mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-17 13:01:12 +00:00
更新物料接口
This commit is contained in:
Xuwznln
@@ -1,11 +1,528 @@
|
||||
from typing import List, Tuple, Any, Dict, TYPE_CHECKING
|
||||
from abc import ABC, abstractmethod
|
||||
import uuid
|
||||
from pydantic import BaseModel, field_serializer, field_validator
|
||||
from pydantic import Field
|
||||
from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKING
|
||||
|
||||
from unilabos.utils.log import logger
|
||||
|
||||
if TYPE_CHECKING:
|
||||
from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
from pylabrobot.resources import Resource as PLRResource
|
||||
# from unilabos.devices.workstation.workstation_base import WorkstationBase
|
||||
from pylabrobot.resources import Resource as PLRResource, corning_6_wellplate_16point8ml_flat
|
||||
|
||||
|
||||
class ResourceDictPositionSize(BaseModel):
|
||||
depth: float = Field(description="Depth", default=0.0)
|
||||
width: float = Field(description="Width", default=0.0)
|
||||
height: float = Field(description="Height", default=0.0)
|
||||
|
||||
|
||||
class ResourceDictPositionScale(BaseModel):
|
||||
x: float = Field(description="x scale", default=0.0)
|
||||
y: float = Field(description="y scale", default=0.0)
|
||||
z: float = Field(description="z scale", default=0.0)
|
||||
|
||||
|
||||
class ResourceDictPositionObject(BaseModel):
|
||||
x: float = Field(description="X coordinate", default=0.0)
|
||||
y: float = Field(description="Y coordinate", default=0.0)
|
||||
z: float = Field(description="Z coordinate", default=0.0)
|
||||
|
||||
|
||||
class ResourceDictPosition(BaseModel):
|
||||
size: ResourceDictPositionSize = Field(description="Resource size", default_factory=ResourceDictPositionSize)
|
||||
scale: ResourceDictPositionScale = Field(description="Resource scale", default_factory=ResourceDictPositionScale)
|
||||
layout: Literal["2d"] = Field(description="Resource layout", default="2d")
|
||||
position: ResourceDictPositionObject = Field(
|
||||
description="Resource position", default_factory=ResourceDictPositionObject
|
||||
)
|
||||
position3d: ResourceDictPositionObject = Field(
|
||||
description="Resource position in 3D space", default_factory=ResourceDictPositionObject
|
||||
)
|
||||
rotation: ResourceDictPositionObject = Field(
|
||||
description="Resource rotation", default_factory=ResourceDictPositionObject
|
||||
)
|
||||
|
||||
|
||||
# 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化
|
||||
class ResourceDict(BaseModel):
|
||||
id: str = Field(description="Resource ID")
|
||||
uuid: str = Field(description="Resource UUID")
|
||||
name: str = Field(description="Resource name")
|
||||
description: str = Field(description="Resource description", default="")
|
||||
schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict)
|
||||
model: Dict[str, Any] = Field(description="Resource model", default_factory=dict)
|
||||
icon: str = Field(description="Resource icon", default="")
|
||||
parent: Optional["ResourceDict"] = Field(
|
||||
description="Parent resource object", default=None, serialization_alias="parent_uuid"
|
||||
)
|
||||
type: Literal["device"] | str = Field(description="Resource type")
|
||||
klass: str = Field(alias="class", description="Resource class name")
|
||||
position: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition)
|
||||
config: Dict[str, Any] = Field(description="Resource configuration")
|
||||
data: Dict[str, Any] = Field(description="Resource data")
|
||||
|
||||
@field_serializer("parent")
|
||||
def _serialize_parent(self, parent: Optional["ResourceDict"]):
|
||||
return self.parent_uuid
|
||||
|
||||
@field_validator("parent", mode="before")
|
||||
@classmethod
|
||||
def _deserialize_parent(cls, parent: Optional["ResourceDict"]):
|
||||
if isinstance(parent, ResourceDict):
|
||||
return parent
|
||||
else:
|
||||
return None
|
||||
|
||||
@property
|
||||
def parent_uuid(self) -> str:
|
||||
"""获取父节点的UUID"""
|
||||
return self.parent.uuid if self.parent is not None else ""
|
||||
|
||||
@property
|
||||
def parent_name(self) -> Optional[str]:
|
||||
"""获取父节点的UUID"""
|
||||
return self.parent.name if self.parent is not None else None
|
||||
|
||||
@property
|
||||
def is_root_node(self) -> bool:
|
||||
"""判断资源是否为根节点"""
|
||||
return self.parent is None
|
||||
|
||||
|
||||
class GraphData(BaseModel):
|
||||
"""图数据结构，包含节点和边"""
|
||||
|
||||
nodes: List["ResourceTreeInstance"] = Field(description="Resource nodes list", default_factory=list)
|
||||
links: List[Dict[str, Any]] = Field(description="Resource links/edges list", default_factory=list)
|
||||
|
||||
|
||||
class ResourceDictInstance(object):
|
||||
"""ResourceDict的实例，同时提供一些方法"""
|
||||
|
||||
def __init__(self, res_content: "ResourceDict"):
|
||||
self.res_content = res_content
|
||||
self.children = []
|
||||
self.typ = "dict"
|
||||
|
||||
@classmethod
|
||||
def get_resource_instance_from_dict(cls, content: Dict[str, Any]) -> "ResourceDictInstance":
|
||||
"""从字典创建资源实例"""
|
||||
if "id" not in content:
|
||||
content["id"] = content["name"]
|
||||
if "uuid" not in content:
|
||||
content["uuid"] = str(uuid.uuid4())
|
||||
if "description" in content and content["description"] is None:
|
||||
del content["description"]
|
||||
if "model" in content and content["model"] is None:
|
||||
del content["model"]
|
||||
if "schema" in content and content["schema"] is None:
|
||||
del content["schema"]
|
||||
if "x" in content.get("position", {}):
|
||||
# 说明是老版本的position格式，转换成新的
|
||||
content["position"] = {"position": content["position"]}
|
||||
if not content.get("class"):
|
||||
content["class"] = ""
|
||||
if not content.get("config"): # todo: 后续从后端保证字段非空
|
||||
content["config"] = {}
|
||||
if not content.get("data"):
|
||||
content["data"] = {}
|
||||
return ResourceDictInstance(ResourceDict.model_validate(content))
|
||||
|
||||
def get_nested_dict(self) -> Dict[str, Any]:
|
||||
"""获取资源实例的嵌套字典表示"""
|
||||
res_dict = self.res_content.model_dump(by_alias=True)
|
||||
res_dict["children"] = {child.res_content.name: child.get_nested_dict() for child in self.children}
|
||||
res_dict["parent"] = self.res_content.parent_name
|
||||
res_dict["position"] = self.res_content.position.position.model_dump()
|
||||
return res_dict
|
||||
|
||||
|
||||
class ResourceTreeInstance(object):
|
||||
"""
|
||||
资源树，表示一个根节点及其所有子节点的层次结构，继承ResourceDictInstance表示自己是根节点
|
||||
"""
|
||||
|
||||
@staticmethod
|
||||
def _build_uuid_map(resource_list: List[ResourceDictInstance]) -> Dict[str, ResourceDictInstance]:
|
||||
"""构建uuid到资源对象的映射，并检查重复"""
|
||||
uuid_map: Dict[str, ResourceDictInstance] = {}
|
||||
for res_instance in resource_list:
|
||||
res = res_instance.res_content
|
||||
if res.uuid in uuid_map:
|
||||
raise ValueError(f"发现重复的uuid: {res.uuid}")
|
||||
uuid_map[res.uuid] = res_instance
|
||||
return uuid_map
|
||||
|
||||
@staticmethod
|
||||
def _build_uuid_instance_map(
|
||||
resource_list: List[ResourceDictInstance],
|
||||
) -> Dict[str, ResourceDictInstance]:
|
||||
"""构建uuid到资源实例的映射"""
|
||||
return {res_instance.res_content.uuid: res_instance for res_instance in resource_list}
|
||||
|
||||
@staticmethod
|
||||
def _collect_tree_nodes(
|
||||
root_instance: ResourceDictInstance, uuid_map: Dict[str, ResourceDict]
|
||||
) -> List[ResourceDictInstance]:
|
||||
"""使用BFS收集属于某个根节点的所有节点"""
|
||||
# BFS遍历，根据parent_uuid字段找到所有属于这棵树的节点
|
||||
tree_nodes = [root_instance]
|
||||
visited = {root_instance.res_content.uuid}
|
||||
queue = [root_instance.res_content.uuid]
|
||||
|
||||
while queue:
|
||||
current_uuid = queue.pop(0)
|
||||
# 查找所有parent_uuid指向当前节点的子节点
|
||||
for uuid_str, res in uuid_map.items():
|
||||
if res.parent_uuid == current_uuid and uuid_str not in visited:
|
||||
child_instance = ResourceDictInstance(res)
|
||||
tree_nodes.append(child_instance)
|
||||
visited.add(uuid_str)
|
||||
queue.append(uuid_str)
|
||||
|
||||
return tree_nodes
|
||||
|
||||
def __init__(self, resource: ResourceDictInstance):
|
||||
self.root_node = resource
|
||||
self._validate_tree()
|
||||
|
||||
def _validate_tree(self):
|
||||
"""
|
||||
验证树结构的一致性
|
||||
- 验证uuid唯一性
|
||||
- 验证parent-children关系一致性
|
||||
|
||||
Raises:
|
||||
ValueError: 当发现不一致时
|
||||
"""
|
||||
known_uuids: set = set()
|
||||
|
||||
def validate_node(node: ResourceDictInstance):
|
||||
# 检查uuid唯一性
|
||||
if node.res_content.uuid in known_uuids:
|
||||
raise ValueError(f"发现重复的uuid: {node.res_content.uuid}")
|
||||
if node.res_content.uuid:
|
||||
known_uuids.add(node.res_content.uuid)
|
||||
else:
|
||||
print(f"警告: 资源 {node.res_content.id} 没有uuid")
|
||||
|
||||
# 验证并递归处理子节点
|
||||
for child in node.children:
|
||||
if child.res_content.parent != node.res_content:
|
||||
parent_id = child.res_content.parent.id if child.res_content.parent else None
|
||||
raise ValueError(
|
||||
f"节点 {child.res_content.id} 的parent引用不正确，应该指向 {node.res_content.id}，但实际指向 {parent_id}"
|
||||
)
|
||||
validate_node(child)
|
||||
|
||||
validate_node(self.root_node)
|
||||
|
||||
def get_all_nodes(self) -> List[ResourceDictInstance]:
|
||||
"""
|
||||
获取树中的所有节点（深度优先遍历）
|
||||
|
||||
Returns:
|
||||
所有节点的资源实例列表
|
||||
"""
|
||||
nodes = []
|
||||
|
||||
def collect_nodes(node: ResourceDictInstance):
|
||||
nodes.append(node)
|
||||
for child in node.children:
|
||||
collect_nodes(child)
|
||||
|
||||
collect_nodes(self.root_node)
|
||||
return nodes
|
||||
|
||||
def find_by_uuid(self, target_uuid: str) -> Optional[ResourceDictInstance]:
|
||||
"""
|
||||
通过uuid查找节点
|
||||
|
||||
Args:
|
||||
target_uuid: 目标uuid
|
||||
|
||||
Returns:
|
||||
找到的节点资源实例，如果没找到返回None
|
||||
"""
|
||||
|
||||
def search(node: ResourceDictInstance) -> Optional[ResourceDictInstance]:
|
||||
if node.res_content.uuid == target_uuid:
|
||||
return node
|
||||
for child in node.children:
|
||||
res = search(child)
|
||||
if res:
|
||||
return res
|
||||
return None
|
||||
|
||||
result = search(self.root_node)
|
||||
return result
|
||||
|
||||
|
||||
class ResourceTreeSet(object):
|
||||
"""
|
||||
多个根节点的resource集合，包含多个ResourceTree
|
||||
"""
|
||||
|
||||
def __init__(self, resource_list: List[List[ResourceDictInstance]] | List[ResourceTreeInstance]):
|
||||
"""
|
||||
初始化资源树集合
|
||||
|
||||
Args:
|
||||
resource_list: 可以是以下两种类型之一：
|
||||
- List[ResourceTree]: 已经构建好的树列表
|
||||
- List[List[ResourceInstanceDict]]: 嵌套列表，每个内部列表代表一棵树
|
||||
|
||||
Raises:
|
||||
TypeError: 当传入不支持的类型时
|
||||
"""
|
||||
if not resource_list:
|
||||
self.trees: List[ResourceTreeInstance] = []
|
||||
elif isinstance(resource_list[0], ResourceTreeInstance):
|
||||
# 已经是ResourceTree列表
|
||||
self.trees = cast(List[ResourceTreeInstance], resource_list)
|
||||
elif isinstance(resource_list[0], list):
|
||||
pass
|
||||
else:
|
||||
raise TypeError(
|
||||
f"不支持的类型: {type(resource_list[0])}。"
|
||||
f"ResourceTreeSet 只接受 List[ResourceTree] 或 List[List[ResourceInstanceDict]]"
|
||||
)
|
||||
|
||||
@classmethod
|
||||
def from_plr_resources(cls, resources: List["PLRResource"]) -> "ResourceTreeSet":
|
||||
"""
|
||||
从plr资源创建ResourceTreeSet
|
||||
"""
|
||||
|
||||
def replace_plr_type(source: str):
|
||||
replace_info = {
|
||||
"plate": "plate",
|
||||
"well": "well",
|
||||
"tip_spot": "container",
|
||||
"trash": "container",
|
||||
"deck": "deck",
|
||||
"tip_rack": "container",
|
||||
}
|
||||
if source in replace_info:
|
||||
return replace_info[source]
|
||||
else:
|
||||
print("转换pylabrobot的时候，出现未知类型", source)
|
||||
return "container"
|
||||
|
||||
def build_uuid_mapping(res: "PLRResource", uuid_list: list):
|
||||
"""递归构建uuid映射字典"""
|
||||
uuid_list.append(getattr(res, "unilabos_uuid", ""))
|
||||
for child in res.children:
|
||||
build_uuid_mapping(child, uuid_list)
|
||||
|
||||
def resource_plr_inner(
|
||||
d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list
|
||||
) -> ResourceDictInstance:
|
||||
current_uuid = uuids.pop(0)
|
||||
|
||||
# 先构建当前节点的字典（不包含children）
|
||||
r_dict = {
|
||||
"id": d["name"],
|
||||
"uuid": current_uuid,
|
||||
"name": d["name"],
|
||||
"parent": parent_resource, # 直接传入 ResourceDict 对象
|
||||
"type": replace_plr_type(d.get("category", "")),
|
||||
"class": d.get("class", ""),
|
||||
"position": (
|
||||
{"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]}
|
||||
if d["location"]
|
||||
else {"x": 0, "y": 0, "z": 0}
|
||||
),
|
||||
"config": {k: v for k, v in d.items() if k not in ["name", "children", "parent_name", "location"]},
|
||||
"data": states[d["name"]],
|
||||
}
|
||||
|
||||
# 先转换为 ResourceDictInstance，获取其中的 ResourceDict
|
||||
current_instance = ResourceDictInstance.get_resource_instance_from_dict(r_dict)
|
||||
current_resource = current_instance.res_content
|
||||
|
||||
# 递归处理子节点，传入当前节点的 ResourceDict 作为 parent
|
||||
current_instance.children = [
|
||||
resource_plr_inner(child, current_resource, states, uuids) for child in d["children"]
|
||||
]
|
||||
|
||||
return current_instance
|
||||
|
||||
trees = []
|
||||
for resource in resources:
|
||||
# 构建uuid列表
|
||||
uuid_list = []
|
||||
build_uuid_mapping(resource, uuid_list)
|
||||
|
||||
serialized_data = resource.serialize()
|
||||
all_states = resource.serialize_all_state()
|
||||
|
||||
# 根节点没有父节点，传入 None
|
||||
root_instance = resource_plr_inner(serialized_data, None, all_states, uuid_list)
|
||||
tree_instance = ResourceTreeInstance(root_instance)
|
||||
trees.append(tree_instance)
|
||||
return cls(trees)
|
||||
|
||||
def to_plr_resources(self) -> Tuple[List["PLRResource"], List[Dict[str, str]]]:
|
||||
"""
|
||||
将 ResourceTreeSet 转换为 PLR 资源列表
|
||||
|
||||
Returns:
|
||||
Tuple[List[PLRResource], List[Dict[str, str]]]:
|
||||
- PLR 资源实例列表
|
||||
- 每个资源对应的 name_to_uuid 映射字典列表
|
||||
"""
|
||||
from unilabos.resources.graphio import resource_ulab_to_plr
|
||||
|
||||
plr_resources = []
|
||||
name_to_uuid_maps = []
|
||||
|
||||
def build_name_to_uuid_map(node: ResourceDictInstance, result: Dict[str, str]):
|
||||
"""递归构建 name 到 uuid 的映射"""
|
||||
result[node.res_content.name] = node.res_content.uuid
|
||||
for child in node.children:
|
||||
build_name_to_uuid_map(child, result)
|
||||
|
||||
for tree in self.trees:
|
||||
# 构建 name_to_uuid 映射
|
||||
name_to_uuid = {}
|
||||
build_name_to_uuid_map(tree.root_node, name_to_uuid)
|
||||
|
||||
# 使用 get_nested_dict 获取字典表示
|
||||
resource_dict = tree.root_node.get_nested_dict()
|
||||
|
||||
# 判断是否包含 model（Deck 下没有 model）
|
||||
plr_model = tree.root_node.res_content.type != "deck"
|
||||
|
||||
try:
|
||||
# 使用 resource_ulab_to_plr 创建 PLR 资源实例
|
||||
plr_resource = resource_ulab_to_plr(resource_dict, plr_model=plr_model)
|
||||
|
||||
# 设置 unilabos_uuid 属性到资源及其所有子节点
|
||||
def set_uuid_recursive(plr_res: "PLRResource", node: ResourceDictInstance):
|
||||
"""递归设置 PLR 资源的 unilabos_uuid 属性"""
|
||||
setattr(plr_res, "unilabos_uuid", node.res_content.uuid)
|
||||
# 匹配子节点（通过 name）
|
||||
for plr_child in plr_res.children:
|
||||
matching_node = next(
|
||||
(child for child in node.children if child.res_content.name == plr_child.name),
|
||||
None,
|
||||
)
|
||||
if matching_node:
|
||||
set_uuid_recursive(plr_child, matching_node)
|
||||
|
||||
set_uuid_recursive(plr_resource, tree.root_node)
|
||||
|
||||
plr_resources.append(plr_resource)
|
||||
name_to_uuid_maps.append(name_to_uuid)
|
||||
except Exception as e:
|
||||
logger.error(f"转换 PLR 资源失败: {e}")
|
||||
import traceback
|
||||
|
||||
logger.error(f"堆栈: {traceback.format_exc()}")
|
||||
raise
|
||||
|
||||
return plr_resources, name_to_uuid_maps
|
||||
|
||||
@classmethod
|
||||
def from_nested_list(cls, nested_list: List[ResourceDictInstance]) -> "ResourceTreeSet":
|
||||
"""
|
||||
从扁平化的资源列表创建ResourceTreeSet，自动按根节点分组
|
||||
|
||||
Args:
|
||||
nested_list: 扁平化的资源实例列表，可能包含多个根节点
|
||||
|
||||
Returns:
|
||||
ResourceTreeSet实例
|
||||
|
||||
Raises:
|
||||
ValueError: 当没有找到任何根节点时
|
||||
"""
|
||||
# 找到所有根节点
|
||||
known_uuids = {res_instance.res_content.uuid for res_instance in nested_list}
|
||||
root_instances = [
|
||||
ResourceTreeInstance(res_instance)
|
||||
for res_instance in nested_list
|
||||
if res_instance.res_content.is_root_node or res_instance.res_content.parent_uuid not in known_uuids
|
||||
]
|
||||
return cls(root_instances)
|
||||
|
||||
@property
|
||||
def root_nodes(self) -> List[ResourceDictInstance]:
|
||||
"""
|
||||
获取所有树的根节点
|
||||
|
||||
Returns:
|
||||
所有根节点的资源实例列表
|
||||
"""
|
||||
return [tree.root_node for tree in self.trees]
|
||||
|
||||
@property
|
||||
def all_nodes(self) -> List[ResourceDictInstance]:
|
||||
"""
|
||||
获取所有树中的所有节点
|
||||
|
||||
Returns:
|
||||
所有节点的资源实例列表
|
||||
"""
|
||||
return [node for tree in self.trees for node in tree.get_all_nodes()]
|
||||
|
||||
def find_by_uuid(self, target_uuid: str) -> Optional[ResourceDictInstance]:
|
||||
"""
|
||||
在所有树中通过uuid查找节点
|
||||
|
||||
Args:
|
||||
target_uuid: 目标uuid
|
||||
|
||||
Returns:
|
||||
找到的节点资源实例，如果没找到返回None
|
||||
"""
|
||||
for tree in self.trees:
|
||||
result = tree.find_by_uuid(target_uuid)
|
||||
if result:
|
||||
return result
|
||||
return None
|
||||
|
||||
def dump(self) -> List[List[Dict[str, Any]]]:
|
||||
"""
|
||||
将 ResourceTreeSet 序列化为嵌套列表格式
|
||||
|
||||
序列化时：
|
||||
- parent 自动转换为 parent_uuid（在 ResourceDict.model_dump 中处理）
|
||||
- children 不会被序列化（exclude=True）
|
||||
|
||||
Returns:
|
||||
List[List[Dict]]: 每个内层列表代表一棵树的扁平化资源字典列表
|
||||
"""
|
||||
result = []
|
||||
for tree in self.trees:
|
||||
# 获取树的所有节点并序列化
|
||||
tree_nodes = [node.res_content.model_dump(by_alias=True) for node in tree.get_all_nodes()]
|
||||
result.append(tree_nodes)
|
||||
return result
|
||||
|
||||
@classmethod
|
||||
def load(cls, data: List[List[Dict[str, Any]]]) -> "ResourceTreeSet":
|
||||
"""
|
||||
从序列化的嵌套列表格式反序列化为 ResourceTreeSet
|
||||
|
||||
Args:
|
||||
data: List[List[Dict]]: 序列化的数据，每个内层列表代表一棵树
|
||||
|
||||
Returns:
|
||||
ResourceTreeSet: 反序列化后的资源树集合
|
||||
"""
|
||||
# 将每个字典转换为 ResourceInstanceDict
|
||||
# FIXME: 需要重新确定parent关系
|
||||
nested_lists = []
|
||||
for tree_data in data:
|
||||
flatten_instances = [
|
||||
ResourceDictInstance.get_resource_instance_from_dict(node_dict) for node_dict in tree_data
|
||||
]
|
||||
nested_lists.append(flatten_instances)
|
||||
|
||||
# 使用现有的构造函数创建 ResourceTreeSet
|
||||
return cls(nested_lists)
|
||||
|
||||
|
||||
class DeviceNodeResourceTracker(object):
|
||||
@@ -13,6 +530,7 @@ class DeviceNodeResourceTracker(object):
|
||||
def __init__(self):
|
||||
self.resources = []
|
||||
self.resource2parent_resource = {}
|
||||
self.uuid_to_resources = {}
|
||||
pass
|
||||
|
||||
def prefix_path(self, resource):
|
||||
@@ -24,6 +542,109 @@ class DeviceNodeResourceTracker(object):
|
||||
|
||||
return resource_prefix_path
|
||||
|
||||
def map_uuid_to_resource(self, resource, uuid_map: Dict[str, str]):
|
||||
for old_uuid, new_uuid in uuid_map.items():
|
||||
if old_uuid != new_uuid:
|
||||
if old_uuid in self.uuid_to_resources:
|
||||
instance = self.uuid_to_resources.pop(old_uuid)
|
||||
if isinstance(resource, dict):
|
||||
resource["uuid"] = new_uuid
|
||||
else: # 实例的
|
||||
setattr(instance, "unilabos_uuid", new_uuid)
|
||||
self.uuid_to_resources[new_uuid] = instance
|
||||
print(f"更新uuid映射: {old_uuid} -> {new_uuid} | {instance}")
|
||||
|
||||
def loop_set_uuid(self, resource, name_to_uuid_map: Dict[str, str]) -> int:
|
||||
"""
|
||||
递归遍历资源树，根据 name 设置所有节点的 uuid
|
||||
|
||||
Args:
|
||||
resource: 资源对象（可以是dict或实例）
|
||||
name_to_uuid_map: name到uuid的映射字典，{name: uuid}
|
||||
|
||||
Returns:
|
||||
更新的资源数量
|
||||
"""
|
||||
if isinstance(resource, list):
|
||||
return sum(self.loop_set_uuid(r, name_to_uuid_map) for r in resource)
|
||||
|
||||
update_count = 0
|
||||
|
||||
# 先递归处理所有子节点
|
||||
children = getattr(resource, "children", [])
|
||||
for child in children:
|
||||
update_count += self.loop_set_uuid(child, name_to_uuid_map)
|
||||
|
||||
# 获取当前资源的name
|
||||
if isinstance(resource, dict):
|
||||
resource_name = resource.get("name")
|
||||
else:
|
||||
resource_name = getattr(resource, "name", None)
|
||||
|
||||
# 如果name在映射中，则设置uuid
|
||||
if resource_name and resource_name in name_to_uuid_map:
|
||||
new_uuid = name_to_uuid_map[resource_name]
|
||||
# 更新资源的uuid
|
||||
if isinstance(resource, dict):
|
||||
resource["uuid"] = new_uuid
|
||||
else:
|
||||
# 对于PLR资源，设置unilabos_uuid
|
||||
setattr(resource, "unilabos_uuid", new_uuid)
|
||||
self.uuid_to_resources[new_uuid] = resource
|
||||
update_count += 1
|
||||
logger.debug(f"设置资源UUID: {resource_name} -> {new_uuid}")
|
||||
|
||||
return update_count
|
||||
|
||||
def loop_update_uuid(self, resource, uuid_map: Dict[str, str]) -> int:
|
||||
"""
|
||||
递归遍历资源树，更新所有节点的uuid
|
||||
|
||||
Args:
|
||||
resource: 资源对象（可以是dict或实例）
|
||||
uuid_map: uuid映射字典，{old_uuid: new_uuid}
|
||||
|
||||
Returns:
|
||||
更新的资源数量
|
||||
"""
|
||||
if isinstance(resource, list):
|
||||
return sum(self.loop_update_uuid(r, uuid_map) for r in resource)
|
||||
|
||||
update_count = 0
|
||||
|
||||
# 先递归处理所有子节点
|
||||
children = getattr(resource, "children", [])
|
||||
for child in children:
|
||||
update_count += self.loop_update_uuid(child, uuid_map)
|
||||
|
||||
# 获取当前资源的uuid
|
||||
if isinstance(resource, dict):
|
||||
current_uuid = resource.get("uuid")
|
||||
else:
|
||||
current_uuid = getattr(resource, "unilabos_uuid", None)
|
||||
|
||||
# 如果当前uuid在映射中，则更新
|
||||
if current_uuid and current_uuid in uuid_map:
|
||||
new_uuid = uuid_map[current_uuid]
|
||||
if current_uuid != new_uuid:
|
||||
# 更新资源的uuid
|
||||
if isinstance(resource, dict):
|
||||
resource["uuid"] = new_uuid
|
||||
else:
|
||||
# 对于PLR资源，更新unilabos_uuid
|
||||
if hasattr(resource, "unilabos_uuid"):
|
||||
setattr(resource, "unilabos_uuid", new_uuid)
|
||||
|
||||
# 更新uuid_to_resources映射
|
||||
if current_uuid in self.uuid_to_resources:
|
||||
instance = self.uuid_to_resources.pop(current_uuid)
|
||||
self.uuid_to_resources[new_uuid] = instance
|
||||
|
||||
update_count += 1
|
||||
logger.debug(f"更新uuid: {current_uuid} -> {new_uuid} | {resource}")
|
||||
|
||||
return update_count
|
||||
|
||||
def parent_resource(self, resource):
|
||||
if id(resource) in self.resource2parent_resource:
|
||||
return self.resource2parent_resource[id(resource)]
|
||||
@@ -47,12 +668,12 @@ class DeviceNodeResourceTracker(object):
|
||||
): # 临时处理，要删除的，driver有太多类型错误标注
|
||||
return [self.figure_resource(r, try_mode) for r in query_resource.values()]
|
||||
res_id = (
|
||||
query_resource.id
|
||||
query_resource.id # type: ignore
|
||||
if hasattr(query_resource, "id")
|
||||
else (query_resource.get("id") if isinstance(query_resource, dict) else None)
|
||||
)
|
||||
res_name = (
|
||||
query_resource.name
|
||||
query_resource.name # type: ignore
|
||||
if hasattr(query_resource, "name")
|
||||
else (query_resource.get("name") if isinstance(query_resource, dict) else None)
|
||||
)
|
||||
@@ -65,7 +686,7 @@ class DeviceNodeResourceTracker(object):
|
||||
for r in self.resources:
|
||||
if isinstance(query_resource, dict):
|
||||
res_list.extend(
|
||||
self.loop_find_resource(r, resource_cls_type, identifier_key, query_resource[identifier_key])
|
||||
self.loop_find_resource(r, object, identifier_key, query_resource[identifier_key])
|
||||
)
|
||||
else:
|
||||
res_list.extend(
|
||||
@@ -93,7 +714,7 @@ class DeviceNodeResourceTracker(object):
|
||||
res_list.extend(
|
||||
self.loop_find_resource(child, target_resource_cls_type, identifier_key, compare_value, resource)
|
||||
)
|
||||
if target_resource_cls_type == type(resource):
|
||||
if issubclass(type(resource), target_resource_cls_type):
|
||||
if target_resource_cls_type == dict:
|
||||
if identifier_key in resource:
|
||||
if resource[identifier_key] == compare_value:
|
||||
@@ -111,3 +732,137 @@ class DeviceNodeResourceTracker(object):
|
||||
if getattr(res, k) == v:
|
||||
new_list.append(res)
|
||||
return new_list
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
import sys
|
||||
import os
|
||||
|
||||
a = corning_6_wellplate_16point8ml_flat("a").serialize()
|
||||
# 尝试导入 pylabrobot，如果失败则尝试从本地 pylabrobot_repo 导入
|
||||
try:
|
||||
from pylabrobot.resources import Resource, Coordinate
|
||||
except ImportError:
|
||||
# 尝试添加本地 pylabrobot_repo 路径
|
||||
# __file__ is unilabos/ros/nodes/resource_tracker.py
|
||||
# We need to go up 4 levels to get to project root
|
||||
current_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
|
||||
pylabrobot_path = os.path.join(current_dir, "pylabrobot_repo")
|
||||
if os.path.exists(pylabrobot_path):
|
||||
sys.path.insert(0, pylabrobot_path)
|
||||
try:
|
||||
from pylabrobot.resources import Resource, Coordinate
|
||||
except ImportError:
|
||||
print("pylabrobot 未安装，且无法从本地 pylabrobot_repo 导入")
|
||||
print("如需运行测试，请先安装: pip install pylabrobot")
|
||||
exit(0)
|
||||
else:
|
||||
print("pylabrobot 未安装，跳过测试")
|
||||
print("如需运行测试，请先安装: pip install pylabrobot")
|
||||
exit(0)
|
||||
|
||||
# 创建一个简单的测试资源
|
||||
def create_test_resource(name: str):
|
||||
"""创建一个简单的测试用资源"""
|
||||
# 创建父资源
|
||||
parent = Resource(name=name, size_x=100.0, size_y=100.0, size_z=50.0, category="container")
|
||||
|
||||
# 添加一些子资源
|
||||
for i in range(3):
|
||||
child = Resource(name=f"{name}_child_{i}", size_x=20.0, size_y=20.0, size_z=10.0, category="container")
|
||||
child.location = Coordinate(x=i * 30, y=0, z=0)
|
||||
parent.assign_child_resource(child, location=child.location)
|
||||
|
||||
return parent
|
||||
|
||||
print("=" * 80)
|
||||
print("测试 1: 基本序列化和反序列化")
|
||||
print("=" * 80)
|
||||
|
||||
# 创建原始 PLR 资源
|
||||
original_resource = create_test_resource("test_resource")
|
||||
print(f"\n1. 创建原始 PLR 资源: {original_resource.name}")
|
||||
print(f" 子节点数量: {len(original_resource.children)}")
|
||||
|
||||
# 手动设置 unilabos_uuid（模拟实际使用场景）
|
||||
def set_test_uuid(res: "PLRResource", prefix="uuid"):
|
||||
"""递归设置测试用的 uuid"""
|
||||
import uuid as uuid_module
|
||||
|
||||
setattr(res, "unilabos_uuid", f"{prefix}-{uuid_module.uuid4()}")
|
||||
for i, child in enumerate(res.children):
|
||||
set_test_uuid(child, f"{prefix}-{i}")
|
||||
|
||||
set_test_uuid(original_resource, "root")
|
||||
print(f" 根节点 UUID: {getattr(original_resource, 'unilabos_uuid', 'None')}")
|
||||
|
||||
# 转换为 ResourceTreeSet (from_plr_resources)
|
||||
print("\n2. 使用 from_plr_resources 转换为 ResourceTreeSet")
|
||||
resource_tree_set = ResourceTreeSet.from_plr_resources([original_resource])
|
||||
print(f" 树的数量: {len(resource_tree_set.trees)}")
|
||||
print(f" 根节点名称: {resource_tree_set.root_nodes[0].res_content.name}")
|
||||
print(f" 根节点 UUID: {resource_tree_set.root_nodes[0].res_content.uuid}")
|
||||
print(f" 总节点数: {len(resource_tree_set.all_nodes)}")
|
||||
|
||||
# 转换回 PLR 资源 (to_plr_resources)
|
||||
print("\n3. 使用 to_plr_resources 转换回 PLR 资源")
|
||||
try:
|
||||
plr_resources, name_to_uuid_maps = resource_tree_set.to_plr_resources()
|
||||
except ModuleNotFoundError as e:
|
||||
print(f" ❌ 缺少依赖模块: {e}")
|
||||
print(" 提示: to_plr_resources 方法实现完成，但需要安装额外的依赖（如 networkx）")
|
||||
print("\n测试部分完成！from_plr_resources 已验证正常工作。")
|
||||
exit(0)
|
||||
print(f" PLR 资源数量: {len(plr_resources)}")
|
||||
print(f" name_to_uuid 映射数量: {len(name_to_uuid_maps)}")
|
||||
|
||||
restored_resource = plr_resources[0]
|
||||
name_to_uuid = name_to_uuid_maps[0]
|
||||
|
||||
print(f" 恢复的资源名称: {restored_resource.name}")
|
||||
print(f" 恢复的资源子节点数: {len(restored_resource.children)}")
|
||||
print(f" 恢复的资源 UUID: {getattr(restored_resource, 'unilabos_uuid', 'None')}")
|
||||
print(f" name_to_uuid 映射条目数: {len(name_to_uuid)}")
|
||||
|
||||
# 验证 UUID 映射
|
||||
print("\n4. 验证 UUID 映射")
|
||||
original_uuid = getattr(original_resource, "unilabos_uuid", None)
|
||||
restored_uuid = getattr(restored_resource, "unilabos_uuid", None)
|
||||
print(f" 原始根节点 UUID: {original_uuid}")
|
||||
print(f" 恢复后根节点 UUID: {restored_uuid}")
|
||||
print(f" UUID 匹配: {original_uuid == restored_uuid}")
|
||||
|
||||
# 验证 name_to_uuid 映射完整性
|
||||
def count_all_nodes(res: "PLRResource") -> int:
|
||||
"""递归统计节点总数"""
|
||||
return 1 + sum(count_all_nodes(child) for child in res.children)
|
||||
|
||||
original_node_count = count_all_nodes(original_resource)
|
||||
restored_node_count = count_all_nodes(restored_resource)
|
||||
mapping_count = len(name_to_uuid)
|
||||
|
||||
print(f"\n 原始资源节点总数: {original_node_count}")
|
||||
print(f" 恢复资源节点总数: {restored_node_count}")
|
||||
print(f" 映射字典条目数: {mapping_count}")
|
||||
print(f" 节点数量匹配: {original_node_count == restored_node_count == mapping_count}")
|
||||
|
||||
# 验证子节点的 UUID
|
||||
print("\n5. 验证子节点 UUID (前3个)")
|
||||
for i, (original_child, restored_child) in enumerate(
|
||||
zip(original_resource.children[:3], restored_resource.children[:3])
|
||||
):
|
||||
orig_uuid = getattr(original_child, "unilabos_uuid", None)
|
||||
rest_uuid = getattr(restored_child, "unilabos_uuid", None)
|
||||
print(f" 子节点 {i}: {original_child.name}")
|
||||
print(f" 原始 UUID: {orig_uuid}")
|
||||
print(f" 恢复 UUID: {rest_uuid}")
|
||||
print(f" 匹配: {orig_uuid == rest_uuid}")
|
||||
|
||||
# 测试 name_to_uuid 映射的正确性
|
||||
print("\n6. 验证 name_to_uuid 映射内容 (前5个)")
|
||||
for i, (name, uuid_val) in enumerate(list(name_to_uuid.items())[:5]):
|
||||
print(f" {name} -> {uuid_val}")
|
||||
|
||||
print("\n" + "=" * 80)
|
||||
print("测试完成！")
|
||||
print("=" * 80)
|
||||
|
||||
Reference in New Issue
Block a user