mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
simplify resource system
This commit is contained in:
Junhan Chang
@@ -1,24 +1,24 @@
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"""
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工作站基类
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Workstation Base Class - 单接口模式
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Workstation Base Class - 简化版
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基于单一硬件接口的简化工作站架构
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支持直接模式和代理模式的自动工作流执行器选择
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基于PLR Deck的简化工作站架构
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专注于核心物料系统和工作流管理
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"""
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import time
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import traceback
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from typing import Dict, Any, List, Optional, Union, TYPE_CHECKING
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from typing import Dict, Any, List, Optional, Union
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from abc import ABC, abstractmethod
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from dataclasses import dataclass
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from enum import Enum
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if TYPE_CHECKING:
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from unilabos.ros.nodes.presets.protocol_node import ROS2WorkstationNode
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try:
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from pylabrobot.resources import Deck, Resource as PLRResource
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PYLABROBOT_AVAILABLE = True
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except ImportError:
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PYLABROBOT_AVAILABLE = False
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class Deck: pass
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class PLRResource: pass
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from unilabos.devices.work_station.workstation_material_management import MaterialManagementBase
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from unilabos.devices.work_station.workstation_http_service import (
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WorkstationHTTPService, WorkstationReportRequest, MaterialUsage
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)
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from unilabos.utils.log import logger
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@@ -45,43 +45,69 @@ class WorkflowInfo:
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parameters_schema: Dict[str, Any] # 参数架构
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class WorkstationBase(ABC):
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"""工作站基类 - 单接口模式
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class ResourceSynchronizer(ABC):
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"""资源同步器基类
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核心设计原则：
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1. 每个工作站只有一个 hardware_interface
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2. 根据接口类型自动选择工作流执行器
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3. 支持直接模式和代理模式
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4. 统一的设备操作接口
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负责与外部物料系统的同步，并对 self.deck 做修改
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"""
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def __init__(self, workstation: 'WorkstationBase'):
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self.workstation = workstation
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@abstractmethod
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async def sync_from_external(self) -> bool:
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"""从外部系统同步物料到本地deck"""
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pass
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@abstractmethod
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async def sync_to_external(self, plr_resource: PLRResource) -> bool:
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"""将本地物料同步到外部系统"""
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pass
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@abstractmethod
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async def handle_external_change(self, change_info: Dict[str, Any]) -> bool:
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"""处理外部系统的变更通知"""
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pass
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class WorkstationBase(ABC):
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"""工作站基类 - 简化版
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核心功能：
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1. 基于 PLR Deck 的物料系统，支持格式转换
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2. 可选的资源同步器支持外部物料系统
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3. 简化的工作流管理
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"""
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def __init__(
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self,
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device_id: str,
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deck_config: Optional[Dict[str, Any]] = None,
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http_service_config: Optional[Dict[str, Any]] = None,
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deck_config: Dict[str, Any],
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children: Optional[Dict[str, Any]] = None,
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resource_synchronizer: Optional[ResourceSynchronizer] = None,
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*args,
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**kwargs,
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):
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if not PYLABROBOT_AVAILABLE:
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raise ImportError("PyLabRobot 未安装，无法创建工作站")
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# 基本配置
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self.device_id = device_id
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self.deck_config = deck_config or {"size_x": 1000.0, "size_y": 1000.0, "size_z": 500.0}
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self.deck_config = deck_config
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self.children = children or {}
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# HTTP服务配置
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self.http_service_config = http_service_config or {
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"enabled": True,
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"host": "127.0.0.1",
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"port": 8081
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}
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# PLR 物料系统
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self.deck: Optional[Deck] = None
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self.plr_resources: Dict[str, PLRResource] = {}
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# 单一硬件接口 - 可以是具体客户端对象或代理字符串
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# 资源同步器（可选）
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self.resource_synchronizer = resource_synchronizer
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# 硬件接口
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self.hardware_interface: Union[Any, str] = None
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# 协议节点引用（用于代理模式）
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self._protocol_node: Optional['ROS2WorkstationNode'] = None
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# 工作流执行器（基于通信接口类型自动选择）
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self.workflow_executor: Optional['WorkflowExecutor'] = None
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self._workstation_node: Optional['ROS2WorkstationNode'] = None
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# 工作流状态
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self.current_workflow_status = WorkflowStatus.IDLE
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@@ -89,90 +115,136 @@ class WorkstationBase(ABC):
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self.workflow_start_time = None
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self.workflow_parameters = {}
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# 错误处理
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self.error_history = []
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self.action_results = {}
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# 支持的工作流（静态预定义）
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self.supported_workflows: Dict[str, WorkflowInfo] = {}
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# 初始化工作站模块
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self.material_management: MaterialManagementBase = self._create_material_management_module()
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# 初始化物料系统
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self._initialize_material_system()
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# 注册支持的工作流
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self._register_supported_workflows()
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# 启动HTTP报送接收服务
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self.http_service = None
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self._start_http_service()
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logger.info(f"工作站 {device_id} 初始化完成（单接口模式）")
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logger.info(f"工作站 {device_id} 初始化完成（简化版）")
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def _initialize_material_system(self):
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"""初始化物料系统 - 使用 graphio 转换"""
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try:
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from unilabos.resources.graphio import resource_ulab_to_plr
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# 1. 合并 deck_config 和 children 创建完整的资源树
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complete_resource_config = self._create_complete_resource_config()
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# 2. 使用 graphio 转换为 PLR 资源
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self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True)
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# 3. 建立资源映射
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self._build_resource_mappings(self.deck)
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# 4. 如果有资源同步器，执行初始同步
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if self.resource_synchronizer:
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# 这里可以异步执行，暂时跳过
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pass
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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")
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except Exception as e:
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logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}")
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raise
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def _create_complete_resource_config(self) -> Dict[str, Any]:
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"""创建完整的资源配置 - 合并 deck_config 和 children"""
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# 创建主 deck 配置
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deck_resource = {
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"id": f"{self.device_id}_deck",
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"name": f"{self.device_id}_deck",
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"type": "deck",
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"position": {"x": 0, "y": 0, "z": 0},
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"config": {
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"size_x": self.deck_config.get("size_x", 1000.0),
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"size_y": self.deck_config.get("size_y", 1000.0),
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"size_z": self.deck_config.get("size_z", 100.0),
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**{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]}
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},
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"data": {},
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"children": [],
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"parent": None
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}
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# 添加子资源
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if self.children:
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children_list = []
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for child_id, child_config in self.children.items():
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child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"])
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children_list.append(child_resource)
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deck_resource["children"] = children_list
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return deck_resource
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def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]:
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"""标准化子资源配置"""
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return {
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"id": resource_id,
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"name": config.get("name", resource_id),
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"type": config.get("type", "container"),
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"position": self._normalize_position(config.get("position", {})),
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"config": config.get("config", {}),
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"data": config.get("data", {}),
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"children": [], # 简化版本：只支持一层子资源
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"parent": parent_id
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}
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def _normalize_position(self, position: Any) -> Dict[str, float]:
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"""标准化位置信息"""
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if isinstance(position, dict):
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return {
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"x": float(position.get("x", 0)),
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"y": float(position.get("y", 0)),
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"z": float(position.get("z", 0))
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}
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elif isinstance(position, (list, tuple)) and len(position) >= 2:
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return {
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"x": float(position[0]),
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"y": float(position[1]),
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"z": float(position[2]) if len(position) > 2 else 0.0
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}
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else:
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return {"x": 0.0, "y": 0.0, "z": 0.0}
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def _build_resource_mappings(self, deck: Deck):
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"""递归构建资源映射"""
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def add_resource_recursive(resource: PLRResource):
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if hasattr(resource, 'name'):
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self.plr_resources[resource.name] = resource
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if hasattr(resource, 'children'):
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for child in resource.children:
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add_resource_recursive(child)
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add_resource_recursive(deck)
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# ============ 硬件接口管理 ============
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def set_hardware_interface(self, hardware_interface: Union[Any, str]):
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"""设置硬件接口"""
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self.hardware_interface = hardware_interface
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# 根据接口类型自动创建工作流执行器
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self._setup_workflow_executor()
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logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}")
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def set_protocol_node(self, protocol_node: 'ROS2WorkstationNode'):
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def set_workstation_node(self, workstation_node: 'ROS2WorkstationNode'):
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"""设置协议节点引用（用于代理模式）"""
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self._protocol_node = protocol_node
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self._workstation_node = workstation_node
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logger.info(f"工作站 {self.device_id} 关联协议节点")
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def _setup_workflow_executor(self):
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"""根据硬件接口类型自动设置工作流执行器"""
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if self.hardware_interface is None:
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return
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# 动态导入工作流执行器类
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try:
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from unilabos.devices.work_station.workflow_executors import (
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ProxyWorkflowExecutor, ModbusWorkflowExecutor,
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HttpWorkflowExecutor, PyLabRobotWorkflowExecutor
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)
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except ImportError:
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logger.warning("工作流执行器模块未找到，将使用基础执行器")
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self.workflow_executor = None
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return
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# 检查是否为代理字符串
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if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
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self.workflow_executor = ProxyWorkflowExecutor(self)
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logger.info(f"工作站 {self.device_id} 使用代理工作流执行器")
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# 检查是否为Modbus客户端
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elif hasattr(self.hardware_interface, 'write_register') and hasattr(self.hardware_interface, 'read_register'):
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self.workflow_executor = ModbusWorkflowExecutor(self)
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logger.info(f"工作站 {self.device_id} 使用Modbus工作流执行器")
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# 检查是否为HTTP客户端
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elif hasattr(self.hardware_interface, 'post') or hasattr(self.hardware_interface, 'get'):
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self.workflow_executor = HttpWorkflowExecutor(self)
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logger.info(f"工作站 {self.device_id} 使用HTTP工作流执行器")
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# 检查是否为PyLabRobot设备
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elif hasattr(self.hardware_interface, 'transfer_liquid') or hasattr(self.hardware_interface, 'pickup_tips'):
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self.workflow_executor = PyLabRobotWorkflowExecutor(self)
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logger.info(f"工作站 {self.device_id} 使用PyLabRobot工作流执行器")
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else:
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logger.warning(f"工作站 {self.device_id} 无法识别硬件接口类型: {type(self.hardware_interface)}")
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self.workflow_executor = None
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# ============ 统一的设备操作接口 ============
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# ============ 设备操作接口 ============
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def call_device_method(self, method: str, *args, **kwargs) -> Any:
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"""调用设备方法的统一接口"""
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# 1. 代理模式：通过协议节点转发
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if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"):
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if not self._protocol_node:
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raise RuntimeError("代理模式需要设置protocol_node")
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if not self._workstation_node:
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raise RuntimeError("代理模式需要设置workstation_node")
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device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀
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return self._protocol_node.call_device_method(device_id, method, *args, **kwargs)
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return self._workstation_node.call_device_method(device_id, method, *args, **kwargs)
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# 2. 直接模式：直接调用硬件接口方法
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elif self.hardware_interface and hasattr(self.hardware_interface, method):
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@@ -201,22 +273,54 @@ class WorkstationBase(ABC):
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except:
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return False
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# ============ 工作流控制接口 ============
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# ============ 物料系统接口 ============
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def get_deck(self) -> Deck:
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"""获取主 Deck"""
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return self.deck
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def get_all_resources(self) -> Dict[str, PLRResource]:
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"""获取所有 PLR 资源"""
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return self.plr_resources.copy()
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def find_resource_by_name(self, name: str) -> Optional[PLRResource]:
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"""按名称查找资源"""
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return self.plr_resources.get(name)
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def find_resources_by_type(self, resource_type: type) -> List[PLRResource]:
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"""按类型查找资源"""
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return [res for res in self.plr_resources.values()
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if isinstance(res, resource_type)]
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async def sync_with_external_system(self) -> bool:
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"""与外部物料系统同步"""
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if not self.resource_synchronizer:
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logger.info(f"工作站 {self.device_id} 没有配置资源同步器")
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return True
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try:
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success = await self.resource_synchronizer.sync_from_external()
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if success:
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logger.info(f"工作站 {self.device_id} 外部同步成功")
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else:
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logger.warning(f"工作站 {self.device_id} 外部同步失败")
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return success
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except Exception as e:
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logger.error(f"工作站 {self.device_id} 外部同步异常: {e}")
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return False
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# ============ 简化的工作流控制 ============
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def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
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"""执行工作流 - 委托给工作流执行器"""
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if not self.workflow_executor:
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logger.error(f"工作站 {self.device_id} 工作流执行器未初始化")
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return False
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"""执行工作流"""
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try:
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# 设置工作流状态
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self.current_workflow_status = WorkflowStatus.INITIALIZING
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self.workflow_parameters = parameters
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self.workflow_start_time = time.time()
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# 委托给工作流执行器
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success = self.workflow_executor.execute_workflow(workflow_name, parameters)
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# 委托给子类实现
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success = self._execute_workflow_impl(workflow_name, parameters)
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if success:
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self.current_workflow_status = WorkflowStatus.RUNNING
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@@ -232,16 +336,8 @@ class WorkstationBase(ABC):
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logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}")
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return False
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def start_workflow(self, workflow_type: str, parameters: Dict[str, Any] = None) -> bool:
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"""启动工作流 - 兼容旧接口"""
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return self.execute_workflow(workflow_type, parameters or {})
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def stop_workflow(self, emergency: bool = False) -> bool:
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"""停止工作流"""
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if not self.workflow_executor:
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logger.warning(f"工作站 {self.device_id} 工作流执行器未初始化")
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return True
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try:
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if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]:
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logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流")
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@@ -249,8 +345,8 @@ class WorkstationBase(ABC):
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self.current_workflow_status = WorkflowStatus.STOPPING
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# 委托给工作流执行器
|
||||
success = self.workflow_executor.stop_workflow(emergency)
|
||||
# 委托给子类实现
|
||||
success = self._stop_workflow_impl(emergency)
|
||||
|
||||
if success:
|
||||
self.current_workflow_status = WorkflowStatus.STOPPED
|
||||
@@ -289,179 +385,19 @@ class WorkstationBase(ABC):
|
||||
return 0.0
|
||||
return time.time() - self.workflow_start_time
|
||||
|
||||
@property
|
||||
def error_count(self) -> int:
|
||||
"""获取错误计数"""
|
||||
return len(self.error_history)
|
||||
|
||||
@property
|
||||
def last_error(self) -> Optional[Dict[str, Any]]:
|
||||
"""获取最后一个错误"""
|
||||
return self.error_history[-1] if self.error_history else None
|
||||
|
||||
# ============ 抽象方法 - 子类必须实现 ============
|
||||
|
||||
@abstractmethod
|
||||
def _create_material_management_module(self) -> MaterialManagementBase:
|
||||
"""创建物料管理模块 - 子类必须实现"""
|
||||
pass
|
||||
|
||||
@abstractmethod
|
||||
def _register_supported_workflows(self):
|
||||
"""注册支持的工作流 - 子类必须实现"""
|
||||
pass
|
||||
|
||||
# ============ HTTP服务管理 ============
|
||||
|
||||
def _start_http_service(self):
|
||||
"""启动HTTP报送接收服务"""
|
||||
try:
|
||||
if not self.http_service_config.get("enabled", True):
|
||||
logger.info(f"工作站 {self.device_id} HTTP报送接收服务已禁用")
|
||||
return
|
||||
|
||||
host = self.http_service_config.get("host", "127.0.0.1")
|
||||
port = self.http_service_config.get("port", 8081)
|
||||
|
||||
self.http_service = WorkstationHTTPService(
|
||||
workstation_handler=self,
|
||||
host=host,
|
||||
port=port
|
||||
)
|
||||
|
||||
logger.info(f"工作站 {self.device_id} HTTP报送接收服务启动成功: {host}:{port}")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"工作站 {self.device_id} 启动HTTP报送接收服务失败: {e}")
|
||||
self.http_service = None
|
||||
|
||||
def _stop_http_service(self):
|
||||
"""停止HTTP报送接收服务"""
|
||||
try:
|
||||
if self.http_service:
|
||||
self.http_service.stop()
|
||||
self.http_service = None
|
||||
logger.info(f"工作站 {self.device_id} HTTP报送接收服务已停止")
|
||||
except Exception as e:
|
||||
logger.error(f"工作站 {self.device_id} 停止HTTP报送接收服务失败: {e}")
|
||||
|
||||
# ============ 报送处理方法 ============
|
||||
|
||||
def process_material_change_report(self, report) -> Dict[str, Any]:
|
||||
"""处理物料变更报送"""
|
||||
try:
|
||||
logger.info(f"处理物料变更报送: {report.workstation_id} -> {report.resource_id} ({report.change_type})")
|
||||
|
||||
result = {
|
||||
'processed': True,
|
||||
'resource_id': report.resource_id,
|
||||
'change_type': report.change_type,
|
||||
'timestamp': time.time()
|
||||
}
|
||||
|
||||
# 更新本地物料管理系统
|
||||
if hasattr(self, 'material_management'):
|
||||
try:
|
||||
self.material_management.sync_external_material_change(report)
|
||||
except Exception as e:
|
||||
logger.warning(f"同步物料变更到本地管理系统失败: {e}")
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料变更报送失败: {e}")
|
||||
return {'processed': False, 'error': str(e)}
|
||||
|
||||
def process_step_finish_report(self, request: WorkstationReportRequest) -> Dict[str, Any]:
|
||||
"""处理步骤完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
data = request.data
|
||||
logger.info(f"处理步骤完成报送: {data['orderCode']} - {data['stepName']}")
|
||||
|
||||
result = {
|
||||
'processed': True,
|
||||
'order_code': data['orderCode'],
|
||||
'step_id': data['stepId'],
|
||||
'timestamp': time.time()
|
||||
}
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理步骤完成报送失败: {e}")
|
||||
return {'processed': False, 'error': str(e)}
|
||||
|
||||
def process_sample_finish_report(self, request: WorkstationReportRequest) -> Dict[str, Any]:
|
||||
"""处理样品完成报送"""
|
||||
try:
|
||||
data = request.data
|
||||
logger.info(f"处理样品完成报送: {data['sampleId']}")
|
||||
|
||||
result = {
|
||||
'processed': True,
|
||||
'sample_id': data['sampleId'],
|
||||
'timestamp': time.time()
|
||||
}
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理样品完成报送失败: {e}")
|
||||
return {'processed': False, 'error': str(e)}
|
||||
|
||||
def process_order_finish_report(self, request: WorkstationReportRequest, used_materials: List[MaterialUsage]) -> Dict[str, Any]:
|
||||
"""处理订单完成报送"""
|
||||
try:
|
||||
data = request.data
|
||||
logger.info(f"处理订单完成报送: {data['orderCode']}")
|
||||
|
||||
result = {
|
||||
'processed': True,
|
||||
'order_code': data['orderCode'],
|
||||
'used_materials': len(used_materials),
|
||||
'timestamp': time.time()
|
||||
}
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理订单完成报送失败: {e}")
|
||||
return {'processed': False, 'error': str(e)}
|
||||
|
||||
def handle_external_error(self, error_request):
|
||||
"""处理外部错误报告"""
|
||||
try:
|
||||
logger.error(f"收到外部错误报告: {error_request}")
|
||||
|
||||
# 记录错误
|
||||
error_record = {
|
||||
'timestamp': time.time(),
|
||||
'error_type': error_request.get('error_type', 'unknown'),
|
||||
'error_message': error_request.get('message', ''),
|
||||
'source': error_request.get('source', 'external'),
|
||||
'context': error_request.get('context', {})
|
||||
}
|
||||
|
||||
self.error_history.append(error_record)
|
||||
|
||||
# 处理紧急停止情况
|
||||
if error_request.get('emergency_stop', False):
|
||||
self._trigger_emergency_stop(error_record['error_message'])
|
||||
|
||||
return {'processed': True, 'error_id': len(self.error_history)}
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理外部错误失败: {e}")
|
||||
return {'processed': False, 'error': str(e)}
|
||||
|
||||
def _trigger_emergency_stop(self, reason: str):
|
||||
"""触发紧急停止"""
|
||||
logger.critical(f"触发紧急停止: {reason}")
|
||||
self.stop_workflow(emergency=True)
|
||||
|
||||
def __del__(self):
|
||||
"""清理资源"""
|
||||
try:
|
||||
self._stop_http_service()
|
||||
except:
|
||||
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
|
||||
|
||||
Reference in New Issue
Block a user