Update regular container method

2025-12-17 13:01:12 +00:00 · 2025-10-16 13:33:28 +08:00
parent 03a4e4ecba
commit 55d22a7c29
4 changed files with 115 additions and 69 deletions
--- a/test/experiments/comprehensive_protocol/comprehensive_station.json
+++ b/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"
            },
--- a/unilabos/registry/resources/organic/container.yaml
+++ b/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
--- a/unilabos/resources/container.py
+++ b/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):
-    # 第一个参数必须是id传入
-    # noinspection PyShadowingBuiltins
-    def __init__(self, id: str):
-        self.id = id
-        self.ulr_resource = Resource()
-        self._data = None
+class RegularContainer(Container):
+    pass

-    @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):
-        self._data = value
-        self.ulr_resource.data = json.dumps(self._data)
-
-    @property
-    def liquid_type(self):
-        return self.ulr_resource_data.get("liquid_type", None)
-
-    @liquid_type.setter
-    def liquid_type(self, value: str):
-        if value is not None:
-            self.ulr_resource_data["liquid_type"] = value
-        else:
-            self.ulr_resource_data.pop("liquid_type", None)
-
-    @property
-    def liquid_volume(self):
-        return self.ulr_resource_data.get("liquid_volume", None)
-
-    @liquid_volume.setter
-    def liquid_volume(self, value: float):
-        if value is not None:
-            self.ulr_resource_data["liquid_volume"] = value
-        else:
-            self.ulr_resource_data.pop("liquid_volume", None)
-
-    def get_ulr_resource(self) -> Resource:
-        """
-        获取UlrResource对象
-        :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}"
+#
+# class RegularContainer(object):
+#     # 第一个参数必须是id传入
+#     # 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):
+#         self._data = value
+#         self.ulr_resource.data = json.dumps(self._data)
+#
+#     @property
+#     def liquid_type(self):
+#         return self.ulr_resource_data.get("liquid_type", None)
+#
+#     @liquid_type.setter
+#     def liquid_type(self, value: str):
+#         if value is not None:
+#             self.ulr_resource_data["liquid_type"] = value
+#         else:
+#             self.ulr_resource_data.pop("liquid_type", None)
+#
+#     @property
+#     def liquid_volume(self):
+#         return self.ulr_resource_data.get("liquid_volume", None)
+#
+#     @liquid_volume.setter
+#     def liquid_volume(self, value: float):
+#         if value is not None:
+#             self.ulr_resource_data["liquid_volume"] = value
+#         else:
+#             self.ulr_resource_data.pop("liquid_volume", None)
+#
+#     def get_ulr_resource(self) -> Resource:
+#         """
+#         获取UlrResource对象
+#         :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}"
--- a/unilabos/resources/graphio.py
+++ b/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"}