diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index d9c04331..a8677f49 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -30,6 +30,7 @@ from pylabrobot.liquid_handling.standard import ( from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract +from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode class PRCXIError(RuntimeError): @@ -162,6 +163,10 @@ class PRCXI9300Handler(LiquidHandlerAbstract): ) super().__init__(backend=self._unilabos_backend, deck=deck, simulator=simulator, channel_num=channel_num) + def post_init(self, ros_node: BaseROS2DeviceNode): + super().post_init(ros_node) + self._unilabos_backend.post_init(ros_node) + def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): return super().set_liquid(wells, liquid_names, volumes) @@ -424,6 +429,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): _num_channels = 8 # 默认通道数为 8 _is_reset_ok = False + _ros_node: BaseROS2DeviceNode @property def is_reset_ok(self) -> bool: @@ -456,6 +462,9 @@ class PRCXI9300Backend(LiquidHandlerBackend): self._execute_setup = setup self.debug = debug + def post_init(self, ros_node: BaseROS2DeviceNode): + self._ros_node = ros_node + def create_protocol(self, protocol_name): self.protocol_name = protocol_name self.steps_todo_list = [] @@ -500,7 +509,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): self.api_client.call("IAutomation", "Reset") while not self.is_reset_ok: print("Waiting for PRCXI9300 to reset...") - await asyncio.sleep(1) + await self._ros_node.sleep(1) print("PRCXI9300 reset successfully.") except ConnectionRefusedError as e: raise RuntimeError( @@ -533,7 +542,9 @@ class PRCXI9300Backend(LiquidHandlerBackend): tipspot_index = tipspot.parent.children.index(tipspot) tip_columns.append(tipspot_index // 8) if len(set(tip_columns)) != 1: - raise ValueError("All pickups must be from the same tip column. Found different columns: " + str(tip_columns)) + raise ValueError( + "All pickups must be from the same tip column. Found different columns: " + str(tip_columns) + ) PlateNo = plate_indexes[0] + 1 hole_col = tip_columns[0] + 1 hole_row = 1 @@ -1109,12 +1120,15 @@ class PRCXI9300Api: "LiquidDispensingMethod": liquid_method, } + class DefaultLayout: def __init__(self, product_name: str = "PRCXI9300"): self.labresource = {} if product_name not in ["PRCXI9300", "PRCXI9320"]: - raise ValueError(f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported.") + raise ValueError( + f"Unsupported product_name: {product_name}. Only 'PRCXI9300' and 'PRCXI9320' are supported." + ) if product_name == "PRCXI9300": self.rows = 2 @@ -1129,25 +1143,93 @@ class DefaultLayout: self.layout = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16] self.trash_slot = 16 self.waste_liquid_slot = 12 - self.default_layout = {"MatrixId":f"{time.time()}","MatrixName":f"{time.time()}","MatrixCount":16,"WorkTablets": - [{"Number": 1, "Code": "T1", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 2, "Code": "T2", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 3, "Code": "T3", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 4, "Code": "T4", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 5, "Code": "T5", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 6, "Code": "T6", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 7, "Code": "T7", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 8, "Code": "T8", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 9, "Code": "T9", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 10, "Code": "T10", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 11, "Code": "T11", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 12, "Code": "T12", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}}, # 这个设置成废液槽，用储液槽表示 - {"Number": 13, "Code": "T13", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 14, "Code": "T14", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 15, "Code": "T15", "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}}, - {"Number": 16, "Code": "T16", "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}} # 这个设置成垃圾桶，用储液槽表示 -] -} + self.default_layout = { + "MatrixId": f"{time.time()}", + "MatrixName": f"{time.time()}", + "MatrixCount": 16, + "WorkTablets": [ + { + "Number": 1, + "Code": "T1", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 2, + "Code": "T2", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 3, + "Code": "T3", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 4, + "Code": "T4", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 5, + "Code": "T5", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 6, + "Code": "T6", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 7, + "Code": "T7", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 8, + "Code": "T8", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 9, + "Code": "T9", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 10, + "Code": "T10", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 11, + "Code": "T11", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 12, + "Code": "T12", + "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}, + }, # 这个设置成废液槽，用储液槽表示 + { + "Number": 13, + "Code": "T13", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 14, + "Code": "T14", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 15, + "Code": "T15", + "Material": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": 0}, + }, + { + "Number": 16, + "Code": "T16", + "Material": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": 0}, + }, # 这个设置成垃圾桶，用储液槽表示 + ], + } def get_layout(self) -> Dict[str, Any]: return { @@ -1155,7 +1237,7 @@ class DefaultLayout: "columns": self.columns, "layout": self.layout, "trash_slot": self.trash_slot, - "waste_liquid_slot": self.waste_liquid_slot + "waste_liquid_slot": self.waste_liquid_slot, } def get_trash_slot(self) -> int: @@ -1178,17 +1260,19 @@ class DefaultLayout: reserved_positions = {12, 16} available_positions = [i for i in range(1, 17) if i not in reserved_positions] - # 计算总需求 + # 计算总需求 total_needed = sum(count for _, _, count in needs) if total_needed > len(available_positions): - raise ValueError(f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）") + raise ValueError( + f"需要 {total_needed} 个位置，但只有 {len(available_positions)} 个可用位置（排除位置12和16）" + ) # 依次分配位置 current_pos = 0 for reagent_name, material_name, count in needs: - material_uuid = self.labresource[material_name]['uuid'] - material_enum = self.labresource[material_name]['materialEnum'] + material_uuid = self.labresource[material_name]["uuid"] + material_enum = self.labresource[material_name]["materialEnum"] for _ in range(count): if current_pos >= len(available_positions): @@ -1196,17 +1280,18 @@ class DefaultLayout: position = available_positions[current_pos] # 找到对应的tablet并更新 - for tablet in self.default_layout['WorkTablets']: - if tablet['Number'] == position: - tablet['Material']['uuid'] = material_uuid - tablet['Material']['materialEnum'] = material_enum - layout_list.append(dict(reagent_name=reagent_name, material_name=material_name, positions=position)) + for tablet in self.default_layout["WorkTablets"]: + if tablet["Number"] == position: + tablet["Material"]["uuid"] = material_uuid + tablet["Material"]["materialEnum"] = material_enum + layout_list.append( + dict(reagent_name=reagent_name, material_name=material_name, positions=position) + ) break current_pos += 1 return self.default_layout, layout_list - if __name__ == "__main__": # Example usage # 1. 用导出的json，给每个T1 T2板子设定相应的物料，如果是孔板和枪头盒，要对应区分 @@ -1302,10 +1387,7 @@ if __name__ == "__main__": # # # plate2.set_well_liquids(plate_2_liquids) - - - - # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, + # handler = PRCXI9300Handler(deck=deck, host="10.181.214.132", port=9999, # timeout=10.0, setup=False, debug=False, # simulator=True, # matrix_id="71593", @@ -1391,10 +1473,7 @@ if __name__ == "__main__": # # input("Press Enter to continue...") # Wait for user input before proceeding # # print("PRCXI9300Handler initialized with deck and host settings.") - - -### 9320 ### - + ### 9320 ### deck = PRCXI9300Deck(name="PRCXI_Deck", size_x=100, size_y=100, size_z=100) @@ -1412,12 +1491,15 @@ if __name__ == "__main__": new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers) return new_plate - def get_tip_rack(name: str, child_prefix: str="tip") -> PRCXI9300Container: + def get_tip_rack(name: str, child_prefix: str = "tip") -> PRCXI9300Container: tip_racks = opentrons_96_tiprack_10ul(name).serialize() tip_rack = PRCXI9300Container( - name=name, size_x=50, size_y=50, size_z=10, category="tip_rack", ordering=collections.OrderedDict({ - k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items() - }) + name=name, + size_x=50, + size_y=50, + size_z=10, + category="tip_rack", + ordering=collections.OrderedDict({k: f"{child_prefix}_{k}" for k, v in tip_racks["ordering"].items()}), ) tip_rack_serialized = tip_rack.serialize() tip_rack_serialized["parent_name"] = deck.name @@ -1629,6 +1711,7 @@ if __name__ == "__main__": ) backend: PRCXI9300Backend = handler.backend from pylabrobot.resources import set_volume_tracking + set_volume_tracking(enabled=True) # res = backend.api_client.get_all_materials() asyncio.run(handler.setup()) # Initialize the handler and setup the connection @@ -1640,10 +1723,10 @@ if __name__ == "__main__": for well in plate13.get_all_items(): # well_pos = well.name.split("_")[1] # 走一行 - # if well_pos.startswith("A"): - if well.name.startswith("PlateT13"): # 走整个Plate + # if well_pos.startswith("A"): + if well.name.startswith("PlateT13"): # 走整个Plate asyncio.run(handler.dispense([well], [0.01], [0])) - + # asyncio.run(handler.dispense([plate10.get_item("H12")], [1], [0])) # asyncio.run(handler.dispense([plate13.get_item("A1")], [1], [0])) # asyncio.run(handler.dispense([plate14.get_item("C5")], [1], [0])) @@ -1652,26 +1735,25 @@ if __name__ == "__main__": asyncio.run(handler.run_protocol()) time.sleep(5) os._exit(0) -# 第一种情景：一个孔往多个孔加液 + # 第一种情景：一个孔往多个孔加液 # plate_2_liquids = handler.set_group("water", [plate2.children[0]], [300]) # plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23) -# 第二个情景：多个孔往多个孔加液(但是个数得对应) - plate_2_liquids = handler.set_group("water", plate2.children[:23], [300]*23) - plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100]*23) + # 第二个情景：多个孔往多个孔加液(但是个数得对应) + plate_2_liquids = handler.set_group("water", plate2.children[:23], [300] * 23) + plate5_liquids = handler.set_group("master_mix", plate5.children[:23], [100] * 23) # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8 # plate11.set_well_liquids([("Water", 100) if (i % 8 == 0 and i // 8 < 6) else (None, 100) for i in range(96)]) # Set liquids for every 8 wells in plate8 -# A = tree_to_list([resource_plr_to_ulab(deck)]) -# # with open("deck.json", "w", encoding="utf-8") as f: -# # json.dump(A, f, indent=4, ensure_ascii=False) + # A = tree_to_list([resource_plr_to_ulab(deck)]) + # # with open("deck.json", "w", encoding="utf-8") as f: + # # json.dump(A, f, indent=4, ensure_ascii=False) -# print(plate11.get_well(0).tracker.get_used_volume()) - # Initialize the backend and setup the connection + # print(plate11.get_well(0).tracker.get_used_volume()) + # Initialize the backend and setup the connection asyncio.run(handler.transfer_group("water", "master_mix", 10)) # Reset tip tracking - # asyncio.run(handler.pick_up_tips([plate8.children[8]],[0])) # print(plate8.children[8]) # asyncio.run(handler.run_protocol()) @@ -1685,121 +1767,118 @@ if __name__ == "__main__": # print(plate1.children[0]) # asyncio.run(handler.discard_tips([0])) -# asyncio.run(handler.add_liquid( -# asp_vols=[10]*7, -# dis_vols=[10]*7, -# reagent_sources=plate11.children[:7], -# targets=plate1.children[2:9], -# use_channels=[0], -# flow_rates=[None] * 7, -# offsets=[Coordinate(0, 0, 0)] * 7, -# liquid_height=[None] * 7, -# blow_out_air_volume=[None] * 2, -# delays=None, -# mix_time=3, -# mix_vol=5, -# spread="custom", -# )) + # asyncio.run(handler.add_liquid( + # asp_vols=[10]*7, + # dis_vols=[10]*7, + # reagent_sources=plate11.children[:7], + # targets=plate1.children[2:9], + # use_channels=[0], + # flow_rates=[None] * 7, + # offsets=[Coordinate(0, 0, 0)] * 7, + # liquid_height=[None] * 7, + # blow_out_air_volume=[None] * 2, + # delays=None, + # mix_time=3, + # mix_vol=5, + # spread="custom", + # )) # asyncio.run(handler.run_protocol()) # Run the protocol + # # # asyncio.run(handler.transfer_liquid( + # # # asp_vols=[10]*2, + # # # dis_vols=[10]*2, + # # # sources=plate11.children[:2], + # # # targets=plate11.children[-2:], + # # # use_channels=[0], + # # # offsets=[Coordinate(0, 0, 0)] * 4, + # # # liquid_height=[None] * 2, + # # # blow_out_air_volume=[None] * 2, + # # # delays=None, + # # # mix_times=3, + # # # mix_vol=5, + # # # spread="wide", + # # # tip_racks=[plate8] + # # # )) + # # # asyncio.run(handler.remove_liquid( + # # # vols=[10]*2, + # # # sources=plate11.children[:2], + # # # waste_liquid=plate11.children[43], + # # # use_channels=[0], + # # # offsets=[Coordinate(0, 0, 0)] * 4, + # # # liquid_height=[None] * 2, + # # # blow_out_air_volume=[None] * 2, + # # # delays=None, + # # # spread="wide" + # # # )) + # # asyncio.run(handler.run_protocol()) + # # # asyncio.run(handler.discard_tips()) + # # # asyncio.run(handler.mix(well_containers.children[:8 + # # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) + # # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info -# # # asyncio.run(handler.transfer_liquid( -# # # asp_vols=[10]*2, -# # # dis_vols=[10]*2, -# # # sources=plate11.children[:2], -# # # targets=plate11.children[-2:], -# # # use_channels=[0], -# # # offsets=[Coordinate(0, 0, 0)] * 4, -# # # liquid_height=[None] * 2, -# # # blow_out_air_volume=[None] * 2, -# # # delays=None, -# # # mix_times=3, -# # # mix_vol=5, -# # # spread="wide", -# # # tip_racks=[plate8] -# # # )) - -# # # asyncio.run(handler.remove_liquid( -# # # vols=[10]*2, -# # # sources=plate11.children[:2], -# # # waste_liquid=plate11.children[43], -# # # use_channels=[0], -# # # offsets=[Coordinate(0, 0, 0)] * 4, -# # # liquid_height=[None] * 2, -# # # blow_out_air_volume=[None] * 2, -# # # delays=None, -# # # spread="wide" -# # # )) -# # asyncio.run(handler.run_protocol()) - -# # # asyncio.run(handler.discard_tips()) -# # # asyncio.run(handler.mix(well_containers.children[:8 -# # # ], mix_time=3, mix_vol=50, height_to_bottom=0.5, offsets=Coordinate(0, 0, 0), mix_rate=100)) -# # #print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info - - -# # # asyncio.run(handler.remove_liquid( -# # # vols=[100]*16, -# # # sources=well_containers.children[-16:], -# # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写 -# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], -# # # flow_rates=[None] * 32, -# # # offsets=[Coordinate(0, 0, 0)] * 32, -# # # liquid_height=[None] * 32, -# # # blow_out_air_volume=[None] * 32, -# # # spread="wide", -# # # )) -# # # asyncio.run(handler.transfer_liquid( -# # # asp_vols=[100]*16, -# # # dis_vols=[100]*16, -# # # tip_racks=[tip_rack], -# # # sources=well_containers.children[-16:], -# # # targets=well_containers.children[:16], -# # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], -# # # offsets=[Coordinate(0, 0, 0)] * 32, -# # # asp_flow_rates=[None] * 16, -# # # dis_flow_rates=[None] * 16, -# # # liquid_height=[None] * 32, -# # # blow_out_air_volume=[None] * 32, -# # # mix_times=3, -# # # mix_vol=50, -# # # spread="wide", -# # # )) -# # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info -# # # input("pick_up_tips add step") - #asyncio.run(handler.run_protocol()) # Run the protocol -# # # input("Running protocol...") -# # # input("Press Enter to continue...") # Wait for user input before proceeding -# # # print("PRCXI9300Handler initialized with deck and host settings.") - - -# 一些推荐版位组合的测试样例： - -# 一些推荐版位组合的测试样例： + # # # asyncio.run(handler.remove_liquid( + # # # vols=[100]*16, + # # # sources=well_containers.children[-16:], + # # # waste_liquid=well_containers.children[:16], # 这个有些奇怪，但是好像也只能这么写 + # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], + # # # flow_rates=[None] * 32, + # # # offsets=[Coordinate(0, 0, 0)] * 32, + # # # liquid_height=[None] * 32, + # # # blow_out_air_volume=[None] * 32, + # # # spread="wide", + # # # )) + # # # asyncio.run(handler.transfer_liquid( + # # # asp_vols=[100]*16, + # # # dis_vols=[100]*16, + # # # tip_racks=[tip_rack], + # # # sources=well_containers.children[-16:], + # # # targets=well_containers.children[:16], + # # # use_channels=[0, 1, 2, 3, 4, 5, 6, 7], + # # # offsets=[Coordinate(0, 0, 0)] * 32, + # # # asp_flow_rates=[None] * 16, + # # # dis_flow_rates=[None] * 16, + # # # liquid_height=[None] * 32, + # # # blow_out_air_volume=[None] * 32, + # # # mix_times=3, + # # # mix_vol=50, + # # # spread="wide", + # # # )) + # # print(json.dumps(handler._unilabos_backend.steps_todo_list, indent=2)) # Print matrix info + # # # input("pick_up_tips add step") + # asyncio.run(handler.run_protocol()) # Run the protocol + # # # input("Running protocol...") + # # # input("Press Enter to continue...") # Wait for user input before proceeding + # # # print("PRCXI9300Handler initialized with deck and host settings.") + # 一些推荐版位组合的测试样例： + # 一些推荐版位组合的测试样例： with open("prcxi_material.json", "r") as f: material_info = json.load(f) layout = DefaultLayout("PRCXI9320") layout.add_lab_resource(material_info) - MatrixLayout_1, dict_1 = layout.recommend_layout([ - ("reagent_1", "96 细胞培养皿", 3), - ("reagent_2", "12道储液槽", 1), - ("reagent_3", "200μL Tip头", 7), - ("reagent_4", "10μL加长 Tip头", 1), - ]) + MatrixLayout_1, dict_1 = layout.recommend_layout( + [ + ("reagent_1", "96 细胞培养皿", 3), + ("reagent_2", "12道储液槽", 1), + ("reagent_3", "200μL Tip头", 7), + ("reagent_4", "10μL加长 Tip头", 1), + ] + ) print(dict_1) - MatrixLayout_2, dict_2 = layout.recommend_layout([ - ("reagent_1", "96深孔板", 4), - ("reagent_2", "12道储液槽", 1), - ("reagent_3", "200μL Tip头", 1), - ("reagent_4", "10μL加长 Tip头", 1), - ]) + MatrixLayout_2, dict_2 = layout.recommend_layout( + [ + ("reagent_1", "96深孔板", 4), + ("reagent_2", "12道储液槽", 1), + ("reagent_3", "200μL Tip头", 1), + ("reagent_4", "10μL加长 Tip头", 1), + ] + ) # with open("prcxi_material.json", "r") as f: # material_info = json.load(f) diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index edf41fbd..2fc7ea7d 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -53,7 +53,7 @@ from unilabos.ros.nodes.resource_tracker import ( ) from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator -from rclpy.task import Task +from rclpy.task import Task, Future from unilabos.utils.import_manager import default_manager from unilabos.utils.log import info, debug, warning, error, critical, logger, trace from unilabos.utils.type_check import get_type_class, TypeEncoder, get_result_info_str @@ -555,6 +555,15 @@ class BaseROS2DeviceNode(Node, Generic[T]): rclpy.get_global_executor().add_node(self) self.lab_logger().debug(f"ROS节点初始化完成") + async def sleep(self, rel_time: float, callback_group=None): + if callback_group is None: + callback_group = self.callback_group + await ROS2DeviceNode.async_wait_for(self, rel_time, callback_group) + + @classmethod + async def create_task(cls, func, trace_error=True, **kwargs) -> Task: + return ROS2DeviceNode.run_async_func(func, trace_error, **kwargs) + async def update_resource(self, resources: List["ResourcePLR"]): r = SerialCommand.Request() tree_set = ResourceTreeSet.from_plr_resources(resources) @@ -1399,6 +1408,14 @@ class ROS2DeviceNode: future.add_done_callback(_handle_future_exception) return future + @classmethod + async def async_wait_for(cls, node: Node, wait_time: float, callback_group=None): + future = Future() + timer = node.create_timer(wait_time, lambda : future.set_result(None), callback_group=callback_group, clock=node.get_clock()) + await future + timer.cancel() + node.destroy_timer(timer) + @property def driver_instance(self): return self._driver_instance diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 43d16e8d..346cf9c2 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -18,7 +18,8 @@ from unilabos_msgs.srv import ( ResourceDelete, ResourceUpdate, ResourceList, - SerialCommand, ResourceGet, + SerialCommand, + ResourceGet, ) # type: ignore from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response from unique_identifier_msgs.msg import UUID