更: {self._last_status} -> {status}")
self._publish_event(status, msg)
self._last_status = status
# 发布心跳 (可选，或者只在状态变更时发布)
# self._publish_event(status, msg)
except Exception as e:
logger.error(f"Bioyond连接检查异常: {e}")
if self._last_status != "error":
self._publish_event("error", str(e))
self._last_status = "error"
time.sleep(self.check_interval)
def _publish_event(self, status, message):
try:
if hasattr(self.workstation, "_ros_node") and self.workstation._ros_node:
event_data = {
"status": status,
"message": message,
"timestamp": datetime.now().isoformat()
}
# 动态发布消息，需要在 ROS2DeviceNode 中有对应支持
# 这里假设通用事件发布机制，使用 String 类型的 topic
# 话题: /<namespace>/events/device_status
ns = self.workstation._ros_node.namespace
topic = f"{ns}/events/device_status"
# 使用 ROS2DeviceNode 的发布功能
# 如果没有预定义的 publisher，需要动态创建
# 注意：workstation base node 可能没有自动创建 arbitrary publishers 的机制
# 这里我们先尝试用 String json 发布
# 在 ROS2DeviceNode 中通常需要先 create_publisher
# 为了简单起见，我们检查是否已有 publisher，没有则创建
if not hasattr(self.workstation, "_device_status_pub"):
self.workstation._device_status_pub = self.workstation._ros_node.create_publisher(
String, topic, 10
)
self.workstation._device_status_pub.publish(
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
)
except Exception as e:
logger.error(f"发布设备状态事件失败: {e}")
class BioyondResourceSynchronizer(ResourceSynchronizer):
"""Bioyond资源同步器
@@ -174,9 +257,8 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
else:
logger.info(f"[同步→Bioyond] ➕ 物料不存在于 Bioyond，将创建新物料并入库")
# 第1步：获取仓库配置
from .config import WAREHOUSE_MAPPING
warehouse_mapping = WAREHOUSE_MAPPING
# 第1步：从配置中获取仓库配置
warehouse_mapping = self.bioyond_config.get("warehouse_mapping", {})
# 确定目标仓库名称
parent_name = None
@@ -238,14 +320,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
# 第2步：转换为 Bioyond 格式
logger.info(f"[同步→Bioyond] 🔄 转换物料为 Bioyond 格式...")
# 导入物料默认参数配置
from .config import MATERIAL_DEFAULT_PARAMETERS
# 从配置中获取物料默认参数
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
merged_params = material_default_params.copy()
for type_id, params in material_type_params.items():
merged_params[f"type:{type_id}"] = params
bioyond_material = resource_plr_to_bioyond(
[resource],
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
material_params=MATERIAL_DEFAULT_PARAMETERS
material_params=merged_params
)[0]
logger.info(f"[同步→Bioyond] 🔧 准备覆盖locations字段，目标仓库: {parent_name}, 库位: {update_site}, UUID: {target_location_uuid[:8]}...")
@@ -468,13 +556,20 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
return material_bioyond_id
# 转换为 Bioyond 格式
from .config import MATERIAL_DEFAULT_PARAMETERS
# 从配置中获取物料默认参数
material_default_params = self.workstation.bioyond_config.get("material_default_parameters", {})
material_type_params = self.workstation.bioyond_config.get("material_type_parameters", {})
# 合并参数配置：物料名称参数 + typeId参数（转换为 type:<uuid> 格式）
merged_params = material_default_params.copy()
for type_id, params in material_type_params.items():
merged_params[f"type:{type_id}"] = params
bioyond_material = resource_plr_to_bioyond(
[resource],
type_mapping=self.workstation.bioyond_config["material_type_mappings"],
warehouse_mapping=self.workstation.bioyond_config["warehouse_mapping"],
material_params=MATERIAL_DEFAULT_PARAMETERS
material_params=merged_params
)[0]
# ⚠️ 关键：创建物料时不设置 locations，让 Bioyond 系统暂不分配库位
@@ -528,8 +623,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer):
logger.info(f"[物料入库] 目标库位: {update_site}")
# 获取仓库配置和目标库位 UUID
from .config import WAREHOUSE_MAPPING
warehouse_mapping = WAREHOUSE_MAPPING
warehouse_mapping = self.workstation.bioyond_config.get("warehouse_mapping", {})
parent_name = None
target_location_uuid = None
@@ -584,6 +678,44 @@ class BioyondWorkstation(WorkstationBase):
集成Bioyond物料管理的工作站实现
"""
def _publish_task_status(
self,
task_id: str,
task_type: str,
status: str,
result: dict = None,
progress: float = 0.0,
task_code: str = None
):
"""发布任务状态事件"""
try:
if not getattr(self, "_ros_node", None):
return
event_data = {
"task_id": task_id,
"task_code": task_code,
"task_type": task_type,
"status": status,
"progress": progress,
"timestamp": datetime.now().isoformat()
}
if result:
event_data["result"] = result
topic = f"{self._ros_node.namespace}/events/task_status"
if not hasattr(self, "_task_status_pub"):
self._task_status_pub = self._ros_node.create_publisher(
String, topic, 10
)
self._task_status_pub.publish(
convert_to_ros_msg(String, json.dumps(event_data, ensure_ascii=False))
)
except Exception as e:
logger.error(f"发布任务状态事件失败: {e}")
def __init__(
self,
bioyond_config: Optional[Dict[str, Any]] = None,
@@ -605,10 +737,28 @@ class BioyondWorkstation(WorkstationBase):
raise ValueError("Deck 配置不能为空，请在配置文件中添加正确的 deck 配置")
# 初始化 warehouses 属性
self.deck.warehouses = {}
for resource in self.deck.children:
if isinstance(resource, WareHouse):
self.deck.warehouses[resource.name] = resource
if not hasattr(self.deck, "warehouses") or self.deck.warehouses is None:
self.deck.warehouses = {}
# 仅当 warehouses 为空时尝试重新扫描（避免覆盖子类的修复）
if not self.deck.warehouses:
for resource in self.deck.children:
# 兼容性增强: 只要是仓库类别或者是 WareHouse 实例均可
is_warehouse = isinstance(resource, WareHouse) or getattr(resource, "category", "") == "warehouse"
# 如果配置中有定义，也可以认定为 warehouse
if not is_warehouse and "warehouse_mapping" in bioyond_config:
if resource.name in bioyond_config["warehouse_mapping"]:
is_warehouse = True
if is_warehouse:
self.deck.warehouses[resource.name] = resource
# 确保 category 被正确设置，方便后续使用
if getattr(resource, "category", "") != "warehouse":
try:
resource.category = "warehouse"
except:
pass
# 创建通信模块
self._create_communication_module(bioyond_config)
@@ -627,18 +777,22 @@ class BioyondWorkstation(WorkstationBase):
self._set_workflow_mappings(bioyond_config["workflow_mappings"])
# 准备 HTTP 报送接收服务配置（延迟到 post_init 启动）
# 从 bioyond_config 中获取，如果没有则使用 HTTP_SERVICE_CONFIG 的默认值
# 从 bioyond_config 中的 http_service_config 获取
http_service_cfg = bioyond_config.get("http_service_config", {})
self._http_service_config = {
"host": bioyond_config.get("http_service_host", HTTP_SERVICE_CONFIG["http_service_host"]),
"port": bioyond_config.get("http_service_port", HTTP_SERVICE_CONFIG["http_service_port"])
"host": http_service_cfg.get("http_service_host", "127.0.0.1"),
"port": http_service_cfg.get("http_service_port", 8080)
}
self.http_service = None # 将在 post_init 中启动
self.http_service = None # 将在 post_init 启动
self.connection_monitor = None # 将在 post_init 启动
logger.info(f"Bioyond工作站初始化完成")
def __del__(self):
"""析构函数：清理资源，停止 HTTP 服务"""
try:
if hasattr(self, 'connection_monitor') and self.connection_monitor:
self.connection_monitor.stop()
if hasattr(self, 'http_service') and self.http_service is not None:
logger.info("正在停止 HTTP 报送服务...")
self.http_service.stop()
@@ -648,8 +802,19 @@ class BioyondWorkstation(WorkstationBase):
def post_init(self, ros_node: ROS2WorkstationNode):
self._ros_node = ros_node
# 启动连接监控
try:
self.connection_monitor = ConnectionMonitor(self)
self.connection_monitor.start()
except Exception as e:
logger.error(f"启动连接监控失败: {e}")
# 启动 HTTP 报送接收服务（现在 device_id 已可用）
if hasattr(self, '_http_service_config'):
# ⚠️ 检查子类是否已经自己管理 HTTP 服务
if self.bioyond_config.get("_disable_auto_http_service"):
logger.info("🔧 检测到 _disable_auto_http_service 标志，跳过自动启动 HTTP 服务")
logger.info(" 子类（BioyondCellWorkstation）已自行管理 HTTP 服务")
elif hasattr(self, '_http_service_config'):
try:
self.http_service = WorkstationHTTPService(
workstation_instance=self,
@@ -688,19 +853,14 @@ class BioyondWorkstation(WorkstationBase):
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
"""创建Bioyond通信模块"""
# 创建默认配置
default_config = {
**API_CONFIG,
"workflow_mappings": WORKFLOW_MAPPINGS,
"material_type_mappings": MATERIAL_TYPE_MAPPINGS,
"warehouse_mapping": WAREHOUSE_MAPPING
}
# 如果传入了 config，合并配置（config 中的值会覆盖默认值）
# 直接使用传入的配置，不再使用默认值
# 所有配置必须从 JSON 文件中提供
if config:
self.bioyond_config = {**default_config, **config}
self.bioyond_config = config
else:
self.bioyond_config = default_config
# 如果没有配置，使用空字典（会导致后续错误，但这是预期的）
self.bioyond_config = {}
print("警告: 未提供 bioyond_config，请确保在 JSON 配置文件中提供完整配置")
self.hardware_interface = BioyondV1RPC(self.bioyond_config)
@@ -1014,7 +1174,15 @@ class BioyondWorkstation(WorkstationBase):
workflow_id = self._get_workflow(actual_workflow_name)
if workflow_id:
self.workflow_sequence.append(workflow_id)
# 兼容 BioyondReactionStation 中 workflow_sequence 被重写为 property 的情况
if isinstance(self.workflow_sequence, list):
self.workflow_sequence.append(workflow_id)
elif hasattr(self, "_cached_workflow_sequence") and isinstance(self._cached_workflow_sequence, list):
self._cached_workflow_sequence.append(workflow_id)
else:
print(f"❌ 无法添加工作流: workflow_sequence 类型错误 {type(self.workflow_sequence)}")
return False
print(f"添加工作流到执行顺序: {actual_workflow_name} -> {workflow_id}")
return True
return False
@@ -1215,6 +1383,22 @@ class BioyondWorkstation(WorkstationBase):
# TODO: 根据实际业务需求处理步骤完成逻辑
# 例如：更新数据库、触发后续流程等
# 发布任务状态事件 (running/progress update)
self._publish_task_status(
task_id=data.get('orderCode'), # 使用 OrderCode 作为关联 ID
task_code=data.get('orderCode'),
task_type="bioyond_step",
status="running",
progress=0.5, # 步骤完成视为任务进行中
result={"step_name": data.get('stepName'), "step_id": data.get('stepId')}
)
# 更新物料信息
# 步骤完成后，物料状态可能发生变化（如位置、用量等），触发同步
logger.info(f"[步骤完成报送] 触发物料同步...")
self.resource_synchronizer.sync_from_external()
return {
"processed": True,
"step_id": data.get('stepId'),
@@ -1249,6 +1433,17 @@ class BioyondWorkstation(WorkstationBase):
# TODO: 根据实际业务需求处理通量完成逻辑
# 发布任务状态事件
self._publish_task_status(
task_id=data.get('orderCode'),
task_code=data.get('orderCode'),
task_type="bioyond_sample",
status="running",
progress=0.7,
result={"sample_id": data.get('sampleId'), "status": status_desc}
)
return {
"processed": True,
"sample_id": data.get('sampleId'),
@@ -1288,6 +1483,32 @@ class BioyondWorkstation(WorkstationBase):
# TODO: 根据实际业务需求处理任务完成逻辑
# 例如：更新物料库存、生成报表等
# 映射状态到事件状态
event_status = "completed"
if str(data.get('status')) in ["-11", "-12"]:
event_status = "error"
elif str(data.get('status')) == "30":
event_status = "completed"
else:
event_status = "running" # 其他状态视为运行中（或根据实际定义）
# 发布任务状态事件
self._publish_task_status(
task_id=data.get('orderCode'),
task_code=data.get('orderCode'),
task_type="bioyond_order",
status=event_status,
progress=1.0 if event_status in ["completed", "error"] else 0.9,
result={"order_name": data.get('orderName'), "status": status_desc, "materials_count": len(used_materials)}
)
# 更新物料信息
# 任务完成后，且状态为完成时，触发同步以更新最终物料状态
if event_status == "completed":
logger.info(f"[任务完成报送] 触发物料同步...")
self.resource_synchronizer.sync_from_external()
return {
"processed": True,
"order_code": data.get('orderCode'),