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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:
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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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0
unilabos/resources/battery/__init__.py Normal file
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unilabos/resources/battery/bottle_carriers.py Normal file
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from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
from unilabos.resources.bioyond.YB_bottles import (
YB_pei_ye_xiao_Bottle,
)
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
def YIHUA_Electrolyte_12VialCarrier(name: str) -> BottleCarrier:
"""12瓶载架 - 2x6布局"""
# 载架尺寸 (mm)
carrier_size_x = 120.0
carrier_size_y = 250.0
carrier_size_z = 50.0
# 瓶位尺寸
bottle_diameter = 35.0
bottle_spacing_x = 35.0 # X方向间距
bottle_spacing_y = 35.0 # Y方向间距
# 计算起始位置 (居中排列)
start_x = (carrier_size_x - (2 - 1) * bottle_spacing_x - bottle_diameter) / 2
start_y = (carrier_size_y - (6 - 1) * bottle_spacing_y - bottle_diameter) / 2
sites = create_ordered_items_2d(
klass=ResourceHolder,
num_items_x=2,
num_items_y=6,
dx=start_x,
dy=start_y,
dz=5.0,
item_dx=bottle_spacing_x,
item_dy=bottle_spacing_y,
size_x=bottle_diameter,
size_y=bottle_diameter,
size_z=carrier_size_z,
)
for k, v in sites.items():
v.name = f"{name}_{v.name}"
carrier = BottleCarrier(
name=name,
size_x=carrier_size_x,
size_y=carrier_size_y,
size_z=carrier_size_z,
sites=sites,
model="Electrolyte_12VialCarrier",
)
carrier.num_items_x = 2
carrier.num_items_y = 6
carrier.num_items_z = 1
for i in range(12):
carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_vial_{i+1}")
return carrier

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unilabos/resources/battery/electrode_sheet.py Normal file
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from typing import Any, Dict, Optional, TypedDict
from pylabrobot.resources import Resource as ResourcePLR
from pylabrobot.resources import Container
electrode_colors = {
"PositiveCan": "#ff0000",
"PositiveElectrode": "#cc3333",
"NegativeCan": "#000000",
"NegativeElectrode": "#666666",
"SpringWasher": "#8b7355",
"FlatWasher": "a9a9a9",
"AluminumFoil": "#ffcccc",
"Battery": "#00ff00",
}
class ElectrodeSheetState(TypedDict):
diameter: float # 直径 (mm)
thickness: float # 厚度 (mm)
mass: float # 质量 (g)
material_type: str # 材料类型（铜、铝、不锈钢、弹簧钢等）
color: str # 材料类型对应的颜色
info: Optional[str] # 附加信息
class ElectrodeSheet(ResourcePLR):
"""极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料"""
def __init__(
self,
name: str = "极片",
size_x: float = 10,
size_y: float = 10,
size_z: float = 10,
category: str = "electrode_sheet",
model: Optional[str] = None,
**kwargs
):
"""初始化极片
Args:
name: 极片名称
size_x: 长度 (mm)
size_y: 宽度 (mm)
size_z: 高度 (mm)
category: 类别
model: 型号
**kwargs: 其他参数传递给父类
"""
super().__init__(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
category=category,
model=model,
**kwargs
)
self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState(
diameter=14,
thickness=0.1,
mass=0.5,
material_type="copper",
color="#8b4513",
info=None
)
# TODO: 这个还要不要？给self._unilabos_state赋值的？
def load_state(self, state: Dict[str, Any]) -> None:
"""格式不变"""
super().load_state(state)
self._unilabos_state = state
#序列化
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
"""格式不变"""
data = super().serialize_state()
data.update(self._unilabos_state) # 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）
return data
def PositiveCan(name: str) -> ElectrodeSheet:
"""创建正极壳"""
sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=3.0, model="PositiveCan")
sheet.load_state({"diameter": 20.0, "thickness": 0.5, "mass": 0.5, "material_type": "aluminum", "color": electrode_colors["PositiveCan"], "info": None})
return sheet
def PositiveElectrode(name: str) -> ElectrodeSheet:
"""创建正极片"""
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="PositiveElectrode")
sheet.load_state({"material_type": "positive_electrode", "color": electrode_colors["PositiveElectrode"]})
return sheet
def NegativeCan(name: str) -> ElectrodeSheet:
"""创建负极壳"""
sheet = ElectrodeSheet(name=name, size_x=12, size_y=12, size_z=2.0, model="NegativeCan")
sheet.load_state({"material_type": "steel", "color": electrode_colors["NegativeCan"]})
return sheet
def NegativeElectrode(name: str) -> ElectrodeSheet:
"""创建负极片"""
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.1, model="NegativeElectrode")
sheet.load_state({"material_type": "negative_electrode", "color": electrode_colors["NegativeElectrode"]})
return sheet
def SpringWasher(name: str) -> ElectrodeSheet:
"""创建弹片"""
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.5, model="SpringWasher")
sheet.load_state({"material_type": "spring_steel", "color": electrode_colors["SpringWasher"]})
return sheet
def FlatWasher(name: str) -> ElectrodeSheet:
"""创建垫片"""
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.2, model="FlatWasher")
sheet.load_state({"material_type": "steel", "color": electrode_colors["FlatWasher"]})
return sheet
def AluminumFoil(name: str) -> ElectrodeSheet:
"""创建铝箔"""
sheet = ElectrodeSheet(name=name, size_x=10, size_y=10, size_z=0.05, model="AluminumFoil")
sheet.load_state({"material_type": "aluminum", "color": electrode_colors["AluminumFoil"]})
return sheet
class BatteryState(TypedDict):
color: str # 材料类型对应的颜色
electrolyte_name: str
data_electrolyte_code: str
open_circuit_voltage: float
assembly_pressure: float
electrolyte_volume: float
info: Optional[str] # 附加信息
class Battery(Container):
"""电池类 - 包含组装好的电池"""
def __init__(
self,
name: str = "电池",
size_x: float = 12,
size_y: float = 12,
size_z: float = 6,
category: str = "battery",
model: Optional[str] = None,
**kwargs
):
"""初始化电池
Args:
name: 电池名称
size_x: 长度 (mm)
size_y: 宽度 (mm)
size_z: 高度 (mm)
category: 类别
model: 型号
**kwargs: 其他参数传递给父类
"""
super().__init__(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
category=category,
model=model,
**kwargs
)
self._unilabos_state: BatteryState = BatteryState(
color=electrode_colors["Battery"],
electrolyte_name="无",
data_electrolyte_code="",
open_circuit_voltage=0.0,
assembly_pressure=0.0,
electrolyte_volume=0.0,
info=None
)
def load_state(self, state: Dict[str, Any]) -> None:
"""格式不变"""
super().load_state(state)
self._unilabos_state = state
#序列化
def serialize_state(self) -> Dict[str, Dict[str, Any]]:
"""格式不变"""
data = super().serialize_state()
data.update(self._unilabos_state) # 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）
return data

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unilabos/resources/battery/magazine.py Normal file
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from typing import Dict, List, Optional, OrderedDict, Union, Callable
import math
from pylabrobot.resources.coordinate import Coordinate
from pylabrobot.resources import Resource, ResourceStack, ItemizedResource
from pylabrobot.resources.carrier import create_homogeneous_resources
from unilabos.resources.battery.electrode_sheet import (
PositiveCan, PositiveElectrode,
NegativeCan, NegativeElectrode,
SpringWasher, FlatWasher,
AluminumFoil,
Battery
)
class Magazine(ResourceStack):
"""子弹夹洞位类"""
def __init__(
self,
name: str,
direction: str = 'z',
resources: Optional[List[Resource]] = None,
max_sheets: int = 100,
**kwargs
):
"""初始化子弹夹洞位
Args:
name: 洞位名称
direction: 堆叠方向
resources: 资源列表
max_sheets: 最大极片数量
"""
super().__init__(
name=name,
direction=direction,
resources=resources,
)
self.max_sheets = max_sheets
@property
def size_x(self) -> float:
return self.get_size_x()
@property
def size_y(self) -> float:
return self.get_size_y()
@property
def size_z(self) -> float:
return self.get_size_z()
def serialize(self) -> dict:
return {
**super().serialize(),
"size_x": self.size_x or 10.0,
"size_y": self.size_y or 10.0,
"size_z": self.size_z or 10.0,
"max_sheets": self.max_sheets,
}
class MagazineHolder(ItemizedResource):
"""子弹夹类 - 有多个洞位，每个洞位放多个极片"""
def __init__(
self,
name: str,
size_x: float,
size_y: float,
size_z: float,
ordered_items: Optional[Dict[str, Magazine]] = None,
ordering: Optional[OrderedDict[str, str]] = None,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
max_sheets_per_hole: int = 100,
cross_section_type: str = "circle",
category: str = "magazine_holder",
model: Optional[str] = None,
):
"""初始化子弹夹
Args:
name: 子弹夹名称
size_x: 长度 (mm)
size_y: 宽度 (mm)
size_z: 高度 (mm)
hole_diameter: 洞直径 (mm)
hole_depth: 洞深度 (mm)
max_sheets_per_hole: 每个洞位最大极片数量
category: 类别
model: 型号
"""
super().__init__(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
ordered_items=ordered_items,
ordering=ordering,
category=category,
model=model,
)
# 保存洞位的直径和深度
self.hole_diameter = hole_diameter
self.hole_depth = hole_depth
self.max_sheets_per_hole = max_sheets_per_hole
self.cross_section_type = cross_section_type
def serialize(self) -> dict:
return {
**super().serialize(),
"hole_diameter": self.hole_diameter,
"hole_depth": self.hole_depth,
"max_sheets_per_hole": self.max_sheets_per_hole,
"cross_section_type": self.cross_section_type,
}
def magazine_factory(
name: str,
size_x: float,
size_y: float,
size_z: float,
locations: List[Coordinate],
klasses: Optional[List[Callable[[str], str]]] = None,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
max_sheets_per_hole: int = 100,
category: str = "magazine_holder",
model: Optional[str] = None,
) -> 'MagazineHolder':
"""工厂函数：创建子弹夹
Args:
name: 子弹夹名称
size_x: 长度 (mm)
size_y: 宽度 (mm)
size_z: 高度 (mm)
locations: 洞位坐标列表
klasses: 每个洞位中极片的类列表
hole_diameter: 洞直径 (mm)
hole_depth: 洞深度 (mm)
max_sheets_per_hole: 每个洞位最大极片数量
category: 类别
model: 型号
"""
for loc in locations:
loc.x -= hole_diameter / 2
loc.y -= hole_diameter / 2
# 创建洞位
_sites = create_homogeneous_resources(
klass=Magazine,
locations=locations,
resource_size_x=hole_diameter,
resource_size_y=hole_diameter,
name_prefix=name,
max_sheets=max_sheets_per_hole,
)
# 生成编号键
keys = [f"A{i+1}" for i in range(len(locations))]
sites = dict(zip(keys, _sites.values()))
holder = MagazineHolder(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
ordered_items=sites,
hole_diameter=hole_diameter,
hole_depth=hole_depth,
max_sheets_per_hole=max_sheets_per_hole,
category=category,
model=model,
)
if klasses is not None:
for i, klass in enumerate(klasses):
hole_key = keys[i]
hole = holder.children[i]
for j in reversed(range(max_sheets_per_hole)):
item_name = f"{hole_key}_sheet{j+1}"
item = klass(name=item_name)
hole.assign_child_resource(item)
return holder
def MagazineHolder_6_Cathode(
name: str,
size_x: float = 80.0,
size_y: float = 80.0,
size_z: float = 40.0,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
hole_spacing: float = 20.0,
max_sheets_per_hole: int = 100,
) -> MagazineHolder:
"""创建6孔子弹夹 - 六边形排布"""
center_x = size_x / 2
center_y = size_y / 2
locations = []
# 周围6个孔，按六边形排布
for i in range(6):
angle = i * 60 * math.pi / 180 # 每60度一个孔
x = center_x + hole_spacing * math.cos(angle)
y = center_y + hole_spacing * math.sin(angle)
locations.append(Coordinate(x, y, size_z - hole_depth))
return magazine_factory(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
locations=locations,
klasses=[FlatWasher, PositiveCan, PositiveCan, FlatWasher, PositiveCan, PositiveCan],
hole_diameter=hole_diameter,
hole_depth=hole_depth,
max_sheets_per_hole=max_sheets_per_hole,
category="magazine_holder",
model="MagazineHolder_6_Cathode",
)
def MagazineHolder_6_Anode(
name: str,
size_x: float = 80.0,
size_y: float = 80.0,
size_z: float = 40.0,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
hole_spacing: float = 20.0,
max_sheets_per_hole: int = 100,
) -> MagazineHolder:
"""创建6孔子弹夹 - 六边形排布"""
center_x = size_x / 2
center_y = size_y / 2
locations = []
# 周围6个孔，按六边形排布
for i in range(6):
angle = i * 60 * math.pi / 180 # 每60度一个孔
x = center_x + hole_spacing * math.cos(angle)
y = center_y + hole_spacing * math.sin(angle)
locations.append(Coordinate(x, y, size_z - hole_depth))
return magazine_factory(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
locations=locations,
klasses=[SpringWasher, NegativeCan, NegativeCan, SpringWasher, NegativeCan, NegativeCan],
hole_diameter=hole_diameter,
hole_depth=hole_depth,
max_sheets_per_hole=max_sheets_per_hole,
category="magazine_holder",
model="MagazineHolder_6_Anode",
)
def MagazineHolder_6_Battery(
name: str,
size_x: float = 80.0,
size_y: float = 80.0,
size_z: float = 40.0,
hole_diameter: float = 14.0,
hole_depth: float = 10.0,
hole_spacing: float = 20.0,
max_sheets_per_hole: int = 100,
) -> MagazineHolder:
"""创建6孔子弹夹 - 六边形排布"""
center_x = size_x / 2
center_y = size_y / 2
locations = []
# 周围6个孔，按六边形排布
for i in range(6):
angle = i * 60 * math.pi / 180 # 每60度一个孔
x = center_x + hole_spacing * math.cos(angle)
y = center_y + hole_spacing * math.sin(angle)
locations.append(Coordinate(x, y, size_z - hole_depth))
return magazine_factory(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
locations=locations,
klasses=None, # 初始化时，不放入装好的电池
hole_diameter=hole_diameter,
hole_depth=hole_depth,
max_sheets_per_hole=max_sheets_per_hole,
category="magazine_holder",
model="MagazineHolder_6_Battery",
)
def MagazineHolder_4_Cathode(
name: str,
) -> MagazineHolder:
"""创建4孔子弹夹 - 正方形四角排布"""
size_x: float = 80.0
size_y: float = 80.0
size_z: float = 10.0
hole_diameter: float = 14.0
hole_depth: float = 10.0
hole_spacing: float = 25.0
max_sheets_per_hole: int = 100
# 计算4个洞位的坐标（正方形四角排布）
center_x = size_x / 2
center_y = size_y / 2
offset = hole_spacing / 2
locations = [
Coordinate(center_x - offset, center_y - offset, size_z - hole_depth), # 左下
Coordinate(center_x + offset, center_y - offset, size_z - hole_depth), # 右下
Coordinate(center_x - offset, center_y + offset, size_z - hole_depth), # 左上
Coordinate(center_x + offset, center_y + offset, size_z - hole_depth), # 右上
]
return magazine_factory(
name=name,
size_x=size_x,
size_y=size_y,
size_z=size_z,
locations=locations,
klasses=[AluminumFoil, PositiveElectrode, PositiveElectrode, PositiveElectrode],
hole_diameter=hole_diameter,
hole_depth=hole_depth,
max_sheets_per_hole=max_sheets_per_hole,
category="magazine_holder",
model="MagazineHolder_4_Cathode",
)