fix "laiyu" missing init file.

2025-12-14 13:14:39 +00:00 · 2025-12-14 12:55:25 +08:00
parent d23e85ade4
commit 5d5569121c
1 changed files with 307 additions and 0 deletions
--- a/unilabos/devices/liquid_handling/laiyu/init.py
+++ b/unilabos/devices/liquid_handling/laiyu/init.py
@@ -0,0 +1,307 @@
+"""
+LaiYu_Liquid 液体处理工作站集成模块
+
+该模块提供了 LaiYu_Liquid 工作站与 UniLabOS 的完整集成，包括：
+- 硬件后端和抽象接口
+- 资源定义和管理
+- 协议执行和液体传输
+- 工作台配置和布局
+
+主要组件：
+- LaiYuLiquidBackend: 硬件后端实现
+- LaiYuLiquid: 液体处理器抽象接口
+- 各种资源类：枪头架、板、容器等
+- 便捷创建函数和配置管理
+
+使用示例：
+    from unilabos.devices.laiyu_liquid import (
+        LaiYuLiquid, 
+        LaiYuLiquidBackend,
+        create_standard_deck,
+        create_tip_rack_1000ul
+    )
+    
+    # 创建后端和液体处理器
+    backend = LaiYuLiquidBackend()
+    lh = LaiYuLiquid(backend=backend)
+    
+    # 创建工作台
+    deck = create_standard_deck()
+    lh.deck = deck
+    
+    # 设置和运行
+    await lh.setup()
+"""
+
+# 版本信息
+__version__ = "1.0.0"
+__author__ = "LaiYu_Liquid Integration Team"
+__description__ = "LaiYu_Liquid 液体处理工作站 UniLabOS 集成模块"
+
+# 驱动程序导入
+from .drivers import (
+    XYZStepperController,
+    SOPAPipette,
+    MotorAxis,
+    MotorStatus,
+    SOPAConfig,
+    SOPAStatusCode,
+    StepperMotorDriver
+)
+
+# 控制器导入
+from .controllers import (
+    XYZController,
+    PipetteController,
+)
+
+# 后端导入
+from .backend.rviz_backend import (
+    LiquidHandlerRvizBackend,
+)
+
+# 资源类和创建函数导入
+from .core.laiyu_liquid_res import (
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer,
+    LaiYuLiquidTipRack
+)
+
+# 主设备类和配置
+from .core.laiyu_liquid_main import (
+    LaiYuLiquid,
+    LaiYuLiquidConfig,
+    LaiYuLiquidDeck,
+    LaiYuLiquidContainer,
+    LaiYuLiquidTipRack,
+    create_quick_setup
+)
+
+# 后端创建函数导入
+from .backend import (
+    LaiYuLiquidBackend,
+    create_laiyu_backend,
+)
+
+# 导出所有公共接口
+__all__ = [
+    # 版本信息
+    "__version__",
+    "__author__",
+    "__description__",
+    
+    # 驱动程序
+    "SOPAPipette",
+    "SOPAConfig", 
+    "StepperMotorDriver",
+    "XYZStepperController",
+    
+    # 控制器
+    "PipetteController",
+    "XYZController",
+    
+    # 后端
+    "LiquidHandlerRvizBackend",
+    
+    # 资源创建函数
+    "create_tip_rack_1000ul",
+    "create_tip_rack_200ul", 
+    "create_96_well_plate",
+    "create_deep_well_plate",
+    "create_8_tube_rack",
+    "create_standard_deck",
+    "create_waste_container",
+    "create_wash_container",
+    "create_reagent_container",
+    "load_deck_config",
+    
+    # 后端创建函数
+    "create_laiyu_backend",
+    
+    # 主要类
+    "LaiYuLiquid",
+    "LaiYuLiquidConfig", 
+    "LaiYuLiquidBackend",
+    "LaiYuLiquidDeck",
+    
+    # 工具函数
+    "get_version",
+    "get_supported_resources",
+    "create_quick_setup",
+    "validate_installation",
+    "print_module_info",
+    "setup_logging",
+]
+
+# 别名定义，为了向后兼容
+LaiYuLiquidDevice = LaiYuLiquid  # 主设备类别名
+LaiYuLiquidController = XYZController  # 控制器别名
+LaiYuLiquidDriver = XYZStepperController  # 驱动器别名
+
+# 模块级别的便捷函数
+
+def get_version() -> str:
+    """
+    获取模块版本
+    
+    Returns:
+        str: 版本号
+    """
+    return __version__
+
+
+def get_supported_resources() -> dict:
+    """
+    获取支持的资源类型
+    
+    Returns:
+        dict: 支持的资源类型字典
+    """
+    return {
+        "tip_racks": {
+            "LaiYuLiquidTipRack": LaiYuLiquidTipRack,
+        },
+        "containers": {
+            "LaiYuLiquidContainer": LaiYuLiquidContainer,
+        },
+        "decks": {
+            "LaiYuLiquidDeck": LaiYuLiquidDeck,
+        },
+        "devices": {
+            "LaiYuLiquid": LaiYuLiquid,
+        }
+    }
+
+
+def create_quick_setup() -> tuple:
+    """
+    快速创建基本设置
+    
+    Returns:
+        tuple: (backend, controllers, resources) 的元组
+    """
+    # 创建后端
+    backend = LiquidHandlerRvizBackend()
+    
+    # 创建控制器（使用默认端口进行演示）
+    pipette_controller = PipetteController(port="/dev/ttyUSB0", address=4)
+    xyz_controller = XYZController(port="/dev/ttyUSB1", auto_connect=False)
+    
+    # 创建测试资源
+    tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000")
+    tip_rack_200 = create_tip_rack_200ul("tip_rack_200")
+    well_plate = create_96_well_plate("96_well_plate")
+    
+    controllers = {
+        'pipette': pipette_controller,
+        'xyz': xyz_controller
+    }
+    
+    resources = {
+        'tip_rack_1000': tip_rack_1000,
+        'tip_rack_200': tip_rack_200,
+        'well_plate': well_plate
+    }
+    
+    return backend, controllers, resources
+
+
+def validate_installation() -> bool:
+    """
+    验证模块安装是否正确
+    
+    Returns:
+        bool: 安装是否正确
+    """
+    try:
+        # 检查核心类是否可以导入
+        from .core.laiyu_liquid_main import LaiYuLiquid, LaiYuLiquidConfig
+        from .backend import LaiYuLiquidBackend
+        from .controllers import XYZController, PipetteController
+        from .drivers import XYZStepperController, SOPAPipette
+        
+        # 尝试创建基本对象
+        config = LaiYuLiquidConfig()
+        backend = create_laiyu_backend("validation_test")
+        
+        print("模块安装验证成功")
+        return True
+        
+    except Exception as e:
+        print(f"模块安装验证失败: {e}")
+        return False
+
+
+def print_module_info():
+    """打印模块信息"""
+    print(f"LaiYu_Liquid 集成模块")
+    print(f"版本: {__version__}")
+    print(f"作者: {__author__}")
+    print(f"描述: {__description__}")
+    print(f"")
+    print(f"支持的资源类型:")
+    
+    resources = get_supported_resources()
+    for category, types in resources.items():
+        print(f"  {category}:")
+        for type_name, type_class in types.items():
+            print(f"    - {type_name}: {type_class.__name__}")
+    
+    print(f"")
+    print(f"主要功能:")
+    print(f"  - 硬件集成: LaiYuLiquidBackend")
+    print(f"  - 抽象接口: LaiYuLiquid")
+    print(f"  - 资源管理: 各种资源类和创建函数")
+    print(f"  - 协议执行: transfer_liquid 和相关函数")
+    print(f"  - 配置管理: deck.json 和加载函数")
+
+
+# 模块初始化时的检查
+def _check_dependencies():
+    """检查依赖项"""
+    try:
+        import pylabrobot
+        import asyncio
+        import json
+        import logging
+        return True
+    except ImportError as e:
+        import logging
+        logging.warning(f"缺少依赖项 {e}")
+        return False
+
+
+# 执行依赖检查
+_dependencies_ok = _check_dependencies()
+
+if not _dependencies_ok:
+    import logging
+    logging.warning("某些依赖项缺失，模块功能可能受限")
+
+
+# 模块级别的日志配置
+import logging
+
+def setup_logging(level: str = "INFO"):
+    """
+    设置模块日志
+    
+    Args:
+        level: 日志级别 (DEBUG, INFO, WARNING, ERROR)
+    """
+    logger = logging.getLogger("LaiYu_Liquid")
+    logger.setLevel(getattr(logging, level.upper()))
+    
+    if not logger.handlers:
+        handler = logging.StreamHandler()
+        formatter = logging.Formatter(
+            '%(asctime)s - %(name)s - %(levelname)s - %(message)s'
+        )
+        handler.setFormatter(formatter)
+        logger.addHandler(handler)
+    
+    return logger
+
+
+# 默认日志设置
+_logger = setup_logging()