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Adapt to new scheduler, sampels, and edge upload format (#230)

Browse Source 
* add sample_material

* adapt to new samples sys

* fix pump transfer. fix resource update when protocol & ros callback

* Adapt to new scheduler.
This commit is contained in:
Xuwznln
2026-02-06 00:49:53 +08:00
committed by GitHub
parent 957fb41a6f
commit 341a1b537c
16 changed files with 631 additions and 233 deletions
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6
unilabos/devices/liquid_handling/liquid_handler_abstract.py
View File

@@ -690,16 +690,14 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware):
)
def set_liquid_from_plate(
self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
"""Set the liquid in wells of a plate by well names (e.g., A1, A2, B3).
如果 liquid_names 和 volumes 为空，但 plate 和 well_names 不为空，直接返回 plate 和 wells。
"""
if isinstance(plate, list): # 未来移除
plate = plate[0]
assert issubclass(plate.__class__, Plate), "plate must be a Plate"
plate: Plate = cast(Plate, plate)
plate: Plate = cast(Plate, cast(Resource, plate))
# 根据 well_names 获取对应的 Well 对象
wells = [plate.get_well(name) for name in well_names]
res_volumes = []

2
unilabos/devices/liquid_handling/prcxi/prcxi.py
View File

@@ -595,7 +595,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract):
return super().set_liquid(wells, liquid_names, volumes)
def set_liquid_from_plate(
self, plate: List[ResourceSlot], well_names: list[str], liquid_names: list[str], volumes: list[float]
self, plate: ResourceSlot, well_names: list[str], liquid_names: list[str], volumes: list[float]
) -> SetLiquidFromPlateReturn:
return super().set_liquid_from_plate(plate, well_names, liquid_names, volumes)

200
unilabos/devices/virtual/virtual_transferpump.py
View File

@@ -15,35 +15,35 @@ class VirtualPumpMode(Enum):
class VirtualTransferPump:
"""虚拟转移泵类 - 模拟泵的基本功能，无需实际硬件 🚰"""
_ros_node: BaseROS2DeviceNode
def __init__(self, device_id: str = None, config: dict = None, **kwargs):
"""
初始化虚拟转移泵
Args:
device_id: 设备ID
config: 配置字典，包含max_volume, port等参数
**kwargs: 其他参数，确保兼容性
"""
self.device_id = device_id or "virtual_transfer_pump"
# 从config或kwargs中获取参数，确保类型正确
if config:
self.max_volume = float(config.get('max_volume', 25.0))
self.port = config.get('port', 'VIRTUAL')
self.max_volume = float(config.get("max_volume", 25.0))
self.port = config.get("port", "VIRTUAL")
else:
self.max_volume = float(kwargs.get('max_volume', 25.0))
self.port = kwargs.get('port', 'VIRTUAL')
self._transfer_rate = float(kwargs.get('transfer_rate', 0))
self.mode = kwargs.get('mode', VirtualPumpMode.Normal)
self.max_volume = float(kwargs.get("max_volume", 25.0))
self.port = kwargs.get("port", "VIRTUAL")
self._transfer_rate = float(kwargs.get("transfer_rate", 0))
self.mode = kwargs.get("mode", VirtualPumpMode.Normal)
# 状态变量 - 确保都是正确类型
self._status = "Idle"
self._position = 0.0 # float
self._max_velocity = 5.0 # float
self._max_velocity = 5.0 # float
self._current_volume = 0.0 # float
# 🚀 新增：快速模式设置 - 大幅缩短执行时间
@@ -52,14 +52,16 @@ class VirtualTransferPump:
self._fast_dispense_time = 1.0 # 快速喷射时间（秒）
self.logger = logging.getLogger(f"VirtualTransferPump.{self.device_id}")
print(f"🚰 === 虚拟转移泵 {self.device_id} 已创建 === ✨")
print(f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s")
print(
f"💨 快速模式: {'启用' if self._fast_mode else '禁用'} | 移动时间: {self._fast_move_time}s | 喷射时间: {self._fast_dispense_time}s"
)
print(f"📊 最大容量: {self.max_volume}mL | 端口: {self.port}")
def post_init(self, ros_node: BaseROS2DeviceNode):
self._ros_node = ros_node
async def initialize(self) -> bool:
"""初始化虚拟泵 🚀"""
self.logger.info(f"🔧 初始化虚拟转移泵 {self.device_id} ✨")
@@ -68,33 +70,33 @@ class VirtualTransferPump:
self._current_volume = 0.0
self.logger.info(f"✅ 转移泵 {self.device_id} 初始化完成 🚰")
return True
async def cleanup(self) -> bool:
"""清理虚拟泵 🧹"""
self.logger.info(f"🧹 清理虚拟转移泵 {self.device_id} 🔚")
self._status = "Idle"
self.logger.info(f"✅ 转移泵 {self.device_id} 清理完成 💤")
return True
# 基本属性
@property
def status(self) -> str:
return self._status
@property
def position(self) -> float:
"""当前柱塞位置 (ml) 📍"""
return self._position
@property
def current_volume(self) -> float:
"""当前注射器中的体积 (ml) 💧"""
return self._current_volume
@property
def max_velocity(self) -> float:
return self._max_velocity
@property
def transfer_rate(self) -> float:
return self._transfer_rate
@@ -103,17 +105,17 @@ class VirtualTransferPump:
"""设置最大速度 (ml/s) 🌊"""
self._max_velocity = max(0.1, min(50.0, velocity)) # 限制在合理范围内
self.logger.info(f"🌊 设置最大速度为 {self._max_velocity} mL/s")
def get_status(self) -> str:
"""获取泵状态 📋"""
return self._status
async def _simulate_operation(self, duration: float):
"""模拟操作延时 ⏱️"""
self._status = "Busy"
await self._ros_node.sleep(duration)
self._status = "Idle"
def _calculate_duration(self, volume: float, velocity: float = None) -> float:
"""
计算操作持续时间 ⏰
@@ -121,10 +123,10 @@ class VirtualTransferPump:
"""
if velocity is None:
velocity = self._max_velocity
# 📊 计算理论时间（用于日志显示）
theoretical_duration = abs(volume) / velocity
# 🚀 如果启用快速模式，使用固定的快速时间
if self._fast_mode:
# 根据操作类型选择快速时间
@@ -132,13 +134,13 @@ class VirtualTransferPump:
actual_duration = self._fast_move_time
else: # 很小的操作
actual_duration = 0.5
self.logger.debug(f"⚡ 快速模式: 理论时间 {theoretical_duration:.2f}s → 实际时间 {actual_duration:.2f}s")
return actual_duration
else:
# 正常模式使用理论时间
return theoretical_duration
def _calculate_display_duration(self, volume: float, velocity: float = None) -> float:
"""
计算显示用的持续时间（用于日志） 📊
@@ -147,16 +149,16 @@ class VirtualTransferPump:
if velocity is None:
velocity = self._max_velocity
return abs(volume) / velocity
# 新的set_position方法 - 专门用于SetPumpPosition动作
async def set_position(self, position: float, max_velocity: float = None):
"""
移动到绝对位置 - 专门用于SetPumpPosition动作 🎯
Args:
position (float): 目标位置 (ml)
max_velocity (float): 移动速度 (ml/s)
Returns:
dict: 符合SetPumpPosition.action定义的结果
"""
@@ -164,19 +166,19 @@ class VirtualTransferPump:
# 验证并转换参数
target_position = float(position)
velocity = float(max_velocity) if max_velocity is not None else self._max_velocity
# 限制位置在有效范围内
target_position = max(0.0, min(float(self.max_volume), target_position))
# 计算移动距离
volume_to_move = abs(target_position - self._position)
# 📊 计算显示用的时间（用于日志）
display_duration = self._calculate_display_duration(volume_to_move, velocity)
# ⚡ 计算实际执行时间（快速模式）
actual_duration = self._calculate_duration(volume_to_move, velocity)
# 🎯 确定操作类型和emoji
if target_position > self._position:
operation_type = "吸液"
@@ -187,28 +189,34 @@ class VirtualTransferPump:
else:
operation_type = "保持"
operation_emoji = "📍"
self.logger.info(f"🎯 SET_POSITION: {operation_type} {operation_emoji}")
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)")
self.logger.info(
f" 📍 位置: {self._position:.2f}mL → {target_position:.2f}mL (移动 {volume_to_move:.2f}mL)"
)
self.logger.info(f" 🌊 速度: {velocity:.2f} mL/s")
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
if self._fast_mode:
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
# 🚀 模拟移动过程
if volume_to_move > 0.01: # 只有当移动距离足够大时才显示进度
start_position = self._position
steps = 5 if actual_duration > 0.5 else 2 # 根据实际时间调整步数
step_duration = actual_duration / steps
self.logger.info(f"🚀 开始{operation_type}... {operation_emoji}")
for i in range(steps + 1):
# 计算当前位置和进度
progress = (i / steps) * 100 if steps > 0 else 100
current_pos = start_position + (target_position - start_position) * (i / steps) if steps > 0 else target_position
current_pos = (
start_position + (target_position - start_position) * (i / steps)
if steps > 0
else target_position
)
# 更新状态
if i < steps:
self._status = f"{operation_type}中"
@@ -216,10 +224,10 @@ class VirtualTransferPump:
else:
self._status = "Idle"
status_emoji = "✅"
self._position = current_pos
self._current_volume = current_pos
# 显示进度（每25%或最后一步）
if i == 0:
self.logger.debug(f" 🔄 {operation_type}开始: {progress:.0f}%")
@@ -227,7 +235,7 @@ class VirtualTransferPump:
self.logger.debug(f" 🔄 {operation_type}进度: {progress:.0f}%")
elif i == steps:
self.logger.info(f" ✅ {operation_type}完成: {progress:.0f}% | 当前位置: {current_pos:.2f}mL")
# 等待一小步时间
if i < steps and step_duration > 0:
await self._ros_node.sleep(step_duration)
@@ -236,25 +244,27 @@ class VirtualTransferPump:
self._position = target_position
self._current_volume = target_position
self.logger.info(f" 📍 微调完成: {target_position:.2f}mL")
# 确保最终位置准确
self._position = target_position
self._current_volume = target_position
self._status = "Idle"
# 📊 最终状态日志
if volume_to_move > 0.01:
self.logger.info(f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
self.logger.info(
f"🎉 SET_POSITION 完成! 📍 最终位置: {self._position:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL"
)
# 返回符合action定义的结果
return {
"success": True,
"message": f"✅ 成功移动到位置 {self._position:.2f}mL ({operation_type})",
"final_position": self._position,
"final_volume": self._current_volume,
"operation_type": operation_type
"operation_type": operation_type,
}
except Exception as e:
error_msg = f"❌ 设置位置失败: {str(e)}"
self.logger.error(error_msg)
@@ -262,134 +272,136 @@ class VirtualTransferPump:
"success": False,
"message": error_msg,
"final_position": self._position,
"final_volume": self._current_volume
"final_volume": self._current_volume,
}
# 其他泵操作方法
async def pull_plunger(self, volume: float, velocity: float = None):
"""
拉取柱塞（吸液） 📥
Args:
volume (float): 要拉取的体积 (ml)
velocity (float): 拉取速度 (ml/s)
"""
new_position = min(self.max_volume, self._position + volume)
actual_volume = new_position - self._position
if actual_volume <= 0:
self.logger.warning("⚠️ 无法吸液 - 已达到最大容量")
return
display_duration = self._calculate_display_duration(actual_volume, velocity)
actual_duration = self._calculate_duration(actual_volume, velocity)
self.logger.info(f"📥 开始吸液: {actual_volume:.2f}mL")
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
if self._fast_mode:
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
await self._simulate_operation(actual_duration)
self._position = new_position
self._current_volume = new_position
self.logger.info(f"✅ 吸液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
async def push_plunger(self, volume: float, velocity: float = None):
"""
推出柱塞（排液） 📤
Args:
volume (float): 要推出的体积 (ml)
velocity (float): 推出速度 (ml/s)
"""
new_position = max(0, self._position - volume)
actual_volume = self._position - new_position
if actual_volume <= 0:
self.logger.warning("⚠️ 无法排液 - 已达到最小容量")
return
display_duration = self._calculate_display_duration(actual_volume, velocity)
actual_duration = self._calculate_duration(actual_volume, velocity)
self.logger.info(f"📤 开始排液: {actual_volume:.2f}mL")
self.logger.info(f" 📍 位置: {self._position:.2f}mL → {new_position:.2f}mL")
self.logger.info(f" ⏰ 预计时间: {display_duration:.2f}s")
if self._fast_mode:
self.logger.info(f" ⚡ 快速模式: 实际用时 {actual_duration:.2f}s")
await self._simulate_operation(actual_duration)
self._position = new_position
self._current_volume = new_position
self.logger.info(f"✅ 排液完成: {actual_volume:.2f}mL | 💧 当前体积: {self._current_volume:.2f}mL")
# 便捷操作方法
async def aspirate(self, volume: float, velocity: float = None):
"""吸液操作 📥"""
await self.pull_plunger(volume, velocity)
async def dispense(self, volume: float, velocity: float = None):
"""排液操作 📤"""
await self.push_plunger(volume, velocity)
async def transfer(self, volume: float, aspirate_velocity: float = None, dispense_velocity: float = None):
"""转移操作（先吸后排） 🔄"""
self.logger.info(f"🔄 开始转移操作: {volume:.2f}mL")
# 吸液
await self.aspirate(volume, aspirate_velocity)
# 短暂停顿
self.logger.debug("⏸️ 短暂停顿...")
await self._ros_node.sleep(0.1)
# 排液
await self.dispense(volume, dispense_velocity)
async def empty_syringe(self, velocity: float = None):
"""清空注射器"""
await self.set_position(0, velocity)
async def fill_syringe(self, velocity: float = None):
"""充满注射器"""
await self.set_position(self.max_volume, velocity)
async def stop_operation(self):
"""停止当前操作"""
self._status = "Idle"
self.logger.info("Operation stopped")
# 状态查询方法
def get_position(self) -> float:
"""获取当前位置"""
return self._position
def get_current_volume(self) -> float:
"""获取当前体积"""
return self._current_volume
def get_remaining_capacity(self) -> float:
"""获取剩余容量"""
return self.max_volume - self._current_volume
def is_empty(self) -> bool:
"""检查是否为空"""
return self._current_volume <= 0.01 # 允许小量误差
def is_full(self) -> bool:
"""检查是否已满"""
return self._current_volume >= (self.max_volume - 0.01) # 允许小量误差
def __str__(self):
return f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
return (
f"VirtualTransferPump({self.device_id}: {self._current_volume:.2f}/{self.max_volume} ml, {self._status})"
)
def __repr__(self):
return self.__str__()
@@ -398,20 +410,20 @@ class VirtualTransferPump:
async def demo():
"""虚拟泵使用示例"""
pump = VirtualTransferPump("demo_pump", {"max_volume": 50.0})
await pump.initialize()
print(f"Initial state: {pump}")
# 测试set_position方法
result = await pump.set_position(10.0, max_velocity=2.0)
print(f"Set position result: {result}")
print(f"After setting position to 10ml: {pump}")
# 吸液测试
await pump.aspirate(5.0, velocity=2.0)
print(f"After aspirating 5ml: {pump}")
# 清空测试
result = await pump.set_position(0.0)
print(f"Empty result: {result}")

109
unilabos/devices/virtual/workbench.py
View File

@@ -11,9 +11,10 @@ Virtual Workbench Device - 模拟工作台设备
注意：调用来自线程池，使用 threading.Lock 进行同步
"""
import logging
import time
from typing import Dict, Any, Optional
from typing import Dict, Any, Optional, List
from dataclasses import dataclass
from enum import Enum
from threading import Lock, RLock
@@ -22,37 +23,46 @@ from typing_extensions import TypedDict
from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode
from unilabos.utils.decorator import not_action
from unilabos.resources.resource_tracker import SampleUUIDsType, LabSample, RETURN_UNILABOS_SAMPLES
# ============ TypedDict 返回类型定义 ============
class MoveToHeatingStationResult(TypedDict):
"""move_to_heating_station 返回类型"""
success: bool
station_id: int
material_id: str
material_number: int
message: str
unilabos_samples: List[LabSample]
class StartHeatingResult(TypedDict):
"""start_heating 返回类型"""
success: bool
station_id: int
material_id: str
material_number: int
message: str
unilabos_samples: List[LabSample]
class MoveToOutputResult(TypedDict):
"""move_to_output 返回类型"""
success: bool
station_id: int
material_id: str
unilabos_samples: List[LabSample]
class PrepareMaterialsResult(TypedDict):
"""prepare_materials 返回类型 - 批量准备物料"""
success: bool
count: int
material_1: int # 物料编号1
@@ -61,12 +71,15 @@ class PrepareMaterialsResult(TypedDict):
material_4: int # 物料编号4
material_5: int # 物料编号5
message: str
unilabos_samples: List[LabSample]
# ============ 状态枚举 ============
class HeatingStationState(Enum):
"""加热台状态枚举"""
IDLE = "idle" # 空闲
OCCUPIED = "occupied" # 已放置物料，等待加热
HEATING = "heating" # 加热中
@@ -75,6 +88,7 @@ class HeatingStationState(Enum):
class ArmState(Enum):
"""机械臂状态枚举"""
IDLE = "idle" # 空闲
BUSY = "busy" # 工作中
@@ -82,6 +96,7 @@ class ArmState(Enum):
@dataclass
class HeatingStation:
"""加热台数据结构"""
station_id: int
state: HeatingStationState = HeatingStationState.IDLE
current_material: Optional[str] = None # 当前物料 (如 "A1", "A2")
@@ -137,8 +152,7 @@ class VirtualWorkbench:
# 加热台状态 (station_id -> HeatingStation) - 立即初始化，不依赖initialize()
self._heating_stations: Dict[int, HeatingStation] = {
i: HeatingStation(station_id=i)
for i in range(1, self.NUM_HEATING_STATIONS + 1)
i: HeatingStation(station_id=i) for i in range(1, self.NUM_HEATING_STATIONS + 1)
}
self._stations_lock = RLock() # 可重入锁，保护加热台状态
@@ -178,14 +192,16 @@ class VirtualWorkbench:
station.heating_progress = 0.0
# 初始化状态
self.data.update({
"status": "Ready",
"arm_state": ArmState.IDLE.value,
"arm_current_task": None,
"heating_stations": self._get_stations_status(),
"active_tasks_count": 0,
"message": "工作台就绪",
})
self.data.update(
{
"status": "Ready",
"arm_state": ArmState.IDLE.value,
"arm_current_task": None,
"heating_stations": self._get_stations_status(),
"active_tasks_count": 0,
"message": "工作台就绪",
}
)
self.logger.info(f"工作台初始化完成: {self.NUM_HEATING_STATIONS}个加热台就绪")
return True
@@ -204,12 +220,14 @@ class VirtualWorkbench:
with self._tasks_lock:
self._active_tasks.clear()
self.data.update({
"status": "Offline",
"arm_state": ArmState.IDLE.value,
"heating_stations": {},
"message": "工作台已关闭",
})
self.data.update(
{
"status": "Offline",
"arm_state": ArmState.IDLE.value,
"heating_stations": {},
"message": "工作台已关闭",
}
)
return True
def _get_stations_status(self) -> Dict[int, Dict[str, Any]]:
@@ -227,12 +245,14 @@ class VirtualWorkbench:
def _update_data_status(self, message: Optional[str] = None):
"""更新状态数据"""
self.data.update({
"arm_state": self._arm_state.value,
"arm_current_task": self._arm_current_task,
"heating_stations": self._get_stations_status(),
"active_tasks_count": len(self._active_tasks),
})
self.data.update(
{
"arm_state": self._arm_state.value,
"arm_current_task": self._arm_current_task,
"heating_stations": self._get_stations_status(),
"active_tasks_count": len(self._active_tasks),
}
)
if message:
self.data["message"] = message
@@ -280,6 +300,7 @@ class VirtualWorkbench:
def prepare_materials(
self,
sample_uuids: SampleUUIDsType,
count: int = 5,
) -> PrepareMaterialsResult:
"""
@@ -297,10 +318,7 @@ class VirtualWorkbench:
# 生成物料列表 A1 - A{count}
materials = [i for i in range(1, count + 1)]
self.logger.info(
f"[准备物料] 生成 {count} 个物料: "
f"A1-A{count} -> material_1~material_{count}"
)
self.logger.info(f"[准备物料] 生成 {count} 个物料: " f"A1-A{count} -> material_1~material_{count}")
return {
"success": True,
@@ -311,10 +329,12 @@ class VirtualWorkbench:
"material_4": materials[3] if len(materials) > 3 else 0,
"material_5": materials[4] if len(materials) > 4 else 0,
"message": f"已准备 {count} 个物料: A1-A{count}",
"unilabos_samples": [LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for sample_uuid, content in sample_uuids.items()]
}
def move_to_heating_station(
self,
sample_uuids: SampleUUIDsType,
material_number: int,
) -> MoveToHeatingStationResult:
"""
@@ -391,6 +411,9 @@ class VirtualWorkbench:
"material_id": material_id,
"material_number": material_number,
"message": f"{material_id}已成功移动到加热台{station_id}",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
except Exception as e:
@@ -403,10 +426,14 @@ class VirtualWorkbench:
"material_id": material_id,
"material_number": material_number,
"message": f"移动失败: {str(e)}",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
def start_heating(
self,
sample_uuids: SampleUUIDsType,
station_id: int,
material_number: int,
) -> StartHeatingResult:
@@ -429,6 +456,9 @@ class VirtualWorkbench:
"material_id": "",
"material_number": material_number,
"message": f"无效的加热台ID: {station_id}",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
with self._stations_lock:
@@ -441,6 +471,9 @@ class VirtualWorkbench:
"material_id": "",
"material_number": material_number,
"message": f"加热台{station_id}上没有物料",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
if station.state == HeatingStationState.HEATING:
@@ -450,6 +483,9 @@ class VirtualWorkbench:
"material_id": station.current_material,
"material_number": material_number,
"message": f"加热台{station_id}已经在加热中",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
material_id = station.current_material
@@ -499,10 +535,14 @@ class VirtualWorkbench:
"material_id": material_id,
"material_number": material_number,
"message": f"加热台{station_id}加热完成",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
def move_to_output(
self,
sample_uuids: SampleUUIDsType,
station_id: int,
material_number: int,
) -> MoveToOutputResult:
@@ -525,6 +565,9 @@ class VirtualWorkbench:
"material_id": "",
"output_position": f"C{output_number}",
"message": f"无效的加热台ID: {station_id}",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
with self._stations_lock:
@@ -538,6 +581,9 @@ class VirtualWorkbench:
"material_id": "",
"output_position": f"C{output_number}",
"message": f"加热台{station_id}上没有物料",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
if station.state != HeatingStationState.COMPLETED:
@@ -547,6 +593,9 @@ class VirtualWorkbench:
"material_id": material_id,
"output_position": f"C{output_number}",
"message": f"加热台{station_id}尚未完成加热 (当前状态: {station.state.value})",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
output_position = f"C{output_number}"
@@ -595,6 +644,9 @@ class VirtualWorkbench:
"material_id": material_id,
"output_position": output_position,
"message": f"{material_id}已成功移动到{output_position}",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
except Exception as e:
@@ -607,6 +659,9 @@ class VirtualWorkbench:
"material_id": "",
"output_position": output_position,
"message": f"移动失败: {str(e)}",
"unilabos_samples": [
LabSample(sample_uuid=sample_uuid, oss_path="", extra={"material_uuid": content} if isinstance(content, str) else content.serialize()) for
sample_uuid, content in sample_uuids.items()]
}
# ============ 状态属性 ============