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zmC1EdVrhM7_4*vSsnqsAp+TQ_+TUy}SBU*5(r$6Zc@5{!dZ^6$BEH;yJvHX-$4;Ul z%sL3{Mja9k8l$zKkxcJwzQG;(<<++COd(en^q>x-*!mInbgHEYLMmqg%B*=}M6kP; zYhBH~>d9ag^~x>HMgqk)MAnLi2c}Xe!16JpChCcnN_q5btL_b(-I6%R#D)7g78(33KYX2y8jDuc6HR``VLw@X4;vtp zAwK4M{S-EEFJO4(_q}x0L6C{-pONBw5^wu^w~aFT*to_x#EVwFvJmM$pDc%_JHyGS zTUCd>9SHUzW5EzmkW@CqfUP@ed;EIN<3-7jxra1%qma5WXsRnfTxFUY-_?O=!LnVlvyKV$ zYC_(JqFEYrA-WJ)ug38XmU$dexGzZ{E6ubr3yw5b>txAjUgVua2nz&P+}-j-GMsjA z(Z?~(%{~(7Gpo?blULD&kaO-{ND>&KMg?4u50H?am_LXO+ox3e%Ciy3rR`qd7dO7nkJh~{Um+0&aNw$J7UmX^Ntp1 z8(wW(e68j)U;Hx7-t2XVxmveOV^z}qII#RXv&5aHK)d0V; zJSFx`4%;{XC$bI!guZ4T0Pq6(3E_H6dLswEmHx~78}c)2RewVEpFn None: - """从给定的状态加载工作台信息。""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - 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 get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法 - """ - 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 - 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 - :param name: 资源名称 - :return: Resource对象 - """ - plate = WorkStationContainer( - name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict() - ) - tip_rack = WorkStationContainer( - "tip_rack_inside_plate", - size_x=50, - size_y=50, - size_z=10, - category="tip_rack", - ordering=collections.OrderedDict(), - ) - plate.assign_child_resource(tip_rack, Coordinate.zero()) - return plate - - -class ResourceSynchronizer(ABC): - """资源同步器基类 - - 负责与外部物料系统的同步，并对 self.deck 做修改 - """ - - def __init__(self, workstation: "WorkstationBase"): - self.workstation = workstation - - @abstractmethod - async def sync_from_external(self) -> bool: - """从外部系统同步物料到本地deck""" - pass - - @abstractmethod - async def sync_to_external(self, plr_resource: PLRResource) -> bool: - """将本地物料同步到外部系统""" - pass - - @abstractmethod - async def handle_external_change(self, change_info: Dict[str, Any]) -> bool: - """处理外部系统的变更通知""" - pass - - -class WorkstationBase(ABC): - """工作站基类 - 简化版 - - 核心功能： - 1. 基于 PLR Deck 的物料系统，支持格式转换 - 2. 可选的资源同步器支持外部物料系统 - 3. 简化的工作流管理 - """ - - _ros_node: ROS2WorkstationNode - - @property - 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 - return self._ros_node.children - - async def update_resource_example(self): - return await self._ros_node.update_resource([get_workstation_plate_resource("test")]) - - def __init__( - self, - station_resource: PLRResource, - *args, - **kwargs, # 必须有kwargs - ): - # 基本配置 - print(station_resource) - self.deck_config = station_resource - - # PLR 物料系统 - self.deck: Optional[Deck] = None - self.plr_resources: Dict[str, PLRResource] = {} - - # 资源同步器（可选） - # self.resource_synchronizer = ResourceSynchronizer(self) # 要在driver中自行初始化，只有workstation用 - - # 硬件接口 - self.hardware_interface: Union[Any, str] = None - - # 工作流状态 - self.current_workflow_status = WorkflowStatus.IDLE - self.current_workflow_info = None - self.workflow_start_time = None - self.workflow_parameters = {} - - # 支持的工作流（静态预定义） - self.supported_workflows: Dict[str, WorkflowInfo] = {} - - # 初始化物料系统 - self._initialize_material_system() - - # 注册支持的工作流 - # self._register_supported_workflows() - - # logger.info(f"工作站 {device_id} 初始化完成（简化版）") - - def _initialize_material_system(self): - """初始化物料系统 - 使用 graphio 转换""" - try: - from unilabos.resources.graphio import resource_ulab_to_plr - - # # 1. 合并 deck_config 和 children 创建完整的资源树 - # complete_resource_config = self._create_complete_resource_config() - - # # 2. 使用 graphio 转换为 PLR 资源 - # self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True) - - # # 3. 建立资源映射 - # self._build_resource_mappings(self.deck) - - # # 4. 如果有资源同步器，执行初始同步 - # if self.resource_synchronizer: - # # 这里可以异步执行，暂时跳过 - # pass - - # 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") - pass - except Exception as e: - # logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}") - raise - - def _create_complete_resource_config(self) -> Dict[str, Any]: - """创建完整的资源配置 - 合并 deck_config 和 children""" - # 创建主 deck 配置 - deck_resource = { - "id": f"{self.device_id}_deck", - "name": f"{self.device_id}_deck", - "type": "deck", - "position": {"x": 0, "y": 0, "z": 0}, - "config": { - "size_x": self.deck_config.get("size_x", 1000.0), - "size_y": self.deck_config.get("size_y", 1000.0), - "size_z": self.deck_config.get("size_z", 100.0), - **{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]}, - }, - "data": {}, - "children": [], - "parent": None, - } - - # 添加子资源 - if self._children: - children_list = [] - for child_id, child_config in self._children.items(): - child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"]) - children_list.append(child_resource) - deck_resource["children"] = children_list - - return deck_resource - - def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]: - """标准化子资源配置""" - return { - "id": resource_id, - "name": config.get("name", resource_id), - "type": config.get("type", "container"), - "position": self._normalize_position(config.get("position", {})), - "config": config.get("config", {}), - "data": config.get("data", {}), - "children": [], # 简化版本：只支持一层子资源 - "parent": parent_id, - } - - def _normalize_position(self, position: Any) -> Dict[str, float]: - """标准化位置信息""" - if isinstance(position, dict): - return { - "x": float(position.get("x", 0)), - "y": float(position.get("y", 0)), - "z": float(position.get("z", 0)), - } - elif isinstance(position, (list, tuple)) and len(position) >= 2: - return { - "x": float(position[0]), - "y": float(position[1]), - "z": float(position[2]) if len(position) > 2 else 0.0, - } - else: - return {"x": 0.0, "y": 0.0, "z": 0.0} - - def _build_resource_mappings(self, deck: Deck): - """递归构建资源映射""" - - def add_resource_recursive(resource: PLRResource): - if hasattr(resource, "name"): - self.plr_resources[resource.name] = resource - - if hasattr(resource, "children"): - for child in resource.children: - add_resource_recursive(child) - - add_resource_recursive(deck) - - # ============ 硬件接口管理 ============ - - def set_hardware_interface(self, hardware_interface: Union[Any, str]): - """设置硬件接口""" - self.hardware_interface = hardware_interface - logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}") - - def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"): - """设置协议节点引用（用于代理模式）""" - self._ros_node = workstation_node - logger.info(f"工作站 {self.device_id} 关联协议节点") - - # ============ 设备操作接口 ============ - - def call_device_method(self, method: str, *args, **kwargs) -> Any: - """调用设备方法的统一接口""" - # 1. 代理模式：通过协议节点转发 - if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"): - if not self._ros_node: - raise RuntimeError("代理模式需要设置workstation_node") - - device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀 - return self._ros_node.call_device_method(device_id, method, *args, **kwargs) - - # 2. 直接模式：直接调用硬件接口方法 - elif self.hardware_interface and hasattr(self.hardware_interface, method): - return getattr(self.hardware_interface, method)(*args, **kwargs) - - else: - raise AttributeError(f"硬件接口不支持方法: {method}") - - def get_device_status(self) -> Dict[str, Any]: - """获取设备状态""" - try: - return self.call_device_method("get_status") - except AttributeError: - # 如果设备不支持get_status方法，返回基础状态 - return { - "status": "unknown", - "interface_type": type(self.hardware_interface).__name__, - "timestamp": time.time(), - } - - def is_device_available(self) -> bool: - """检查设备是否可用""" - try: - self.get_device_status() - return True - except: - return False - - # ============ 物料系统接口 ============ - - def get_deck(self) -> Deck: - """获取主 Deck""" - return self.deck - - def get_all_resources(self) -> Dict[str, PLRResource]: - """获取所有 PLR 资源""" - return self.plr_resources.copy() - - def find_resource_by_name(self, name: str) -> Optional[PLRResource]: - """按名称查找资源""" - return self.plr_resources.get(name) - - def find_resources_by_type(self, resource_type: type) -> List[PLRResource]: - """按类型查找资源""" - return [res for res in self.plr_resources.values() if isinstance(res, resource_type)] - - async def sync_with_external_system(self) -> bool: - """与外部物料系统同步""" - if not self.resource_synchronizer: - logger.info(f"工作站 {self.device_id} 没有配置资源同步器") - return True - - try: - success = await self.resource_synchronizer.sync_from_external() - if success: - logger.info(f"工作站 {self.device_id} 外部同步成功") - else: - logger.warning(f"工作站 {self.device_id} 外部同步失败") - return success - except Exception as e: - logger.error(f"工作站 {self.device_id} 外部同步异常: {e}") - return False - - # ============ 简化的工作流控制 ============ - - def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - """执行工作流""" - try: - # 设置工作流状态 - self.current_workflow_status = WorkflowStatus.INITIALIZING - self.workflow_parameters = parameters - self.workflow_start_time = time.time() - - # 委托给子类实现 - success = self._execute_workflow_impl(workflow_name, parameters) - - if success: - self.current_workflow_status = WorkflowStatus.RUNNING - logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功") - else: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败") - - return success - - except Exception as e: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}") - return False - - def stop_workflow(self, emergency: bool = False) -> bool: - """停止工作流""" - try: - if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]: - logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流") - return True - - self.current_workflow_status = WorkflowStatus.STOPPING - - # 委托给子类实现 - success = self._stop_workflow_impl(emergency) - - if success: - 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""" - return self.current_workflow_status - - @property - def is_busy(self) -> bool: - """检查工作站是否忙碌""" - return self.current_workflow_status in [ - WorkflowStatus.INITIALIZING, - WorkflowStatus.RUNNING, - WorkflowStatus.STOPPING, - ] - - @property - def workflow_runtime(self) -> float: - """获取工作流运行时间（秒）""" - if self.workflow_start_time is None: - return 0.0 - 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 \ No newline at end of file