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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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75
unilabos/resources/graphio.py
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@@ -779,6 +779,22 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
if not locations:
logger.debug(f"[物料位置] {unique_name} 没有location信息，跳过warehouse放置")
# ⭐ 预先检查：如果物料的任何location在竖向warehouse中，提前交换尺寸
# 这样可以避免多个location时尺寸不一致的问题
needs_size_swap = False
for loc in locations:
wh_name_check = loc.get("whName")
if wh_name_check in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
needs_size_swap = True
break
if needs_size_swap and hasattr(plr_material, 'size_x') and hasattr(plr_material, 'size_y'):
original_x = plr_material.size_x
original_y = plr_material.size_y
plr_material.size_x = original_y
plr_material.size_y = original_x
logger.debug(f" 物料 {unique_name} 将放入竖向warehouse，预先交换尺寸: {original_x}×{original_y} → {plr_material.size_x}×{plr_material.size_y}")
for loc in locations:
wh_name = loc.get("whName")
logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
@@ -795,12 +811,20 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右")
continue
# 特殊处理: Bioyond的"站内Tip盒堆栈"也需要进行拆分映射
if wh_name == "站内Tip盒堆栈":
y_val = loc.get("y", 1)
if y_val == 1:
wh_name = "站内Tip盒堆栈(右)"
elif y_val in [2, 3]:
wh_name = "站内Tip盒堆栈(左)"
y = y - 1 # 调整列号，因为左侧仓库对应的 Bioyond y=2 实际上是它的第1列
if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
warehouse = deck.warehouses[wh_name]
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
# PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D)
y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...)
z = loc.get("z", 1) # 层号 (1-based, 通常为1)
@@ -809,12 +833,23 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
if wh_name == "堆栈1右":
y = y - 4 # 将5-8映射到1-4
# 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈）
# Bioyond的y坐标表示线性位置序号，而不是列号
if warehouse.num_items_y == 1:
# 1行warehouse: 直接用y作为线性索引
idx = y - 1
logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
# 特殊处理竖向warehouse（站内试剂存放堆栈、测量小瓶仓库）
# 这些warehouse使用 vertical-col-major 布局
if wh_name in ["站内试剂存放堆栈", "测量小瓶仓库(测密度)"]:
# vertical-col-major 布局的坐标映射：
# - Bioyond的x(1=A,2=B)对应warehouse的列(col, x方向)
# - Bioyond的y(1=01,2=02,3=03)对应warehouse的行(row, y方向)，从下到上
# vertical-col-major 中: row=0 对应底部，row=n-1 对应顶部
# Bioyond y=1(01) 对应底部 → row=0, y=2(02) 对应中间 → row=1
# 索引计算: idx = row * num_cols + col
col_idx = x - 1 # Bioyond的x(A,B) → col索引(0,1)
row_idx = y - 1 # Bioyond的y(01,02,03) → row索引(0,1,2)
layer_idx = z - 1
idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + row_idx * warehouse.num_items_y + col_idx
logger.debug(f"🔍 竖向warehouse {wh_name}: Bioyond(x={x},y={y},z={z}) → warehouse(col={col_idx},row={row_idx},layer={layer_idx}) → idx={idx}, capacity={warehouse.capacity}")
# 普通横向warehouse的处理
else:
# 多行warehouse: 根据 layout 使用不同的索引计算
row_idx = x - 1 # x表示行: 转为0-based
@@ -838,6 +873,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
if 0 <= idx < warehouse.capacity:
if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
# 物料尺寸已在放入warehouse前根据需要进行了交换
warehouse[idx] = plr_material
logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
else:
@@ -1011,11 +1047,24 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
logger.debug(f" 📭 [单瓶物料] {resource.name} 无液体，使用资源名: {material_name}")
# 🎯 处理物料默认参数和单位
# 检查是否有该物料名称的默认参数配置
# 优先级: typeId参数 > 物料名称参数 > 默认值
default_unit = "个" # 默认单位
material_parameters = {}
if material_name in material_params:
# 1️⃣ 首先检查是否有 typeId 对应的参数配置（从 material_params 中获取，key 格式为 "type:<typeId>"）
type_params_key = f"type:{type_id}"
if type_params_key in material_params:
params_config = material_params[type_params_key].copy()
# 提取 unit 字段（如果有）
if "unit" in params_config:
default_unit = params_config.pop("unit") # 从参数中移除，放到外层
# 剩余的字段放入 Parameters
material_parameters = params_config
logger.debug(f" 🔧 [物料参数-按typeId] 为 typeId={type_id[:8]}... 应用配置: unit={default_unit}, parameters={material_parameters}")
# 2️⃣ 其次检查是否有该物料名称的默认参数配置
elif material_name in material_params:
params_config = material_params[material_name].copy()
# 提取 unit 字段（如果有）
@@ -1024,7 +1073,7 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict
# 剩余的字段放入 Parameters
material_parameters = params_config
logger.debug(f" 🔧 [物料参数] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
logger.debug(f" 🔧 [物料参数-按名称] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
# 转换为 JSON 字符串
parameters_json = json.dumps(material_parameters) if material_parameters else "{}"
@@ -1151,11 +1200,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
if resource_class_config["type"] == "pylabrobot":
resource_plr = RESOURCE(name=resource_config["name"])
if resource_type != ResourcePLR:
tree_sets = ResourceTreeSet.from_plr_resources([resource_plr])
# r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
# # r = resource_plr_to_ulab(resource_plr=resource_plr)
# if resource_config.get("position") is not None:
# r["position"] = resource_config["position"]
tree_sets = ResourceTreeSet.from_plr_resources([resource_plr], known_newly_created=True)
r = tree_sets.dump()
else:
r = resource_plr