Update regular container method

test/experiments/comprehensive_protocol/comprehensive_station.json

@@ -170,7 +170,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "size_x": 200,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -194,7 +197,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "size_x": 200,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -218,7 +224,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "size_x": 300,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -242,7 +251,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "size_x": 900,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -266,7 +278,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 1000.0
+                "max_volume": 1000.0,
+                "size_x": 950,
+                "size_y": 150,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -419,7 +434,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 2000.0,
+                "size_x": 500,
+                "size_y": 400,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -439,7 +457,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 2000.0
+                "max_volume": 2000.0,
+                "size_x": 1100,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -649,7 +670,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "size_x": 900,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -669,7 +693,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "size_x": 950,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -689,7 +716,10 @@
                 "z": 0
             },
             "config": {
-                "max_volume": 250.0
+                "max_volume": 250.0,
+                "size_x": 1050,
+                "size_y": 500,
+                "size_z": 0
             },
             "data": {
                 "liquids": [
@@ -733,6 +763,9 @@
             },
             "config": {
                 "max_volume": 500.0,
+                "size_x": 550,
+                "size_y": 250,
+                "size_z": 0,
                 "reagent": "sodium_chloride",
                 "physical_state": "solid"
             },
@@ -756,6 +789,9 @@
             },
             "config": {
                 "volume": 500.0,
+                "size_x": 600,
+                "size_y": 250,
+                "size_z": 0,
                 "reagent": "sodium_carbonate",
                 "physical_state": "solid"
             },
@@ -779,6 +815,9 @@
             },
             "config": {
                 "volume": 500.0,
+                "size_x": 650,
+                "size_y": 250,
+                "size_z": 0,
                 "reagent": "magnesium_chloride",
                 "physical_state": "solid"
             },

unilabos/registry/resources/organic/container.yaml

@@ -3,7 +3,7 @@ container:
   - container
   class:
     module: unilabos.resources.container:RegularContainer
-    type: unilabos
+    type: pylabrobot
   description: regular organic container
   handles:
   - data_key: fluid_in

unilabos/resources/container.py

@@ -1,67 +1,73 @@
 import json
 
+from pylabrobot.resources import Container
 from unilabos_msgs.msg import Resource
 
 from unilabos.ros.msgs.message_converter import convert_from_ros_msg
 
 
-class RegularContainer(object):
+class RegularContainer(Container):
-    # 第一个参数必须是id传入
+    pass
-    # noinspection PyShadowingBuiltins
-    def __init__(self, id: str):
-        self.id = id
-        self.ulr_resource = Resource()
-        self._data = None
 
-    @property
-    def ulr_resource_data(self):
-        if self._data is None:
-            self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
-        return self._data
 
-    @ulr_resource_data.setter
+#
-    def ulr_resource_data(self, value: dict):
+# class RegularContainer(object):
-        self._data = value
+#     # 第一个参数必须是id传入
-        self.ulr_resource.data = json.dumps(self._data)
+#     # noinspection PyShadowingBuiltins
-
+#     def __init__(self, id: str):
-    @property
+#         self.id = id
-    def liquid_type(self):
+#         self.ulr_resource = Resource()
-        return self.ulr_resource_data.get("liquid_type", None)
+#         self._data = None
-
+#
-    @liquid_type.setter
+#     @property
-    def liquid_type(self, value: str):
+#     def ulr_resource_data(self):
-        if value is not None:
+#         if self._data is None:
-            self.ulr_resource_data["liquid_type"] = value
+#             self._data = json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
-        else:
+#         return self._data
-            self.ulr_resource_data.pop("liquid_type", None)
+#
-
+#     @ulr_resource_data.setter
-    @property
+#     def ulr_resource_data(self, value: dict):
-    def liquid_volume(self):
+#         self._data = value
-        return self.ulr_resource_data.get("liquid_volume", None)
+#         self.ulr_resource.data = json.dumps(self._data)
-
+#
-    @liquid_volume.setter
+#     @property
-    def liquid_volume(self, value: float):
+#     def liquid_type(self):
-        if value is not None:
+#         return self.ulr_resource_data.get("liquid_type", None)
-            self.ulr_resource_data["liquid_volume"] = value
+#
-        else:
+#     @liquid_type.setter
-            self.ulr_resource_data.pop("liquid_volume", None)
+#     def liquid_type(self, value: str):
-
+#         if value is not None:
-    def get_ulr_resource(self) -> Resource:
+#             self.ulr_resource_data["liquid_type"] = value
-        """
+#         else:
-        获取UlrResource对象
+#             self.ulr_resource_data.pop("liquid_type", None)
-        :return: UlrResource对象
+#
-        """
+#     @property
-        self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
+#     def liquid_volume(self):
-        return self.ulr_resource
+#         return self.ulr_resource_data.get("liquid_volume", None)
-
+#
-    def get_ulr_resource_as_dict(self) -> Resource:
+#     @liquid_volume.setter
-        """
+#     def liquid_volume(self, value: float):
-        获取UlrResource对象
+#         if value is not None:
-        :return: UlrResource对象
+#             self.ulr_resource_data["liquid_volume"] = value
-        """
+#         else:
-        to_dict = convert_from_ros_msg(self.get_ulr_resource())
+#             self.ulr_resource_data.pop("liquid_volume", None)
-        to_dict["type"] = "container"
+#
-        return to_dict
+#     def get_ulr_resource(self) -> Resource:
-
+#         """
-    def __str__(self):
+#         获取UlrResource对象
-        return f"{self.id}"
+#         :return: UlrResource对象
+#         """
+#         self.ulr_resource_data = self.ulr_resource_data  # 确保数据被更新
+#         return self.ulr_resource
+#
+#     def get_ulr_resource_as_dict(self) -> Resource:
+#         """
+#         获取UlrResource对象
+#         :return: UlrResource对象
+#         """
+#         to_dict = convert_from_ros_msg(self.get_ulr_resource())
+#         to_dict["type"] = "container"
+#         return to_dict
+#
+#     def __str__(self):
+#         return f"{self.id}"

unilabos/resources/graphio.py

@@ -781,6 +781,7 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni
             else:
                 r = resource_plr
         elif resource_class_config["type"] == "unilabos":
+            raise ValueError(f"No more support for unilabos Resource class {resource_class_config}")
             res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
             res_instance.ulr_resource = convert_to_ros_msg(
                 Resource, {k: v for k, v in resource_config.items() if k != "class"}