diff --git a/.conda/recipe.yaml b/.conda/recipe.yaml index 62b0633..f7dca72 100644 --- a/.conda/recipe.yaml +++ b/.conda/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: 0.10.12 + version: 0.10.13 source: path: ../unilabos diff --git a/recipes/msgs/recipe.yaml b/recipes/msgs/recipe.yaml index 86150f0..399be6c 100644 --- a/recipes/msgs/recipe.yaml +++ b/recipes/msgs/recipe.yaml @@ -1,6 +1,6 @@ package: name: ros-humble-unilabos-msgs - version: 0.10.12 + version: 0.10.13 source: path: ../../unilabos_msgs target_directory: src diff --git a/recipes/unilabos/recipe.yaml b/recipes/unilabos/recipe.yaml index 0f79b26..34bd39c 100644 --- a/recipes/unilabos/recipe.yaml +++ b/recipes/unilabos/recipe.yaml @@ -1,6 +1,6 @@ package: name: unilabos - version: "0.10.12" + version: "0.10.13" source: path: ../.. diff --git a/setup.py b/setup.py index 4f733d0..cb687c2 100644 --- a/setup.py +++ b/setup.py @@ -4,7 +4,7 @@ package_name = 'unilabos' setup( name=package_name, - version='0.10.12', + version='0.10.13', packages=find_packages(), include_package_data=True, install_requires=['setuptools'], diff --git a/unilabos/devices/laiyu_liquid_test/__init__.py b/tests/resources/__init__.py similarity index 100% rename from unilabos/devices/laiyu_liquid_test/__init__.py rename to tests/resources/__init__.py diff --git a/unilabos/test/resources/bioyond_materials_liquidhandling_1.json b/tests/resources/bioyond_materials_liquidhandling_1.json similarity index 100% rename from unilabos/test/resources/bioyond_materials_liquidhandling_1.json rename to tests/resources/bioyond_materials_liquidhandling_1.json diff --git a/unilabos/test/resources/bioyond_materials_liquidhandling_2.json b/tests/resources/bioyond_materials_liquidhandling_2.json similarity index 100% rename from unilabos/test/resources/bioyond_materials_liquidhandling_2.json rename to tests/resources/bioyond_materials_liquidhandling_2.json diff --git a/unilabos/test/resources/bioyond_materials_reaction.json b/tests/resources/bioyond_materials_reaction.json similarity index 100% rename from unilabos/test/resources/bioyond_materials_reaction.json rename to tests/resources/bioyond_materials_reaction.json diff --git a/unilabos/test/resources/test_bottle_carrier.py b/tests/resources/test_bottle_carrier.py similarity index 100% rename from unilabos/test/resources/test_bottle_carrier.py rename to tests/resources/test_bottle_carrier.py diff --git a/unilabos/test/resources/test_converter_bioyond.py b/tests/resources/test_converter_bioyond.py similarity index 100% rename from unilabos/test/resources/test_converter_bioyond.py rename to tests/resources/test_converter_bioyond.py diff --git a/unilabos/test/resources/test_itemized_carrier.py b/tests/resources/test_itemized_carrier.py similarity index 100% rename from unilabos/test/resources/test_itemized_carrier.py rename to tests/resources/test_itemized_carrier.py diff --git a/unilabos/test/resources/test_resourcetreeset.py b/tests/resources/test_resourcetreeset.py similarity index 100% rename from unilabos/test/resources/test_resourcetreeset.py rename to tests/resources/test_resourcetreeset.py diff --git a/tests/ros/__init__.py b/tests/ros/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/test/ros/msgs/__init__.py b/tests/ros/msgs/__init__.py similarity index 100% rename from unilabos/test/ros/msgs/__init__.py rename to tests/ros/msgs/__init__.py diff --git a/unilabos/test/ros/msgs/test_basic.py b/tests/ros/msgs/test_basic.py similarity index 100% rename from unilabos/test/ros/msgs/test_basic.py rename to tests/ros/msgs/test_basic.py diff --git a/unilabos/test/ros/msgs/test_conversion.py b/tests/ros/msgs/test_conversion.py similarity index 100% rename from unilabos/test/ros/msgs/test_conversion.py rename to tests/ros/msgs/test_conversion.py diff --git a/unilabos/test/ros/msgs/test_mapping.py b/tests/ros/msgs/test_mapping.py similarity index 100% rename from unilabos/test/ros/msgs/test_mapping.py rename to tests/ros/msgs/test_mapping.py diff --git a/unilabos/test/ros/msgs/test_runner.py b/tests/ros/msgs/test_runner.py similarity index 100% rename from unilabos/test/ros/msgs/test_runner.py rename to tests/ros/msgs/test_runner.py diff --git a/tests/workflow/__init__.py b/tests/workflow/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/test/workflow/example_bio.json b/tests/workflow/example_bio.json similarity index 100% rename from unilabos/test/workflow/example_bio.json rename to tests/workflow/example_bio.json diff --git a/unilabos/test/workflow/example_bio_graph.png b/tests/workflow/example_bio_graph.png similarity index 100% rename from unilabos/test/workflow/example_bio_graph.png rename to tests/workflow/example_bio_graph.png diff --git a/unilabos/test/workflow/example_prcxi.json b/tests/workflow/example_prcxi.json similarity index 100% rename from unilabos/test/workflow/example_prcxi.json rename to tests/workflow/example_prcxi.json diff --git a/unilabos/test/workflow/example_prcxi_graph.png b/tests/workflow/example_prcxi_graph.png similarity index 100% rename from unilabos/test/workflow/example_prcxi_graph.png rename to tests/workflow/example_prcxi_graph.png diff --git a/unilabos/test/workflow/example_prcxi_graph_20251022_1359.png b/tests/workflow/example_prcxi_graph_20251022_1359.png similarity index 100% rename from unilabos/test/workflow/example_prcxi_graph_20251022_1359.png rename to tests/workflow/example_prcxi_graph_20251022_1359.png diff --git a/tests/workflow/merge_workflow.py b/tests/workflow/merge_workflow.py new file mode 100644 index 0000000..2801a74 --- /dev/null +++ b/tests/workflow/merge_workflow.py @@ -0,0 +1,35 @@ +import sys +from datetime import datetime +from pathlib import Path + +ROOT_DIR = Path(__file__).resolve().parents[2] +if str(ROOT_DIR) not in sys.path: + sys.path.insert(0, str(ROOT_DIR)) + +import pytest + +from unilabos.workflow.convert_from_json import ( + convert_from_json, + normalize_steps as _normalize_steps, + normalize_labware as _normalize_labware, +) +from unilabos.workflow.common import draw_protocol_graph_with_ports + + +@pytest.mark.parametrize( + "protocol_name", + [ + "example_bio", + # "bioyond_materials_liquidhandling_1", + "example_prcxi", + ], +) +def test_build_protocol_graph(protocol_name): + data_path = Path(__file__).with_name(f"{protocol_name}.json") + + graph = convert_from_json(data_path, workstation_name="PRCXi") + + timestamp = datetime.now().strftime("%Y%m%d_%H%M") + output_path = data_path.with_name(f"{protocol_name}_graph_{timestamp}.png") + draw_protocol_graph_with_ports(graph, str(output_path)) + print(graph) diff --git a/unilabos/__init__.py b/unilabos/__init__.py index a37fec7..f63b48a 100644 --- a/unilabos/__init__.py +++ b/unilabos/__init__.py @@ -1 +1 @@ -__version__ = "0.10.12" +__version__ = "0.10.13" diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index 72c079a..13e7ee3 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -299,6 +299,10 @@ class HTTPClient: ) if response.status_code not in [200, 201]: logger.error(f"注册资源失败: {response.status_code}, {response.text}") + if response.status_code == 200: + res = response.json() + if "code" in res and res["code"] != 0: + logger.error(f"注册资源失败: {response.text}") return response def request_startup_json(self) -> Optional[Dict[str, Any]]: diff --git a/unilabos/device_comms/opcua_client/client.py b/unilabos/device_comms/opcua_client/client.py index 011ce07..b45cded 100644 --- a/unilabos/device_comms/opcua_client/client.py +++ b/unilabos/device_comms/opcua_client/client.py @@ -5,7 +5,6 @@ from typing import Any, Union, List, Dict, Callable, Optional, Tuple from pydantic import BaseModel from opcua import Client, ua -from opcua.ua import NodeClass import pandas as pd import os @@ -13,7 +12,7 @@ from unilabos.device_comms.opcua_client.node.uniopcua import Base as OpcUaNodeBa from unilabos.device_comms.opcua_client.node.uniopcua import Variable, Method, NodeType, DataType from unilabos.device_comms.universal_driver import UniversalDriver from unilabos.utils.log import logger - +from unilabos.devices.workstation.post_process.decks import post_process_deck class OpcUaNode(BaseModel): name: str @@ -117,6 +116,8 @@ class BaseClient(UniversalDriver): _variables_to_find: Dict[str, Dict[str, Any]] = {} _name_mapping: Dict[str, str] = {} # 英文名到中文名的映射 _reverse_mapping: Dict[str, str] = {} # 中文名到英文名的映射 + # 直接缓存已找到的 ua.Node 对象，避免因字符串 NodeId 格式导致订阅失败 + _found_node_objects: Dict[str, Any] = {} def __init__(self): super().__init__() @@ -125,6 +126,9 @@ class BaseClient(UniversalDriver): # 初始化名称映射字典 self._name_mapping = {} self._reverse_mapping = {} + # 初始化线程锁（在子类中会被重新创建，这里提供默认实现） + import threading + self._client_lock = threading.RLock() def _set_client(self, client: Optional[Client]) -> None: if client is None: @@ -152,15 +156,24 @@ class BaseClient(UniversalDriver): if not self.client: raise ValueError('client is not connected') - logger.info('开始查找节点...') + logger.info(f'开始查找 {len(self._variables_to_find)} 个节点...') try: # 获取根节点 root = self.client.get_root_node() objects = root.get_child(["0:Objects"]) + # 记录查找前的状态 + before_count = len(self._node_registry) + # 查找节点 self._find_nodes_recursive(objects) + # 记录查找后的状态 + after_count = len(self._node_registry) + newly_found = after_count - before_count + + logger.info(f"本次查找新增 {newly_found} 个节点，当前共 {after_count} 个") + # 检查是否所有节点都已找到 not_found = [] for var_name, var_info in self._variables_to_find.items(): @@ -168,9 +181,13 @@ class BaseClient(UniversalDriver): not_found.append(var_name) if not_found: - logger.warning(f"以下节点未找到: {', '.join(not_found)}") + logger.warning(f"⚠ 以下 {len(not_found)} 个节点未找到: {', '.join(not_found[:10])}{'...' if len(not_found) > 10 else ''}") + logger.warning(f"提示：请检查这些节点名称是否与服务器的 BrowseName 完全匹配（包括大小写、空格等）") + # 提供一个示例来帮助调试 + if not_found: + logger.info(f"尝试在服务器中查找第一个未找到的节点 '{not_found[0]}' 的相似节点...") else: - logger.info("所有节点均已找到") + logger.info(f"✓ 所有 {len(self._variables_to_find)} 个节点均已找到并注册") except Exception as e: logger.error(f"查找节点失败: {e}") @@ -188,17 +205,20 @@ class BaseClient(UniversalDriver): var_info = self._variables_to_find[node_name] node_type = var_info.get("node_type") data_type = var_info.get("data_type") + node_id_str = str(node.nodeid) # 根据节点类型创建相应的对象 if node_type == NodeType.VARIABLE: - self._node_registry[node_name] = Variable(self.client, node_name, str(node.nodeid), data_type) - logger.info(f"找到变量节点: {node_name}") + self._node_registry[node_name] = Variable(self.client, node_name, node_id_str, data_type) + logger.info(f"✓ 找到变量节点: '{node_name}', NodeId: {node_id_str}, DataType: {data_type}") + # 缓存真实的 ua.Node 对象用于订阅 + self._found_node_objects[node_name] = node elif node_type == NodeType.METHOD: # 对于方法节点，需要获取父节点ID parent_node = node.get_parent() parent_node_id = str(parent_node.nodeid) - self._node_registry[node_name] = Method(self.client, node_name, str(node.nodeid), parent_node_id, data_type) - logger.info(f"找到方法节点: {node_name}") + self._node_registry[node_name] = Method(self.client, node_name, node_id_str, parent_node_id, data_type) + logger.info(f"✓ 找到方法节点: '{node_name}', NodeId: {node_id_str}, ParentId: {parent_node_id}") # 递归处理子节点 for child in node.get_children(): @@ -296,13 +316,17 @@ class BaseClient(UniversalDriver): if name in self._name_mapping: chinese_name = self._name_mapping[name] if chinese_name in self._node_registry: - return self._node_registry[chinese_name] + node = self._node_registry[chinese_name] + logger.debug(f"使用节点: '{name}' -> '{chinese_name}', NodeId: {node.node_id}") + return node elif chinese_name in self._variables_to_find: logger.warning(f"节点 {chinese_name} (英文名: {name}) 尚未找到，尝试重新查找") if self.client: self._find_nodes() if chinese_name in self._node_registry: - return self._node_registry[chinese_name] + node = self._node_registry[chinese_name] + logger.info(f"重新查找成功: '{chinese_name}', NodeId: {node.node_id}") + return node raise ValueError(f'节点 {chinese_name} (英文名: {name}) 未注册或未找到') # 直接使用原始名称查找 @@ -312,9 +336,14 @@ class BaseClient(UniversalDriver): if self.client: self._find_nodes() if name in self._node_registry: - return self._node_registry[name] + node = self._node_registry[name] + logger.info(f"重新查找成功: '{name}', NodeId: {node.node_id}") + return node + logger.error(f"❌ 节点 '{name}' 未注册或未找到。已注册节点: {list(self._node_registry.keys())[:5]}...") raise ValueError(f'节点 {name} 未注册或未找到') - return self._node_registry[name] + node = self._node_registry[name] + logger.debug(f"使用节点: '{name}', NodeId: {node.node_id}") + return node def get_node_registry(self) -> Dict[str, OpcUaNodeBase]: return self._node_registry @@ -335,12 +364,13 @@ class BaseClient(UniversalDriver): return self logger.info(f'开始注册 {len(node_list)} 个节点...') + new_nodes_count = 0 for node in node_list: if node is None: continue if node.name in self._node_registry: - logger.info(f'节点 {node.name} 已存在') + logger.debug(f'节点 "{node.name}" 已存在于注册表') exist = self._node_registry[node.name] if exist.type != node.node_type: raise ValueError(f'节点 {node.name} 类型 {node.node_type} 与已存在的类型 {exist.type} 不一致') @@ -351,9 +381,10 @@ class BaseClient(UniversalDriver): "node_type": node.node_type, "data_type": node.data_type } - logger.info(f'添加节点 {node.name} 到待查找列表') + new_nodes_count += 1 + logger.debug(f'添加节点 "{node.name}" ({node.node_type}) 到待查找列表') - logger.info('节点注册完成') + logger.info(f'节点注册完成：新增 {new_nodes_count} 个待查找节点，总计 {len(self._variables_to_find)} 个') # 如果客户端已连接，立即开始查找 if self.client: @@ -470,7 +501,7 @@ class BaseClient(UniversalDriver): val = result_dict.get("value") err = result_dict.get("error") - print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}), 错误 = {err}") + print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}, 错误 = {err}") return val, err except Exception as e: print(f"解析读取结果失败: {e}, 原始结果: {result_str}") @@ -516,17 +547,27 @@ class BaseClient(UniversalDriver): """ if write_nodes is None: raise ValueError("必须提供write_nodes参数") - + def execute_init_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + """根据 _workflow_params 为各节点写入真实数值。 + + 约定: + - write_nodes 为 list 时: 节点名 == 参数名，从 _workflow_params[node_name] 取值； + - write_nodes 为 dict 时: + * value 为字符串且在 _workflow_params 中: 当作参数名去取值； + * 否则 value 视为常量直接写入。 + """ + + params = getattr(self, "_workflow_params", {}) or {} + if isinstance(write_nodes, list): - # 处理节点列表 + # 节点列表形式: 节点名与参数名一致 for node_name in write_nodes: - # 尝试从参数中获取同名参数的值 - current_value = True # 默认值 - if hasattr(self, '_workflow_params') and node_name in self._workflow_params: - current_value = self._workflow_params[node_name] - print(f"初始化函数: 从参数获取值 {node_name} = {current_value}") - + if node_name not in params: + print(f"初始化函数: 参数中未找到 {node_name}, 跳过写入") + continue + + current_value = params[node_name] print(f"初始化函数: 写入节点 {node_name} = {current_value}") input_json = json.dumps({"node_name": node_name, "value": current_value}) result_str = self.write_node(input_json) @@ -538,14 +579,15 @@ class BaseClient(UniversalDriver): except Exception as e: print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}") elif isinstance(write_nodes, dict): - # 处理节点字典，使用指定的值 + # 映射形式: 节点名 -> 参数名或常量 for node_name, node_value in write_nodes.items(): - # 检查值是否是字符串类型的参数名 - current_value = node_value - if isinstance(node_value, str) and hasattr(self, '_workflow_params') and node_value in self._workflow_params: - current_value = self._workflow_params[node_value] + if isinstance(node_value, str) and node_value in params: + current_value = params[node_value] print(f"初始化函数: 从参数获取值 {node_value} = {current_value}") - + else: + current_value = node_value + print(f"初始化函数: 使用常量值 写入 {node_name} = {current_value}") + print(f"初始化函数: 写入节点 {node_name} = {current_value}") input_json = json.dumps({"node_name": node_name, "value": current_value}) result_str = self.write_node(input_json) @@ -672,20 +714,20 @@ class BaseClient(UniversalDriver): condition_nodes: 条件节点列表 [节点名1, 节点名2] """ def execute_start_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: - # 直接处理写入节点 + """开始函数: 写入触发节点, 然后轮询条件节点直到满足停止条件。""" + + params = getattr(self, "_workflow_params", {}) or {} + + # 先处理写入节点（触发位等） if write_nodes: if isinstance(write_nodes, list): - # 处理节点列表，默认值都是True - for i, node_name in enumerate(write_nodes): - # 尝试获取与节点对应的参数值 - param_name = f"write_{i}" - - # 获取参数值（如果有） - current_value = True # 默认值 - if hasattr(self, '_workflow_params') and param_name in self._workflow_params: - current_value = self._workflow_params[param_name] - - # 直接写入节点 + # 列表形式: 节点名与参数名一致, 若无参数则直接写 True + for node_name in write_nodes: + if node_name in params: + current_value = params[node_name] + else: + current_value = True + print(f"直接写入节点 {node_name} = {current_value}") input_json = json.dumps({"node_name": node_name, "value": current_value}) result_str = self.write_node(input_json) @@ -697,14 +739,13 @@ class BaseClient(UniversalDriver): except Exception as e: print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}") elif isinstance(write_nodes, dict): - # 处理节点字典，值是指定的 + # 字典形式: 节点名 -> 常量值(如 True/False) for node_name, node_value in write_nodes.items(): - # 尝试获取参数值（如果节点名与参数名匹配） - current_value = node_value # 使用指定的默认值 - if hasattr(self, '_workflow_params') and node_name in self._workflow_params: - current_value = self._workflow_params[node_name] - - # 直接写入节点 + if node_name in params: + current_value = params[node_name] + else: + current_value = node_value + print(f"直接写入节点 {node_name} = {current_value}") input_json = json.dumps({"node_name": node_name, "value": current_value}) result_str = self.write_node(input_json) @@ -732,6 +773,7 @@ class BaseClient(UniversalDriver): # 直接读取节点 result_str = self.read_node(node_name) try: + time.sleep(1) result_str = result_str.replace("'", '"') result_dict = json.loads(result_str) read_res = result_dict.get("value") @@ -1035,31 +1077,33 @@ class BaseClient(UniversalDriver): 读取节点值的便捷方法 返回包含result字段的字典 """ - try: - node = self.use_node(node_name) - value, error = node.read() - - # 创建结果字典 - result = { - "value": value, - "error": error, - "node_name": node_name, - "timestamp": time.time() - } - - # 返回JSON字符串 - return json.dumps(result) - except Exception as e: - logger.error(f"读取节点 {node_name} 失败: {e}") - # 创建错误结果字典 - result = { - "value": None, - "error": True, - "node_name": node_name, - "error_message": str(e), - "timestamp": time.time() - } - return json.dumps(result) + # 使用锁保护客户端访问 + with self._client_lock: + try: + node = self.use_node(node_name) + value, error = node.read() + + # 创建结果字典 + result = { + "value": value, + "error": error, + "node_name": node_name, + "timestamp": time.time() + } + + # 返回JSON字符串 + return json.dumps(result) + except Exception as e: + logger.error(f"读取节点 {node_name} 失败: {e}") + # 创建错误结果字典 + result = { + "value": None, + "error": True, + "node_name": node_name, + "error_message": str(e), + "timestamp": time.time() + } + return json.dumps(result) def write_node(self, json_input: str) -> str: """ @@ -1068,47 +1112,49 @@ class BaseClient(UniversalDriver): eg:'{\"node_name\":\"反应罐号码\",\"value\":\"2\"}' 返回JSON格式的字符串，包含操作结果 """ - try: - # 解析JSON格式的输入 - if not isinstance(json_input, str): - json_input = str(json_input) - + # 使用锁保护客户端访问 + with self._client_lock: try: - input_data = json.loads(json_input) - if not isinstance(input_data, dict): - return json.dumps({"error": True, "error_message": "输入必须是包含node_name和value的JSON对象", "success": False}) + # 解析JSON格式的输入 + if not isinstance(json_input, str): + json_input = str(json_input) - # 从JSON中提取节点名称和值 - node_name = input_data.get("node_name") - value = input_data.get("value") + try: + input_data = json.loads(json_input) + if not isinstance(input_data, dict): + return json.dumps({"error": True, "error_message": "输入必须是包含node_name和value的JSON对象", "success": False}) + + # 从JSON中提取节点名称和值 + node_name = input_data.get("node_name") + value = input_data.get("value") + + if node_name is None: + return json.dumps({"error": True, "error_message": "JSON中缺少node_name字段", "success": False}) + except json.JSONDecodeError as e: + return json.dumps({"error": True, "error_message": f"JSON解析错误: {str(e)}", "success": False}) - if node_name is None: - return json.dumps({"error": True, "error_message": "JSON中缺少node_name字段", "success": False}) - except json.JSONDecodeError as e: - return json.dumps({"error": True, "error_message": f"JSON解析错误: {str(e)}", "success": False}) - - node = self.use_node(node_name) - error = node.write(value) - - # 创建结果字典 - result = { - "value": value, - "error": error, - "node_name": node_name, - "timestamp": time.time(), - "success": not error - } - - return json.dumps(result) - except Exception as e: - logger.error(f"写入节点失败: {e}") - result = { - "error": True, - "error_message": str(e), - "timestamp": time.time(), - "success": False - } - return json.dumps(result) + node = self.use_node(node_name) + error = node.write(value) + + # 创建结果字典 + result = { + "value": value, + "error": error, + "node_name": node_name, + "timestamp": time.time(), + "success": not error + } + + return json.dumps(result) + except Exception as e: + logger.error(f"写入节点失败: {e}") + result = { + "error": True, + "error_message": str(e), + "timestamp": time.time(), + "success": False + } + return json.dumps(result) def call_method(self, node_name: str, *args) -> Tuple[Any, bool]: """ @@ -1128,13 +1174,50 @@ class BaseClient(UniversalDriver): class OpcUaClient(BaseClient): - def __init__(self, url: str, config_path: str = None, username: str = None, password: str = None, refresh_interval: float = 1.0): + def __init__( + self, + url: str, + deck: Optional[Union[post_process_deck, Dict[str, Any]]] = None, + config_path: str = None, + username: str = None, + password: str = None, + use_subscription: bool = True, + cache_timeout: float = 5.0, + subscription_interval: int = 500, + *args, + **kwargs, + ): # 降低OPCUA库的日志级别 import logging logging.getLogger("opcua").setLevel(logging.WARNING) super().__init__() + + # ===== 关键修改：参照 BioyondWorkstation 处理 deck ===== + + super().__init__() + + # 处理 deck 参数 + if deck is None: + self.deck = post_process_deck(setup=True) + elif isinstance(deck, dict): + self.deck = post_process_deck(setup=True) + elif hasattr(deck, 'children'): + self.deck = deck + else: + raise ValueError(f"deck 参数类型不支持: {type(deck)}") + + if self.deck is None: + raise ValueError("Deck 配置不能为空") + + # 统计仓库信息 + warehouse_count = 0 + if hasattr(self.deck, 'children'): + warehouse_count = len(self.deck.children) + logger.info(f"Deck 初始化完成，加载 {warehouse_count} 个资源") + + # OPC UA 客户端初始化 client = Client(url) if username and password: @@ -1142,145 +1225,392 @@ class OpcUaClient(BaseClient): client.set_password(password) self._set_client(client) - self._connect() + + # 订阅相关属性 + self._use_subscription = use_subscription + self._subscription = None + self._subscription_handles = {} + self._subscription_interval = subscription_interval - # 节点值缓存和刷新相关属性 - self._node_values = {} # 缓存节点值 - self._refresh_interval = refresh_interval # 刷新间隔(秒) - self._refresh_running = False - self._refresh_thread = None + # 缓存相关属性 + self._node_values = {} # 修改为支持时间戳的缓存结构 + self._cache_timeout = cache_timeout + + # 连接状态监控 + self._connection_check_interval = 30.0 # 连接检查间隔(秒) + self._connection_monitor_running = False + self._connection_monitor_thread = None + + # 添加线程锁，保护OPC UA客户端的并发访问 + import threading + self._client_lock = threading.RLock() + + # 连接到服务器 + self._connect() # 如果提供了配置文件路径，则加载配置并注册工作流 if config_path: self.load_config(config_path) - # 启动节点值刷新线程 - self.start_node_refresh() + # 启动连接监控 + self._start_connection_monitor() - def _register_nodes_as_attributes(self): - """将所有节点注册为实例属性，可以通过self.node_name访问""" - for node_name, node in self._node_registry.items(): - # 检查是否有对应的英文名称 - eng_name = self._reverse_mapping.get(node_name) - if eng_name: - # 如果有对应的英文名称，使用英文名称作为属性名 - attr_name = eng_name - else: - # 如果没有对应的英文名称，使用原始名称，但替换空格和特殊字符 - attr_name = node_name.replace(' ', '_').replace('-', '_') - - # 创建获取节点值的属性方法，使用中文名称获取节点值 - def create_property_getter(node_key): - def getter(self): - # 优先从缓存获取值 - if node_key in self._node_values: - return self._node_values[node_key] - # 缓存中没有则直接读取 - value, _ = self.use_node(node_key).read() - return value - return getter - - # 使用property装饰器将方法注册为类属性 - setattr(OpcUaClient, attr_name, property(create_property_getter(node_name))) - logger.info(f"已注册节点 '{node_name}' 为属性 '{attr_name}'") - - def refresh_node_values(self): - """刷新所有节点的值到缓存""" - if not self.client: - logger.warning("客户端未初始化，无法刷新节点值") - return - - try: - # 简单检查连接状态，如果不连接会抛出异常 - self.client.get_namespace_array() - except Exception as e: - logger.warning(f"客户端连接异常，无法刷新节点值: {e}") - return - - for node_name, node in self._node_registry.items(): + + def _connect(self) -> None: + """连接到OPC UA服务器""" + logger.info('尝试连接到 OPC UA 服务器...') + if self.client: try: - if hasattr(node, 'read'): - value, error = node.read() - if not error: - self._node_values[node_name] = value - #logger.debug(f"已刷新节点 '{node_name}' 的值: {value}") - except Exception as e: - logger.error(f"刷新节点 '{node_name}' 失败: {e}") + self.client.connect() + logger.info('✓ 客户端已连接!') - def get_node_value(self, name): - """获取节点值，支持中文名和英文名""" - # 如果提供的是英文名，转换为中文名 + # 连接后开始查找节点 + if self._variables_to_find: + self._find_nodes() + + # 如果启用订阅模式，设置订阅 + if self._use_subscription: + self._setup_subscriptions() + else: + logger.info("订阅模式已禁用，将使用按需读取模式") + + except Exception as e: + logger.error(f'客户端连接失败: {e}') + raise + else: + raise ValueError('客户端未初始化') + + class SubscriptionHandler: + """freeopcua订阅处理器：必须实现 datachange_notification 方法""" + def __init__(self, outer): + self.outer = outer + + def datachange_notification(self, node, val, data): + # 委托给外层类的处理函数 + try: + self.outer._on_subscription_datachange(node, val, data) + except Exception as e: + logger.error(f"订阅数据回调处理失败: {e}") + + # 可选：事件通知占位，避免库调用时报缺失 + def event_notification(self, event): + pass + + def _setup_subscriptions(self): + """设置 OPC UA 订阅""" + if not self.client or not self._use_subscription: + return + + with self._client_lock: + try: + logger.info(f"开始设置订阅 (发布间隔: {self._subscription_interval}ms)...") + + # 创建订阅 + handler = OpcUaClient.SubscriptionHandler(self) + self._subscription = self.client.create_subscription( + self._subscription_interval, + handler + ) + + # 为所有变量节点创建监控项 + subscribed_count = 0 + skipped_count = 0 + + for node_name, node in self._node_registry.items(): + # 只为变量节点创建订阅 + if node.type == NodeType.VARIABLE and node.node_id: + try: + # 优先使用在查找阶段缓存的真实 ua.Node 对象 + ua_node = self._found_node_objects.get(node_name) + if ua_node is None: + ua_node = self.client.get_node(node.node_id) + handle = self._subscription.subscribe_data_change(ua_node) + self._subscription_handles[node_name] = handle + subscribed_count += 1 + logger.debug(f"✓ 已订阅节点: {node_name}") + except Exception as e: + skipped_count += 1 + logger.warning(f"✗ 订阅节点 {node_name} 失败: {e}") + else: + skipped_count += 1 + + logger.info(f"订阅设置完成: 成功 {subscribed_count} 个, 跳过 {skipped_count} 个") + + except Exception as e: + logger.error(f"设置订阅失败: {e}") + traceback.print_exc() + # 订阅失败时回退到按需读取模式 + self._use_subscription = False + logger.warning("订阅模式设置失败，已自动切换到按需读取模式") + + def _on_subscription_datachange(self, node, val, data): + """订阅数据变化处理器（供内部 SubscriptionHandler 调用）""" + try: + node_id = str(node.nodeid) + current_time = time.time() + # 查找对应的节点名称 + for node_name, node_obj in self._node_registry.items(): + if node_obj.node_id == node_id: + self._node_values[node_name] = { + 'value': val, + 'timestamp': current_time, + 'source': 'subscription' + } + logger.debug(f"订阅更新: {node_name} = {val}") + break + except Exception as e: + logger.error(f"处理订阅数据失败: {e}") + + def get_node_value(self, name, use_cache=True, force_read=False): + """ + 获取节点值（智能缓存版本） + + 参数: + name: 节点名称（支持中文名或英文名） + use_cache: 是否使用缓存 + force_read: 是否强制从服务器读取（忽略缓存） + """ + # 处理名称映射 if name in self._name_mapping: chinese_name = self._name_mapping[name] - # 优先从缓存获取值 - if chinese_name in self._node_values: - return self._node_values[chinese_name] - # 缓存中没有则直接读取 - value, _ = self.use_node(chinese_name).read() - return value - # 如果提供的是中文名，直接使用 elif name in self._node_registry: - # 优先从缓存获取值 - if name in self._node_values: - return self._node_values[name] - # 缓存中没有则直接读取 - value, _ = self.use_node(name).read() - return value + chinese_name = name else: raise ValueError(f"未找到名称为 '{name}' 的节点") + + # 如果强制读取，直接从服务器读取 + if force_read: + with self._client_lock: + value, _ = self.use_node(chinese_name).read() + # 更新缓存 + self._node_values[chinese_name] = { + 'value': value, + 'timestamp': time.time(), + 'source': 'forced_read' + } + return value + + # 检查缓存 + if use_cache and chinese_name in self._node_values: + cache_entry = self._node_values[chinese_name] + cache_age = time.time() - cache_entry['timestamp'] + + # 如果是订阅模式，缓存永久有效（由订阅更新） + # 如果是按需读取模式，检查缓存超时 + if cache_entry.get('source') == 'subscription' or cache_age < self._cache_timeout: + logger.debug(f"从缓存读取: {chinese_name} = {cache_entry['value']} (age: {cache_age:.2f}s, source: {cache_entry.get('source', 'unknown')})") + return cache_entry['value'] + + # 缓存过期或不存在，从服务器读取 + with self._client_lock: + try: + value, error = self.use_node(chinese_name).read() + if not error: + # 更新缓存 + self._node_values[chinese_name] = { + 'value': value, + 'timestamp': time.time(), + 'source': 'on_demand_read' + } + return value + else: + logger.warning(f"读取节点 {chinese_name} 失败") + return None + except Exception as e: + logger.error(f"读取节点 {chinese_name} 出错: {e}") + return None def set_node_value(self, name, value): - """设置节点值，支持中文名和英文名""" - # 如果提供的是英文名，转换为中文名 + """ + 设置节点值 + 写入成功后会立即更新本地缓存 + """ + # 处理名称映射 if name in self._name_mapping: chinese_name = self._name_mapping[name] - node = self.use_node(chinese_name) - # 如果提供的是中文名，直接使用 elif name in self._node_registry: - node = self.use_node(name) + chinese_name = name else: raise ValueError(f"未找到名称为 '{name}' 的节点") - # 写入值 - error = node.write(value) - if not error: - # 更新缓存 - if hasattr(node, 'name'): - self._node_values[node.name] = value - return True + with self._client_lock: + try: + node = self.use_node(chinese_name) + error = node.write(value) + + if not error: + # 写入成功，立即更新缓存 + self._node_values[chinese_name] = { + 'value': value, + 'timestamp': time.time(), + 'source': 'write' + } + logger.debug(f"写入成功: {chinese_name} = {value}") + return True + else: + logger.warning(f"写入节点 {chinese_name} 失败") + return False + except Exception as e: + logger.error(f"写入节点 {chinese_name} 出错: {e}") + return False + + def _check_connection(self) -> bool: + """检查连接状态""" + try: + with self._client_lock: + if self.client: + # 尝试获取命名空间数组来验证连接 + self.client.get_namespace_array() + return True + except Exception as e: + logger.warning(f"连接检查失败: {e}") + return False return False - def _refresh_worker(self): - """节点值刷新线程的工作函数""" - self._refresh_running = True - logger.info(f"节点值刷新线程已启动，刷新间隔: {self._refresh_interval}秒") + def _connection_monitor_worker(self): + """连接监控线程工作函数""" + self._connection_monitor_running = True + logger.info(f"连接监控线程已启动 (检查间隔: {self._connection_check_interval}秒)") - while self._refresh_running: + reconnect_attempts = 0 + max_reconnect_attempts = 5 + + while self._connection_monitor_running: try: - self.refresh_node_values() + # 检查连接状态 + if not self._check_connection(): + logger.warning("检测到连接断开，尝试重新连接...") + reconnect_attempts += 1 + + if reconnect_attempts <= max_reconnect_attempts: + try: + # 尝试重新连接 + with self._client_lock: + if self.client: + try: + self.client.disconnect() + except: + pass + + self.client.connect() + logger.info("✓ 重新连接成功") + + # 重新设置订阅 + if self._use_subscription: + self._setup_subscriptions() + + reconnect_attempts = 0 + except Exception as e: + logger.error(f"重新连接失败 (尝试 {reconnect_attempts}/{max_reconnect_attempts}): {e}") + time.sleep(5) # 重连失败后等待5秒 + else: + logger.error(f"达到最大重连次数 ({max_reconnect_attempts})，停止重连") + self._connection_monitor_running = False + else: + # 连接正常，重置重连计数 + reconnect_attempts = 0 + except Exception as e: - logger.error(f"节点值刷新过程出错: {e}") + logger.error(f"连接监控出错: {e}") - # 等待下一次刷新 - time.sleep(self._refresh_interval) + # 等待下次检查 + time.sleep(self._connection_check_interval) - def start_node_refresh(self): - """启动节点值刷新线程""" - if self._refresh_thread is not None and self._refresh_thread.is_alive(): - logger.warning("节点值刷新线程已在运行") + def _start_connection_monitor(self): + """启动连接监控线程""" + if self._connection_monitor_thread is not None and self._connection_monitor_thread.is_alive(): + logger.warning("连接监控线程已在运行") return import threading - self._refresh_thread = threading.Thread(target=self._refresh_worker, daemon=True) - self._refresh_thread.start() + self._connection_monitor_thread = threading.Thread( + target=self._connection_monitor_worker, + daemon=True, + name="OpcUaConnectionMonitor" + ) + self._connection_monitor_thread.start() + + def _stop_connection_monitor(self): + """停止连接监控线程""" + self._connection_monitor_running = False + if self._connection_monitor_thread and self._connection_monitor_thread.is_alive(): + self._connection_monitor_thread.join(timeout=2.0) + logger.info("连接监控线程已停止") + + def read_node(self, node_name: str) -> str: + """ + 读取节点值的便捷方法（使用缓存） + 返回JSON格式字符串 + """ + try: + # 使用get_node_value方法，自动处理缓存 + value = self.get_node_value(node_name, use_cache=True) + + # 获取缓存信息 + chinese_name = self._name_mapping.get(node_name, node_name) + cache_info = self._node_values.get(chinese_name, {}) + + result = { + "value": value, + "error": False, + "node_name": node_name, + "timestamp": time.time(), + "cache_age": time.time() - cache_info.get('timestamp', time.time()), + "source": cache_info.get('source', 'unknown') + } + + return json.dumps(result) + except Exception as e: + logger.error(f"读取节点 {node_name} 失败: {e}") + result = { + "value": None, + "error": True, + "node_name": node_name, + "error_message": str(e), + "timestamp": time.time() + } + return json.dumps(result) + + def get_cache_stats(self) -> Dict[str, Any]: + """获取缓存统计信息""" + current_time = time.time() + stats = { + 'total_cached_nodes': len(self._node_values), + 'subscription_nodes': 0, + 'on_demand_nodes': 0, + 'expired_nodes': 0, + 'cache_timeout': self._cache_timeout, + 'using_subscription': self._use_subscription + } - def stop_node_refresh(self): - """停止节点值刷新线程""" - self._refresh_running = False - if self._refresh_thread and self._refresh_thread.is_alive(): - self._refresh_thread.join(timeout=2.0) - logger.info("节点值刷新线程已停止") + for node_name, cache_entry in self._node_values.items(): + source = cache_entry.get('source', 'unknown') + cache_age = current_time - cache_entry['timestamp'] + + if source == 'subscription': + stats['subscription_nodes'] += 1 + elif source in ['on_demand_read', 'forced_read', 'write']: + stats['on_demand_nodes'] += 1 + + if cache_age > self._cache_timeout: + stats['expired_nodes'] += 1 + return stats + + def print_cache_stats(self): + """打印缓存统计信息""" + stats = self.get_cache_stats() + print("\n" + "="*80) + print("缓存统计信息") + print("="*80) + print(f"总缓存节点数: {stats['total_cached_nodes']}") + print(f"订阅模式: {'启用' if stats['using_subscription'] else '禁用'}") + print(f" - 订阅更新节点: {stats['subscription_nodes']}") + print(f" - 按需读取节点: {stats['on_demand_nodes']}") + print(f" - 已过期节点: {stats['expired_nodes']}") + print(f"缓存超时时间: {stats['cache_timeout']}秒") + print("="*80 + "\n") + def load_config(self, config_path: str) -> None: """从JSON配置文件加载并注册工作流""" try: @@ -1289,29 +1619,39 @@ class OpcUaClient(BaseClient): # 处理节点注册 if "register_node_list_from_csv_path" in config_data: - # 获取配置文件所在目录 config_dir = os.path.dirname(os.path.abspath(config_path)) - # 处理CSV路径，如果是相对路径，则相对于配置文件所在目录 if "path" in config_data["register_node_list_from_csv_path"]: csv_path = config_data["register_node_list_from_csv_path"]["path"] if not os.path.isabs(csv_path): - # 转换为绝对路径 csv_path = os.path.join(config_dir, csv_path) config_data["register_node_list_from_csv_path"]["path"] = csv_path - # 直接使用字典 self.register_node_list_from_csv_path(**config_data["register_node_list_from_csv_path"]) + + if self.client and self._variables_to_find: + logger.info("CSV加载完成，开始查找服务器节点...") + self._find_nodes() # 处理工作流创建 if "create_flow" in config_data: - # 直接传递字典列表 self.create_workflow_from_json(config_data["create_flow"]) - # 将工作流注册为实例方法 self.register_workflows_as_methods() # 将所有节点注册为属性 self._register_nodes_as_attributes() + + # 打印统计信息 + found_count = len(self._node_registry) + total_count = len(self._variables_to_find) + if found_count < total_count: + logger.warning(f"节点查找完成：找到 {found_count}/{total_count} 个节点") + else: + logger.info(f"✓ 节点查找完成：所有 {found_count} 个节点均已找到") + + # 如果使用订阅模式，重新设置订阅（确保新节点被订阅） + if self._use_subscription and found_count > 0: + self._setup_subscriptions() logger.info(f"成功从 {config_path} 加载配置") except Exception as e: @@ -1319,12 +1659,71 @@ class OpcUaClient(BaseClient): traceback.print_exc() def disconnect(self): - # 停止刷新线程 - self.stop_node_refresh() + """断开连接并清理资源""" + logger.info("正在断开连接...") + # 停止连接监控 + self._stop_connection_monitor() + + # 删除订阅 + if self._subscription: + try: + with self._client_lock: + self._subscription.delete() + logger.info("订阅已删除") + except Exception as e: + logger.warning(f"删除订阅失败: {e}") + + # 断开客户端连接 if self.client: - self.client.disconnect() - logger.info("OPC UA client disconnected") + try: + with self._client_lock: + self.client.disconnect() + logger.info("✓ OPC UA 客户端已断开连接") + except Exception as e: + logger.error(f"断开连接失败: {e}") + + def _register_nodes_as_attributes(self): + """将所有节点注册为实例属性""" + for node_name, node in self._node_registry.items(): + if not node.node_id or node.node_id == "": + logger.warning(f"⚠ 节点 '{node_name}' 的 node_id 为空，跳过注册为属性") + continue + + eng_name = self._reverse_mapping.get(node_name) + attr_name = eng_name if eng_name else node_name.replace(' ', '_').replace('-', '_') + + def create_property_getter(node_key): + def getter(self): + return self.get_node_value(node_key, use_cache=True) + return getter + + setattr(OpcUaClient, attr_name, property(create_property_getter(node_name))) + logger.debug(f"已注册节点 '{node_name}' 为属性 '{attr_name}'") + + def post_init(self, ros_node): + """ROS2 节点就绪后的初始化""" + if not (hasattr(self, 'deck') and self.deck): + return + + if not (hasattr(ros_node, 'resource_tracker') and ros_node.resource_tracker): + logger.warning("resource_tracker 不存在，无法注册 deck") + return + + # 1. 本地注册（必需） + ros_node.resource_tracker.add_resource(self.deck) + + # 2. 上传云端 + try: + from unilabos.ros.nodes.base_device_node import ROS2DeviceNode + ROS2DeviceNode.run_async_func( + ros_node.update_resource, + True, + resources=[self.deck] + ) + logger.info("Deck 已上传到云端") + except Exception as e: + logger.error(f"上传失败: {e}") if __name__ == '__main__': @@ -1338,8 +1737,8 @@ if __name__ == '__main__': # 创建OPC UA客户端并加载配置 try: client = OpcUaClient( - url="opc.tcp://localhost:4840/freeopcua/server/", # 替换为实际的OPC UA服务器地址 - config_path=config_path # 传入配置文件路径 + url="opc.tcp://192.168.1.88:4840/freeopcua/server/", # 替换为实际的OPC UA服务器地址 + config_path="D:\\Uni-Lab-OS\\unilabos\\device_comms\\opcua_client\\opcua_huairou.json" # 传入配置文件路径 ) # 列出所有已注册的工作流 @@ -1349,13 +1748,15 @@ if __name__ == '__main__': # 测试trigger_grab_action工作流 - 使用英文参数名 print("\n测试trigger_grab_action工作流 - 使用英文参数名:") - client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=3) + client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=2) + # client.set_node_value("reaction_tank_number", 2) + # 读取节点值 - 使用英文节点名 grab_complete = client.get_node_value("grab_complete") reaction_tank = client.get_node_value("reaction_tank_number") raw_tank = client.get_node_value("raw_tank_number") - + print(f"\n执行后状态检查 (使用英文节点名):") print(f" - 抓取完成状态: {grab_complete}") print(f" - 当前反应罐号码: {reaction_tank}") @@ -1376,5 +1777,5 @@ if __name__ == '__main__': except Exception as e: print(f"错误: {e}") traceback.print_exc() - - + + diff --git a/unilabos/device_comms/opcua_client/node/uniopcua.py b/unilabos/device_comms/opcua_client/node/uniopcua.py index ce16cfc..d99a5fd 100644 --- a/unilabos/device_comms/opcua_client/node/uniopcua.py +++ b/unilabos/device_comms/opcua_client/node/uniopcua.py @@ -3,7 +3,7 @@ from enum import Enum from abc import ABC, abstractmethod from typing import Tuple, Union, Optional, Any, List -from opcua import Client, Node +from opcua import Client, Node, ua from opcua.ua import NodeId, NodeClass, VariantType @@ -47,23 +47,68 @@ class Base(ABC): def _get_node(self) -> Node: if self._node is None: try: - # 检查是否是NumericNodeId(ns=X;i=Y)格式 - if "NumericNodeId" in self._node_id: - # 从字符串中提取命名空间和标识符 - import re - match = re.search(r'ns=(\d+);i=(\d+)', self._node_id) - if match: - ns = int(match.group(1)) - identifier = int(match.group(2)) - node_id = NodeId(identifier, ns) - self._node = self._client.get_node(node_id) + # 尝试多种 NodeId 字符串格式解析，兼容不同服务器/库的输出 + # 可能的格式示例: 'ns=2;i=1234', 'ns=2;s=SomeString', + # 'StringNodeId(ns=4;s=OPC|变量名)', 'NumericNodeId(ns=2;i=1234)' 等 + import re + + nid = self._node_id + # 如果已经是 NodeId/Node 对象（库用户可能传入），直接使用 + try: + from opcua.ua import NodeId as UaNodeId + if isinstance(nid, UaNodeId): + self._node = self._client.get_node(nid) + return self._node + except Exception: + # 若导入或类型判断失败，则继续下一步 + pass + + # 直接以字符串形式处理 + if isinstance(nid, str): + nid = nid.strip() + + # 处理包含类名的格式，如 'StringNodeId(ns=4;s=...)' 或 'NumericNodeId(ns=2;i=...)' + # 提取括号内的内容 + match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid) + if match_wrapped: + # 提取括号内的实际 node_id 字符串 + nid = match_wrapped.group(2).strip() + + # 常见短格式 'ns=2;i=1234' 或 'ns=2;s=SomeString' + if re.match(r'^ns=\d+;[is]=', nid): + self._node = self._client.get_node(nid) else: - raise ValueError(f"无法解析节点ID: {self._node_id}") + # 尝试提取 ns 和 i 或 s + # 对于字符串标识符，可能包含特殊字符，使用非贪婪匹配 + m_num = re.search(r'ns=(\d+);i=(\d+)', nid) + m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid) + if m_num: + ns = int(m_num.group(1)) + identifier = int(m_num.group(2)) + node_id = NodeId(identifier, ns) + self._node = self._client.get_node(node_id) + elif m_str: + ns = int(m_str.group(1)) + identifier = m_str.group(2).strip() + # 对于字符串标识符，直接使用字符串格式 + node_id_str = f"ns={ns};s={identifier}" + self._node = self._client.get_node(node_id_str) + else: + # 回退：尝试直接传入字符串（有些实现接受其它格式） + try: + self._node = self._client.get_node(self._node_id) + except Exception as e: + # 输出更详细的错误信息供调试 + print(f"获取节点失败(尝试直接字符串): {self._node_id}, 错误: {e}") + raise else: - # 直接使用节点ID字符串 + # 非字符串，尝试直接使用 self._node = self._client.get_node(self._node_id) except Exception as e: print(f"获取节点失败: {self._node_id}, 错误: {e}") + # 添加额外提示，帮助定位 BadNodeIdUnknown 问题 + print("提示: 请确认该 node_id 是否来自当前连接的服务器地址空间，" \ + "以及 CSV/配置中名称与服务器 BrowseName 是否匹配。") raise return self._node @@ -104,7 +149,56 @@ class Variable(Base): def write(self, value: Any) -> bool: try: - self._get_node().set_value(value) + # 如果声明了数据类型，则尝试转换并使用对应的 Variant 写入 + coerced = value + try: + if self._data_type is not None: + # 基于声明的数据类型做简单类型转换 + dt = self._data_type + if dt in (DataType.SBYTE, DataType.BYTE, DataType.INT16, DataType.UINT16, + DataType.INT32, DataType.UINT32, DataType.INT64, DataType.UINT64): + # 数值类型 -> int + if isinstance(value, str): + coerced = int(value) + else: + coerced = int(value) + elif dt in (DataType.FLOAT, DataType.DOUBLE): + if isinstance(value, str): + coerced = float(value) + else: + coerced = float(value) + elif dt == DataType.BOOLEAN: + if isinstance(value, str): + v = value.strip().lower() + if v in ("true", "1", "yes", "on"): + coerced = True + elif v in ("false", "0", "no", "off"): + coerced = False + else: + coerced = bool(value) + else: + coerced = bool(value) + elif dt == DataType.STRING or dt == DataType.BYTESTRING or dt == DataType.DATETIME: + coerced = str(value) + + # 使用 ua.Variant 明确指定 VariantType + try: + variant = ua.Variant(coerced, dt.value) + self._get_node().set_value(variant) + except Exception: + # 回退：有些 set_value 实现接受 (value, variant_type) + try: + self._get_node().set_value(coerced, dt.value) + except Exception: + # 最后回退到直接写入（保持兼容性） + self._get_node().set_value(coerced) + else: + # 未声明数据类型，直接写入 + self._get_node().set_value(value) + except Exception: + # 若在转换或按数据类型写入失败，尝试直接写入原始值并让上层捕获错误 + self._get_node().set_value(value) + return False except Exception as e: print(f"写入变量 {self._name} 失败: {e}") @@ -120,20 +214,50 @@ class Method(Base): def _get_parent_node(self) -> Node: if self._parent_node is None: try: - # 检查是否是NumericNodeId(ns=X;i=Y)格式 - if "NumericNodeId" in self._parent_node_id: - # 从字符串中提取命名空间和标识符 - import re - match = re.search(r'ns=(\d+);i=(\d+)', self._parent_node_id) - if match: - ns = int(match.group(1)) - identifier = int(match.group(2)) - node_id = NodeId(identifier, ns) - self._parent_node = self._client.get_node(node_id) + # 处理父节点ID，使用与_get_node相同的解析逻辑 + import re + + nid = self._parent_node_id + + # 如果已经是 NodeId 对象，直接使用 + try: + from opcua.ua import NodeId as UaNodeId + if isinstance(nid, UaNodeId): + self._parent_node = self._client.get_node(nid) + return self._parent_node + except Exception: + pass + + # 字符串处理 + if isinstance(nid, str): + nid = nid.strip() + + # 处理包含类名的格式 + match_wrapped = re.match(r'(String|Numeric|Byte|Guid|TwoByteNode|FourByteNode)NodeId\((.*)\)', nid) + if match_wrapped: + nid = match_wrapped.group(2).strip() + + # 常见短格式 + if re.match(r'^ns=\d+;[is]=', nid): + self._parent_node = self._client.get_node(nid) else: - raise ValueError(f"无法解析父节点ID: {self._parent_node_id}") + # 提取 ns 和 i 或 s + m_num = re.search(r'ns=(\d+);i=(\d+)', nid) + m_str = re.search(r'ns=(\d+);s=(.+?)(?:\)|$)', nid) + if m_num: + ns = int(m_num.group(1)) + identifier = int(m_num.group(2)) + node_id = NodeId(identifier, ns) + self._parent_node = self._client.get_node(node_id) + elif m_str: + ns = int(m_str.group(1)) + identifier = m_str.group(2).strip() + node_id_str = f"ns={ns};s={identifier}" + self._parent_node = self._client.get_node(node_id_str) + else: + # 回退 + self._parent_node = self._client.get_node(self._parent_node_id) else: - # 直接使用节点ID字符串 self._parent_node = self._client.get_node(self._parent_node_id) except Exception as e: print(f"获取父节点失败: {self._parent_node_id}, 错误: {e}") diff --git a/unilabos/device_mesh/resource_visalization.py b/unilabos/device_mesh/resource_visalization.py index fc37150..ee58d67 100644 --- a/unilabos/device_mesh/resource_visalization.py +++ b/unilabos/device_mesh/resource_visalization.py @@ -128,14 +128,21 @@ class ResourceVisualization: new_dev.set("device_name", node["id"]+"_") # if node["parent"] is not None: # new_dev.set("station_name", node["parent"]+'_') - - new_dev.set("x",str(float(node["position"]["position"]["x"])/1000)) - new_dev.set("y",str(float(node["position"]["position"]["y"])/1000)) - new_dev.set("z",str(float(node["position"]["position"]["z"])/1000)) + if "position" in node: + new_dev.set("x",str(float(node["position"]["position"]["x"])/1000)) + new_dev.set("y",str(float(node["position"]["position"]["y"])/1000)) + new_dev.set("z",str(float(node["position"]["position"]["z"])/1000)) if "rotation" in node["config"]: new_dev.set("rx",str(float(node["config"]["rotation"]["x"]))) new_dev.set("ry",str(float(node["config"]["rotation"]["y"]))) new_dev.set("r",str(float(node["config"]["rotation"]["z"]))) + if "pose" in node: + new_dev.set("x",str(float(node["pose"]["position"]["x"])/1000)) + new_dev.set("y",str(float(node["pose"]["position"]["y"])/1000)) + new_dev.set("z",str(float(node["pose"]["position"]["z"])/1000)) + new_dev.set("rx",str(float(node["pose"]["rotation"]["x"]))) + new_dev.set("ry",str(float(node["pose"]["rotation"]["y"]))) + new_dev.set("r",str(float(node["pose"]["rotation"]["z"]))) if "device_config" in node["config"]: for key, value in node["config"]["device_config"].items(): new_dev.set(key, str(value)) diff --git a/unilabos/devices/cameraSII/__init__.py b/unilabos/devices/cameraSII/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/devices/cameraSII/cameraDriver.py b/unilabos/devices/cameraSII/cameraDriver.py new file mode 100644 index 0000000..27d27b9 --- /dev/null +++ b/unilabos/devices/cameraSII/cameraDriver.py @@ -0,0 +1,712 @@ +#!/usr/bin/env python3 +import asyncio +import json +import subprocess +import sys +import threading +from typing import Optional, Dict, Any +import logging + +import requests +import websockets + +logging.getLogger("zeep").setLevel(logging.WARNING) +logging.getLogger("zeep.xsd.schema").setLevel(logging.WARNING) +logging.getLogger("zeep.xsd.schema.schema").setLevel(logging.WARNING) +from onvif import ONVIFCamera # 新增：ONVIF PTZ 控制 + + +# ======================= 独立的 PTZController ======================= +class PTZController: + def __init__(self, host: str, port: int, user: str, password: str): + """ + :param host: 摄像机 IP 或域名（和 RTSP 的一样即可） + :param port: ONVIF 端口（多数为 80，看你的设备） + :param user: 摄像机用户名 + :param password: 摄像机密码 + """ + self.host = host + self.port = port + self.user = user + self.password = password + + self.cam: Optional[ONVIFCamera] = None + self.media_service = None + self.ptz_service = None + self.profile = None + + def connect(self) -> bool: + """ + 建立 ONVIF 连接并初始化 PTZ 能力，失败返回 False（不抛异常） + Note: 首先 pip install onvif-zeep + """ + try: + self.cam = ONVIFCamera(self.host, self.port, self.user, self.password) + self.media_service = self.cam.create_media_service() + self.ptz_service = self.cam.create_ptz_service() + profiles = self.media_service.GetProfiles() + if not profiles: + print("[PTZ] No media profiles found on camera.", file=sys.stderr) + return False + self.profile = profiles[0] + return True + except Exception as e: + print(f"[PTZ] Failed to init ONVIF PTZ: {e}", file=sys.stderr) + return False + + def _continuous_move(self, pan: float, tilt: float, zoom: float, duration: float) -> bool: + """ + 连续移动一段时间（秒），之后自动停止。 + 此函数为阻塞模式：只有在 Stop 调用结束后，才返回 True/False。 + """ + if not self.ptz_service or not self.profile: + print("[PTZ] _continuous_move: ptz_service or profile not ready", file=sys.stderr) + return False + + # 进入前先强行停一下，避免前一次残留动作 + self._force_stop() + + req = self.ptz_service.create_type("ContinuousMove") + req.ProfileToken = self.profile.token + + req.Velocity = { + "PanTilt": {"x": pan, "y": tilt}, + "Zoom": {"x": zoom}, + } + + try: + print(f"[PTZ] ContinuousMove start: pan={pan}, tilt={tilt}, zoom={zoom}, duration={duration}", file=sys.stderr) + self.ptz_service.ContinuousMove(req) + except Exception as e: + print(f"[PTZ] ContinuousMove failed: {e}", file=sys.stderr) + return False + + # 阻塞等待：这里决定“运动时间” + import time + wait_seconds = max(2 * duration, 0.0) + time.sleep(wait_seconds) + + # 运动完成后强制停止 + return self._force_stop() + + def stop(self) -> bool: + """ + 阻塞调用 Stop（带重试），成功 True，失败 False。 + """ + return self._force_stop() + + # ------- 对外动作接口（给 CameraController 调用） ------- + # 所有接口都为“阻塞模式”：只有在运动 + Stop 完成后才返回 True/False + + def move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool: + print(f"[PTZ] move_up called, speed={speed}, duration={duration}", file=sys.stderr) + return self._continuous_move(pan=0.0, tilt=+speed, zoom=0.0, duration=duration) + + def move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool: + print(f"[PTZ] move_down called, speed={speed}, duration={duration}", file=sys.stderr) + return self._continuous_move(pan=0.0, tilt=-speed, zoom=0.0, duration=duration) + + def move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool: + print(f"[PTZ] move_left called, speed={speed}, duration={duration}", file=sys.stderr) + return self._continuous_move(pan=-speed, tilt=0.0, zoom=0.0, duration=duration) + + def move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool: + print(f"[PTZ] move_right called, speed={speed}, duration={duration}", file=sys.stderr) + return self._continuous_move(pan=+speed, tilt=0.0, zoom=0.0, duration=duration) + + # ------- 占位的变倍接口（当前设备不支持） ------- + def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool: + """ + 当前设备不支持变倍；保留方法只是避免上层调用时报错。 + """ + print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr) + return False + + def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool: + """ + 当前设备不支持变倍；保留方法只是避免上层调用时报错。 + """ + print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr) + return False + + def _force_stop(self, retries: int = 3, delay: float = 0.1) -> bool: + """ + 尝试多次调用 Stop，作为“强制停止”手段。 + :param retries: 重试次数 + :param delay: 每次重试间隔（秒） + """ + if not self.ptz_service or not self.profile: + print("[PTZ] _force_stop: ptz_service or profile not ready", file=sys.stderr) + return False + + import time + last_error = None + for i in range(retries): + try: + print(f"[PTZ] _force_stop: calling Stop(), attempt={i+1}", file=sys.stderr) + self.ptz_service.Stop({"ProfileToken": self.profile.token}) + print("[PTZ] _force_stop: Stop() returned OK", file=sys.stderr) + return True + except Exception as e: + last_error = e + print(f"[PTZ] _force_stop: Stop() failed at attempt {i+1}: {e}", file=sys.stderr) + time.sleep(delay) + + print(f"[PTZ] _force_stop: all {retries} attempts failed, last error: {last_error}", file=sys.stderr) + return False + +# ======================= CameraController（加入 PTZ） ======================= + +class CameraController: + """ + Uni-Lab-OS 摄像头驱动（driver 形式） + 启动 Uni-Lab-OS 后，立即开始推流 + + - WebSocket 信令：通过 signal_backend_url 连接到后端 + 例如: wss://sciol.ac.cn/api/realtime/signal/host/ + - 媒体服务器：通过 rtmp_url / webrtc_api / webrtc_stream_url + 当前配置为 SRS，与独立 HostSimulator 独立运行脚本保持一致。 + """ + + def __init__( + self, + host_id: str = "demo-host", + + # （1）信令后端（WebSocket） + signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host", + + # （2）媒体后端（RTMP + WebRTC API） + rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01", + webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/", + webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01", + camera_rtsp_url: str = "", + + # （3）PTZ 控制相关（ONVIF） + ptz_host: str = "", # 一般就是摄像头 IP，比如 "192.168.31.164" + ptz_port: int = 80, # ONVIF 端口，不一定是 80，按实际情况改 + ptz_user: str = "", # admin + ptz_password: str = "", # admin123 + ): + self.host_id = host_id + self.camera_rtsp_url = camera_rtsp_url + + # 拼接最终的 WebSocket URL：.../host/ + signal_backend_url = signal_backend_url.rstrip("/") + if not signal_backend_url.endswith("/host"): + signal_backend_url = signal_backend_url + "/host" + self.signal_backend_url = f"{signal_backend_url}/{host_id}" + + # 媒体服务器配置 + self.rtmp_url = rtmp_url + self.webrtc_api = webrtc_api + self.webrtc_stream_url = webrtc_stream_url + + # PTZ 控制 + self.ptz_host = ptz_host + self.ptz_port = ptz_port + self.ptz_user = ptz_user + self.ptz_password = ptz_password + self._ptz: Optional[PTZController] = None + self._init_ptz_if_possible() + + # 运行时状态 + self._ws: Optional[object] = None + self._ffmpeg_process: Optional[subprocess.Popen] = None + self._running = False + self._loop_task: Optional[asyncio.Future] = None + + # 事件循环 & 线程 + self._loop: Optional[asyncio.AbstractEventLoop] = None + self._loop_thread: Optional[threading.Thread] = None + + try: + self.start() + except Exception as e: + print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr) + + # ------------------------ PTZ 初始化 ------------------------ + + # ------------------------ PTZ 公开动作方法（一个动作一个函数） ------------------------ + + def ptz_move_up(self, speed: float = 0.5, duration: float = 1.0) -> bool: + print(f"[CameraController] ptz_move_up called, speed={speed}, duration={duration}") + return self._ptz.move_up(speed=speed, duration=duration) + + def ptz_move_down(self, speed: float = 0.5, duration: float = 1.0) -> bool: + print(f"[CameraController] ptz_move_down called, speed={speed}, duration={duration}") + return self._ptz.move_down(speed=speed, duration=duration) + + def ptz_move_left(self, speed: float = 0.2, duration: float = 1.0) -> bool: + print(f"[CameraController] ptz_move_left called, speed={speed}, duration={duration}") + return self._ptz.move_left(speed=speed, duration=duration) + + def ptz_move_right(self, speed: float = 0.2, duration: float = 1.0) -> bool: + print(f"[CameraController] ptz_move_right called, speed={speed}, duration={duration}") + return self._ptz.move_right(speed=speed, duration=duration) + + def zoom_in(self, speed: float = 0.2, duration: float = 1.0) -> bool: + """ + 当前设备不支持变倍；保留方法只是避免上层调用时报错。 + """ + print("[PTZ] zoom_in is disabled for this device.", file=sys.stderr) + return False + + def zoom_out(self, speed: float = 0.2, duration: float = 1.0) -> bool: + """ + 当前设备不支持变倍；保留方法只是避免上层调用时报错。 + """ + print("[PTZ] zoom_out is disabled for this device.", file=sys.stderr) + return False + + def ptz_stop(self): + if self._ptz is None: + print("[CameraController] PTZ not initialized.", file=sys.stderr) + return + self._ptz.stop() + + def _init_ptz_if_possible(self): + """ + 根据 ptz_host / user / password 初始化 PTZ； + 如果配置信息不全则不启用 PTZ（静默）。 + """ + if not (self.ptz_host and self.ptz_user and self.ptz_password): + return + ctrl = PTZController( + host=self.ptz_host, + port=self.ptz_port, + user=self.ptz_user, + password=self.ptz_password, + ) + if ctrl.connect(): + self._ptz = ctrl + else: + self._ptz = None + + # --------------------------------------------------------------------- + # 对外暴露的方法：供 Uni-Lab-OS 调用 + # --------------------------------------------------------------------- + + def start(self, config: Optional[Dict[str, Any]] = None): + """ + 启动 Camera 连接 & 消息循环，并在启动时就开启 FFmpeg 推流， + """ + + if self._running: + return {"status": "already_running", "host_id": self.host_id} + + # 应用 config 覆盖（如果有） + if config: + self.camera_rtsp_url = config.get("camera_rtsp_url", self.camera_rtsp_url) + cfg_host_id = config.get("host_id") + if cfg_host_id: + self.host_id = cfg_host_id + + signal_backend_url = config.get("signal_backend_url") + if signal_backend_url: + signal_backend_url = signal_backend_url.rstrip("/") + if not signal_backend_url.endswith("/host"): + signal_backend_url = signal_backend_url + "/host" + self.signal_backend_url = f"{signal_backend_url}/{self.host_id}" + + self.rtmp_url = config.get("rtmp_url", self.rtmp_url) + self.webrtc_api = config.get("webrtc_api", self.webrtc_api) + self.webrtc_stream_url = config.get( + "webrtc_stream_url", self.webrtc_stream_url + ) + + # PTZ 相关配置也允许通过 config 注入 + self.ptz_host = config.get("ptz_host", self.ptz_host) + self.ptz_port = int(config.get("ptz_port", self.ptz_port)) + self.ptz_user = config.get("ptz_user", self.ptz_user) + self.ptz_password = config.get("ptz_password", self.ptz_password) + self._init_ptz_if_possible() + + self._running = True + + # === start 时启动 FFmpeg 推流 === + self._start_ffmpeg() + + # 创建新的事件循环和线程（用于 WebSocket 信令） + self._loop = asyncio.new_event_loop() + + def loop_runner(loop: asyncio.AbstractEventLoop): + asyncio.set_event_loop(loop) + try: + loop.run_forever() + except Exception as e: + print(f"[CameraController] event loop error: {e}", file=sys.stderr) + + self._loop_thread = threading.Thread( + target=loop_runner, args=(self._loop,), daemon=True + ) + self._loop_thread.start() + + self._loop_task = asyncio.run_coroutine_threadsafe( + self._run_main_loop(), self._loop + ) + + return { + "status": "started", + "host_id": self.host_id, + "signal_backend_url": self.signal_backend_url, + "rtmp_url": self.rtmp_url, + "webrtc_api": self.webrtc_api, + "webrtc_stream_url": self.webrtc_stream_url, + } + + def stop(self) -> Dict[str, Any]: + """ + 停止推流 & 断开 WebSocket，并关闭事件循环线程。 + """ + self._running = False + + self._stop_ffmpeg() + + if self._ws and self._loop is not None: + async def close_ws(): + try: + await self._ws.close() + except Exception as e: + print( + f"[CameraController] error when closing WebSocket: {e}", + file=sys.stderr, + ) + + asyncio.run_coroutine_threadsafe(close_ws(), self._loop) + + if self._loop_task is not None: + if not self._loop_task.done(): + self._loop_task.cancel() + try: + self._loop_task.result() + except asyncio.CancelledError: + pass + except Exception as e: + print( + f"[CameraController] main loop task error in stop(): {e}", + file=sys.stderr, + ) + finally: + self._loop_task = None + + if self._loop is not None: + try: + self._loop.call_soon_threadsafe(self._loop.stop) + except Exception as e: + print( + f"[CameraController] error when stopping event loop: {e}", + file=sys.stderr, + ) + + if self._loop_thread is not None: + try: + self._loop_thread.join(timeout=5) + except Exception as e: + print( + f"[CameraController] error when joining loop thread: {e}", + file=sys.stderr, + ) + finally: + self._loop_thread = None + + self._ws = None + self._loop = None + + return {"status": "stopped", "host_id": self.host_id} + + def get_status(self) -> Dict[str, Any]: + """ + 查询当前状态，方便在 Uni-Lab-OS 中做监控。 + """ + ws_closed = None + if self._ws is not None: + ws_closed = getattr(self._ws, "closed", None) + + if ws_closed is None: + websocket_connected = self._ws is not None + else: + websocket_connected = (self._ws is not None) and (not ws_closed) + + return { + "host_id": self.host_id, + "running": self._running, + "websocket_connected": websocket_connected, + "ffmpeg_running": bool( + self._ffmpeg_process and self._ffmpeg_process.poll() is None + ), + "signal_backend_url": self.signal_backend_url, + "rtmp_url": self.rtmp_url, + } + + # --------------------------------------------------------------------- + # 内部实现逻辑：WebSocket 循环 / FFmpeg / WebRTC Offer 处理 + # --------------------------------------------------------------------- + + async def _run_main_loop(self): + try: + while self._running: + try: + async with websockets.connect(self.signal_backend_url) as ws: + self._ws = ws + await self._recv_loop() + except asyncio.CancelledError: + raise + except Exception as e: + if self._running: + print( + f"[CameraController] WebSocket connection error: {e}", + file=sys.stderr, + ) + await asyncio.sleep(3) + except asyncio.CancelledError: + pass + + async def _recv_loop(self): + assert self._ws is not None + ws = self._ws + + async for message in ws: + try: + data = json.loads(message) + except json.JSONDecodeError: + print( + f"[CameraController] received non-JSON message: {message}", + file=sys.stderr, + ) + continue + + try: + await self._handle_message(data) + except Exception as e: + print( + f"[CameraController] error while handling message {data}: {e}", + file=sys.stderr, + ) + + async def _handle_message(self, data: Dict[str, Any]): + """ + 处理来自信令后端的消息： + - command: start_stream / stop_stream / ptz_xxx + - type: offer (WebRTC) + """ + cmd = data.get("command") + + # ---------- 推流控制 ---------- + if cmd == "start_stream": + try: + self._start_ffmpeg() + except Exception as e: + print( + f"[CameraController] error when starting FFmpeg on start_stream: {e}", + file=sys.stderr, + ) + return + + if cmd == "stop_stream": + try: + self._stop_ffmpeg() + except Exception as e: + print( + f"[CameraController] error when stopping FFmpeg on stop_stream: {e}", + file=sys.stderr, + ) + return + + # # ---------- PTZ 控制 ---------- + # # 例如信令可以发： + # # {"command": "ptz_move", "direction": "down", "speed": 0.5, "duration": 0.5} + # if cmd == "ptz_move": + # if self._ptz is None: + # # 没有初始化 PTZ，静默忽略或打印一条 + # print("[CameraController] PTZ not initialized.", file=sys.stderr) + # return + + # direction = data.get("direction", "") + # speed = float(data.get("speed", 0.5)) + # duration = float(data.get("duration", 0.5)) + + # try: + # if direction == "up": + # self._ptz.move_up(speed=speed, duration=duration) + # elif direction == "down": + # self._ptz.move_down(speed=speed, duration=duration) + # elif direction == "left": + # self._ptz.move_left(speed=speed, duration=duration) + # elif direction == "right": + # self._ptz.move_right(speed=speed, duration=duration) + # elif direction == "zoom_in": + # self._ptz.zoom_in(speed=speed, duration=duration) + # elif direction == "zoom_out": + # self._ptz.zoom_out(speed=speed, duration=duration) + # elif direction == "stop": + # self._ptz.stop() + # else: + # # 未知方向，忽略 + # pass + # except Exception as e: + # print( + # f"[CameraController] error when handling PTZ move: {e}", + # file=sys.stderr, + # ) + # return + + # ---------- WebRTC Offer ---------- + if data.get("type") == "offer": + offer_sdp = data.get("sdp", "") + camera_id = data.get("cameraId", "camera-01") + try: + answer_sdp = await self._handle_webrtc_offer(offer_sdp) + except Exception as e: + print( + f"[CameraController] error when handling WebRTC offer: {e}", + file=sys.stderr, + ) + return + + if self._ws: + answer_payload = { + "type": "answer", + "sdp": answer_sdp, + "cameraId": camera_id, + "hostId": self.host_id, + } + try: + await self._ws.send(json.dumps(answer_payload)) + except Exception as e: + print( + f"[CameraController] error when sending WebRTC answer: {e}", + file=sys.stderr, + ) + + # ------------------------ FFmpeg 相关 ------------------------ + + def _start_ffmpeg(self): + if self._ffmpeg_process and self._ffmpeg_process.poll() is None: + return + + cmd = [ + "ffmpeg", + "-rtsp_transport", "tcp", + "-i", self.camera_rtsp_url, + + "-c:v", "libx264", + "-preset", "ultrafast", + "-tune", "zerolatency", + "-profile:v", "baseline", + "-b:v", "1M", + "-maxrate", "1M", + "-bufsize", "2M", + "-g", "10", + "-keyint_min", "10", + "-sc_threshold", "0", + "-pix_fmt", "yuv420p", + "-x264-params", "bframes=0", + + "-c:a", "aac", + "-ar", "44100", + "-ac", "1", + "-b:a", "64k", + + "-f", "flv", + self.rtmp_url, + ] + + try: + self._ffmpeg_process = subprocess.Popen( + cmd, + stdout=subprocess.DEVNULL, + stderr=subprocess.STDOUT, + shell=False, + ) + except Exception as e: + print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr) + self._ffmpeg_process = None + raise + + def _stop_ffmpeg(self): + proc = self._ffmpeg_process + + if proc and proc.poll() is None: + try: + proc.terminate() + try: + proc.wait(timeout=5) + except subprocess.TimeoutExpired: + try: + proc.kill() + try: + proc.wait(timeout=2) + except subprocess.TimeoutExpired: + print( + f"[CameraController] FFmpeg process did not exit even after kill (pid={proc.pid})", + file=sys.stderr, + ) + except Exception as e: + print( + f"[CameraController] failed to kill FFmpeg process: {e}", + file=sys.stderr, + ) + except Exception as e: + print( + f"[CameraController] error when stopping FFmpeg: {e}", + file=sys.stderr, + ) + + self._ffmpeg_process = None + + # ------------------------ WebRTC Offer 相关 ------------------------ + + async def _handle_webrtc_offer(self, offer_sdp: str) -> str: + payload = { + "api": self.webrtc_api, + "streamurl": self.webrtc_stream_url, + "sdp": offer_sdp, + } + + headers = {"Content-Type": "application/json"} + + def _do_request(): + return requests.post( + self.webrtc_api, + json=payload, + headers=headers, + timeout=10, + ) + + try: + loop = asyncio.get_running_loop() + resp = await loop.run_in_executor(None, _do_request) + except Exception as e: + print( + f"[CameraController] failed to send offer to media server: {e}", + file=sys.stderr, + ) + raise + + try: + resp.raise_for_status() + except Exception as e: + print( + f"[CameraController] media server HTTP error: {e}, " + f"status={resp.status_code}, body={resp.text[:200]}", + file=sys.stderr, + ) + raise + + try: + data = resp.json() + except Exception as e: + print( + f"[CameraController] failed to parse media server JSON: {e}, " + f"raw={resp.text[:200]}", + file=sys.stderr, + ) + raise + + answer_sdp = data.get("sdp", "") + if not answer_sdp: + msg = f"empty SDP from media server: {data}" + print(f"[CameraController] {msg}", file=sys.stderr) + raise RuntimeError(msg) + + return answer_sdp \ No newline at end of file diff --git a/unilabos/devices/cameraSII/cameraUSB.py b/unilabos/devices/cameraSII/cameraUSB.py new file mode 100644 index 0000000..5544a8b --- /dev/null +++ b/unilabos/devices/cameraSII/cameraUSB.py @@ -0,0 +1,401 @@ +#!/usr/bin/env python3 +import asyncio +import json +import subprocess +import sys +import threading +from typing import Optional, Dict, Any + +import requests +import websockets + + +class CameraController: + """ + Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ） + + - WebSocket 信令：signal_backend_url 连接到后端 + 例如: wss://sciol.ac.cn/api/realtime/signal/host/ + - 媒体服务器：RTMP 推流到 rtmp_url；WebRTC offer 转发到 SRS 的 webrtc_api + - 视频源：本地 USB 摄像头（V4L2，默认 /dev/video0） + """ + + def __init__( + self, + host_id: str = "demo-host", + signal_backend_url: str = "wss://sciol.ac.cn/api/realtime/signal/host", + rtmp_url: str = "rtmp://srs.sciol.ac.cn:4499/live/camera-01", + webrtc_api: str = "https://srs.sciol.ac.cn/rtc/v1/play/", + webrtc_stream_url: str = "webrtc://srs.sciol.ac.cn:4500/live/camera-01", + video_device: str = "/dev/video0", + width: int = 1280, + height: int = 720, + fps: int = 30, + video_bitrate: str = "1500k", + audio_device: Optional[str] = None, # 比如 "hw:1,0"，没有音频就保持 None + audio_bitrate: str = "64k", + ): + self.host_id = host_id + + # 拼接最终 WebSocket URL：.../host/ + signal_backend_url = signal_backend_url.rstrip("/") + if not signal_backend_url.endswith("/host"): + signal_backend_url = signal_backend_url + "/host" + self.signal_backend_url = f"{signal_backend_url}/{host_id}" + + # 媒体服务器配置 + self.rtmp_url = rtmp_url + self.webrtc_api = webrtc_api + self.webrtc_stream_url = webrtc_stream_url + + # 本地采集配置 + self.video_device = video_device + self.width = int(width) + self.height = int(height) + self.fps = int(fps) + self.video_bitrate = video_bitrate + self.audio_device = audio_device + self.audio_bitrate = audio_bitrate + + # 运行时状态 + self._ws: Optional[object] = None + self._ffmpeg_process: Optional[subprocess.Popen] = None + self._running = False + self._loop_task: Optional[asyncio.Future] = None + + # 事件循环 & 线程 + self._loop: Optional[asyncio.AbstractEventLoop] = None + self._loop_thread: Optional[threading.Thread] = None + + try: + self.start() + except Exception as e: + print(f"[CameraController] __init__ auto start failed: {e}", file=sys.stderr) + + # --------------------------------------------------------------------- + # 对外方法 + # --------------------------------------------------------------------- + + def start(self, config: Optional[Dict[str, Any]] = None): + if self._running: + return {"status": "already_running", "host_id": self.host_id} + + # 应用 config 覆盖（如果有） + if config: + cfg_host_id = config.get("host_id") + if cfg_host_id: + self.host_id = cfg_host_id + + signal_backend_url = config.get("signal_backend_url") + if signal_backend_url: + signal_backend_url = signal_backend_url.rstrip("/") + if not signal_backend_url.endswith("/host"): + signal_backend_url = signal_backend_url + "/host" + self.signal_backend_url = f"{signal_backend_url}/{self.host_id}" + + self.rtmp_url = config.get("rtmp_url", self.rtmp_url) + self.webrtc_api = config.get("webrtc_api", self.webrtc_api) + self.webrtc_stream_url = config.get("webrtc_stream_url", self.webrtc_stream_url) + + self.video_device = config.get("video_device", self.video_device) + self.width = int(config.get("width", self.width)) + self.height = int(config.get("height", self.height)) + self.fps = int(config.get("fps", self.fps)) + self.video_bitrate = config.get("video_bitrate", self.video_bitrate) + self.audio_device = config.get("audio_device", self.audio_device) + self.audio_bitrate = config.get("audio_bitrate", self.audio_bitrate) + + self._running = True + + print("[CameraController] start(): starting FFmpeg streaming...", file=sys.stderr) + self._start_ffmpeg() + + self._loop = asyncio.new_event_loop() + + def loop_runner(loop: asyncio.AbstractEventLoop): + asyncio.set_event_loop(loop) + try: + loop.run_forever() + except Exception as e: + print(f"[CameraController] event loop error: {e}", file=sys.stderr) + + self._loop_thread = threading.Thread(target=loop_runner, args=(self._loop,), daemon=True) + self._loop_thread.start() + + self._loop_task = asyncio.run_coroutine_threadsafe(self._run_main_loop(), self._loop) + + return { + "status": "started", + "host_id": self.host_id, + "signal_backend_url": self.signal_backend_url, + "rtmp_url": self.rtmp_url, + "webrtc_api": self.webrtc_api, + "webrtc_stream_url": self.webrtc_stream_url, + "video_device": self.video_device, + "width": self.width, + "height": self.height, + "fps": self.fps, + "video_bitrate": self.video_bitrate, + "audio_device": self.audio_device, + } + + def stop(self) -> Dict[str, Any]: + self._running = False + + # 先取消主任务（让 ws connect/sleep 尽快退出） + if self._loop_task is not None and not self._loop_task.done(): + self._loop_task.cancel() + + # 停止推流 + self._stop_ffmpeg() + + # 关闭 WebSocket（在 loop 中执行） + if self._ws and self._loop is not None: + + async def close_ws(): + try: + await self._ws.close() + except Exception as e: + print(f"[CameraController] error closing WebSocket: {e}", file=sys.stderr) + + try: + asyncio.run_coroutine_threadsafe(close_ws(), self._loop) + except Exception: + pass + + # 停止事件循环 + if self._loop is not None: + try: + self._loop.call_soon_threadsafe(self._loop.stop) + except Exception as e: + print(f"[CameraController] error stopping loop: {e}", file=sys.stderr) + + # 等待线程退出 + if self._loop_thread is not None: + try: + self._loop_thread.join(timeout=5) + except Exception as e: + print(f"[CameraController] error joining loop thread: {e}", file=sys.stderr) + + self._ws = None + self._loop_task = None + self._loop = None + self._loop_thread = None + + return {"status": "stopped", "host_id": self.host_id} + + def get_status(self) -> Dict[str, Any]: + ws_closed = None + if self._ws is not None: + ws_closed = getattr(self._ws, "closed", None) + + if ws_closed is None: + websocket_connected = self._ws is not None + else: + websocket_connected = (self._ws is not None) and (not ws_closed) + + return { + "host_id": self.host_id, + "running": self._running, + "websocket_connected": websocket_connected, + "ffmpeg_running": bool(self._ffmpeg_process and self._ffmpeg_process.poll() is None), + "signal_backend_url": self.signal_backend_url, + "rtmp_url": self.rtmp_url, + "video_device": self.video_device, + "width": self.width, + "height": self.height, + "fps": self.fps, + "video_bitrate": self.video_bitrate, + } + + # --------------------------------------------------------------------- + # WebSocket / 信令 + # --------------------------------------------------------------------- + + async def _run_main_loop(self): + print("[CameraController] main loop started", file=sys.stderr) + try: + while self._running: + try: + async with websockets.connect(self.signal_backend_url) as ws: + self._ws = ws + print(f"[CameraController] WebSocket connected: {self.signal_backend_url}", file=sys.stderr) + await self._recv_loop() + except asyncio.CancelledError: + raise + except Exception as e: + if self._running: + print(f"[CameraController] WebSocket connection error: {e}", file=sys.stderr) + await asyncio.sleep(3) + except asyncio.CancelledError: + pass + finally: + print("[CameraController] main loop exited", file=sys.stderr) + + async def _recv_loop(self): + assert self._ws is not None + ws = self._ws + + async for message in ws: + try: + data = json.loads(message) + except json.JSONDecodeError: + print(f"[CameraController] non-JSON message: {message}", file=sys.stderr) + continue + + try: + await self._handle_message(data) + except Exception as e: + print(f"[CameraController] error handling message {data}: {e}", file=sys.stderr) + + async def _handle_message(self, data: Dict[str, Any]): + cmd = data.get("command") + + if cmd == "start_stream": + self._start_ffmpeg() + return + + if cmd == "stop_stream": + self._stop_ffmpeg() + return + + if data.get("type") == "offer": + offer_sdp = data.get("sdp", "") + camera_id = data.get("cameraId", "camera-01") + + answer_sdp = await self._handle_webrtc_offer(offer_sdp) + + if self._ws: + answer_payload = { + "type": "answer", + "sdp": answer_sdp, + "cameraId": camera_id, + "hostId": self.host_id, + } + await self._ws.send(json.dumps(answer_payload)) + + # --------------------------------------------------------------------- + # FFmpeg 推流（V4L2 USB 摄像头） + # --------------------------------------------------------------------- + + def _start_ffmpeg(self): + if self._ffmpeg_process and self._ffmpeg_process.poll() is None: + return + + # 兼容性优先：不强制输入像素格式；失败再通过外部调整 width/height/fps + video_size = f"{self.width}x{self.height}" + + cmd = [ + "ffmpeg", + "-hide_banner", + "-loglevel", + "warning", + + # video input + "-f", "v4l2", + "-framerate", str(self.fps), + "-video_size", video_size, + "-i", self.video_device, + ] + + # optional audio input + if self.audio_device: + cmd += [ + "-f", "alsa", + "-i", self.audio_device, + "-c:a", "aac", + "-b:a", self.audio_bitrate, + "-ar", "44100", + "-ac", "1", + ] + else: + cmd += ["-an"] + + # video encode + rtmp out + cmd += [ + "-c:v", "libx264", + "-preset", "ultrafast", + "-tune", "zerolatency", + "-profile:v", "baseline", + "-pix_fmt", "yuv420p", + "-b:v", self.video_bitrate, + "-maxrate", self.video_bitrate, + "-bufsize", "2M", + "-g", str(max(self.fps, 10)), + "-keyint_min", str(max(self.fps, 10)), + "-sc_threshold", "0", + "-x264-params", "bframes=0", + + "-f", "flv", + self.rtmp_url, + ] + + print(f"[CameraController] starting FFmpeg: {' '.join(cmd)}", file=sys.stderr) + + try: + # 不再丢弃日志，至少能看到 ffmpeg 报错（调试很关键） + self._ffmpeg_process = subprocess.Popen( + cmd, + stdout=subprocess.DEVNULL, + stderr=sys.stderr, + shell=False, + ) + except Exception as e: + self._ffmpeg_process = None + print(f"[CameraController] failed to start FFmpeg: {e}", file=sys.stderr) + + def _stop_ffmpeg(self): + proc = self._ffmpeg_process + if proc and proc.poll() is None: + try: + proc.terminate() + try: + proc.wait(timeout=5) + except subprocess.TimeoutExpired: + proc.kill() + except Exception as e: + print(f"[CameraController] error stopping FFmpeg: {e}", file=sys.stderr) + self._ffmpeg_process = None + + # --------------------------------------------------------------------- + # WebRTC offer -> SRS + # --------------------------------------------------------------------- + + async def _handle_webrtc_offer(self, offer_sdp: str) -> str: + payload = { + "api": self.webrtc_api, + "streamurl": self.webrtc_stream_url, + "sdp": offer_sdp, + } + headers = {"Content-Type": "application/json"} + + def _do_post(): + return requests.post(self.webrtc_api, json=payload, headers=headers, timeout=10) + + loop = asyncio.get_running_loop() + resp = await loop.run_in_executor(None, _do_post) + + resp.raise_for_status() + data = resp.json() + answer_sdp = data.get("sdp", "") + if not answer_sdp: + raise RuntimeError(f"empty SDP from media server: {data}") + return answer_sdp + + +if __name__ == "__main__": + # 直接运行用于手动测试 + c = CameraController( + host_id="demo-host", + video_device="/dev/video0", + width=1280, + height=720, + fps=30, + video_bitrate="1500k", + audio_device=None, + ) + try: + while True: + asyncio.sleep(1) + except KeyboardInterrupt: + c.stop() \ No newline at end of file diff --git a/unilabos/devices/cameraSII/cameraUSB_test.py b/unilabos/devices/cameraSII/cameraUSB_test.py new file mode 100644 index 0000000..fd2da1a --- /dev/null +++ b/unilabos/devices/cameraSII/cameraUSB_test.py @@ -0,0 +1,51 @@ +#!/usr/bin/env python3 +import time +import json + +from cameraUSB import CameraController + + +def main(): + # 按你的实际情况改 + cfg = dict( + host_id="demo-host", + signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host", + rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01", + webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/", + webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01", + video_device="/dev/video7", + width=1280, + height=720, + fps=30, + video_bitrate="1500k", + audio_device=None, + ) + + c = CameraController(**cfg) + + # 可选：如果你不想依赖 __init__ 自动 start，可以这样显式调用： + # c = CameraController(host_id=cfg["host_id"]) + # c.start(cfg) + + run_seconds = 30 # 测试运行时长 + t0 = time.time() + + try: + while True: + st = c.get_status() + print(json.dumps(st, ensure_ascii=False, indent=2)) + + if time.time() - t0 >= run_seconds: + break + + time.sleep(2) + except KeyboardInterrupt: + print("Interrupted, stopping...") + finally: + print("Stopping controller...") + c.stop() + print("Done.") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/unilabos/devices/cameraSII/demo_camera_pic.py b/unilabos/devices/cameraSII/demo_camera_pic.py new file mode 100644 index 0000000..6e117a9 --- /dev/null +++ b/unilabos/devices/cameraSII/demo_camera_pic.py @@ -0,0 +1,36 @@ +import cv2 + +# 推荐把 @ 进行 URL 编码：@ -> %40 +RTSP_URL = "rtsp://admin:admin123@192.168.31.164:554/stream1" +OUTPUT_IMAGE = "rtsp_test_frame.jpg" + +def main(): + print(f"尝试连接 RTSP 流: {RTSP_URL}") + cap = cv2.VideoCapture(RTSP_URL) + + if not cap.isOpened(): + print("错误：无法打开 RTSP 流，请检查：") + print(" 1. IP/端口是否正确") + print(" 2. 账号密码（尤其是 @ 是否已转成 %40）是否正确") + print(" 3. 摄像头是否允许当前主机访问（同一网段、防火墙等）") + return + + print("连接成功，开始读取一帧...") + ret, frame = cap.read() + + if not ret or frame is None: + print("错误：已连接但未能读取到帧数据（可能是码流未开启或网络抖动）") + cap.release() + return + + # 保存当前帧 + success = cv2.imwrite(OUTPUT_IMAGE, frame) + cap.release() + + if success: + print(f"成功截取一帧并保存为: {OUTPUT_IMAGE}") + else: + print("错误：写入图片失败，请检查磁盘权限/路径") + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/unilabos/devices/cameraSII/demo_camera_push.py b/unilabos/devices/cameraSII/demo_camera_push.py new file mode 100644 index 0000000..8cb0222 --- /dev/null +++ b/unilabos/devices/cameraSII/demo_camera_push.py @@ -0,0 +1,21 @@ +# run_camera_push.py +import time +from cameraDriver import CameraController # 这里根据你的文件名调整 + +if __name__ == "__main__": + controller = CameraController( + host_id="demo-host", + signal_backend_url="wss://sciol.ac.cn/api/realtime/signal/host", + rtmp_url="rtmp://srs.sciol.ac.cn:4499/live/camera-01", + webrtc_api="https://srs.sciol.ac.cn/rtc/v1/play/", + webrtc_stream_url="webrtc://srs.sciol.ac.cn:4500/live/camera-01", + camera_rtsp_url="rtsp://admin:admin123@192.168.31.164:554/stream1", + ) + + try: + while True: + status = controller.get_status() + print(status) + time.sleep(5) + except KeyboardInterrupt: + controller.stop() \ No newline at end of file diff --git a/unilabos/devices/cameraSII/ptz_cameracontroller_test.py b/unilabos/devices/cameraSII/ptz_cameracontroller_test.py new file mode 100644 index 0000000..2d788b6 --- /dev/null +++ b/unilabos/devices/cameraSII/ptz_cameracontroller_test.py @@ -0,0 +1,78 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +""" +使用 CameraController 来测试 PTZ： +让摄像头按顺序向下、向上、向左、向右运动几次。 +""" + +import time +import sys + +# 根据你的工程结构修改导入路径： +# 假设 CameraController 定义在 cameraController.py 里 +from cameraDriver import CameraController + + +def main(): + # === 根据你的实际情况填 IP、端口、账号密码 === + ptz_host = "192.168.31.164" + ptz_port = 2020 # 注意要和你单独测试 PTZController 时保持一致 + ptz_user = "admin" + ptz_password = "admin123" + + # 1. 创建 CameraController 实例 + cam = CameraController( + # 其他摄像机相关参数按你类的 __init__ 来补充 + ptz_host=ptz_host, + ptz_port=ptz_port, + ptz_user=ptz_user, + ptz_password=ptz_password, + ) + + # 2. 启动 / 初始化（如果你的 CameraController 有 start(config) 之类的接口） + # 这里给一个最小的 config，重点是 PTZ 相关字段 + config = { + "ptz_host": ptz_host, + "ptz_port": ptz_port, + "ptz_user": ptz_user, + "ptz_password": ptz_password, + } + + try: + cam.start(config) + except Exception as e: + print(f"[TEST] CameraController start() 失败: {e}", file=sys.stderr) + return + + # 这里可以判断一下内部 _ptz 是否初始化成功（如果你对 CameraController 做了封装） + if getattr(cam, "_ptz", None) is None: + print("[TEST] CameraController 内部 PTZ 未初始化成功，请检查 ptz_host/port/user/password 配置。", file=sys.stderr) + return + + # 3. 依次调用 CameraController 的 PTZ 方法 + # 这里假设你在 CameraController 中提供了这几个对外方法： + # ptz_move_down / ptz_move_up / ptz_move_left / ptz_move_right + # 如果你命名不一样，把下面调用名改成你的即可。 + + print("向下移动（通过 CameraController）...") + cam.ptz_move_down(speed=0.5, duration=1.0) + time.sleep(1) + + print("向上移动（通过 CameraController）...") + cam.ptz_move_up(speed=0.5, duration=1.0) + time.sleep(1) + + print("向左移动（通过 CameraController）...") + cam.ptz_move_left(speed=0.5, duration=1.0) + time.sleep(1) + + print("向右移动（通过 CameraController）...") + cam.ptz_move_right(speed=0.5, duration=1.0) + time.sleep(1) + + print("测试结束。") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/unilabos/devices/cameraSII/ptz_test.py b/unilabos/devices/cameraSII/ptz_test.py new file mode 100644 index 0000000..018c3d2 --- /dev/null +++ b/unilabos/devices/cameraSII/ptz_test.py @@ -0,0 +1,50 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +""" +测试 cameraDriver.py中的 PTZController 类，让摄像头按顺序运动几次 +""" + +import time + +from cameraDriver import PTZController + + +def main(): + # 根据你的实际情况填 IP、端口、账号密码 + host = "192.168.31.164" + port = 80 + user = "admin" + password = "admin123" + + ptz = PTZController(host=host, port=port, user=user, password=password) + + # 1. 连接摄像头 + if not ptz.connect(): + print("连接 PTZ 失败，检查 IP/用户名/密码/端口。") + return + + # 2. 依次测试几个动作 + # 每个动作之间 sleep 一下方便观察 + + print("向下移动...") + ptz.move_down(speed=0.5, duration=1.0) + time.sleep(1) + + print("向上移动...") + ptz.move_up(speed=0.5, duration=1.0) + time.sleep(1) + + print("向左移动...") + ptz.move_left(speed=0.5, duration=1.0) + time.sleep(1) + + print("向右移动...") + ptz.move_right(speed=0.5, duration=1.0) + time.sleep(1) + + print("测试结束。") + + +if __name__ == "__main__": + main() \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/__init__.py b/unilabos/devices/laiyu_liquid/__init__.py deleted file mode 100644 index 8935252..0000000 --- a/unilabos/devices/laiyu_liquid/__init__.py +++ /dev/null @@ -1,307 +0,0 @@ -""" -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() \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/backend/__init__.py b/unilabos/devices/laiyu_liquid/backend/__init__.py deleted file mode 100644 index 4bf2939..0000000 --- a/unilabos/devices/laiyu_liquid/backend/__init__.py +++ /dev/null @@ -1,9 +0,0 @@ -""" -LaiYu液体处理设备后端模块 - -提供设备后端接口和实现 -""" - -from .laiyu_backend import LaiYuLiquidBackend, create_laiyu_backend - -__all__ = ['LaiYuLiquidBackend', 'create_laiyu_backend'] \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py b/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py deleted file mode 100644 index 5e8041c..0000000 --- a/unilabos/devices/laiyu_liquid/backend/laiyu_backend.py +++ /dev/null @@ -1,334 +0,0 @@ -""" -LaiYu液体处理设备后端实现 - -提供设备的后端接口和控制逻辑 -""" - -import logging -from typing import Dict, Any, Optional, List -from abc import ABC, abstractmethod - -# 尝试导入PyLabRobot后端 -try: - from pylabrobot.liquid_handling.backends import LiquidHandlerBackend - PYLABROBOT_AVAILABLE = True -except ImportError: - PYLABROBOT_AVAILABLE = False - # 创建模拟后端基类 - class LiquidHandlerBackend: - def __init__(self, name: str): - self.name = name - self.is_connected = False - - def connect(self): - """连接设备""" - pass - - def disconnect(self): - """断开连接""" - pass - - -class LaiYuLiquidBackend(LiquidHandlerBackend): - """LaiYu液体处理设备后端""" - - def __init__(self, name: str = "LaiYu_Liquid_Backend"): - """ - 初始化LaiYu液体处理设备后端 - - Args: - name: 后端名称 - """ - if PYLABROBOT_AVAILABLE: - # PyLabRobot 的 LiquidHandlerBackend 不接受参数 - super().__init__() - else: - # 模拟版本接受 name 参数 - super().__init__(name) - - self.name = name - self.logger = logging.getLogger(__name__) - self.is_connected = False - self.device_info = { - "name": "LaiYu液体处理设备", - "version": "1.0.0", - "manufacturer": "LaiYu", - "model": "LaiYu_Liquid_Handler" - } - - def connect(self) -> bool: - """ - 连接到LaiYu液体处理设备 - - Returns: - bool: 连接是否成功 - """ - try: - self.logger.info("正在连接到LaiYu液体处理设备...") - # 这里应该实现实际的设备连接逻辑 - # 目前返回模拟连接成功 - self.is_connected = True - self.logger.info("成功连接到LaiYu液体处理设备") - return True - except Exception as e: - self.logger.error(f"连接LaiYu液体处理设备失败: {e}") - self.is_connected = False - return False - - def disconnect(self) -> bool: - """ - 断开与LaiYu液体处理设备的连接 - - Returns: - bool: 断开连接是否成功 - """ - try: - self.logger.info("正在断开与LaiYu液体处理设备的连接...") - # 这里应该实现实际的设备断开连接逻辑 - self.is_connected = False - self.logger.info("成功断开与LaiYu液体处理设备的连接") - return True - except Exception as e: - self.logger.error(f"断开LaiYu液体处理设备连接失败: {e}") - return False - - def is_device_connected(self) -> bool: - """ - 检查设备是否已连接 - - Returns: - bool: 设备是否已连接 - """ - return self.is_connected - - def get_device_info(self) -> Dict[str, Any]: - """ - 获取设备信息 - - Returns: - Dict[str, Any]: 设备信息字典 - """ - return self.device_info.copy() - - def home_device(self) -> bool: - """ - 设备归零操作 - - Returns: - bool: 归零是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行归零操作") - return False - - try: - self.logger.info("正在执行设备归零操作...") - # 这里应该实现实际的设备归零逻辑 - self.logger.info("设备归零操作完成") - return True - except Exception as e: - self.logger.error(f"设备归零操作失败: {e}") - return False - - def aspirate(self, volume: float, location: Dict[str, Any]) -> bool: - """ - 吸液操作 - - Args: - volume: 吸液体积 (微升) - location: 吸液位置信息 - - Returns: - bool: 吸液是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行吸液操作") - return False - - try: - self.logger.info(f"正在执行吸液操作: 体积={volume}μL, 位置={location}") - # 这里应该实现实际的吸液逻辑 - self.logger.info("吸液操作完成") - return True - except Exception as e: - self.logger.error(f"吸液操作失败: {e}") - return False - - def dispense(self, volume: float, location: Dict[str, Any]) -> bool: - """ - 排液操作 - - Args: - volume: 排液体积 (微升) - location: 排液位置信息 - - Returns: - bool: 排液是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行排液操作") - return False - - try: - self.logger.info(f"正在执行排液操作: 体积={volume}μL, 位置={location}") - # 这里应该实现实际的排液逻辑 - self.logger.info("排液操作完成") - return True - except Exception as e: - self.logger.error(f"排液操作失败: {e}") - return False - - def pick_up_tip(self, location: Dict[str, Any]) -> bool: - """ - 取枪头操作 - - Args: - location: 枪头位置信息 - - Returns: - bool: 取枪头是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行取枪头操作") - return False - - try: - self.logger.info(f"正在执行取枪头操作: 位置={location}") - # 这里应该实现实际的取枪头逻辑 - self.logger.info("取枪头操作完成") - return True - except Exception as e: - self.logger.error(f"取枪头操作失败: {e}") - return False - - def drop_tip(self, location: Dict[str, Any]) -> bool: - """ - 丢弃枪头操作 - - Args: - location: 丢弃位置信息 - - Returns: - bool: 丢弃枪头是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行丢弃枪头操作") - return False - - try: - self.logger.info(f"正在执行丢弃枪头操作: 位置={location}") - # 这里应该实现实际的丢弃枪头逻辑 - self.logger.info("丢弃枪头操作完成") - return True - except Exception as e: - self.logger.error(f"丢弃枪头操作失败: {e}") - return False - - def move_to(self, location: Dict[str, Any]) -> bool: - """ - 移动到指定位置 - - Args: - location: 目标位置信息 - - Returns: - bool: 移动是否成功 - """ - if not self.is_connected: - self.logger.error("设备未连接，无法执行移动操作") - return False - - try: - self.logger.info(f"正在移动到位置: {location}") - # 这里应该实现实际的移动逻辑 - self.logger.info("移动操作完成") - return True - except Exception as e: - self.logger.error(f"移动操作失败: {e}") - return False - - def get_status(self) -> Dict[str, Any]: - """ - 获取设备状态 - - Returns: - Dict[str, Any]: 设备状态信息 - """ - return { - "connected": self.is_connected, - "device_info": self.device_info, - "status": "ready" if self.is_connected else "disconnected" - } - - # PyLabRobot 抽象方法实现 - def stop(self): - """停止所有操作""" - self.logger.info("停止所有操作") - pass - - @property - def num_channels(self) -> int: - """返回通道数量""" - return 1 # 单通道移液器 - - def can_pick_up_tip(self, tip_rack, tip_position) -> bool: - """检查是否可以拾取吸头""" - return True # 简化实现，总是返回True - - def pick_up_tips(self, tip_rack, tip_positions): - """拾取多个吸头""" - self.logger.info(f"拾取吸头: {tip_positions}") - pass - - def drop_tips(self, tip_rack, tip_positions): - """丢弃多个吸头""" - self.logger.info(f"丢弃吸头: {tip_positions}") - pass - - def pick_up_tips96(self, tip_rack): - """拾取96个吸头""" - self.logger.info("拾取96个吸头") - pass - - def drop_tips96(self, tip_rack): - """丢弃96个吸头""" - self.logger.info("丢弃96个吸头") - pass - - def aspirate96(self, volume, plate, well_positions): - """96通道吸液""" - self.logger.info(f"96通道吸液: 体积={volume}") - pass - - def dispense96(self, volume, plate, well_positions): - """96通道排液""" - self.logger.info(f"96通道排液: 体积={volume}") - pass - - def pick_up_resource(self, resource, location): - """拾取资源""" - self.logger.info(f"拾取资源: {resource}") - pass - - def drop_resource(self, resource, location): - """放置资源""" - self.logger.info(f"放置资源: {resource}") - pass - - def move_picked_up_resource(self, resource, location): - """移动已拾取的资源""" - self.logger.info(f"移动资源: {resource} 到 {location}") - pass - - -def create_laiyu_backend(name: str = "LaiYu_Liquid_Backend") -> LaiYuLiquidBackend: - """ - 创建LaiYu液体处理设备后端实例 - - Args: - name: 后端名称 - - Returns: - LaiYuLiquidBackend: 后端实例 - """ - return LaiYuLiquidBackend(name) \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/backend/rviz_backend.py b/unilabos/devices/laiyu_liquid/backend/rviz_backend.py deleted file mode 100644 index 44e7be4..0000000 --- a/unilabos/devices/laiyu_liquid/backend/rviz_backend.py +++ /dev/null @@ -1,209 +0,0 @@ - -import json -from typing import List, Optional, Union - -from pylabrobot.liquid_handling.backends.backend import ( - LiquidHandlerBackend, -) -from pylabrobot.liquid_handling.standard import ( - Drop, - DropTipRack, - MultiHeadAspirationContainer, - MultiHeadAspirationPlate, - MultiHeadDispenseContainer, - MultiHeadDispensePlate, - Pickup, - PickupTipRack, - ResourceDrop, - ResourceMove, - ResourcePickup, - SingleChannelAspiration, - SingleChannelDispense, -) -from pylabrobot.resources import Resource, Tip - -import rclpy -from rclpy.node import Node -from sensor_msgs.msg import JointState -import time -from rclpy.action import ActionClient -from unilabos_msgs.action import SendCmd -import re - -from unilabos.devices.ros_dev.liquid_handler_joint_publisher import JointStatePublisher - - -class LiquidHandlerRvizBackend(LiquidHandlerBackend): - """Chatter box backend for device-free testing. Prints out all operations.""" - - _pip_length = 5 - _vol_length = 8 - _resource_length = 20 - _offset_length = 16 - _flow_rate_length = 10 - _blowout_length = 10 - _lld_z_length = 10 - _kwargs_length = 15 - _tip_type_length = 12 - _max_volume_length = 16 - _fitting_depth_length = 20 - _tip_length_length = 16 - # _pickup_method_length = 20 - _filter_length = 10 - - def __init__(self, num_channels: int = 8): - """Initialize a chatter box backend.""" - super().__init__() - self._num_channels = num_channels -# rclpy.init() - if not rclpy.ok(): - rclpy.init() - self.joint_state_publisher = None - - async def setup(self): - self.joint_state_publisher = JointStatePublisher() - await super().setup() - async def stop(self): - pass - - def serialize(self) -> dict: - return {**super().serialize(), "num_channels": self.num_channels} - - @property - def num_channels(self) -> int: - return self._num_channels - - async def assigned_resource_callback(self, resource: Resource): - pass - - async def unassigned_resource_callback(self, name: str): - pass - - async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int], **backend_kwargs): - - for op, channel in zip(ops, use_channels): - offset = f"{round(op.offset.x, 1)},{round(op.offset.y, 1)},{round(op.offset.z, 1)}" - row = ( - f" p{channel}: " - f"{op.resource.name[-30:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{op.tip.__class__.__name__:<{LiquidHandlerRvizBackend._tip_type_length}} " - f"{op.tip.maximal_volume:<{LiquidHandlerRvizBackend._max_volume_length}} " - f"{op.tip.fitting_depth:<{LiquidHandlerRvizBackend._fitting_depth_length}} " - f"{op.tip.total_tip_length:<{LiquidHandlerRvizBackend._tip_length_length}} " - # f"{str(op.tip.pickup_method)[-20:]:<{ChatterboxBackend._pickup_method_length}} " - f"{'Yes' if op.tip.has_filter else 'No':<{LiquidHandlerRvizBackend._filter_length}}" - ) - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick") - # goback() - - - - - async def drop_tips(self, ops: List[Drop], use_channels: List[int], **backend_kwargs): - - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "drop_trash") - # goback() - - async def aspirate( - self, - ops: List[SingleChannelAspiration], - use_channels: List[int], - **backend_kwargs, - ): - # 执行吸液操作 - pass - - for o, p in zip(ops, use_channels): - offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}" - row = ( - f" p{p}: " - f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} " - f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} " - f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} " - f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} " - # f"{o.liquids if o.liquids is not None else 'none'}" - ) - for key, value in backend_kwargs.items(): - if isinstance(value, list) and all(isinstance(v, bool) for v in value): - value = "".join("T" if v else "F" for v in value) - if isinstance(value, list): - value = "".join(map(str, value)) - row += f" {value:<15}" - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "") - - - async def dispense( - self, - ops: List[SingleChannelDispense], - use_channels: List[int], - **backend_kwargs, - ): - - for o, p in zip(ops, use_channels): - offset = f"{round(o.offset.x, 1)},{round(o.offset.y, 1)},{round(o.offset.z, 1)}" - row = ( - f" p{p}: " - f"{o.volume:<{LiquidHandlerRvizBackend._vol_length}} " - f"{o.resource.name[-20:]:<{LiquidHandlerRvizBackend._resource_length}} " - f"{offset:<{LiquidHandlerRvizBackend._offset_length}} " - f"{str(o.flow_rate):<{LiquidHandlerRvizBackend._flow_rate_length}} " - f"{str(o.blow_out_air_volume):<{LiquidHandlerRvizBackend._blowout_length}} " - f"{str(o.liquid_height):<{LiquidHandlerRvizBackend._lld_z_length}} " - # f"{o.liquids if o.liquids is not None else 'none'}" - ) - for key, value in backend_kwargs.items(): - if isinstance(value, list) and all(isinstance(v, bool) for v in value): - value = "".join("T" if v else "F" for v in value) - if isinstance(value, list): - value = "".join(map(str, value)) - row += f" {value:<{LiquidHandlerRvizBackend._kwargs_length}}" - coordinate = ops[0].resource.get_absolute_location(x="c",y="c") - x = coordinate.x - y = coordinate.y - z = coordinate.z + 70 - self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "") - - async def pick_up_tips96(self, pickup: PickupTipRack, **backend_kwargs): - pass - - async def drop_tips96(self, drop: DropTipRack, **backend_kwargs): - pass - - async def aspirate96( - self, aspiration: Union[MultiHeadAspirationPlate, MultiHeadAspirationContainer] - ): - pass - - async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]): - pass - - async def pick_up_resource(self, pickup: ResourcePickup): - # 执行资源拾取操作 - pass - - async def move_picked_up_resource(self, move: ResourceMove): - # 执行资源移动操作 - pass - - async def drop_resource(self, drop: ResourceDrop): - # 执行资源放置操作 - pass - - def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool: - return True - \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/config/deckconfig.json b/unilabos/devices/laiyu_liquid/config/deckconfig.json deleted file mode 100644 index ddda7e0..0000000 --- a/unilabos/devices/laiyu_liquid/config/deckconfig.json +++ /dev/null @@ -1,2620 +0,0 @@ -{ - "name": "LaiYu_Liquid_Deck", - "size_x": 340.0, - "size_y": 250.0, - "size_z": 160.0, - "coordinate_system": { - "origin": "top_left", - "x_axis": "right", - "y_axis": "down", - "z_axis": "up", - "units": "mm" - }, - "children": [ - { - "id": "module_1_8tubes", - "name": "8管位置模块", - "type": "tube_rack", - "position": { - "x": 0.0, - "y": 0.0, - "z": 0.0 - }, - "size": { - "x": 151.0, - "y": 75.0, - "z": 75.0 - }, - "wells": [ - { - "id": "A1", - "position": { - "x": 23.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "A2", - "position": { - "x": 58.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "A3", - "position": { - "x": 93.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "A4", - "position": { - "x": 128.0, - "y": 20.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B1", - "position": { - "x": 23.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B2", - "position": { - "x": 58.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B3", - "position": { - "x": 93.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - }, - { - "id": "B4", - "position": { - "x": 128.0, - "y": 55.0, - "z": 0.0 - }, - "diameter": 29.0, - "depth": 117.0, - "volume": 77000.0, - "shape": "circular" - } - ], - "well_spacing": { - "x": 35.0, - "y": 35.0 - }, - "grid": { - "rows": 2, - "columns": 4, - "row_labels": ["A", "B"], - "column_labels": ["1", "2", "3", "4"] - }, - "metadata": { - "description": "8个试管位置，2x4排列", - "max_volume_ul": 77000, - "well_count": 8, - "tube_type": "50ml_falcon" - } - }, - { - "id": "module_2_96well_deep", - "name": "96深孔板", - "type": "96_well_plate", - "position": { - "x": 175.0, - "y": 11.0, - "z": 48.5 - }, - "size": { - "x": 127.1, - "y": 85.6, - "z": 45.5 - }, - "wells": [ - { - "id": "A01", - "position": { - "x": 175.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A02", - "position": { - "x": 184.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A03", - "position": { - "x": 193.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A04", - "position": { - "x": 202.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A05", - "position": { - "x": 211.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A06", - "position": { - "x": 220.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A07", - "position": { - "x": 229.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A08", - "position": { - "x": 238.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A09", - "position": { - "x": 247.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A10", - "position": { - "x": 256.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A11", - "position": { - "x": 265.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "A12", - "position": { - "x": 274.0, - "y": 11.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B01", - "position": { - "x": 175.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B02", - "position": { - "x": 184.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B03", - "position": { - "x": 193.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B04", - "position": { - "x": 202.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B05", - "position": { - "x": 211.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B06", - "position": { - "x": 220.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B07", - "position": { - "x": 229.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B08", - "position": { - "x": 238.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B09", - "position": { - "x": 247.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B10", - "position": { - "x": 256.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B11", - "position": { - "x": 265.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "B12", - "position": { - "x": 274.0, - "y": 20.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C01", - "position": { - "x": 175.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C02", - "position": { - "x": 184.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C03", - "position": { - "x": 193.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C04", - "position": { - "x": 202.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C05", - "position": { - "x": 211.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C06", - "position": { - "x": 220.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C07", - "position": { - "x": 229.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C08", - "position": { - "x": 238.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C09", - "position": { - "x": 247.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C10", - "position": { - "x": 256.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C11", - "position": { - "x": 265.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "C12", - "position": { - "x": 274.0, - "y": 29.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D01", - "position": { - "x": 175.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D02", - "position": { - "x": 184.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D03", - "position": { - "x": 193.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D04", - "position": { - "x": 202.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D05", - "position": { - "x": 211.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D06", - "position": { - "x": 220.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D07", - "position": { - "x": 229.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D08", - "position": { - "x": 238.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D09", - "position": { - "x": 247.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D10", - "position": { - "x": 256.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D11", - "position": { - "x": 265.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "D12", - "position": { - "x": 274.0, - "y": 38.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E01", - "position": { - "x": 175.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E02", - "position": { - "x": 184.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E03", - "position": { - "x": 193.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E04", - "position": { - "x": 202.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E05", - "position": { - "x": 211.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E06", - "position": { - "x": 220.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E07", - "position": { - "x": 229.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E08", - "position": { - "x": 238.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E09", - "position": { - "x": 247.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E10", - "position": { - "x": 256.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E11", - "position": { - "x": 265.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "E12", - "position": { - "x": 274.0, - "y": 47.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F01", - "position": { - "x": 175.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F02", - "position": { - "x": 184.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F03", - "position": { - "x": 193.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F04", - "position": { - "x": 202.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F05", - "position": { - "x": 211.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F06", - "position": { - "x": 220.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F07", - "position": { - "x": 229.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F08", - "position": { - "x": 238.0, - "y": 56.0, - "z": 48.5 - }, - "diameter": 8.2, - "depth": 39.4, - "volume": 2080.0, - "shape": "circular" - }, - { - "id": "F09", - "position": { - 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"depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "F09", - "position": { - "x": 237.62, - "y": 160.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "F10", - "position": { - "x": 246.62, - "y": 160.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "F11", - "position": { - "x": 255.62, - "y": 160.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "F12", - "position": { - "x": 264.62, - "y": 160.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G01", - "position": { - "x": 165.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G02", - "position": { - "x": 174.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G03", - "position": { - "x": 183.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G04", - "position": { - "x": 192.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G05", - "position": { - "x": 201.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G06", - "position": { - "x": 210.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G07", - "position": { - "x": 219.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G08", - "position": { - "x": 228.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G09", - "position": { - "x": 237.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G10", - "position": { - "x": 246.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G11", - "position": { - "x": 255.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "G12", - "position": { - "x": 264.62, - "y": 169.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H01", - "position": { - "x": 165.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H02", - "position": { - "x": 174.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H03", - "position": { - "x": 183.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H04", - "position": { - "x": 192.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H05", - "position": { - "x": 201.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H06", - "position": { - "x": 210.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H07", - "position": { - "x": 219.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H08", - "position": { - "x": 228.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H09", - "position": { - "x": 237.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H10", - "position": { - "x": 246.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H11", - "position": { - "x": 255.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - }, - { - "id": "H12", - "position": { - "x": 264.62, - "y": 178.5, - "z": 103.0 - }, - "diameter": 9.0, - "depth": 95.0, - "volume": 6000.0, - "shape": "circular" - } - ], - "well_spacing": { - "x": 9.0, - "y": 9.0 - }, - "grid": { - "rows": 8, - "columns": 12, - "row_labels": ["A", "B", "C", "D", "E", "F", "G", "H"], - "column_labels": ["01", "02", "03", "04", "05", "06", "07", "08", "09", "10", "11", "12"] - }, - "metadata": { - "description": "标准96孔枪头盒", - "max_volume_ul": 6000, - "well_count": 96, - "plate_type": "tip_rack" - } - } - ], - "deck_metadata": { - "total_modules": 4, - "total_wells": 201, - "deck_area": { - "used_x": 299.62, - "used_y": 260.5, - "used_z": 103.0, - "efficiency_x": 88.1, - "efficiency_y": 104.2, - "efficiency_z": 64.4 - }, - "safety_margins": { - "x_min": 10.0, - "x_max": 10.0, - "y_min": 10.0, - "y_max": 10.0, - "z_clearance": 20.0 - }, - "calibration_points": [ - { - "id": "origin", - "position": {"x": 0.0, "y": 0.0, "z": 0.0}, - "description": "工作台左上角原点" - }, - { - "id": "module_1_ref", - "position": {"x": 23.0, "y": 20.0, "z": 0.0}, - "description": "模块1试管架基准孔A1" - }, - { - "id": "module_2_ref", - "position": {"x": 175.0, "y": 11.0, "z": 48.5}, - "description": "模块2深孔板基准孔A01" - }, - { - "id": "module_3_ref", - "position": {"x": 65.0, "y": 143.5, "z": 0.0}, - "description": "模块3敞口玻璃瓶中心" - }, - { - "id": "module_4_ref", - "position": {"x": 165.62, "y": 115.5, "z": 103.0}, - "description": "模块4枪头盒基准孔A01" - } - ], - "version": "2.0", - "created_by": "Doraemon Team", - "last_updated": "2025-09-29" - } -} \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/config/deckconfig.md b/unilabos/devices/laiyu_liquid/config/deckconfig.md deleted file mode 100644 index 7359e62..0000000 --- a/unilabos/devices/laiyu_liquid/config/deckconfig.md +++ /dev/null @@ -1,14 +0,0 @@ - goto 171 178 57 H1 - goto 171 117 57 A1 - goto 172 178 130 - goto 173 179 133 - goto 173 180 133 -goto 173 180 138 -goto 173 180 125 （+10mm，在空的上面边缘） -goto 173 180 130 取不到 -goto 173 180 133 取不到 -goto 173 180 135 -goto 173 180 137 取到了！！！！ -goto 173 180 131 弹出枪头 H1 - -goto 173 117 137 A1 （+10mm，可以取到新枪头了！！！！） \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/controllers/__init__.py b/unilabos/devices/laiyu_liquid/controllers/__init__.py deleted file mode 100644 index d50b1ec..0000000 --- a/unilabos/devices/laiyu_liquid/controllers/__init__.py +++ /dev/null @@ -1,25 +0,0 @@ -""" -LaiYu_Liquid 控制器模块 - -该模块包含了LaiYu_Liquid液体处理工作站的高级控制器： -- 移液器控制器：提供液体处理的高级接口 -- XYZ运动控制器：提供三轴运动的高级接口 -""" - -# 移液器控制器导入 -from .pipette_controller import PipetteController - -# XYZ运动控制器导入 -from .xyz_controller import XYZController - -__all__ = [ - # 移液器控制器 - "PipetteController", - - # XYZ运动控制器 - "XYZController", -] - -__version__ = "1.0.0" -__author__ = "LaiYu_Liquid Controller Team" -__description__ = "LaiYu_Liquid 高级控制器集合" \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py b/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py deleted file mode 100644 index 6c314a3..0000000 --- a/unilabos/devices/laiyu_liquid/controllers/pipette_controller.py +++ /dev/null @@ -1,1073 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -移液控制器模块 -封装SOPA移液器的高级控制功能 -""" - -# 添加项目根目录到Python路径以解决模块导入问题 -import sys -import os - -# 无论如何都添加项目根目录到路径 -current_file = os.path.abspath(__file__) -# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/pipette_controller.py -# 向上5级到 .../Uni-Lab-OS -project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file))))) -# 强制添加项目根目录到sys.path的开头 -sys.path.insert(0, project_root) - -import time -import logging -from typing import Optional, List, Dict, Tuple -from dataclasses import dataclass -from enum import Enum - -from unilabos.devices.laiyu_liquid.drivers.sopa_pipette_driver import ( - SOPAPipette, - SOPAConfig, - SOPAStatusCode, - DetectionMode, - create_sopa_pipette, -) -from unilabos.devices.laiyu_liquid.drivers.xyz_stepper_driver import ( - XYZStepperController, - MotorAxis, - MotorStatus, - ModbusException -) - -logger = logging.getLogger(__name__) - - -class TipStatus(Enum): - """枪头状态""" - NO_TIP = "no_tip" - TIP_ATTACHED = "tip_attached" - TIP_USED = "tip_used" - - -class LiquidClass(Enum): - """液体类型""" - WATER = "water" - SERUM = "serum" - VISCOUS = "viscous" - VOLATILE = "volatile" - CUSTOM = "custom" - - -@dataclass -class LiquidParameters: - """液体处理参数""" - aspirate_speed: int = 500 # 吸液速度 - dispense_speed: int = 800 # 排液速度 - air_gap: float = 10.0 # 空气间隙 - blow_out: float = 5.0 # 吹出量 - pre_wet: bool = False # 预润湿 - mix_cycles: int = 0 # 混合次数 - mix_volume: float = 50.0 # 混合体积 - touch_tip: bool = False # 接触壁 - delay_after_aspirate: float = 0.5 # 吸液后延时 - delay_after_dispense: float = 0.5 # 排液后延时 - - -class PipetteController: - """移液控制器""" - - # 预定义液体参数 - LIQUID_PARAMS = { - LiquidClass.WATER: LiquidParameters( - aspirate_speed=500, - dispense_speed=800, - air_gap=10.0 - ), - LiquidClass.SERUM: LiquidParameters( - aspirate_speed=200, - dispense_speed=400, - air_gap=15.0, - pre_wet=True, - delay_after_aspirate=1.0 - ), - LiquidClass.VISCOUS: LiquidParameters( - aspirate_speed=100, - dispense_speed=200, - air_gap=20.0, - delay_after_aspirate=2.0, - delay_after_dispense=2.0 - ), - LiquidClass.VOLATILE: LiquidParameters( - aspirate_speed=800, - dispense_speed=1000, - air_gap=5.0, - delay_after_aspirate=0.2, - delay_after_dispense=0.2 - ) - } - - def __init__(self, port: str, address: int = 4, xyz_port: Optional[str] = None): - """ - 初始化移液控制器 - - Args: - port: 移液器串口端口 - address: 移液器RS485地址 - xyz_port: XYZ步进电机串口端口（可选，用于枪头装载等运动控制） - """ - self.config = SOPAConfig( - port=port, - address=address, - baudrate=115200 - ) - self.pipette = SOPAPipette(self.config) - self.tip_status = TipStatus.NO_TIP - self.current_volume = 0.0 - self.max_volume = 1000.0 # 默认1000ul - self.liquid_class = LiquidClass.WATER - self.liquid_params = self.LIQUID_PARAMS[LiquidClass.WATER] - - # XYZ步进电机控制器（用于运动控制） - self.xyz_controller: Optional[XYZStepperController] = None - self.xyz_port = xyz_port - self.xyz_connected = False - - # 统计信息 - self.tip_count = 0 - self.aspirate_count = 0 - self.dispense_count = 0 - - def connect(self) -> bool: - """连接移液器和XYZ步进电机控制器""" - try: - # 连接移液器 - if not self.pipette.connect(): - logger.error("移液器连接失败") - return False - logger.info("移液器连接成功") - - # 连接XYZ步进电机控制器（如果提供了端口） - if self.xyz_port: - try: - self.xyz_controller = XYZStepperController(self.xyz_port) - if self.xyz_controller.connect(): - self.xyz_connected = True - logger.info(f"XYZ步进电机控制器连接成功: {self.xyz_port}") - else: - logger.warning(f"XYZ步进电机控制器连接失败: {self.xyz_port}") - self.xyz_controller = None - except Exception as e: - logger.warning(f"XYZ步进电机控制器连接异常: {e}") - self.xyz_controller = None - self.xyz_connected = False - else: - logger.info("未配置XYZ步进电机端口，跳过运动控制器连接") - - return True - except Exception as e: - logger.error(f"设备连接失败: {e}") - return False - - def initialize(self) -> bool: - """初始化移液器""" - try: - if self.pipette.initialize(): - logger.info("移液器初始化成功") - # 检查枪头状态 - self._update_tip_status() - return True - return False - except Exception as e: - logger.error(f"移液器初始化失败: {e}") - return False - - def disconnect(self): - """断开连接""" - # 断开移液器连接 - self.pipette.disconnect() - logger.info("移液器已断开") - - # 断开 XYZ 步进电机连接 - if self.xyz_controller and self.xyz_connected: - try: - self.xyz_controller.disconnect() - self.xyz_connected = False - logger.info("XYZ 步进电机已断开") - except Exception as e: - logger.error(f"断开 XYZ 步进电机失败: {e}") - - def _check_xyz_safety(self, axis: MotorAxis, target_position: int) -> bool: - """ - 检查 XYZ 轴移动的安全性 - - Args: - axis: 电机轴 - target_position: 目标位置(步数) - - Returns: - 是否安全 - """ - try: - # 获取当前电机状态 - motor_position = self.xyz_controller.get_motor_status(axis) - - # 检查电机状态是否正常 (不是碰撞停止或限位停止) - if motor_position.status in [MotorStatus.COLLISION_STOP, - MotorStatus.FORWARD_LIMIT_STOP, - MotorStatus.REVERSE_LIMIT_STOP]: - logger.error(f"{axis.name} 轴电机处于错误状态: {motor_position.status.name}") - return False - - # 检查位置限制 (扩大安全范围以适应实际硬件) - # 步进电机的位置范围通常很大，这里设置更合理的范围 - if target_position < -500000 or target_position > 500000: - logger.error(f"{axis.name} 轴目标位置超出安全范围: {target_position}") - return False - - # 检查移动距离是否过大 (单次移动不超过 20000 步，约12mm) - current_position = motor_position.steps - move_distance = abs(target_position - current_position) - if move_distance > 20000: - logger.error(f"{axis.name} 轴单次移动距离过大: {move_distance}步") - return False - - return True - - except Exception as e: - logger.error(f"安全检查失败: {e}") - return False - - def move_z_relative(self, distance_mm: float, speed: int = 2000, acceleration: int = 500) -> bool: - """ - Z轴相对移动 - - Args: - distance_mm: 移动距离(mm)，正值向下，负值向上 - speed: 移动速度(rpm) - acceleration: 加速度(rpm/s) - - Returns: - 移动是否成功 - """ - if not self.xyz_controller or not self.xyz_connected: - logger.error("XYZ 步进电机未连接，无法执行移动") - return False - - try: - # 参数验证 - if abs(distance_mm) > 15.0: - logger.error(f"移动距离过大: {distance_mm}mm，最大允许15mm") - return False - - if speed < 100 or speed > 5000: - logger.error(f"速度参数无效: {speed}rpm，范围应为100-5000") - return False - - # 获取当前 Z 轴位置 - current_status = self.xyz_controller.get_motor_status(MotorAxis.Z) - current_z_position = current_status.steps - - # 计算移动距离对应的步数 (1mm = 1638.4步) - mm_to_steps = 1638.4 - move_distance_steps = int(distance_mm * mm_to_steps) - - # 计算目标位置 - target_z_position = current_z_position + move_distance_steps - - # 安全检查 - if not self._check_xyz_safety(MotorAxis.Z, target_z_position): - logger.error("Z轴移动安全检查失败") - return False - - logger.info(f"Z轴相对移动: {distance_mm}mm ({move_distance_steps}步)") - logger.info(f"当前位置: {current_z_position}步 -> 目标位置: {target_z_position}步") - - # 执行移动 - success = self.xyz_controller.move_to_position( - axis=MotorAxis.Z, - position=target_z_position, - speed=speed, - acceleration=acceleration, - precision=50 - ) - - if not success: - logger.error("Z轴移动命令发送失败") - return False - - # 等待移动完成 - if not self.xyz_controller.wait_for_completion(MotorAxis.Z, timeout=10.0): - logger.error("Z轴移动超时") - return False - - # 验证移动结果 - final_status = self.xyz_controller.get_motor_status(MotorAxis.Z) - final_position = final_status.steps - position_error = abs(final_position - target_z_position) - - logger.info(f"Z轴移动完成，最终位置: {final_position}步，误差: {position_error}步") - - if position_error > 100: - logger.warning(f"Z轴位置误差较大: {position_error}步") - - return True - - except ModbusException as e: - logger.error(f"Modbus通信错误: {e}") - return False - except Exception as e: - logger.error(f"Z轴移动失败: {e}") - return False - - def emergency_stop(self) -> bool: - """ - 紧急停止所有运动 - - Returns: - 停止是否成功 - """ - success = True - - # 停止移液器操作 - try: - if self.pipette and self.connected: - # 这里可以添加移液器的紧急停止逻辑 - logger.info("移液器紧急停止") - except Exception as e: - logger.error(f"移液器紧急停止失败: {e}") - success = False - - # 停止 XYZ 轴运动 - try: - if self.xyz_controller and self.xyz_connected: - self.xyz_controller.emergency_stop() - logger.info("XYZ 轴紧急停止") - except Exception as e: - logger.error(f"XYZ 轴紧急停止失败: {e}") - success = False - - return success - - def pickup_tip(self) -> bool: - """ - 装载枪头 - Z轴向下移动10mm进行枪头装载 - - Returns: - 是否成功 - """ - if self.tip_status == TipStatus.TIP_ATTACHED: - logger.warning("已有枪头，无需重复装载") - return True - - logger.info("开始装载枪头 - Z轴向下移动10mm") - - # 使用相对移动方法，向下移动10mm - if self.move_z_relative(distance_mm=10.0, speed=2000, acceleration=500): - # 更新枪头状态 - self.tip_status = TipStatus.TIP_ATTACHED - self.tip_count += 1 - self.current_volume = 0.0 - logger.info("枪头装载成功") - return True - else: - logger.error("枪头装载失败 - Z轴移动失败") - return False - - def eject_tip(self) -> bool: - """ - 弹出枪头 - - Returns: - 是否成功 - """ - if self.tip_status == TipStatus.NO_TIP: - logger.warning("无枪头可弹出") - return True - - try: - if self.pipette.eject_tip(): - self.tip_status = TipStatus.NO_TIP - self.current_volume = 0.0 - logger.info("枪头已弹出") - return True - return False - except Exception as e: - logger.error(f"弹出枪头失败: {e}") - return False - - def aspirate(self, volume: float, liquid_class: Optional[LiquidClass] = None, - detection: bool = True) -> bool: - """ - 吸液 - - Args: - volume: 吸液体积(ul) - liquid_class: 液体类型 - detection: 是否开启液位检测 - - Returns: - 是否成功 - """ - if self.tip_status != TipStatus.TIP_ATTACHED: - logger.error("无枪头，无法吸液") - return False - - if self.current_volume + volume > self.max_volume: - logger.error(f"吸液量超过枪头容量: {self.current_volume + volume} > {self.max_volume}") - return False - - # 设置液体参数 - if liquid_class: - self.set_liquid_class(liquid_class) - - try: - # 设置吸液速度 - self.pipette.set_max_speed(self.liquid_params.aspirate_speed) - - # 执行液位检测 - if detection: - if not self.pipette.liquid_level_detection(): - logger.warning("液位检测失败，继续吸液") - - # 预润湿 - if self.liquid_params.pre_wet and self.current_volume == 0: - logger.info("执行预润湿") - self._pre_wet(volume * 0.2) - - # 吸液 - if self.pipette.aspirate(volume, detection=False): - self.current_volume += volume - self.aspirate_count += 1 - - # 吸液后延时 - time.sleep(self.liquid_params.delay_after_aspirate) - - # 吸取空气间隙 - if self.liquid_params.air_gap > 0: - self.pipette.aspirate(self.liquid_params.air_gap, detection=False) - self.current_volume += self.liquid_params.air_gap - - logger.info(f"吸液完成: {volume}ul, 当前体积: {self.current_volume}ul") - return True - else: - logger.error("吸液失败") - return False - - except Exception as e: - logger.error(f"吸液异常: {e}") - return False - - def dispense(self, volume: float, blow_out: bool = False) -> bool: - """ - 排液 - - Args: - volume: 排液体积(ul) - blow_out: 是否吹出 - - Returns: - 是否成功 - """ - if self.tip_status != TipStatus.TIP_ATTACHED: - logger.error("无枪头，无法排液") - return False - - if volume > self.current_volume: - logger.error(f"排液量超过当前体积: {volume} > {self.current_volume}") - return False - - try: - # 设置排液速度 - self.pipette.set_max_speed(self.liquid_params.dispense_speed) - - # 排液 - if self.pipette.dispense(volume): - self.current_volume -= volume - self.dispense_count += 1 - - # 排液后延时 - time.sleep(self.liquid_params.delay_after_dispense) - - # 吹出 - if blow_out and self.liquid_params.blow_out > 0: - self.pipette.dispense(self.liquid_params.blow_out) - logger.debug(f"执行吹出: {self.liquid_params.blow_out}ul") - - # 接触壁 - if self.liquid_params.touch_tip: - self._touch_tip() - - logger.info(f"排液完成: {volume}ul, 剩余体积: {self.current_volume}ul") - return True - else: - logger.error("排液失败") - return False - - except Exception as e: - logger.error(f"排液异常: {e}") - return False - - def transfer(self, volume: float, - source_well: Optional[str] = None, - dest_well: Optional[str] = None, - liquid_class: Optional[LiquidClass] = None, - new_tip: bool = True, - mix_before: Optional[Tuple[int, float]] = None, - mix_after: Optional[Tuple[int, float]] = None) -> bool: - """ - 液体转移 - - Args: - volume: 转移体积 - source_well: 源孔位 - dest_well: 目标孔位 - liquid_class: 液体类型 - new_tip: 是否使用新枪头 - mix_before: 吸液前混合(次数, 体积) - mix_after: 排液后混合(次数, 体积) - - Returns: - 是否成功 - """ - try: - # 装载新枪头 - if new_tip: - self.eject_tip() - if not self.pickup_tip(): - return False - - # 设置液体类型 - if liquid_class: - self.set_liquid_class(liquid_class) - - # 吸液前混合 - if mix_before: - cycles, mix_vol = mix_before - self.mix(cycles, mix_vol) - - # 吸液 - if not self.aspirate(volume): - return False - - # 排液 - if not self.dispense(volume, blow_out=True): - return False - - # 排液后混合 - if mix_after: - cycles, mix_vol = mix_after - self.mix(cycles, mix_vol) - - logger.info(f"液体转移完成: {volume}ul") - return True - - except Exception as e: - logger.error(f"液体转移失败: {e}") - return False - - def mix(self, cycles: int = 3, volume: Optional[float] = None) -> bool: - """ - 混合 - - Args: - cycles: 混合次数 - volume: 混合体积 - - Returns: - 是否成功 - """ - volume = volume or self.liquid_params.mix_volume - - logger.info(f"开始混合: {cycles}次, {volume}ul") - - for i in range(cycles): - if not self.aspirate(volume, detection=False): - return False - if not self.dispense(volume): - return False - - logger.info("混合完成") - return True - - def _pre_wet(self, volume: float): - """预润湿""" - self.pipette.aspirate(volume, detection=False) - time.sleep(0.2) - self.pipette.dispense(volume) - time.sleep(0.2) - - def _touch_tip(self): - """接触壁(需要与运动控制配合)""" - # TODO: 实现接触壁动作 - logger.debug("执行接触壁") - time.sleep(0.5) - - def _update_tip_status(self): - """更新枪头状态""" - if self.pipette.get_tip_status(): - self.tip_status = TipStatus.TIP_ATTACHED - else: - self.tip_status = TipStatus.NO_TIP - - def set_liquid_class(self, liquid_class: LiquidClass): - """设置液体类型""" - self.liquid_class = liquid_class - if liquid_class in self.LIQUID_PARAMS: - self.liquid_params = self.LIQUID_PARAMS[liquid_class] - logger.info(f"液体类型设置为: {liquid_class.value}") - - def set_custom_parameters(self, params: LiquidParameters): - """设置自定义液体参数""" - self.liquid_params = params - self.liquid_class = LiquidClass.CUSTOM - - def calibrate_volume(self, expected: float, actual: float): - """ - 体积校准 - - Args: - expected: 期望体积 - actual: 实际体积 - """ - factor = actual / expected - self.pipette.set_calibration_factor(factor) - logger.info(f"体积校准系数: {factor}") - - def get_status(self) -> Dict: - """获取状态信息""" - return { - 'tip_status': self.tip_status.value, - 'current_volume': self.current_volume, - 'max_volume': self.max_volume, - 'liquid_class': self.liquid_class.value, - 'statistics': { - 'tip_count': self.tip_count, - 'aspirate_count': self.aspirate_count, - 'dispense_count': self.dispense_count - } - } - - def reset_statistics(self): - """重置统计信息""" - self.tip_count = 0 - self.aspirate_count = 0 - self.dispense_count = 0 - -# ============================================================================ -# 实例化代码块 - 移液控制器使用示例 -# ============================================================================ - -if __name__ == "__main__": - # 配置日志 - import logging - - # 设置日志级别 - logging.basicConfig( - level=logging.INFO, - format='%(asctime)s - %(name)s - %(levelname)s - %(message)s' - ) - - def interactive_test(): - """交互式测试模式 - 适用于已连接的设备""" - print("\n" + "=" * 60) - print("🧪 移液器交互式测试模式") - print("=" * 60) - - # 获取用户输入的连接参数 - print("\n📡 设备连接配置:") - port = input("请输入移液器串口端口 (默认: /dev/ttyUSB0): ").strip() or "/dev/ttyUSB0" - address_input = input("请输入移液器设备地址 (默认: 4): ").strip() - address = int(address_input) if address_input else 4 - - # 询问是否连接 XYZ 步进电机控制器 - xyz_enable = input("是否连接 XYZ 步进电机控制器? (y/N): ").strip().lower() - xyz_port = None - if xyz_enable in ['y', 'yes']: - xyz_port = input("请输入 XYZ 控制器串口端口 (默认: /dev/ttyUSB1): ").strip() or "/dev/ttyUSB1" - - try: - # 创建移液控制器实例 - if xyz_port: - print(f"\n🔧 创建移液控制器实例 (移液器端口: {port}, 地址: {address}, XYZ端口: {xyz_port})...") - pipette = PipetteController(port=port, address=address, xyz_port=xyz_port) - else: - print(f"\n🔧 创建移液控制器实例 (端口: {port}, 地址: {address})...") - pipette = PipetteController(port=port, address=address) - - # 连接设备 - print("\n📞 连接移液器设备...") - if not pipette.connect(): - print("❌ 设备连接失败，请检查连接") - return - print("✅ 设备连接成功") - - # 初始化设备 - print("\n🚀 初始化设备...") - if not pipette.initialize(): - print("❌ 设备初始化失败") - return - print("✅ 设备初始化成功") - - # 交互式菜单 - while True: - print("\n" + "=" * 50) - print("🎮 交互式操作菜单:") - print("1. 📋 查看设备状态") - print("2. 🔧 装载枪头") - print("3. 🗑️ 弹出枪头") - print("4. 💧 吸液操作") - print("5. 💦 排液操作") - print("6. 🌀 混合操作") - print("7. 🔄 液体转移") - print("8. ⚙️ 设置液体类型") - print("9. 🎯 自定义参数") - print("10. 📊 校准体积") - print("11. 🧹 重置统计") - print("12. 🔍 液体类型测试") - print("99. 🚨 紧急停止") - print("0. 🚪 退出程序") - print("=" * 50) - - choice = input("\n请选择操作 (0-12, 99): ").strip() - - if choice == "0": - print("\n👋 退出程序...") - break - elif choice == "1": - # 查看设备状态 - status = pipette.get_status() - print("\n📊 设备状态信息:") - print(f" 🎯 枪头状态: {status['tip_status']}") - print(f" 💧 当前体积: {status['current_volume']}ul") - print(f" 📏 最大体积: {status['max_volume']}ul") - print(f" 🧪 液体类型: {status['liquid_class']}") - print(f" 📈 统计信息:") - print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}") - print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}") - print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}") - - elif choice == "2": - # 装载枪头 - print("\n🔧 装载枪头...") - if pipette.xyz_connected: - print("📍 使用 XYZ 控制器进行 Z 轴定位 (下移 10mm)") - else: - print("⚠️ 未连接 XYZ 控制器，仅执行移液器枪头装载") - - if pipette.pickup_tip(): - print("✅ 枪头装载成功") - if pipette.xyz_connected: - print("📍 Z 轴已移动到装载位置") - else: - print("❌ 枪头装载失败") - - elif choice == "3": - # 弹出枪头 - print("\n🗑️ 弹出枪头...") - if pipette.eject_tip(): - print("✅ 枪头弹出成功") - else: - print("❌ 枪头弹出失败") - - elif choice == "4": - # 吸液操作 - try: - volume = float(input("请输入吸液体积 (ul): ")) - detection = input("是否启用液面检测? (y/n, 默认y): ").strip().lower() != 'n' - print(f"\n💧 执行吸液操作 ({volume}ul)...") - if pipette.aspirate(volume, detection=detection): - print(f"✅ 吸液成功: {volume}ul") - print(f"📊 当前体积: {pipette.current_volume}ul") - else: - print("❌ 吸液失败") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "5": - # 排液操作 - try: - volume = float(input("请输入排液体积 (ul): ")) - blow_out = input("是否执行吹出操作? (y/n, 默认n): ").strip().lower() == 'y' - print(f"\n💦 执行排液操作 ({volume}ul)...") - if pipette.dispense(volume, blow_out=blow_out): - print(f"✅ 排液成功: {volume}ul") - print(f"📊 剩余体积: {pipette.current_volume}ul") - else: - print("❌ 排液失败") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "6": - # 混合操作 - try: - cycles = int(input("请输入混合次数 (默认3): ") or "3") - volume_input = input("请输入混合体积 (ul, 默认使用当前体积的50%): ").strip() - volume = float(volume_input) if volume_input else None - print(f"\n🌀 执行混合操作 ({cycles}次)...") - if pipette.mix(cycles=cycles, volume=volume): - print("✅ 混合完成") - else: - print("❌ 混合失败") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "7": - # 液体转移 - try: - volume = float(input("请输入转移体积 (ul): ")) - source = input("源孔位 (可选, 如A1): ").strip() or None - dest = input("目标孔位 (可选, 如B1): ").strip() or None - new_tip = input("是否使用新枪头? (y/n, 默认y): ").strip().lower() != 'n' - - print(f"\n🔄 执行液体转移 ({volume}ul)...") - if pipette.transfer(volume=volume, source_well=source, dest_well=dest, new_tip=new_tip): - print("✅ 液体转移完成") - else: - print("❌ 液体转移失败") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "8": - # 设置液体类型 - print("\n🧪 可用液体类型:") - liquid_options = { - "1": (LiquidClass.WATER, "水溶液"), - "2": (LiquidClass.SERUM, "血清"), - "3": (LiquidClass.VISCOUS, "粘稠液体"), - "4": (LiquidClass.VOLATILE, "挥发性液体") - } - - for key, (liquid_class, description) in liquid_options.items(): - print(f" {key}. {description}") - - liquid_choice = input("请选择液体类型 (1-4): ").strip() - if liquid_choice in liquid_options: - liquid_class, description = liquid_options[liquid_choice] - pipette.set_liquid_class(liquid_class) - print(f"✅ 液体类型设置为: {description}") - - # 显示参数 - params = pipette.liquid_params - print(f"📋 参数设置:") - print(f" ⬆️ 吸液速度: {params.aspirate_speed}") - print(f" ⬇️ 排液速度: {params.dispense_speed}") - print(f" 💨 空气间隙: {params.air_gap}ul") - print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}") - else: - print("❌ 无效选择") - - elif choice == "9": - # 自定义参数 - try: - print("\n⚙️ 设置自定义参数 (直接回车使用默认值):") - aspirate_speed = input("吸液速度 (默认500): ").strip() - dispense_speed = input("排液速度 (默认800): ").strip() - air_gap = input("空气间隙 (ul, 默认10.0): ").strip() - pre_wet = input("预润湿 (y/n, 默认n): ").strip().lower() == 'y' - - custom_params = LiquidParameters( - aspirate_speed=int(aspirate_speed) if aspirate_speed else 500, - dispense_speed=int(dispense_speed) if dispense_speed else 800, - air_gap=float(air_gap) if air_gap else 10.0, - pre_wet=pre_wet - ) - - pipette.set_custom_parameters(custom_params) - print("✅ 自定义参数设置完成") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "10": - # 校准体积 - try: - expected = float(input("期望体积 (ul): ")) - actual = float(input("实际测量体积 (ul): ")) - pipette.calibrate_volume(expected, actual) - print(f"✅ 校准完成，校准系数: {actual/expected:.3f}") - except ValueError: - print("❌ 请输入有效的数字") - - elif choice == "11": - # 重置统计 - pipette.reset_statistics() - print("✅ 统计信息已重置") - - elif choice == "12": - # 液体类型测试 - print("\n🧪 液体类型参数对比:") - liquid_tests = [ - (LiquidClass.WATER, "水溶液"), - (LiquidClass.SERUM, "血清"), - (LiquidClass.VISCOUS, "粘稠液体"), - (LiquidClass.VOLATILE, "挥发性液体") - ] - - for liquid_class, description in liquid_tests: - params = pipette.LIQUID_PARAMS[liquid_class] - print(f"\n📋 {description} ({liquid_class.value}):") - print(f" ⬆️ 吸液速度: {params.aspirate_speed}") - print(f" ⬇️ 排液速度: {params.dispense_speed}") - print(f" 💨 空气间隙: {params.air_gap}ul") - print(f" 💧 预润湿: {'是' if params.pre_wet else '否'}") - print(f" ⏱️ 吸液后延时: {params.delay_after_aspirate}s") - - elif choice == "99": - # 紧急停止 - print("\n🚨 执行紧急停止...") - success = pipette.emergency_stop() - if success: - print("✅ 紧急停止执行成功") - print("⚠️ 所有运动已停止，请检查设备状态") - else: - print("❌ 紧急停止执行失败") - print("⚠️ 请手动检查设备状态并采取必要措施") - - # 紧急停止后询问是否继续 - continue_choice = input("\n是否继续操作？(y/n): ").strip().lower() - if continue_choice != 'y': - print("🚪 退出程序") - break - - else: - print("❌ 无效选择，请重新输入") - - # 等待用户确认继续 - input("\n按回车键继续...") - - except KeyboardInterrupt: - print("\n\n⚠️ 用户中断操作") - except Exception as e: - print(f"\n❌ 发生异常: {e}") - finally: - # 断开连接 - print("\n📞 断开设备连接...") - try: - pipette.disconnect() - print("✅ 连接已断开") - except: - print("⚠️ 断开连接时出现问题") - - def demo_test(): - """演示测试模式 - 完整功能演示""" - print("\n" + "=" * 60) - print("🎬 移液控制器演示测试") - print("=" * 60) - - try: - # 创建移液控制器实例 - print("1. 🔧 创建移液控制器实例...") - pipette = PipetteController(port="/dev/ttyUSB0", address=4) - print("✅ 移液控制器实例创建成功") - - # 连接设备 - print("\n2. 📞 连接移液器设备...") - if pipette.connect(): - print("✅ 设备连接成功") - else: - print("❌ 设备连接失败") - return False - - # 初始化设备 - print("\n3. 🚀 初始化设备...") - if pipette.initialize(): - print("✅ 设备初始化成功") - else: - print("❌ 设备初始化失败") - return False - - # 装载枪头 - print("\n4. 🔧 装载枪头...") - if pipette.pickup_tip(): - print("✅ 枪头装载成功") - else: - print("❌ 枪头装载失败") - - # 设置液体类型 - print("\n5. 🧪 设置液体类型为血清...") - pipette.set_liquid_class(LiquidClass.SERUM) - print("✅ 液体类型设置完成") - - # 吸液操作 - print("\n6. 💧 执行吸液操作...") - volume_to_aspirate = 100.0 - if pipette.aspirate(volume_to_aspirate, detection=True): - print(f"✅ 吸液成功: {volume_to_aspirate}ul") - print(f"📊 当前体积: {pipette.current_volume}ul") - else: - print("❌ 吸液失败") - - # 排液操作 - print("\n7. 💦 执行排液操作...") - volume_to_dispense = 50.0 - if pipette.dispense(volume_to_dispense, blow_out=True): - print(f"✅ 排液成功: {volume_to_dispense}ul") - print(f"📊 剩余体积: {pipette.current_volume}ul") - else: - print("❌ 排液失败") - - # 混合操作 - print("\n8. 🌀 执行混合操作...") - if pipette.mix(cycles=3, volume=30.0): - print("✅ 混合完成") - else: - print("❌ 混合失败") - - # 获取状态信息 - print("\n9. 📊 获取设备状态...") - status = pipette.get_status() - print("设备状态信息:") - print(f" 🎯 枪头状态: {status['tip_status']}") - print(f" 💧 当前体积: {status['current_volume']}ul") - print(f" 📏 最大体积: {status['max_volume']}ul") - print(f" 🧪 液体类型: {status['liquid_class']}") - print(f" 📈 统计信息:") - print(f" 🔧 枪头使用次数: {status['statistics']['tip_count']}") - print(f" ⬆️ 吸液次数: {status['statistics']['aspirate_count']}") - print(f" ⬇️ 排液次数: {status['statistics']['dispense_count']}") - - # 弹出枪头 - print("\n10. 🗑️ 弹出枪头...") - if pipette.eject_tip(): - print("✅ 枪头弹出成功") - else: - print("❌ 枪头弹出失败") - - print("\n" + "=" * 60) - print("✅ 移液控制器演示测试完成") - print("=" * 60) - - return True - - except Exception as e: - print(f"\n❌ 测试过程中发生异常: {e}") - return False - - finally: - # 断开连接 - print("\n📞 断开连接...") - pipette.disconnect() - print("✅ 连接已断开") - - # 主程序入口 - print("🧪 移液器控制器测试程序") - print("=" * 40) - print("1. 🎮 交互式测试 (推荐)") - print("2. 🎬 演示测试") - print("0. 🚪 退出") - print("=" * 40) - - mode = input("请选择测试模式 (0-2): ").strip() - - if mode == "1": - interactive_test() - elif mode == "2": - demo_test() - elif mode == "0": - print("👋 再见！") - else: - print("❌ 无效选择") - - print("\n🎉 程序结束！") - print("\n💡 使用说明:") - print("1. 确保移液器硬件已正确连接") - print("2. 根据实际情况修改串口端口号") - print("3. 交互模式支持实时操作和参数调整") - print("4. 在实际使用中需要配合运动控制器进行位置移动") diff --git a/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py b/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py deleted file mode 100644 index 2526f48..0000000 --- a/unilabos/devices/laiyu_liquid/controllers/xyz_controller.py +++ /dev/null @@ -1,1183 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -XYZ三轴步进电机控制器 -支持坐标系管理、限位开关回零、工作原点设定等功能 - -主要功能： -- 坐标系转换层（步数↔毫米） -- 限位开关回零功能 -- 工作原点示教和保存 -- 安全限位检查 -- 运动控制接口 - -""" - -import json -import os -import time -from typing import Optional, Dict, Tuple, Union -from dataclasses import dataclass, asdict -from pathlib import Path -import logging - -# 添加项目根目录到Python路径以解决模块导入问题 -import sys -import os - -# 无论如何都添加项目根目录到路径 -current_file = os.path.abspath(__file__) -# 从 .../Uni-Lab-OS/unilabos/devices/LaiYu_Liquid/controllers/xyz_controller.py -# 向上5级到 .../Uni-Lab-OS -project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(current_file))))) -# 强制添加项目根目录到sys.path的开头 -sys.path.insert(0, project_root) - -# 导入原有的驱动 -from unilabos.devices.laiyu_liquid.drivers.xyz_stepper_driver import XYZStepperController, MotorAxis, MotorStatus - -logger = logging.getLogger(__name__) - - -@dataclass -class MachineConfig: - """机械配置参数""" - # 步距配置 (基于16384步/圈的步进电机) - steps_per_mm_x: float = 204.8 # X轴步距 (16384步/圈 ÷ 80mm导程) - steps_per_mm_y: float = 204.8 # Y轴步距 (16384步/圈 ÷ 80mm导程) - steps_per_mm_z: float = 3276.8 # Z轴步距 (16384步/圈 ÷ 5mm导程) - - # 行程限制 - max_travel_x: float = 340.0 # X轴最大行程 - max_travel_y: float = 250.0 # Y轴最大行程 - max_travel_z: float = 160.0 # Z轴最大行程 - - # 安全移动参数 - safe_z_height: float = 0.0 # Z轴安全移动高度 (mm) - 液体处理工作站安全高度 - z_approach_height: float = 5.0 # Z轴接近高度 (mm) - 在目标位置上方的预备高度 - - # 回零参数 - homing_speed: int = 100 # 回零速度 (rpm) - homing_timeout: float = 30.0 # 回零超时时间 - safe_clearance: float = 1.0 # 安全间隙 (mm) - position_stable_time: float = 3.0 # 位置稳定检测时间（秒） - position_check_interval: float = 0.2 # 位置检查间隔（秒） - - # 运动参数 - default_speed: int = 100 # 默认运动速度 (rpm) - default_acceleration: int = 1000 # 默认加速度 - - -@dataclass -class CoordinateOrigin: - """坐标原点信息""" - machine_origin_steps: Dict[str, int] = None # 机械原点步数位置 - work_origin_steps: Dict[str, int] = None # 工作原点步数位置 - is_homed: bool = False # 是否已回零 - timestamp: str = "" # 设定时间戳 - - def __post_init__(self): - if self.machine_origin_steps is None: - self.machine_origin_steps = {"x": 0, "y": 0, "z": 0} - if self.work_origin_steps is None: - self.work_origin_steps = {"x": 0, "y": 0, "z": 0} - - -class CoordinateSystemError(Exception): - """坐标系统异常""" - pass - - -class XYZController(XYZStepperController): - """XYZ三轴控制器""" - - def __init__(self, port: str, baudrate: int = 115200, - machine_config: Optional[MachineConfig] = None, - config_file: str = "machine_config.json", - auto_connect: bool = True): - """ - 初始化XYZ控制器 - - Args: - port: 串口端口 - baudrate: 波特率 - machine_config: 机械配置参数 - config_file: 配置文件路径 - auto_connect: 是否自动连接设备 - """ - super().__init__(port, baudrate) - - # 机械配置 - self.machine_config = machine_config or MachineConfig() - self.config_file = config_file - - # 坐标系统 - self.coordinate_origin = CoordinateOrigin() - self.origin_file = "coordinate_origin.json" - - # 连接状态 - self.is_connected = False - - # 加载配置 - self._load_config() - self._load_coordinate_origin() - - # 自动连接设备 - if auto_connect: - self.connect_device() - - def connect_device(self) -> bool: - """ - 连接设备并初始化 - - Returns: - bool: 连接是否成功 - """ - try: - logger.info(f"正在连接设备: {self.port}") - - # 连接硬件 - if not self.connect(): - logger.error("硬件连接失败") - return False - - self.is_connected = True - logger.info("设备连接成功") - - # 使能所有轴 - enable_results = self.enable_all_axes(True) - success_count = sum(1 for result in enable_results.values() if result) - logger.info(f"轴使能结果: {success_count}/{len(enable_results)} 成功") - - # 获取系统状态 - try: - status = self.get_system_status() - logger.info(f"系统状态获取成功: {len(status)} 项信息") - except Exception as e: - logger.warning(f"获取系统状态失败: {e}") - - return True - - except Exception as e: - logger.error(f"设备连接失败: {e}") - self.is_connected = False - return False - - def disconnect_device(self): - """断开设备连接""" - try: - if self.is_connected: - self.disconnect() # 使用父类的disconnect方法 - self.is_connected = False - logger.info("设备连接已断开") - except Exception as e: - logger.error(f"断开连接失败: {e}") - - def _load_config(self): - """加载机械配置""" - try: - if os.path.exists(self.config_file): - with open(self.config_file, 'r', encoding='utf-8') as f: - config_data = json.load(f) - # 更新配置参数 - for key, value in config_data.items(): - if hasattr(self.machine_config, key): - setattr(self.machine_config, key, value) - logger.info("机械配置加载完成") - except Exception as e: - logger.warning(f"加载机械配置失败: {e}，使用默认配置") - - def _save_config(self): - """保存机械配置""" - try: - with open(self.config_file, 'w', encoding='utf-8') as f: - json.dump(asdict(self.machine_config), f, indent=2, ensure_ascii=False) - logger.info("机械配置保存完成") - except Exception as e: - logger.error(f"保存机械配置失败: {e}") - - def _load_coordinate_origin(self): - """加载坐标原点信息""" - try: - if os.path.exists(self.origin_file): - with open(self.origin_file, 'r', encoding='utf-8') as f: - origin_data = json.load(f) - self.coordinate_origin = CoordinateOrigin(**origin_data) - logger.info("坐标原点信息加载完成") - except Exception as e: - logger.warning(f"加载坐标原点失败: {e}，使用默认设置") - - def _save_coordinate_origin(self): - """保存坐标原点信息""" - try: - # 更新时间戳 - from datetime import datetime - self.coordinate_origin.timestamp = datetime.now().isoformat() - - with open(self.origin_file, 'w', encoding='utf-8') as f: - json.dump(asdict(self.coordinate_origin), f, indent=2, ensure_ascii=False) - logger.info("坐标原点信息保存完成") - except Exception as e: - logger.error(f"保存坐标原点失败: {e}") - - # ==================== 坐标转换方法 ==================== - - def mm_to_steps(self, axis: MotorAxis, mm: float) -> int: - """毫米转步数""" - if axis == MotorAxis.X: - return int(mm * self.machine_config.steps_per_mm_x) - elif axis == MotorAxis.Y: - return int(mm * self.machine_config.steps_per_mm_y) - elif axis == MotorAxis.Z: - return int(mm * self.machine_config.steps_per_mm_z) - else: - raise ValueError(f"未知轴: {axis}") - - def steps_to_mm(self, axis: MotorAxis, steps: int) -> float: - """步数转毫米""" - if axis == MotorAxis.X: - return steps / self.machine_config.steps_per_mm_x - elif axis == MotorAxis.Y: - return steps / self.machine_config.steps_per_mm_y - elif axis == MotorAxis.Z: - return steps / self.machine_config.steps_per_mm_z - else: - raise ValueError(f"未知轴: {axis}") - - def work_to_machine_steps(self, x: float = None, y: float = None, z: float = None) -> Dict[str, int]: - """工作坐标转机械坐标步数""" - machine_steps = {} - - if x is not None: - work_steps = self.mm_to_steps(MotorAxis.X, x) - machine_steps['x'] = self.coordinate_origin.work_origin_steps['x'] + work_steps - - if y is not None: - work_steps = self.mm_to_steps(MotorAxis.Y, y) - machine_steps['y'] = self.coordinate_origin.work_origin_steps['y'] + work_steps - - if z is not None: - work_steps = self.mm_to_steps(MotorAxis.Z, z) - machine_steps['z'] = self.coordinate_origin.work_origin_steps['z'] + work_steps - - return machine_steps - - def machine_to_work_coords(self, machine_steps: Dict[str, int]) -> Dict[str, float]: - """机械坐标步数转工作坐标""" - work_coords = {} - - for axis_name, steps in machine_steps.items(): - axis = MotorAxis[axis_name.upper()] - work_origin_steps = self.coordinate_origin.work_origin_steps[axis_name] - relative_steps = steps - work_origin_steps - work_coords[axis_name] = self.steps_to_mm(axis, relative_steps) - - return work_coords - - def check_travel_limits(self, x: float = None, y: float = None, z: float = None) -> bool: - """检查行程限制""" - if x is not None and (x < 0 or x > self.machine_config.max_travel_x): - raise CoordinateSystemError(f"X轴超出行程范围: {x}mm (0 ~ {self.machine_config.max_travel_x}mm)") - - if y is not None and (y < 0 or y > self.machine_config.max_travel_y): - raise CoordinateSystemError(f"Y轴超出行程范围: {y}mm (0 ~ {self.machine_config.max_travel_y}mm)") - - if z is not None and (z < 0 or z > self.machine_config.max_travel_z): - raise CoordinateSystemError(f"Z轴超出行程范围: {z}mm (0 ~ {self.machine_config.max_travel_z}mm)") - - return True - - # ==================== 回零和原点设定方法 ==================== - - def home_axis(self, axis: MotorAxis, direction: int = -1) -> bool: - """ - 单轴回零到限位开关 - 使用步数变化检测 - - Args: - axis: 要回零的轴 - direction: 回零方向 (-1负方向, 1正方向) - - Returns: - bool: 回零是否成功 - """ - if not self.is_connected: - logger.error("设备未连接，无法执行回零操作") - return False - - try: - logger.info(f"开始{axis.name}轴回零") - - # 使能电机 - if not self.enable_motor(axis, True): - raise CoordinateSystemError(f"{axis.name}轴使能失败") - - # 设置回零速度模式，根据方向设置正负 - speed = self.machine_config.homing_speed * direction - if not self.set_speed_mode(axis, speed): - raise CoordinateSystemError(f"{axis.name}轴设置回零速度失败") - - - - # 智能回零检测 - 基于步数变化 - start_time = time.time() - limit_detected = False - final_position = None - - # 步数变化检测参数（从配置获取） - position_stable_time = self.machine_config.position_stable_time - check_interval = self.machine_config.position_check_interval - last_position = None - stable_start_time = None - - logger.info(f"{axis.name}轴开始移动，监测步数变化...") - - while time.time() - start_time < self.machine_config.homing_timeout: - status = self.get_motor_status(axis) - current_position = status.steps - - # 检查是否明确触碰限位开关 - if (direction < 0 and status.status == MotorStatus.REVERSE_LIMIT_STOP) or \ - (direction > 0 and status.status == MotorStatus.FORWARD_LIMIT_STOP): - # 停止运动 - self.emergency_stop(axis) - time.sleep(0.5) - - # 记录机械原点位置 - final_position = current_position - limit_detected = True - logger.info(f"{axis.name}轴检测到限位开关信号，位置: {final_position}步") - break - - # 检查是否发生碰撞 - if status.status == MotorStatus.COLLISION_STOP: - raise CoordinateSystemError(f"{axis.name}轴回零时发生碰撞") - - # 步数变化检测逻辑 - if last_position is not None: - # 检查位置是否发生变化 - if abs(current_position - last_position) <= 1: # 允许1步的误差 - # 位置基本没有变化 - if stable_start_time is None: - stable_start_time = time.time() - logger.debug(f"{axis.name}轴位置开始稳定在 {current_position}步") - elif time.time() - stable_start_time >= position_stable_time: - # 位置稳定超过指定时间，认为已到达限位 - self.emergency_stop(axis) - time.sleep(0.5) - - final_position = current_position - limit_detected = True - logger.info(f"{axis.name}轴位置稳定{position_stable_time}秒，假设已到达限位开关，位置: {final_position}步") - break - else: - # 位置发生变化，重置稳定计时 - stable_start_time = None - logger.debug(f"{axis.name}轴位置变化: {last_position} -> {current_position}") - - last_position = current_position - time.sleep(check_interval) - - # 超时处理 - if not limit_detected: - logger.warning(f"{axis.name}轴回零超时({self.machine_config.homing_timeout}秒)，强制停止") - self.emergency_stop(axis) - time.sleep(0.5) - - # 获取当前位置作为机械原点 - try: - status = self.get_motor_status(axis) - final_position = status.steps - logger.info(f"{axis.name}轴超时后位置: {final_position}步") - except Exception as e: - logger.error(f"获取{axis.name}轴位置失败: {e}") - return False - - # 记录机械原点位置 - self.coordinate_origin.machine_origin_steps[axis.name.lower()] = final_position - - # 从限位开关退出安全距离 - try: - clearance_steps = self.mm_to_steps(axis, self.machine_config.safe_clearance) - safe_position = final_position + (clearance_steps * -direction) # 反方向退出 - - if not self.move_to_position(axis, safe_position, - self.machine_config.default_speed): - logger.warning(f"{axis.name}轴无法退出到安全位置") - else: - self.wait_for_completion(axis, 10.0) - logger.info(f"{axis.name}轴已退出到安全位置: {safe_position}步") - except Exception as e: - logger.warning(f"{axis.name}轴退出安全位置时出错: {e}") - - status_msg = "限位检测成功" if limit_detected else "超时假设成功" - logger.info(f"{axis.name}轴回零完成 ({status_msg})，机械原点: {final_position}步") - return True - - except Exception as e: - logger.error(f"{axis.name}轴回零失败: {e}") - self.emergency_stop(axis) - return False - - def home_all_axes(self, sequence: list = None) -> bool: - """ - 全轴回零 (液体处理工作站安全回零) - - 液体处理工作站回零策略： - 1. Z轴必须首先回零，避免与容器、试管架等碰撞 - 2. 然后XY轴回零，确保移动路径安全 - 3. 严格按照Z->X->Y顺序执行，不允许更改 - - Args: - sequence: 回零顺序，液体处理工作站固定为Z->X->Y，不建议修改 - - Returns: - bool: 全轴回零是否成功 - """ - if not self.is_connected: - logger.error("设备未连接，无法执行回零操作") - return False - - # 液体处理工作站安全回零序列：Z轴绝对优先 - safe_sequence = [MotorAxis.Z, MotorAxis.X, MotorAxis.Y] - - if sequence is not None and sequence != safe_sequence: - logger.warning(f"液体处理工作站不建议修改回零序列，使用安全序列: {[axis.name for axis in safe_sequence]}") - - sequence = safe_sequence # 强制使用安全序列 - - logger.info("开始全轴回零") - - try: - for axis in sequence: - if not self.home_axis(axis): - logger.error(f"全轴回零失败，停止在{axis.name}轴") - return False - - # 轴间等待时间 - time.sleep(0.5) - - # 标记为已回零 - self.coordinate_origin.is_homed = True - self._save_coordinate_origin() - - logger.info("全轴回零完成") - return True - - except Exception as e: - logger.error(f"全轴回零异常: {e}") - return False - - def set_work_origin_here(self) -> bool: - """将当前位置设置为工作原点""" - if not self.is_connected: - logger.error("设备未连接，无法设置工作原点") - return False - - try: - if not self.coordinate_origin.is_homed: - logger.warning("建议先执行回零操作再设置工作原点") - - # 获取当前各轴位置 - positions = self.get_all_positions() - - for axis in MotorAxis: - axis_name = axis.name.lower() - current_steps = positions[axis].steps - self.coordinate_origin.work_origin_steps[axis_name] = current_steps - - logger.info(f"{axis.name}轴工作原点设置为: {current_steps}步 " - f"({self.steps_to_mm(axis, current_steps):.2f}mm)") - - self._save_coordinate_origin() - logger.info("工作原点设置完成") - return True - - except Exception as e: - logger.error(f"设置工作原点失败: {e}") - return False - - # ==================== 高级运动控制方法 ==================== - - def move_to_work_coord_safe(self, x: float = None, y: float = None, z: float = None, - speed: int = None, acceleration: int = None) -> bool: - """ - 安全移动到工作坐标系指定位置 (液体处理工作站专用) - 移动策略：Z轴先上升到安全高度 -> XY轴移动到目标位置 -> Z轴下降到目标位置 - - Args: - x, y, z: 工作坐标系下的目标位置 (mm) - speed: 运动速度 (rpm) - acceleration: 加速度 (rpm/s) - - Returns: - bool: 移动是否成功 - """ - if not self.is_connected: - logger.error("设备未连接，无法执行移动操作") - return False - - try: - # 检查坐标系是否已设置 - if not self.coordinate_origin.work_origin_steps: - raise CoordinateSystemError("工作原点未设置，请先调用set_work_origin_here()") - - # 检查行程限制 - self.check_travel_limits(x, y, z) - - # 设置运动参数 - speed = speed or self.machine_config.default_speed - acceleration = acceleration or self.machine_config.default_acceleration - - # 步骤1: Z轴先上升到安全高度 - if z is not None: - safe_z_steps = self.work_to_machine_steps(None, None, self.machine_config.safe_z_height) - if not self.move_to_position(MotorAxis.Z, safe_z_steps['z'], speed, acceleration): - logger.error("Z轴上升到安全高度失败") - return False - logger.info(f"Z轴上升到安全高度: {self.machine_config.safe_z_height} mm") - - # 等待Z轴移动完成 - self.wait_for_completion(MotorAxis.Z, 10.0) - - # 步骤2: XY轴移动到目标位置 - xy_success = True - if x is not None: - machine_steps = self.work_to_machine_steps(x, None, None) - if not self.move_to_position(MotorAxis.X, machine_steps['x'], speed, acceleration): - xy_success = False - - if y is not None: - machine_steps = self.work_to_machine_steps(None, y, None) - if not self.move_to_position(MotorAxis.Y, machine_steps['y'], speed, acceleration): - xy_success = False - - if not xy_success: - logger.error("XY轴移动失败") - return False - - if x is not None or y is not None: - logger.info(f"XY轴移动到目标位置: X:{x} Y:{y} mm") - # 等待XY轴移动完成 - if x is not None: - self.wait_for_completion(MotorAxis.X, 10.0) - if y is not None: - self.wait_for_completion(MotorAxis.Y, 10.0) - - # 步骤3: Z轴下降到目标位置 - if z is not None: - machine_steps = self.work_to_machine_steps(None, None, z) - if not self.move_to_position(MotorAxis.Z, machine_steps['z'], speed, acceleration): - logger.error("Z轴下降到目标位置失败") - return False - logger.info(f"Z轴下降到目标位置: {z} mm") - self.wait_for_completion(MotorAxis.Z, 10.0) - - logger.info(f"安全移动到工作坐标 X:{x} Y:{y} Z:{z} (mm) 完成") - return True - - except Exception as e: - logger.error(f"安全移动失败: {e}") - return False - - def move_to_work_coord(self, x: float = None, y: float = None, z: float = None, - speed: int = None, acceleration: int = None) -> bool: - """ - 移动到工作坐标 (已禁用) - - 此方法已被禁用，请使用 move_to_work_coord_safe() 方法。 - - Raises: - RuntimeError: 方法已禁用 - """ - error_msg = "Method disabled, use move_to_work_coord_safe instead" - logger.error(error_msg) - raise RuntimeError(error_msg) - - def move_relative_work_coord(self, dx: float = 0, dy: float = 0, dz: float = 0, - speed: int = None, acceleration: int = None) -> bool: - """ - 相对当前位置移动 - - Args: - dx, dy, dz: 相对移动距离 (mm) - speed: 运动速度 (rpm) - acceleration: 加速度 (rpm/s) - - Returns: - bool: 移动是否成功 - """ - if not self.is_connected: - logger.error("设备未连接，无法执行移动操作") - return False - - try: - # 获取当前工作坐标 - current_work = self.get_current_work_coords() - - # 计算目标坐标 - target_x = current_work['x'] + dx if dx != 0 else None - target_y = current_work['y'] + dy if dy != 0 else None - target_z = current_work['z'] + dz if dz != 0 else None - - return self.move_to_work_coord_safe(target_x, target_y, target_z, speed, acceleration) - - except Exception as e: - logger.error(f"相对移动失败: {e}") - return False - - def get_current_work_coords(self) -> Dict[str, float]: - """获取当前工作坐标""" - if not self.is_connected: - logger.error("设备未连接，无法获取当前坐标") - return {'x': 0.0, 'y': 0.0, 'z': 0.0} - - try: - # 获取当前机械坐标 - positions = self.get_all_positions() - machine_steps = {axis.name.lower(): pos.steps for axis, pos in positions.items()} - - # 转换为工作坐标 - return self.machine_to_work_coords(machine_steps) - - except Exception as e: - logger.error(f"获取工作坐标失败: {e}") - return {'x': 0.0, 'y': 0.0, 'z': 0.0} - - def get_current_position_mm(self) -> Dict[str, float]: - """获取当前位置坐标（毫米单位）""" - return self.get_current_work_coords() - - def wait_for_move_completion(self, timeout: float = 30.0) -> bool: - """等待所有轴运动完成""" - if not self.is_connected: - return False - - for axis in MotorAxis: - if not self.wait_for_completion(axis, timeout): - return False - return True - - # ==================== 系统状态和配置方法 ==================== - - def get_system_status(self) -> Dict: - """获取系统状态信息""" - status = { - "connection": { - "is_connected": self.is_connected, - "port": self.port, - "baudrate": self.baudrate - }, - "coordinate_system": { - "is_homed": self.coordinate_origin.is_homed, - "machine_origin": self.coordinate_origin.machine_origin_steps, - "work_origin": self.coordinate_origin.work_origin_steps, - "timestamp": self.coordinate_origin.timestamp - }, - "machine_config": asdict(self.machine_config), - "current_position": {} - } - - if self.is_connected: - try: - # 获取当前位置 - positions = self.get_all_positions() - for axis, pos in positions.items(): - axis_name = axis.name.lower() - status["current_position"][axis_name] = { - "steps": pos.steps, - "mm": self.steps_to_mm(axis, pos.steps), - "status": pos.status.name if hasattr(pos.status, 'name') else str(pos.status) - } - - # 获取工作坐标 - work_coords = self.get_current_work_coords() - status["current_work_coords"] = work_coords - - except Exception as e: - status["position_error"] = str(e) - - return status - - def update_machine_config(self, **kwargs): - """更新机械配置参数""" - for key, value in kwargs.items(): - if hasattr(self.machine_config, key): - setattr(self.machine_config, key, value) - logger.info(f"更新配置参数 {key}: {value}") - else: - logger.warning(f"未知配置参数: {key}") - - # 保存配置 - self._save_config() - - def reset_coordinate_system(self): - """重置坐标系统""" - self.coordinate_origin = CoordinateOrigin() - self._save_coordinate_origin() - logger.info("坐标系统已重置") - - def __enter__(self): - """上下文管理器入口""" - return self - - def __exit__(self, exc_type, exc_val, exc_tb): - """上下文管理器出口""" - self.disconnect_device() - - -def interactive_control(controller: XYZController): - """ - 交互式控制模式 - - Args: - controller: 已连接的控制器实例 - """ - print("\n" + "="*60) - print("进入交互式控制模式") - print("="*60) - - # 显示当前状态 - def show_status(): - try: - current_pos = controller.get_current_position_mm() - print(f"\n当前位置: X={current_pos['x']:.2f}mm, Y={current_pos['y']:.2f}mm, Z={current_pos['z']:.2f}mm") - except Exception as e: - print(f"获取位置失败: {e}") - - # 显示帮助信息 - def show_help(): - print("\n可用命令:") - print(" move <轴> <距离> - 相对移动，例: move x 10.5") - print(" goto - 绝对移动到指定坐标，例: goto 10 20 5") - print(" home [轴] - 回零操作，例: home 或 home x") - print(" origin - 设置当前位置为工作原点") - print(" status - 显示当前状态") - print(" speed <速度> - 设置运动速度(rpm)，例: speed 2000") - print(" limits - 显示行程限制") - print(" config - 显示机械配置") - print(" help - 显示此帮助信息") - print(" quit/exit - 退出交互模式") - print("\n提示:") - print(" - 轴名称: x, y, z") - print(" - 距离单位: 毫米(mm)") - print(" - 正数向正方向移动，负数向负方向移动") - - # 安全回零操作 - def safe_homing(): - print("\n系统安全初始化...") - print("为确保操作安全，系统将执行回零操作") - print("提示: 已安装限位开关，超时后将假设回零成功") - - # 询问用户是否继续 - while True: - user_choice = input("是否继续执行回零操作? (y/n/skip): ").strip().lower() - if user_choice in ['y', 'yes', '是']: - print("\n开始执行全轴回零...") - print("回零过程可能需要一些时间，请耐心等待...") - - # 执行回零操作 - homing_success = controller.home_all_axes() - - if homing_success: - print("回零操作完成，系统已就绪") - # 设置当前位置为工作原点 - if controller.set_work_origin_here(): - print("工作原点已设置为回零位置") - else: - print("工作原点设置失败，但可以继续操作") - return True - else: - print("回零操作失败") - print("这可能是由于通信问题，但限位开关应该已经起作用") - - # 询问是否继续 - retry_choice = input("是否仍要继续操作? (y/n): ").strip().lower() - if retry_choice in ['y', 'yes', '是']: - print("继续操作，请手动确认设备位置安全") - return True - else: - return False - - elif user_choice in ['n', 'no', '否']: - print("用户取消回零操作，退出交互模式") - return False - elif user_choice in ['skip', 's', '跳过']: - print("跳过回零操作，请注意安全！") - print("建议在开始操作前手动执行 'home' 命令") - return True - else: - print("请输入 y(继续)/n(取消)/skip(跳过)") - - # 安全回原点操作 - def safe_return_home(): - print("\n系统安全关闭...") - print("正在将所有轴移动到安全位置...") - - try: - # 移动到工作原点 (0,0,0) - 使用安全移动方法 - if controller.move_to_work_coord_safe(0, 0, 0, speed=500): - print("已安全返回工作原点") - show_status() - else: - print("返回原点失败，请手动检查设备位置") - except Exception as e: - print(f"返回原点时出错: {e}") - - # 当前运动速度 - current_speed = controller.machine_config.default_speed - - try: - # 1. 首先执行安全回零 - if not safe_homing(): - return - - # 2. 显示初始状态和帮助 - show_status() - show_help() - - while True: - try: - # 获取用户输入 - user_input = input("\n请输入命令 (输入 help 查看帮助): ").strip().lower() - - if not user_input: - continue - - # 解析命令 - parts = user_input.split() - command = parts[0] - - if command in ['quit', 'exit', 'q']: - print("准备退出交互模式...") - # 执行安全回原点操作 - safe_return_home() - print("退出交互模式") - break - - elif command == 'help' or command == 'h': - show_help() - - elif command == 'status' or command == 's': - show_status() - print(f"当前速度: {current_speed} rpm") - print(f"是否已回零: {controller.coordinate_origin.is_homed}") - - elif command == 'move' or command == 'm': - if len(parts) != 3: - print("格式错误，正确格式: move <轴> <距离>") - print(" 例如: move x 10.5") - continue - - axis = parts[1].lower() - try: - distance = float(parts[2]) - except ValueError: - print("距离必须是数字") - continue - - if axis not in ['x', 'y', 'z']: - print("轴名称必须是 x, y 或 z") - continue - - print(f"{axis.upper()}轴移动 {distance:+.2f}mm...") - - # 执行移动 - kwargs = {f'd{axis}': distance, 'speed': current_speed} - if controller.move_relative_work_coord(**kwargs): - print(f"{axis.upper()}轴移动完成") - show_status() - else: - print(f"{axis.upper()}轴移动失败") - - elif command == 'goto' or command == 'g': - if len(parts) != 4: - print("格式错误，正确格式: goto ") - print(" 例如: goto 10 20 5") - continue - - try: - x = float(parts[1]) - y = float(parts[2]) - z = float(parts[3]) - except ValueError: - print("坐标必须是数字") - continue - - print(f"移动到坐标 ({x}, {y}, {z})...") - print("使用安全移动策略: Z轴先上升 → XY移动 → Z轴下降") - - if controller.move_to_work_coord_safe(x, y, z, speed=current_speed): - print("安全移动到目标位置完成") - show_status() - else: - print("移动失败") - - elif command == 'home': - if len(parts) == 1: - # 全轴回零 - print("开始全轴回零...") - if controller.home_all_axes(): - print("全轴回零完成") - show_status() - else: - print("回零失败") - elif len(parts) == 2: - # 单轴回零 - axis_name = parts[1].lower() - if axis_name not in ['x', 'y', 'z']: - print("轴名称必须是 x, y 或 z") - continue - - axis = MotorAxis[axis_name.upper()] - print(f"{axis_name.upper()}轴回零...") - - if controller.home_axis(axis): - print(f"{axis_name.upper()}轴回零完成") - show_status() - else: - print(f"{axis_name.upper()}轴回零失败") - else: - print("格式错误，正确格式: home 或 home <轴>") - - elif command == 'origin' or command == 'o': - print("设置当前位置为工作原点...") - if controller.set_work_origin_here(): - print("工作原点设置完成") - show_status() - else: - print("工作原点设置失败") - - elif command == 'speed': - if len(parts) != 2: - print("格式错误，正确格式: speed <速度>") - print(" 例如: speed 2000") - continue - - try: - new_speed = int(parts[1]) - if new_speed <= 0: - print("速度必须大于0") - continue - if new_speed > 10000: - print("速度不能超过10000 rpm") - continue - - current_speed = new_speed - print(f"运动速度设置为: {current_speed} rpm") - - except ValueError: - print("速度必须是整数") - - elif command == 'limits' or command == 'l': - config = controller.machine_config - print("\n行程限制:") - print(f" X轴: 0 ~ {config.max_travel_x} mm") - print(f" Y轴: 0 ~ {config.max_travel_y} mm") - print(f" Z轴: 0 ~ {config.max_travel_z} mm") - - elif command == 'config' or command == 'c': - config = controller.machine_config - print("\n机械配置:") - print(f" X轴步距: {config.steps_per_mm_x:.1f} 步/mm") - print(f" Y轴步距: {config.steps_per_mm_y:.1f} 步/mm") - print(f" Z轴步距: {config.steps_per_mm_z:.1f} 步/mm") - print(f" 回零速度: {config.homing_speed} rpm") - print(f" 默认速度: {config.default_speed} rpm") - print(f" 安全间隙: {config.safe_clearance} mm") - - else: - print(f"未知命令: {command}") - print("输入 help 查看可用命令") - - except KeyboardInterrupt: - print("\n\n用户中断，退出交互模式") - break - except Exception as e: - print(f"命令执行错误: {e}") - print("输入 help 查看正确的命令格式") - - finally: - # 确保正确断开连接 - try: - controller.disconnect_device() - print("设备连接已断开") - except Exception as e: - print(f"断开连接时出错: {e}") - - -def run_tests(): - """运行测试函数""" - print("=== XYZ控制器测试 ===") - - # 1. 测试机械配置 - print("\n1. 测试机械配置") - config = MachineConfig( - steps_per_mm_x=204.8, # 16384步/圈 ÷ 80mm导程 - steps_per_mm_y=204.8, # 16384步/圈 ÷ 80mm导程 - steps_per_mm_z=3276.8, # 16384步/圈 ÷ 5mm导程 - max_travel_x=340.0, - max_travel_y=250.0, - max_travel_z=160.0, - homing_speed=100, - default_speed=100 - ) - print(f"X轴步距: {config.steps_per_mm_x} 步/mm") - print(f"Y轴步距: {config.steps_per_mm_y} 步/mm") - print(f"Z轴步距: {config.steps_per_mm_z} 步/mm") - print(f"行程限制: X={config.max_travel_x}mm, Y={config.max_travel_y}mm, Z={config.max_travel_z}mm") - - # 2. 测试坐标原点数据结构 - print("\n2. 测试坐标原点数据结构") - origin = CoordinateOrigin() - print(f"初始状态: 已回零={origin.is_homed}") - print(f"机械原点: {origin.machine_origin_steps}") - print(f"工作原点: {origin.work_origin_steps}") - - # 设置示例数据 - origin.machine_origin_steps = {'x': 0, 'y': 0, 'z': 0} - origin.work_origin_steps = {'x': 16384, 'y': 16384, 'z': 13107} # 5mm, 5mm, 2mm (基于16384步/圈) - origin.is_homed = True - origin.timestamp = "2024-09-26 12:00:00" - print(f"设置后: 已回零={origin.is_homed}") - print(f"机械原点: {origin.machine_origin_steps}") - print(f"工作原点: {origin.work_origin_steps}") - - # 3. 测试离线功能 - print("\n3. 测试离线功能") - - # 创建离线控制器（不自动连接） - offline_controller = XYZController( - port='/dev/tty.usbserial-3130', - machine_config=config, - auto_connect=False - ) - - # 测试单位转换 - print("\n单位转换测试:") - test_distances = [1.0, 5.0, 10.0, 25.5] - for distance in test_distances: - x_steps = offline_controller.mm_to_steps(MotorAxis.X, distance) - y_steps = offline_controller.mm_to_steps(MotorAxis.Y, distance) - z_steps = offline_controller.mm_to_steps(MotorAxis.Z, distance) - print(f"{distance}mm -> X:{x_steps}步, Y:{y_steps}步, Z:{z_steps}步") - - # 反向转换验证 - x_mm = offline_controller.steps_to_mm(MotorAxis.X, x_steps) - y_mm = offline_controller.steps_to_mm(MotorAxis.Y, y_steps) - z_mm = offline_controller.steps_to_mm(MotorAxis.Z, z_steps) - print(f"反向转换: X:{x_mm:.2f}mm, Y:{y_mm:.2f}mm, Z:{z_mm:.2f}mm") - - # 测试坐标系转换 - print("\n坐标系转换测试:") - offline_controller.coordinate_origin = origin # 使用示例原点 - work_coords = [(0, 0, 0), (10, 15, 5), (50, 30, 20)] - - for x, y, z in work_coords: - try: - machine_steps = offline_controller.work_to_machine_steps(x, y, z) - print(f"工作坐标 ({x}, {y}, {z}) -> 机械步数 {machine_steps}") - - # 反向转换验证 - work_coords_back = offline_controller.machine_to_work_coords(machine_steps) - print(f"反向转换: ({work_coords_back['x']:.2f}, {work_coords_back['y']:.2f}, {work_coords_back['z']:.2f})") - except Exception as e: - print(f"转换失败: {e}") - - # 测试行程限制检查 - print("\n行程限制检查测试:") - test_positions = [ - (50, 50, 25, "正常位置"), - (250, 50, 25, "X轴超限"), - (50, 350, 25, "Y轴超限"), - (50, 50, 150, "Z轴超限"), - (-10, 50, 25, "X轴负超限"), - (50, -10, 25, "Y轴负超限"), - (50, 50, -5, "Z轴负超限") - ] - - for x, y, z, desc in test_positions: - try: - offline_controller.check_travel_limits(x, y, z) - print(f"{desc} ({x}, {y}, {z}): 有效") - except CoordinateSystemError as e: - print(f"{desc} ({x}, {y}, {z}): 超限 - {e}") - - print("\n=== 离线功能测试完成 ===") - - # 4. 硬件连接测试 - print("\n4. 硬件连接测试") - print("尝试连接真实设备...") - - # 可能的串口列表 - possible_ports = [ - '/dev/ttyCH341USB0' # CH340 USB串口转换器 - ] - - connected_controller = None - - for port in possible_ports: - try: - print(f"尝试连接端口: {port}") - controller = XYZController( - port=port, - machine_config=config, - auto_connect=True - ) - - if controller.is_connected: - print(f"成功连接到 {port}") - connected_controller = controller - - # 获取系统状态 - status = controller.get_system_status() - print("\n系统状态:") - print(f" 连接状态: {status['connection']['is_connected']}") - print(f" 是否已回零: {status['coordinate_system']['is_homed']}") - - if 'current_position' in status: - print(" 当前位置:") - for axis, pos_info in status['current_position'].items(): - print(f" {axis.upper()}轴: {pos_info['steps']}步 ({pos_info['mm']:.2f}mm)") - - # 测试基本移动功能 - print("\n测试基本移动功能:") - try: - # 获取当前位置 - current_pos = controller.get_current_position_mm() - print(f"当前工作坐标: {current_pos}") - - # 小幅移动测试 - print("执行小幅移动测试 (X+1mm)...") - if controller.move_relative_work_coord(dx=1.0, speed=500): - print("移动成功") - time.sleep(1) - new_pos = controller.get_current_position_mm() - print(f"移动后坐标: {new_pos}") - else: - print("移动失败") - - except Exception as e: - print(f"移动测试失败: {e}") - - break - - except Exception as e: - print(f"连接 {port} 失败: {e}") - continue - - if not connected_controller: - print("未找到可用的设备端口") - print("请检查:") - print(" 1. 设备是否正确连接") - print(" 2. 串口端口是否正确") - print(" 3. 设备驱动是否安装") - else: - # 进入交互式控制模式 - interactive_control(connected_controller) - - print("\n=== XYZ控制器测试完成 ===") - - -# ==================== 测试和示例代码 ==================== -if __name__ == "__main__": - run_tests() \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/core/__init__.py b/unilabos/devices/laiyu_liquid/core/__init__.py deleted file mode 100644 index 87214f8..0000000 --- a/unilabos/devices/laiyu_liquid/core/__init__.py +++ /dev/null @@ -1,44 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -LaiYu液体处理设备核心模块 - -该模块包含LaiYu液体处理设备的核心功能组件： -- LaiYu_Liquid.py: 主设备类和配置管理 -- abstract_protocol.py: 抽象协议定义 -- laiyu_liquid_res.py: 设备资源管理 - -作者: UniLab团队 -版本: 2.0.0 -""" - -from .laiyu_liquid_main import ( - LaiYuLiquid, - LaiYuLiquidConfig, - LaiYuLiquidBackend, - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack, - create_quick_setup -) - -from .laiyu_liquid_res import ( - LaiYuLiquidDeck, - LaiYuLiquidContainer, - LaiYuLiquidTipRack -) - -__all__ = [ - # 主设备类 - 'LaiYuLiquid', - 'LaiYuLiquidConfig', - 'LaiYuLiquidBackend', - - # 设备资源 - 'LaiYuLiquidDeck', - 'LaiYuLiquidContainer', - 'LaiYuLiquidTipRack', - - # 工具函数 - 'create_quick_setup' -] \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/core/abstract_protocol.py b/unilabos/devices/laiyu_liquid/core/abstract_protocol.py deleted file mode 100644 index 9959c36..0000000 --- a/unilabos/devices/laiyu_liquid/core/abstract_protocol.py +++ /dev/null @@ -1,529 +0,0 @@ -""" -LaiYu_Liquid 抽象协议实现 - -该模块提供了液体资源管理和转移的抽象协议，包括： -- MaterialResource: 液体资源管理类 -- transfer_liquid: 液体转移函数 -- 相关的辅助类和函数 - -主要功能： -- 管理多孔位的液体资源 -- 计算和跟踪液体体积 -- 处理液体转移操作 -- 提供资源状态查询 -""" - -import logging -from typing import Dict, List, Optional, Union, Any, Tuple -from dataclasses import dataclass, field -from enum import Enum -import uuid -import time - -# pylabrobot 导入 -from pylabrobot.resources import Resource, Well, Plate - -logger = logging.getLogger(__name__) - - -class LiquidType(Enum): - """液体类型枚举""" - WATER = "water" - ETHANOL = "ethanol" - DMSO = "dmso" - BUFFER = "buffer" - SAMPLE = "sample" - REAGENT = "reagent" - WASTE = "waste" - UNKNOWN = "unknown" - - -@dataclass -class LiquidInfo: - """液体信息类""" - liquid_type: LiquidType = LiquidType.UNKNOWN - volume: float = 0.0 # 体积 (μL) - concentration: Optional[float] = None # 浓度 (mg/ml, M等) - ph: Optional[float] = None # pH值 - temperature: Optional[float] = None # 温度 (°C) - viscosity: Optional[float] = None # 粘度 (cP) - density: Optional[float] = None # 密度 (g/ml) - description: str = "" # 描述信息 - - def __str__(self) -> str: - return f"{self.liquid_type.value}({self.description})" - - -@dataclass -class WellContent: - """孔位内容类""" - volume: float = 0.0 # 当前体积 (ul) - max_volume: float = 1000.0 # 最大容量 (ul) - liquid_info: LiquidInfo = field(default_factory=LiquidInfo) - last_updated: float = field(default_factory=time.time) - - @property - def is_empty(self) -> bool: - """检查是否为空""" - return self.volume <= 0.0 - - @property - def is_full(self) -> bool: - """检查是否已满""" - return self.volume >= self.max_volume - - @property - def available_volume(self) -> float: - """可用体积""" - return max(0.0, self.max_volume - self.volume) - - @property - def fill_percentage(self) -> float: - """填充百分比""" - return (self.volume / self.max_volume) * 100.0 if self.max_volume > 0 else 0.0 - - def can_add_volume(self, volume: float) -> bool: - """检查是否可以添加指定体积""" - return (self.volume + volume) <= self.max_volume - - def can_remove_volume(self, volume: float) -> bool: - """检查是否可以移除指定体积""" - return self.volume >= volume - - def add_volume(self, volume: float, liquid_info: Optional[LiquidInfo] = None) -> bool: - """ - 添加液体体积 - - Args: - volume: 要添加的体积 (ul) - liquid_info: 液体信息 - - Returns: - bool: 是否成功添加 - """ - if not self.can_add_volume(volume): - return False - - self.volume += volume - if liquid_info: - self.liquid_info = liquid_info - self.last_updated = time.time() - return True - - def remove_volume(self, volume: float) -> bool: - """ - 移除液体体积 - - Args: - volume: 要移除的体积 (ul) - - Returns: - bool: 是否成功移除 - """ - if not self.can_remove_volume(volume): - return False - - self.volume -= volume - self.last_updated = time.time() - - # 如果完全清空，重置液体信息 - if self.volume <= 0.0: - self.volume = 0.0 - self.liquid_info = LiquidInfo() - - return True - - -class MaterialResource: - """ - 液体资源管理类 - - 该类用于管理液体处理过程中的资源状态，包括： - - 跟踪多个孔位的液体体积和类型 - - 计算总体积和可用体积 - - 处理液体的添加和移除 - - 提供资源状态查询 - """ - - def __init__( - self, - resource: Resource, - wells: Optional[List[Well]] = None, - default_max_volume: float = 1000.0 - ): - """ - 初始化材料资源 - - Args: - resource: pylabrobot 资源对象 - wells: 孔位列表，如果为None则自动获取 - default_max_volume: 默认最大体积 (ul) - """ - self.resource = resource - self.resource_id = str(uuid.uuid4()) - self.default_max_volume = default_max_volume - - # 获取孔位列表 - if wells is None: - if hasattr(resource, 'get_wells'): - self.wells = resource.get_wells() - elif hasattr(resource, 'wells'): - self.wells = resource.wells - else: - # 如果没有孔位，创建一个虚拟孔位 - self.wells = [resource] - else: - self.wells = wells - - # 初始化孔位内容 - self.well_contents: Dict[str, WellContent] = {} - for well in self.wells: - well_id = self._get_well_id(well) - self.well_contents[well_id] = WellContent( - max_volume=default_max_volume - ) - - logger.info(f"初始化材料资源: {resource.name}, 孔位数: {len(self.wells)}") - - def _get_well_id(self, well: Union[Well, Resource]) -> str: - """获取孔位ID""" - if hasattr(well, 'name'): - return well.name - else: - return str(id(well)) - - @property - def name(self) -> str: - """资源名称""" - return self.resource.name - - @property - def total_volume(self) -> float: - """总液体体积""" - return sum(content.volume for content in self.well_contents.values()) - - @property - def total_max_volume(self) -> float: - """总最大容量""" - return sum(content.max_volume for content in self.well_contents.values()) - - @property - def available_volume(self) -> float: - """总可用体积""" - return sum(content.available_volume for content in self.well_contents.values()) - - @property - def well_count(self) -> int: - """孔位数量""" - return len(self.wells) - - @property - def empty_wells(self) -> List[str]: - """空孔位列表""" - return [well_id for well_id, content in self.well_contents.items() - if content.is_empty] - - @property - def full_wells(self) -> List[str]: - """满孔位列表""" - return [well_id for well_id, content in self.well_contents.items() - if content.is_full] - - @property - def occupied_wells(self) -> List[str]: - """有液体的孔位列表""" - return [well_id for well_id, content in self.well_contents.items() - if not content.is_empty] - - def get_well_content(self, well_id: str) -> Optional[WellContent]: - """获取指定孔位的内容""" - return self.well_contents.get(well_id) - - def get_well_volume(self, well_id: str) -> float: - """获取指定孔位的体积""" - content = self.get_well_content(well_id) - return content.volume if content else 0.0 - - def set_well_volume( - self, - well_id: str, - volume: float, - liquid_info: Optional[LiquidInfo] = None - ) -> bool: - """ - 设置指定孔位的体积 - - Args: - well_id: 孔位ID - volume: 体积 (ul) - liquid_info: 液体信息 - - Returns: - bool: 是否成功设置 - """ - if well_id not in self.well_contents: - logger.error(f"孔位 {well_id} 不存在") - return False - - content = self.well_contents[well_id] - if volume > content.max_volume: - logger.error(f"体积 {volume} 超过最大容量 {content.max_volume}") - return False - - content.volume = max(0.0, volume) - if liquid_info: - content.liquid_info = liquid_info - content.last_updated = time.time() - - logger.info(f"设置孔位 {well_id} 体积: {volume}ul") - return True - - def add_liquid( - self, - well_id: str, - volume: float, - liquid_info: Optional[LiquidInfo] = None - ) -> bool: - """ - 向指定孔位添加液体 - - Args: - well_id: 孔位ID - volume: 添加的体积 (ul) - liquid_info: 液体信息 - - Returns: - bool: 是否成功添加 - """ - if well_id not in self.well_contents: - logger.error(f"孔位 {well_id} 不存在") - return False - - content = self.well_contents[well_id] - success = content.add_volume(volume, liquid_info) - - if success: - logger.info(f"向孔位 {well_id} 添加 {volume}ul 液体") - else: - logger.error(f"无法向孔位 {well_id} 添加 {volume}ul 液体") - - return success - - def remove_liquid(self, well_id: str, volume: float) -> bool: - """ - 从指定孔位移除液体 - - Args: - well_id: 孔位ID - volume: 移除的体积 (ul) - - Returns: - bool: 是否成功移除 - """ - if well_id not in self.well_contents: - logger.error(f"孔位 {well_id} 不存在") - return False - - content = self.well_contents[well_id] - success = content.remove_volume(volume) - - if success: - logger.info(f"从孔位 {well_id} 移除 {volume}ul 液体") - else: - logger.error(f"无法从孔位 {well_id} 移除 {volume}ul 液体") - - return success - - def find_wells_with_volume(self, min_volume: float) -> List[str]: - """ - 查找具有指定最小体积的孔位 - - Args: - min_volume: 最小体积 (ul) - - Returns: - List[str]: 符合条件的孔位ID列表 - """ - return [well_id for well_id, content in self.well_contents.items() - if content.volume >= min_volume] - - def find_wells_with_space(self, min_space: float) -> List[str]: - """ - 查找具有指定最小空间的孔位 - - Args: - min_space: 最小空间 (ul) - - Returns: - List[str]: 符合条件的孔位ID列表 - """ - return [well_id for well_id, content in self.well_contents.items() - if content.available_volume >= min_space] - - def get_status_summary(self) -> Dict[str, Any]: - """获取资源状态摘要""" - return { - "resource_name": self.name, - "resource_id": self.resource_id, - "well_count": self.well_count, - "total_volume": self.total_volume, - "total_max_volume": self.total_max_volume, - "available_volume": self.available_volume, - "fill_percentage": (self.total_volume / self.total_max_volume) * 100.0, - "empty_wells": len(self.empty_wells), - "full_wells": len(self.full_wells), - "occupied_wells": len(self.occupied_wells) - } - - def get_detailed_status(self) -> Dict[str, Any]: - """获取详细状态信息""" - well_details = {} - for well_id, content in self.well_contents.items(): - well_details[well_id] = { - "volume": content.volume, - "max_volume": content.max_volume, - "available_volume": content.available_volume, - "fill_percentage": content.fill_percentage, - "liquid_type": content.liquid_info.liquid_type.value, - "description": content.liquid_info.description, - "last_updated": content.last_updated - } - - return { - "summary": self.get_status_summary(), - "wells": well_details - } - - -def transfer_liquid( - source: MaterialResource, - target: MaterialResource, - volume: float, - source_well_id: Optional[str] = None, - target_well_id: Optional[str] = None, - liquid_info: Optional[LiquidInfo] = None -) -> bool: - """ - 在两个材料资源之间转移液体 - - Args: - source: 源资源 - target: 目标资源 - volume: 转移体积 (ul) - source_well_id: 源孔位ID，如果为None则自动选择 - target_well_id: 目标孔位ID，如果为None则自动选择 - liquid_info: 液体信息 - - Returns: - bool: 转移是否成功 - """ - try: - # 自动选择源孔位 - if source_well_id is None: - available_wells = source.find_wells_with_volume(volume) - if not available_wells: - logger.error(f"源资源 {source.name} 没有足够体积的孔位") - return False - source_well_id = available_wells[0] - - # 自动选择目标孔位 - if target_well_id is None: - available_wells = target.find_wells_with_space(volume) - if not available_wells: - logger.error(f"目标资源 {target.name} 没有足够空间的孔位") - return False - target_well_id = available_wells[0] - - # 检查源孔位是否有足够液体 - if not source.get_well_content(source_well_id).can_remove_volume(volume): - logger.error(f"源孔位 {source_well_id} 液体不足") - return False - - # 检查目标孔位是否有足够空间 - if not target.get_well_content(target_well_id).can_add_volume(volume): - logger.error(f"目标孔位 {target_well_id} 空间不足") - return False - - # 获取源液体信息 - source_content = source.get_well_content(source_well_id) - transfer_liquid_info = liquid_info or source_content.liquid_info - - # 执行转移 - if source.remove_liquid(source_well_id, volume): - if target.add_liquid(target_well_id, volume, transfer_liquid_info): - logger.info(f"成功转移 {volume}ul 液体: {source.name}[{source_well_id}] -> {target.name}[{target_well_id}]") - return True - else: - # 如果目标添加失败，回滚源操作 - source.add_liquid(source_well_id, volume, source_content.liquid_info) - logger.error("目标添加失败，已回滚源操作") - return False - else: - logger.error("源移除失败") - return False - - except Exception as e: - logger.error(f"液体转移失败: {e}") - return False - - -def create_material_resource( - name: str, - resource: Resource, - initial_volumes: Optional[Dict[str, float]] = None, - liquid_info: Optional[LiquidInfo] = None, - max_volume: float = 1000.0 -) -> MaterialResource: - """ - 创建材料资源的便捷函数 - - Args: - name: 资源名称 - resource: pylabrobot 资源对象 - initial_volumes: 初始体积字典 {well_id: volume} - liquid_info: 液体信息 - max_volume: 最大体积 - - Returns: - MaterialResource: 创建的材料资源 - """ - material_resource = MaterialResource( - resource=resource, - default_max_volume=max_volume - ) - - # 设置初始体积 - if initial_volumes: - for well_id, volume in initial_volumes.items(): - material_resource.set_well_volume(well_id, volume, liquid_info) - - return material_resource - - -def batch_transfer_liquid( - transfers: List[Tuple[MaterialResource, MaterialResource, float]], - liquid_info: Optional[LiquidInfo] = None -) -> List[bool]: - """ - 批量液体转移 - - Args: - transfers: 转移列表 [(source, target, volume), ...] - liquid_info: 液体信息 - - Returns: - List[bool]: 每个转移操作的结果 - """ - results = [] - - for source, target, volume in transfers: - result = transfer_liquid(source, target, volume, liquid_info=liquid_info) - results.append(result) - - if not result: - logger.warning(f"批量转移中的操作失败: {source.name} -> {target.name}") - - success_count = sum(results) - logger.info(f"批量转移完成: {success_count}/{len(transfers)} 成功") - - return results \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py deleted file mode 100644 index f369a20..0000000 --- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_main.py +++ /dev/null @@ -1,888 +0,0 @@ -""" -LaiYu_Liquid 液体处理工作站主要集成文件 - -该模块实现了 LaiYu_Liquid 与 UniLabOS 系统的集成，提供标准化的液体处理接口。 -主要包含： -- LaiYuLiquidBackend: 硬件通信后端 -- LaiYuLiquid: 主要接口类 -- 相关的异常类和容器类 -""" - -import asyncio -import logging -import time -from typing import List, Optional, Dict, Any, Union, Tuple -from dataclasses import dataclass -from abc import ABC, abstractmethod - -from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode - -# 基础导入 -try: - from pylabrobot.resources import Deck, Plate, TipRack, Tip, Resource, Well - - PYLABROBOT_AVAILABLE = True -except ImportError: - # 如果 pylabrobot 不可用，创建基础的模拟类 - PYLABROBOT_AVAILABLE = False - - class Resource: - def __init__(self, name: str): - self.name = name - - class Deck(Resource): - pass - - class Plate(Resource): - pass - - class TipRack(Resource): - pass - - class Tip(Resource): - pass - - class Well(Resource): - pass - - -# LaiYu_Liquid 控制器导入 -try: - from .controllers.pipette_controller import PipetteController, TipStatus, LiquidClass, LiquidParameters - from .controllers.xyz_controller import XYZController, MachineConfig, CoordinateOrigin, MotorAxis - - CONTROLLERS_AVAILABLE = True -except ImportError: - CONTROLLERS_AVAILABLE = False - - # 创建模拟的控制器类 - class PipetteController: - def __init__(self, *args, **kwargs): - pass - - def connect(self): - return True - - def initialize(self): - return True - - class XYZController: - def __init__(self, *args, **kwargs): - pass - - def connect_device(self): - return True - - -logger = logging.getLogger(__name__) - - -class LaiYuLiquidError(RuntimeError): - """LaiYu_Liquid 设备异常""" - - pass - - -@dataclass -class LaiYuLiquidConfig: - """LaiYu_Liquid 设备配置""" - - port: str = "/dev/cu.usbserial-3130" # RS485转USB端口 - address: int = 1 # 设备地址 - baudrate: int = 9600 # 波特率 - timeout: float = 5.0 # 通信超时时间 - - # 工作台尺寸 - deck_width: float = 340.0 # 工作台宽度 (mm) - deck_height: float = 250.0 # 工作台高度 (mm) - deck_depth: float = 160.0 # 工作台深度 (mm) - - # 移液参数 - max_volume: float = 1000.0 # 最大体积 (μL) - min_volume: float = 0.1 # 最小体积 (μL) - - # 运动参数 - max_speed: float = 100.0 # 最大速度 (mm/s) - acceleration: float = 50.0 # 加速度 (mm/s²) - - # 安全参数 - safe_height: float = 50.0 # 安全高度 (mm) - tip_pickup_depth: float = 10.0 # 吸头拾取深度 (mm) - liquid_detection: bool = True # 液面检测 - - # 取枪头相关参数 - tip_pickup_speed: int = 30 # 取枪头时的移动速度 (rpm) - tip_pickup_acceleration: int = 500 # 取枪头时的加速度 (rpm/s) - tip_approach_height: float = 5.0 # 接近枪头时的高度 (mm) - tip_pickup_force_depth: float = 2.0 # 强制插入深度 (mm) - tip_pickup_retract_height: float = 20.0 # 取枪头后的回退高度 (mm) - - # 丢弃枪头相关参数 - tip_drop_height: float = 10.0 # 丢弃枪头时的高度 (mm) - tip_drop_speed: int = 50 # 丢弃枪头时的移动速度 (rpm) - trash_position: Tuple[float, float, float] = (300.0, 200.0, 0.0) # 垃圾桶位置 (mm) - - # 安全范围配置 - deck_width: float = 300.0 # 工作台宽度 (mm) - deck_height: float = 200.0 # 工作台高度 (mm) - deck_depth: float = 100.0 # 工作台深度 (mm) - safe_height: float = 50.0 # 安全高度 (mm) - position_validation: bool = True # 启用位置验证 - emergency_stop_enabled: bool = True # 启用紧急停止 - - -class LaiYuLiquidDeck: - """LaiYu_Liquid 工作台管理""" - - def __init__(self, config: LaiYuLiquidConfig): - self.config = config - self.resources: Dict[str, Resource] = {} - self.positions: Dict[str, Tuple[float, float, float]] = {} - - def add_resource(self, name: str, resource: Resource, position: Tuple[float, float, float]): - """添加资源到工作台""" - self.resources[name] = resource - self.positions[name] = position - - def get_resource(self, name: str) -> Optional[Resource]: - """获取资源""" - return self.resources.get(name) - - def get_position(self, name: str) -> Optional[Tuple[float, float, float]]: - """获取资源位置""" - return self.positions.get(name) - - def list_resources(self) -> List[str]: - """列出所有资源""" - return list(self.resources.keys()) - - -class LaiYuLiquidContainer: - """LaiYu_Liquid 容器类""" - - def __init__( - self, - name: str, - size_x: float = 0, - size_y: float = 0, - size_z: float = 0, - container_type: str = "", - volume: float = 0.0, - max_volume: float = 1000.0, - lid_height: float = 0.0, - ): - self.name = name - self.size_x = size_x - self.size_y = size_y - self.size_z = size_z - self.lid_height = lid_height - self.container_type = container_type - self.volume = volume - self.max_volume = max_volume - self.last_updated = time.time() - self.child_resources = {} # 存储子资源 - - @property - def is_empty(self) -> bool: - return self.volume <= 0.0 - - @property - def is_full(self) -> bool: - return self.volume >= self.max_volume - - @property - def available_volume(self) -> float: - return max(0.0, self.max_volume - self.volume) - - def add_volume(self, volume: float) -> bool: - """添加体积""" - if self.volume + volume <= self.max_volume: - self.volume += volume - self.last_updated = time.time() - return True - return False - - def remove_volume(self, volume: float) -> bool: - """移除体积""" - if self.volume >= volume: - self.volume -= volume - self.last_updated = time.time() - return True - return False - - def assign_child_resource(self, resource, location=None): - """分配子资源 - 与 PyLabRobot 资源管理系统兼容""" - if hasattr(resource, "name"): - self.child_resources[resource.name] = {"resource": resource, "location": location} - - -class LaiYuLiquidTipRack: - """LaiYu_Liquid 吸头架类""" - - def __init__( - self, - name: str, - size_x: float = 0, - size_y: float = 0, - size_z: float = 0, - tip_count: int = 96, - tip_volume: float = 1000.0, - ): - self.name = name - self.size_x = size_x - self.size_y = size_y - self.size_z = size_z - self.tip_count = tip_count - self.tip_volume = tip_volume - self.tips_available = [True] * tip_count - self.child_resources = {} # 存储子资源 - - @property - def available_tips(self) -> int: - return sum(self.tips_available) - - @property - def is_empty(self) -> bool: - return self.available_tips == 0 - - def pick_tip(self, position: int) -> bool: - """拾取吸头""" - if 0 <= position < self.tip_count and self.tips_available[position]: - self.tips_available[position] = False - return True - return False - - def has_tip(self, position: int) -> bool: - """检查位置是否有吸头""" - if 0 <= position < self.tip_count: - return self.tips_available[position] - return False - - def assign_child_resource(self, resource, location=None): - """分配子资源到指定位置""" - self.child_resources[resource.name] = {"resource": resource, "location": location} - - -def get_module_info(): - """获取模块信息""" - return { - "name": "LaiYu_Liquid", - "version": "1.0.0", - "description": "LaiYu液体处理工作站模块，提供移液器控制、XYZ轴控制和资源管理功能", - "author": "UniLabOS Team", - "capabilities": ["移液器控制", "XYZ轴运动控制", "吸头架管理", "板和容器管理", "资源位置管理"], - "dependencies": {"required": ["serial"], "optional": ["pylabrobot"]}, - } - - -class LaiYuLiquidBackend: - """LaiYu_Liquid 硬件通信后端""" - - _ros_node: BaseROS2DeviceNode - - def __init__(self, config: LaiYuLiquidConfig, deck: Optional["LaiYuLiquidDeck"] = None): - self.config = config - self.deck = deck # 工作台引用，用于获取资源位置信息 - self.pipette_controller = None - self.xyz_controller = None - self.is_connected = False - self.is_initialized = False - - # 状态跟踪 - self.current_position = (0.0, 0.0, 0.0) - self.tip_attached = False - self.current_volume = 0.0 - - def post_init(self, ros_node: BaseROS2DeviceNode): - self._ros_node = ros_node - - def _validate_position(self, x: float, y: float, z: float) -> bool: - """验证位置是否在安全范围内""" - try: - # 检查X轴范围 - if not (0 <= x <= self.config.deck_width): - logger.error(f"X轴位置 {x:.2f}mm 超出范围 [0, {self.config.deck_width}]") - return False - - # 检查Y轴范围 - if not (0 <= y <= self.config.deck_height): - logger.error(f"Y轴位置 {y:.2f}mm 超出范围 [0, {self.config.deck_height}]") - return False - - # 检查Z轴范围（负值表示向下，0为工作台表面） - if not (-self.config.deck_depth <= z <= self.config.safe_height): - logger.error(f"Z轴位置 {z:.2f}mm 超出安全范围 [{-self.config.deck_depth}, {self.config.safe_height}]") - return False - - return True - except Exception as e: - logger.error(f"位置验证失败: {e}") - return False - - def _check_hardware_ready(self) -> bool: - """检查硬件是否准备就绪""" - if not self.is_connected: - logger.error("设备未连接") - return False - - if CONTROLLERS_AVAILABLE: - if self.xyz_controller is None: - logger.error("XYZ控制器未初始化") - return False - - return True - - async def emergency_stop(self) -> bool: - """紧急停止所有运动""" - try: - logger.warning("执行紧急停止") - - if CONTROLLERS_AVAILABLE and self.xyz_controller: - # 停止XYZ控制器 - await self.xyz_controller.stop_all_motion() - logger.info("XYZ控制器已停止") - - if self.pipette_controller: - # 停止移液器控制器 - await self.pipette_controller.stop() - logger.info("移液器控制器已停止") - - return True - except Exception as e: - logger.error(f"紧急停止失败: {e}") - return False - - async def move_to_safe_position(self) -> bool: - """移动到安全位置""" - try: - if not self._check_hardware_ready(): - return False - - safe_position = ( - self.config.deck_width / 2, # 工作台中心X - self.config.deck_height / 2, # 工作台中心Y - self.config.safe_height, # 安全高度Z - ) - - if not self._validate_position(*safe_position): - logger.error("安全位置无效") - return False - - if CONTROLLERS_AVAILABLE and self.xyz_controller: - await self.xyz_controller.move_to_work_coord(*safe_position) - self.current_position = safe_position - logger.info(f"已移动到安全位置: {safe_position}") - return True - else: - # 模拟模式 - self.current_position = safe_position - logger.info("模拟移动到安全位置") - return True - - except Exception as e: - logger.error(f"移动到安全位置失败: {e}") - return False - - async def setup(self) -> bool: - """设置硬件连接""" - try: - if CONTROLLERS_AVAILABLE: - # 初始化移液器控制器 - self.pipette_controller = PipetteController(port=self.config.port, address=self.config.address) - - # 初始化XYZ控制器 - machine_config = MachineConfig() - self.xyz_controller = XYZController( - port=self.config.port, baudrate=self.config.baudrate, machine_config=machine_config - ) - - # 连接设备 - pipette_connected = await asyncio.to_thread(self.pipette_controller.connect) - xyz_connected = await asyncio.to_thread(self.xyz_controller.connect_device) - - if pipette_connected and xyz_connected: - self.is_connected = True - logger.info("LaiYu_Liquid 硬件连接成功") - return True - else: - logger.error("LaiYu_Liquid 硬件连接失败") - return False - else: - # 模拟模式 - logger.info("LaiYu_Liquid 运行在模拟模式") - self.is_connected = True - return True - - except Exception as e: - logger.error(f"LaiYu_Liquid 设置失败: {e}") - return False - - async def stop(self): - """停止设备""" - try: - if self.pipette_controller and hasattr(self.pipette_controller, "disconnect"): - await asyncio.to_thread(self.pipette_controller.disconnect) - - if self.xyz_controller and hasattr(self.xyz_controller, "disconnect"): - await asyncio.to_thread(self.xyz_controller.disconnect) - - self.is_connected = False - self.is_initialized = False - logger.info("LaiYu_Liquid 已停止") - - except Exception as e: - logger.error(f"LaiYu_Liquid 停止失败: {e}") - - async def move_to(self, x: float, y: float, z: float) -> bool: - """移动到指定位置""" - try: - if not self.is_connected: - raise LaiYuLiquidError("设备未连接") - - # 模拟移动 - await self._ros_node.sleep(0.1) # 模拟移动时间 - self.current_position = (x, y, z) - logger.debug(f"移动到位置: ({x}, {y}, {z})") - return True - - except Exception as e: - logger.error(f"移动失败: {e}") - return False - - async def pick_up_tip(self, tip_rack: str, position: int) -> bool: - """拾取吸头 - 包含真正的Z轴下降控制""" - try: - # 硬件准备检查 - if not self._check_hardware_ready(): - return False - - if self.tip_attached: - logger.warning("已有吸头附着，无法拾取新吸头") - return False - - logger.info(f"开始从 {tip_rack} 位置 {position} 拾取吸头") - - # 获取枪头架位置信息 - if self.deck is None: - logger.error("工作台未初始化") - return False - - tip_position = self.deck.get_position(tip_rack) - if tip_position is None: - logger.error(f"未找到枪头架 {tip_rack} 的位置信息") - return False - - # 计算具体枪头位置（这里简化处理，实际应根据position计算偏移） - tip_x, tip_y, tip_z = tip_position - - # 验证所有关键位置的安全性 - safe_z = tip_z + self.config.tip_approach_height - pickup_z = tip_z - self.config.tip_pickup_force_depth - retract_z = tip_z + self.config.tip_pickup_retract_height - - if not ( - self._validate_position(tip_x, tip_y, safe_z) - and self._validate_position(tip_x, tip_y, pickup_z) - and self._validate_position(tip_x, tip_y, retract_z) - ): - logger.error("枪头拾取位置超出安全范围") - return False - - if CONTROLLERS_AVAILABLE and self.xyz_controller: - # 真实硬件控制流程 - logger.info("使用真实XYZ控制器进行枪头拾取") - - try: - # 1. 移动到枪头上方的安全位置 - safe_z = tip_z + self.config.tip_approach_height - logger.info(f"移动到枪头上方安全位置: ({tip_x:.2f}, {tip_y:.2f}, {safe_z:.2f})") - move_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, tip_x, tip_y, safe_z - ) - if not move_success: - logger.error("移动到枪头上方失败") - return False - - # 2. Z轴下降到枪头位置 - pickup_z = tip_z - self.config.tip_pickup_force_depth - logger.info(f"Z轴下降到枪头拾取位置: {pickup_z:.2f}mm") - z_down_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, tip_x, tip_y, pickup_z - ) - if not z_down_success: - logger.error("Z轴下降到枪头位置失败") - return False - - # 3. 等待一小段时间确保枪头牢固附着 - await self._ros_node.sleep(0.2) - - # 4. Z轴上升到回退高度 - retract_z = tip_z + self.config.tip_pickup_retract_height - logger.info(f"Z轴上升到回退高度: {retract_z:.2f}mm") - z_up_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, tip_x, tip_y, retract_z - ) - if not z_up_success: - logger.error("Z轴上升失败") - return False - - # 5. 更新当前位置 - self.current_position = (tip_x, tip_y, retract_z) - - except Exception as move_error: - logger.error(f"枪头拾取过程中发生错误: {move_error}") - # 尝试移动到安全位置 - if self.config.emergency_stop_enabled: - await self.emergency_stop() - await self.move_to_safe_position() - return False - - else: - # 模拟模式 - logger.info("模拟模式：执行枪头拾取动作") - await self._ros_node.sleep(1.0) # 模拟整个拾取过程的时间 - self.current_position = (tip_x, tip_y, tip_z + self.config.tip_pickup_retract_height) - - # 6. 标记枪头已附着 - self.tip_attached = True - logger.info("吸头拾取成功") - return True - - except Exception as e: - logger.error(f"拾取吸头失败: {e}") - return False - - async def drop_tip(self, location: str = "trash") -> bool: - """丢弃吸头 - 包含真正的Z轴控制""" - try: - # 硬件准备检查 - if not self._check_hardware_ready(): - return False - - if not self.tip_attached: - logger.warning("没有吸头附着，无需丢弃") - return True - - logger.info(f"开始丢弃吸头到 {location}") - - # 确定丢弃位置 - if location == "trash": - # 使用配置中的垃圾桶位置 - drop_x, drop_y, drop_z = self.config.trash_position - else: - # 尝试从deck获取指定位置 - if self.deck is None: - logger.error("工作台未初始化") - return False - - drop_position = self.deck.get_position(location) - if drop_position is None: - logger.error(f"未找到丢弃位置 {location} 的信息") - return False - drop_x, drop_y, drop_z = drop_position - - # 验证丢弃位置的安全性 - safe_z = drop_z + self.config.safe_height - drop_height_z = drop_z + self.config.tip_drop_height - - if not ( - self._validate_position(drop_x, drop_y, safe_z) - and self._validate_position(drop_x, drop_y, drop_height_z) - ): - logger.error("枪头丢弃位置超出安全范围") - return False - - if CONTROLLERS_AVAILABLE and self.xyz_controller: - # 真实硬件控制流程 - logger.info("使用真实XYZ控制器进行枪头丢弃") - - try: - # 1. 移动到丢弃位置上方的安全高度 - safe_z = drop_z + self.config.tip_drop_height - logger.info(f"移动到丢弃位置上方: ({drop_x:.2f}, {drop_y:.2f}, {safe_z:.2f})") - move_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z - ) - if not move_success: - logger.error("移动到丢弃位置上方失败") - return False - - # 2. Z轴下降到丢弃高度 - logger.info(f"Z轴下降到丢弃高度: {drop_z:.2f}mm") - z_down_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, drop_x, drop_y, drop_z - ) - if not z_down_success: - logger.error("Z轴下降到丢弃位置失败") - return False - - # 3. 执行枪头弹出动作（如果有移液器控制器） - if self.pipette_controller: - try: - # 发送弹出枪头命令 - await asyncio.to_thread(self.pipette_controller.eject_tip) - logger.info("执行枪头弹出命令") - except Exception as e: - logger.warning(f"枪头弹出命令失败: {e}") - - # 4. 等待一小段时间确保枪头完全脱离 - await self._ros_node.sleep(0.3) - - # 5. Z轴上升到安全高度 - logger.info(f"Z轴上升到安全高度: {safe_z:.2f}mm") - z_up_success = await asyncio.to_thread( - self.xyz_controller.move_to_work_coord, drop_x, drop_y, safe_z - ) - if not z_up_success: - logger.error("Z轴上升失败") - return False - - # 6. 更新当前位置 - self.current_position = (drop_x, drop_y, safe_z) - - except Exception as drop_error: - logger.error(f"枪头丢弃过程中发生错误: {drop_error}") - # 尝试移动到安全位置 - if self.config.emergency_stop_enabled: - await self.emergency_stop() - await self.move_to_safe_position() - return False - - else: - # 模拟模式 - logger.info("模拟模式：执行枪头丢弃动作") - await self._ros_node.sleep(0.8) # 模拟整个丢弃过程的时间 - self.current_position = (drop_x, drop_y, drop_z + self.config.tip_drop_height) - - # 7. 标记枪头已脱离，清空体积 - self.tip_attached = False - self.current_volume = 0.0 - logger.info("吸头丢弃成功") - return True - - except Exception as e: - logger.error(f"丢弃吸头失败: {e}") - return False - - async def aspirate(self, volume: float, location: str) -> bool: - """吸取液体""" - try: - if not self.is_connected: - raise LaiYuLiquidError("设备未连接") - - if not self.tip_attached: - raise LaiYuLiquidError("没有吸头附着") - - if volume <= 0 or volume > self.config.max_volume: - raise LaiYuLiquidError(f"体积超出范围: {volume}") - - # 模拟吸取 - await self._ros_node.sleep(0.3) - self.current_volume += volume - logger.debug(f"从 {location} 吸取 {volume} μL") - return True - - except Exception as e: - logger.error(f"吸取失败: {e}") - return False - - async def dispense(self, volume: float, location: str) -> bool: - """分配液体""" - try: - if not self.is_connected: - raise LaiYuLiquidError("设备未连接") - - if not self.tip_attached: - raise LaiYuLiquidError("没有吸头附着") - - if volume <= 0 or volume > self.current_volume: - raise LaiYuLiquidError(f"分配体积无效: {volume}") - - # 模拟分配 - await self._ros_node.sleep(0.3) - self.current_volume -= volume - logger.debug(f"向 {location} 分配 {volume} μL") - return True - - except Exception as e: - logger.error(f"分配失败: {e}") - return False - - -class LaiYuLiquid: - """LaiYu_Liquid 主要接口类""" - - def __init__(self, config: Optional[LaiYuLiquidConfig] = None, **kwargs): - # 如果传入了关键字参数，创建配置对象 - if kwargs and config is None: - # 从kwargs中提取配置参数 - config_params = {} - for key, value in kwargs.items(): - if hasattr(LaiYuLiquidConfig, key): - config_params[key] = value - self.config = LaiYuLiquidConfig(**config_params) - else: - self.config = config or LaiYuLiquidConfig() - - # 先创建deck，然后传递给backend - self.deck = LaiYuLiquidDeck(self.config) - self.backend = LaiYuLiquidBackend(self.config, self.deck) - self.is_setup = False - - @property - def current_position(self) -> Tuple[float, float, float]: - """获取当前位置""" - return self.backend.current_position - - @property - def current_volume(self) -> float: - """获取当前体积""" - return self.backend.current_volume - - @property - def is_connected(self) -> bool: - """获取连接状态""" - return self.backend.is_connected - - @property - def is_initialized(self) -> bool: - """获取初始化状态""" - return self.backend.is_initialized - - @property - def tip_attached(self) -> bool: - """获取吸头附着状态""" - return self.backend.tip_attached - - async def setup(self) -> bool: - """设置液体处理器""" - try: - success = await self.backend.setup() - if success: - self.is_setup = True - logger.info("LaiYu_Liquid 设置完成") - return success - except Exception as e: - logger.error(f"LaiYu_Liquid 设置失败: {e}") - return False - - async def stop(self): - """停止液体处理器""" - await self.backend.stop() - self.is_setup = False - - async def transfer( - self, source: str, target: str, volume: float, tip_rack: str = "tip_rack_1", tip_position: int = 0 - ) -> bool: - """液体转移""" - try: - if not self.is_setup: - raise LaiYuLiquidError("设备未设置") - - # 获取源和目标位置 - source_pos = self.deck.get_position(source) - target_pos = self.deck.get_position(target) - tip_pos = self.deck.get_position(tip_rack) - - if not all([source_pos, target_pos, tip_pos]): - raise LaiYuLiquidError("位置信息不完整") - - # 执行转移步骤 - steps = [ - ("移动到吸头架", self.backend.move_to(*tip_pos)), - ("拾取吸头", self.backend.pick_up_tip(tip_rack, tip_position)), - ("移动到源位置", self.backend.move_to(*source_pos)), - ("吸取液体", self.backend.aspirate(volume, source)), - ("移动到目标位置", self.backend.move_to(*target_pos)), - ("分配液体", self.backend.dispense(volume, target)), - ("丢弃吸头", self.backend.drop_tip()), - ] - - for step_name, step_coro in steps: - logger.debug(f"执行步骤: {step_name}") - success = await step_coro - if not success: - raise LaiYuLiquidError(f"步骤失败: {step_name}") - - logger.info(f"液体转移完成: {source} -> {target}, {volume} μL") - return True - - except Exception as e: - logger.error(f"液体转移失败: {e}") - return False - - def add_resource(self, name: str, resource_type: str, position: Tuple[float, float, float]): - """添加资源到工作台""" - if resource_type == "plate": - resource = Plate(name) - elif resource_type == "tip_rack": - resource = TipRack(name) - else: - resource = Resource(name) - - self.deck.add_resource(name, resource, position) - - def get_status(self) -> Dict[str, Any]: - """获取设备状态""" - return { - "connected": self.backend.is_connected, - "setup": self.is_setup, - "current_position": self.backend.current_position, - "tip_attached": self.backend.tip_attached, - "current_volume": self.backend.current_volume, - "resources": self.deck.list_resources(), - } - - -def create_quick_setup() -> LaiYuLiquidDeck: - """ - 创建快速设置的LaiYu液体处理工作站 - - Returns: - LaiYuLiquidDeck: 配置好的工作台实例 - """ - # 创建默认配置 - config = LaiYuLiquidConfig() - - # 创建工作台 - deck = LaiYuLiquidDeck(config) - - # 导入资源创建函数 - try: - from .laiyu_liquid_res import ( - create_tip_rack_1000ul, - create_tip_rack_200ul, - create_96_well_plate, - create_waste_container, - ) - - # 添加基本资源 - tip_rack_1000 = create_tip_rack_1000ul("tip_rack_1000") - tip_rack_200 = create_tip_rack_200ul("tip_rack_200") - plate_96 = create_96_well_plate("plate_96") - waste = create_waste_container("waste") - - # 添加到工作台 - deck.add_resource("tip_rack_1000", tip_rack_1000, (50, 50, 0)) - deck.add_resource("tip_rack_200", tip_rack_200, (150, 50, 0)) - deck.add_resource("plate_96", plate_96, (250, 50, 0)) - deck.add_resource("waste", waste, (50, 150, 0)) - - except ImportError: - # 如果资源模块不可用，创建空的工作台 - logger.warning("资源模块不可用，创建空的工作台") - - return deck - - -__all__ = [ - "LaiYuLiquid", - "LaiYuLiquidBackend", - "LaiYuLiquidConfig", - "LaiYuLiquidDeck", - "LaiYuLiquidContainer", - "LaiYuLiquidTipRack", - "LaiYuLiquidError", - "create_quick_setup", - "get_module_info", -] diff --git a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py b/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py deleted file mode 100644 index f6adcb1..0000000 --- a/unilabos/devices/laiyu_liquid/core/laiyu_liquid_res.py +++ /dev/null @@ -1,954 +0,0 @@ -""" -LaiYu_Liquid 资源定义模块 - -该模块提供了 LaiYu_Liquid 工作站专用的资源定义函数，包括： -- 各种规格的枪头架 -- 不同类型的板和容器 -- 特殊功能位置 -- 资源创建的便捷函数 - -所有资源都基于 deck.json 中的配置参数创建。 -""" - -import json -import os -from typing import Dict, List, Optional, Tuple, Any -from pathlib import Path - -# PyLabRobot 资源导入 -try: - from pylabrobot.resources import ( - Resource, Deck, Plate, TipRack, Container, Tip, - Coordinate - ) - from pylabrobot.resources.tip_rack import TipSpot - from pylabrobot.resources.well import Well as PlateWell - PYLABROBOT_AVAILABLE = True -except ImportError: - # 如果 PyLabRobot 不可用，创建模拟类 - PYLABROBOT_AVAILABLE = False - - class Resource: - def __init__(self, name: str): - self.name = name - - class Deck(Resource): - pass - - class Plate(Resource): - pass - - class TipRack(Resource): - pass - - class Container(Resource): - pass - - class Tip(Resource): - pass - - class TipSpot(Resource): - def __init__(self, name: str, **kwargs): - super().__init__(name) - # 忽略其他参数 - - class PlateWell(Resource): - pass - - class Coordinate: - def __init__(self, x: float, y: float, z: float): - self.x = x - self.y = y - self.z = z - -# 本地导入 -from .laiyu_liquid_main import LaiYuLiquidDeck, LaiYuLiquidContainer, LaiYuLiquidTipRack - - -def load_deck_config() -> Dict[str, Any]: - """ - 加载工作台配置文件 - - Returns: - Dict[str, Any]: 配置字典 - """ - # 优先使用最新的deckconfig.json文件 - config_path = Path(__file__).parent / "controllers" / "deckconfig.json" - - # 如果最新配置文件不存在，回退到旧配置文件 - if not config_path.exists(): - config_path = Path(__file__).parent / "config" / "deck.json" - - try: - with open(config_path, 'r', encoding='utf-8') as f: - return json.load(f) - except FileNotFoundError: - # 如果找不到配置文件，返回默认配置 - return { - "name": "LaiYu_Liquid_Deck", - "size_x": 340.0, - "size_y": 250.0, - "size_z": 160.0 - } - - -# 加载配置 -DECK_CONFIG = load_deck_config() - - -class LaiYuTipRack1000(LaiYuLiquidTipRack): - """1000μL 枪头架""" - - def __init__(self, name: str): - """ - 初始化1000μL枪头架 - - Args: - name: 枪头架名称 - """ - super().__init__( - name=name, - size_x=127.76, - size_y=85.48, - size_z=30.0, - tip_count=96, - tip_volume=1000.0 - ) - - # 创建枪头位置 - self._create_tip_spots( - tip_count=96, - tip_spacing=9.0, - tip_type="1000ul" - ) - - def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str): - """ - 创建枪头位置 - 从配置文件中读取绝对坐标 - - Args: - tip_count: 枪头数量 - tip_spacing: 枪头间距 - tip_type: 枪头类型 - """ - # 从配置文件中获取枪头架的孔位信息 - config = DECK_CONFIG - tip_module = None - - # 查找枪头架模块 - for module in config.get("children", []): - if module.get("type") == "tip_rack": - tip_module = module - break - - if not tip_module: - # 如果配置文件中没有找到，使用默认的相对坐标计算 - rows = 8 - cols = 12 - - for row in range(rows): - for col in range(cols): - spot_name = f"{chr(65 + row)}{col + 1:02d}" - x = col * tip_spacing + tip_spacing / 2 - y = row * tip_spacing + tip_spacing / 2 - - # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的Tip需要特定参数 - tip = Tip( - has_filter=False, - total_tip_length=95.0, # 1000ul枪头长度 - maximal_volume=1000.0, # 最大体积 - fitting_depth=8.0 # 安装深度 - ) - else: - # 模拟类只需要name - tip = Tip(name=f"tip_{spot_name}") - - # 创建枪头位置 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的TipSpot需要特定参数 - tip_spot = TipSpot( - name=spot_name, - size_x=9.0, # 枪头位置宽度 - size_y=9.0, # 枪头位置深度 - size_z=95.0, # 枪头位置高度 - make_tip=lambda: tip # 创建枪头的函数 - ) - else: - # 模拟类只需要name - tip_spot = TipSpot(name=spot_name) - - # 将吸头位置分配到吸头架 - self.assign_child_resource( - tip_spot, - location=Coordinate(x, y, 0) - ) - return - - # 使用配置文件中的绝对坐标 - module_position = tip_module.get("position", {"x": 0, "y": 0, "z": 0}) - - for well_config in tip_module.get("wells", []): - spot_name = well_config["id"] - well_pos = well_config["position"] - - # 计算相对于模块的坐标（绝对坐标减去模块位置） - relative_x = well_pos["x"] - module_position["x"] - relative_y = well_pos["y"] - module_position["y"] - relative_z = well_pos["z"] - module_position["z"] - - # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的Tip需要特定参数 - tip = Tip( - has_filter=False, - total_tip_length=95.0, # 1000ul枪头长度 - maximal_volume=1000.0, # 最大体积 - fitting_depth=8.0 # 安装深度 - ) - else: - # 模拟类只需要name - tip = Tip(name=f"tip_{spot_name}") - - # 创建枪头位置 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的TipSpot需要特定参数 - tip_spot = TipSpot( - name=spot_name, - size_x=well_config.get("diameter", 9.0), # 使用配置中的直径 - size_y=well_config.get("diameter", 9.0), - size_z=well_config.get("depth", 95.0), # 使用配置中的深度 - make_tip=lambda: tip # 创建枪头的函数 - ) - else: - # 模拟类只需要name - tip_spot = TipSpot(name=spot_name) - - # 将吸头位置分配到吸头架 - self.assign_child_resource( - tip_spot, - location=Coordinate(relative_x, relative_y, relative_z) - ) - - # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot - # TipSpot的make_tip函数会在需要时创建Tip - - -class LaiYuTipRack200(LaiYuLiquidTipRack): - """200μL 枪头架""" - - def __init__(self, name: str): - """ - 初始化200μL枪头架 - - Args: - name: 枪头架名称 - """ - super().__init__( - name=name, - size_x=127.76, - size_y=85.48, - size_z=30.0, - tip_count=96, - tip_volume=200.0 - ) - - # 创建枪头位置 - self._create_tip_spots( - tip_count=96, - tip_spacing=9.0, - tip_type="200ul" - ) - - def _create_tip_spots(self, tip_count: int, tip_spacing: float, tip_type: str): - """ - 创建枪头位置 - - Args: - tip_count: 枪头数量 - tip_spacing: 枪头间距 - tip_type: 枪头类型 - """ - rows = 8 - cols = 12 - - for row in range(rows): - for col in range(cols): - spot_name = f"{chr(65 + row)}{col + 1:02d}" - x = col * tip_spacing + tip_spacing / 2 - y = row * tip_spacing + tip_spacing / 2 - - # 创建枪头 - 根据PyLabRobot或模拟类使用不同参数 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的Tip需要特定参数 - tip = Tip( - has_filter=False, - total_tip_length=72.0, # 200ul枪头长度 - maximal_volume=200.0, # 最大体积 - fitting_depth=8.0 # 安装深度 - ) - else: - # 模拟类只需要name - tip = Tip(name=f"tip_{spot_name}") - - # 创建枪头位置 - if PYLABROBOT_AVAILABLE: - # PyLabRobot的TipSpot需要特定参数 - tip_spot = TipSpot( - name=spot_name, - size_x=9.0, # 枪头位置宽度 - size_y=9.0, # 枪头位置深度 - size_z=72.0, # 枪头位置高度 - make_tip=lambda: tip # 创建枪头的函数 - ) - else: - # 模拟类只需要name - tip_spot = TipSpot(name=spot_name) - - # 将吸头位置分配到吸头架 - self.assign_child_resource( - tip_spot, - location=Coordinate(x, y, 0) - ) - - # 注意：在PyLabRobot中，Tip不是Resource，不需要分配给TipSpot - # TipSpot的make_tip函数会在需要时创建Tip - - -class LaiYu96WellPlate(LaiYuLiquidContainer): - """96孔板""" - - def __init__(self, name: str, lid_height: float = 0.0): - """ - 初始化96孔板 - - Args: - name: 板名称 - lid_height: 盖子高度 - """ - super().__init__( - name=name, - size_x=127.76, - size_y=85.48, - size_z=14.22, - container_type="96_well_plate", - volume=0.0, - max_volume=200.0, - lid_height=lid_height - ) - - # 创建孔位 - self._create_wells( - well_count=96, - well_volume=200.0, - well_spacing=9.0 - ) - - def get_size_z(self) -> float: - """获取孔位深度""" - return 10.0 # 96孔板孔位深度 - - def _create_wells(self, well_count: int, well_volume: float, well_spacing: float): - """ - 创建孔位 - 从配置文件中读取绝对坐标 - - Args: - well_count: 孔位数量 - well_volume: 孔位体积 - well_spacing: 孔位间距 - """ - # 从配置文件中获取96孔板的孔位信息 - config = DECK_CONFIG - plate_module = None - - # 查找96孔板模块 - for module in config.get("children", []): - if module.get("type") == "96_well_plate": - plate_module = module - break - - if not plate_module: - # 如果配置文件中没有找到，使用默认的相对坐标计算 - rows = 8 - cols = 12 - - for row in range(rows): - for col in range(cols): - well_name = f"{chr(65 + row)}{col + 1:02d}" - x = col * well_spacing + well_spacing / 2 - y = row * well_spacing + well_spacing / 2 - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_spacing * 0.8, - size_y=well_spacing * 0.8, - size_z=self.get_size_z(), - max_volume=well_volume - ) - - # 添加到板 - self.assign_child_resource( - well, - location=Coordinate(x, y, 0) - ) - return - - # 使用配置文件中的绝对坐标 - module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0}) - - for well_config in plate_module.get("wells", []): - well_name = well_config["id"] - well_pos = well_config["position"] - - # 计算相对于模块的坐标（绝对坐标减去模块位置） - relative_x = well_pos["x"] - module_position["x"] - relative_y = well_pos["y"] - module_position["y"] - relative_z = well_pos["z"] - module_position["z"] - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径 - size_y=well_config.get("diameter", 8.2) * 0.8, - size_z=well_config.get("depth", self.get_size_z()), - max_volume=well_config.get("volume", well_volume) - ) - - # 添加到板 - self.assign_child_resource( - well, - location=Coordinate(relative_x, relative_y, relative_z) - ) - - -class LaiYuDeepWellPlate(LaiYuLiquidContainer): - """深孔板""" - - def __init__(self, name: str, lid_height: float = 0.0): - """ - 初始化深孔板 - - Args: - name: 板名称 - lid_height: 盖子高度 - """ - super().__init__( - name=name, - size_x=127.76, - size_y=85.48, - size_z=41.3, - container_type="deep_well_plate", - volume=0.0, - max_volume=2000.0, - lid_height=lid_height - ) - - # 创建孔位 - self._create_wells( - well_count=96, - well_volume=2000.0, - well_spacing=9.0 - ) - - def get_size_z(self) -> float: - """获取孔位深度""" - return 35.0 # 深孔板孔位深度 - - def _create_wells(self, well_count: int, well_volume: float, well_spacing: float): - """ - 创建孔位 - 从配置文件中读取绝对坐标 - - Args: - well_count: 孔位数量 - well_volume: 孔位体积 - well_spacing: 孔位间距 - """ - # 从配置文件中获取深孔板的孔位信息 - config = DECK_CONFIG - plate_module = None - - # 查找深孔板模块（通常是第二个96孔板模块） - plate_modules = [] - for module in config.get("children", []): - if module.get("type") == "96_well_plate": - plate_modules.append(module) - - # 如果有多个96孔板模块，选择第二个作为深孔板 - if len(plate_modules) > 1: - plate_module = plate_modules[1] - elif len(plate_modules) == 1: - plate_module = plate_modules[0] - - if not plate_module: - # 如果配置文件中没有找到，使用默认的相对坐标计算 - rows = 8 - cols = 12 - - for row in range(rows): - for col in range(cols): - well_name = f"{chr(65 + row)}{col + 1:02d}" - x = col * well_spacing + well_spacing / 2 - y = row * well_spacing + well_spacing / 2 - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_spacing * 0.8, - size_y=well_spacing * 0.8, - size_z=self.get_size_z(), - max_volume=well_volume - ) - - # 添加到板 - self.assign_child_resource( - well, - location=Coordinate(x, y, 0) - ) - return - - # 使用配置文件中的绝对坐标 - module_position = plate_module.get("position", {"x": 0, "y": 0, "z": 0}) - - for well_config in plate_module.get("wells", []): - well_name = well_config["id"] - well_pos = well_config["position"] - - # 计算相对于模块的坐标（绝对坐标减去模块位置） - relative_x = well_pos["x"] - module_position["x"] - relative_y = well_pos["y"] - module_position["y"] - relative_z = well_pos["z"] - module_position["z"] - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_config.get("diameter", 8.2) * 0.8, # 使用配置中的直径 - size_y=well_config.get("diameter", 8.2) * 0.8, - size_z=well_config.get("depth", self.get_size_z()), - max_volume=well_config.get("volume", well_volume) - ) - - # 添加到板 - self.assign_child_resource( - well, - location=Coordinate(relative_x, relative_y, relative_z) - ) - - -class LaiYuWasteContainer(Container): - """废液容器""" - - def __init__(self, name: str): - """ - 初始化废液容器 - - Args: - name: 容器名称 - """ - super().__init__( - name=name, - size_x=100.0, - size_y=100.0, - size_z=50.0, - max_volume=5000.0 - ) - - -class LaiYuWashContainer(Container): - """清洗容器""" - - def __init__(self, name: str): - """ - 初始化清洗容器 - - Args: - name: 容器名称 - """ - super().__init__( - name=name, - size_x=100.0, - size_y=100.0, - size_z=50.0, - max_volume=5000.0 - ) - - -class LaiYuReagentContainer(Container): - """试剂容器""" - - def __init__(self, name: str): - """ - 初始化试剂容器 - - Args: - name: 容器名称 - """ - super().__init__( - name=name, - size_x=50.0, - size_y=50.0, - size_z=100.0, - max_volume=2000.0 - ) - - -class LaiYu8TubeRack(LaiYuLiquidContainer): - """8管试管架""" - - def __init__(self, name: str): - """ - 初始化8管试管架 - - Args: - name: 试管架名称 - """ - super().__init__( - name=name, - size_x=151.0, - size_y=75.0, - size_z=75.0, - container_type="tube_rack", - volume=0.0, - max_volume=77000.0 - ) - - # 创建孔位 - self._create_wells( - well_count=8, - well_volume=77000.0, - well_spacing=35.0 - ) - - def get_size_z(self) -> float: - """获取孔位深度""" - return 117.0 # 试管深度 - - def _create_wells(self, well_count: int, well_volume: float, well_spacing: float): - """ - 创建孔位 - 从配置文件中读取绝对坐标 - - Args: - well_count: 孔位数量 - well_volume: 孔位体积 - well_spacing: 孔位间距 - """ - # 从配置文件中获取8管试管架的孔位信息 - config = DECK_CONFIG - tube_module = None - - # 查找8管试管架模块 - for module in config.get("children", []): - if module.get("type") == "tube_rack": - tube_module = module - break - - if not tube_module: - # 如果配置文件中没有找到，使用默认的相对坐标计算 - rows = 2 - cols = 4 - - for row in range(rows): - for col in range(cols): - well_name = f"{chr(65 + row)}{col + 1}" - x = col * well_spacing + well_spacing / 2 - y = row * well_spacing + well_spacing / 2 - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=29.0, - size_y=29.0, - size_z=self.get_size_z(), - max_volume=well_volume - ) - - # 添加到试管架 - self.assign_child_resource( - well, - location=Coordinate(x, y, 0) - ) - return - - # 使用配置文件中的绝对坐标 - module_position = tube_module.get("position", {"x": 0, "y": 0, "z": 0}) - - for well_config in tube_module.get("wells", []): - well_name = well_config["id"] - well_pos = well_config["position"] - - # 计算相对于模块的坐标（绝对坐标减去模块位置） - relative_x = well_pos["x"] - module_position["x"] - relative_y = well_pos["y"] - module_position["y"] - relative_z = well_pos["z"] - module_position["z"] - - # 创建孔位 - well = PlateWell( - name=well_name, - size_x=well_config.get("diameter", 29.0), - size_y=well_config.get("diameter", 29.0), - size_z=well_config.get("depth", self.get_size_z()), - max_volume=well_config.get("volume", well_volume) - ) - - # 添加到试管架 - self.assign_child_resource( - well, - location=Coordinate(relative_x, relative_y, relative_z) - ) - - -class LaiYuTipDisposal(Resource): - """枪头废料位置""" - - def __init__(self, name: str): - """ - 初始化枪头废料位置 - - Args: - name: 位置名称 - """ - super().__init__( - name=name, - size_x=100.0, - size_y=100.0, - size_z=50.0 - ) - - -class LaiYuMaintenancePosition(Resource): - """维护位置""" - - def __init__(self, name: str): - """ - 初始化维护位置 - - Args: - name: 位置名称 - """ - super().__init__( - name=name, - size_x=50.0, - size_y=50.0, - size_z=100.0 - ) - - -# 资源创建函数 -def create_tip_rack_1000ul(name: str = "tip_rack_1000ul") -> LaiYuTipRack1000: - """ - 创建1000μL枪头架 - - Args: - name: 枪头架名称 - - Returns: - LaiYuTipRack1000: 1000μL枪头架实例 - """ - return LaiYuTipRack1000(name) - - -def create_tip_rack_200ul(name: str = "tip_rack_200ul") -> LaiYuTipRack200: - """ - 创建200μL枪头架 - - Args: - name: 枪头架名称 - - Returns: - LaiYuTipRack200: 200μL枪头架实例 - """ - return LaiYuTipRack200(name) - - -def create_96_well_plate(name: str = "96_well_plate", lid_height: float = 0.0) -> LaiYu96WellPlate: - """ - 创建96孔板 - - Args: - name: 板名称 - lid_height: 盖子高度 - - Returns: - LaiYu96WellPlate: 96孔板实例 - """ - return LaiYu96WellPlate(name, lid_height) - - -def create_deep_well_plate(name: str = "deep_well_plate", lid_height: float = 0.0) -> LaiYuDeepWellPlate: - """ - 创建深孔板 - - Args: - name: 板名称 - lid_height: 盖子高度 - - Returns: - LaiYuDeepWellPlate: 深孔板实例 - """ - return LaiYuDeepWellPlate(name, lid_height) - - -def create_8_tube_rack(name: str = "8_tube_rack") -> LaiYu8TubeRack: - """ - 创建8管试管架 - - Args: - name: 试管架名称 - - Returns: - LaiYu8TubeRack: 8管试管架实例 - """ - return LaiYu8TubeRack(name) - - -def create_waste_container(name: str = "waste_container") -> LaiYuWasteContainer: - """ - 创建废液容器 - - Args: - name: 容器名称 - - Returns: - LaiYuWasteContainer: 废液容器实例 - """ - return LaiYuWasteContainer(name) - - -def create_wash_container(name: str = "wash_container") -> LaiYuWashContainer: - """ - 创建清洗容器 - - Args: - name: 容器名称 - - Returns: - LaiYuWashContainer: 清洗容器实例 - """ - return LaiYuWashContainer(name) - - -def create_reagent_container(name: str = "reagent_container") -> LaiYuReagentContainer: - """ - 创建试剂容器 - - Args: - name: 容器名称 - - Returns: - LaiYuReagentContainer: 试剂容器实例 - """ - return LaiYuReagentContainer(name) - - -def create_tip_disposal(name: str = "tip_disposal") -> LaiYuTipDisposal: - """ - 创建枪头废料位置 - - Args: - name: 位置名称 - - Returns: - LaiYuTipDisposal: 枪头废料位置实例 - """ - return LaiYuTipDisposal(name) - - -def create_maintenance_position(name: str = "maintenance_position") -> LaiYuMaintenancePosition: - """ - 创建维护位置 - - Args: - name: 位置名称 - - Returns: - LaiYuMaintenancePosition: 维护位置实例 - """ - return LaiYuMaintenancePosition(name) - - -def create_standard_deck() -> LaiYuLiquidDeck: - """ - 创建标准工作台配置 - - Returns: - LaiYuLiquidDeck: 配置好的工作台实例 - """ - # 从配置文件创建工作台 - deck = LaiYuLiquidDeck(config=DECK_CONFIG) - - return deck - - -def get_resource_by_name(deck: LaiYuLiquidDeck, name: str) -> Optional[Resource]: - """ - 根据名称获取资源 - - Args: - deck: 工作台实例 - name: 资源名称 - - Returns: - Optional[Resource]: 找到的资源，如果不存在则返回None - """ - for child in deck.children: - if child.name == name: - return child - return None - - -def get_resources_by_type(deck: LaiYuLiquidDeck, resource_type: type) -> List[Resource]: - """ - 根据类型获取资源列表 - - Args: - deck: 工作台实例 - resource_type: 资源类型 - - Returns: - List[Resource]: 匹配类型的资源列表 - """ - return [child for child in deck.children if isinstance(child, resource_type)] - - -def list_all_resources(deck: LaiYuLiquidDeck) -> Dict[str, List[str]]: - """ - 列出所有资源 - - Args: - deck: 工作台实例 - - Returns: - Dict[str, List[str]]: 按类型分组的资源名称字典 - """ - resources = { - "tip_racks": [], - "plates": [], - "containers": [], - "positions": [] - } - - for child in deck.children: - if isinstance(child, (LaiYuTipRack1000, LaiYuTipRack200)): - resources["tip_racks"].append(child.name) - elif isinstance(child, (LaiYu96WellPlate, LaiYuDeepWellPlate)): - resources["plates"].append(child.name) - elif isinstance(child, (LaiYuWasteContainer, LaiYuWashContainer, LaiYuReagentContainer)): - resources["containers"].append(child.name) - elif isinstance(child, (LaiYuTipDisposal, LaiYuMaintenancePosition)): - resources["positions"].append(child.name) - - return resources - - -# 导出的类别名（向后兼容） -TipRack1000ul = LaiYuTipRack1000 -TipRack200ul = LaiYuTipRack200 -Plate96Well = LaiYu96WellPlate -Plate96DeepWell = LaiYuDeepWellPlate -TubeRack8 = LaiYu8TubeRack -WasteContainer = LaiYuWasteContainer -WashContainer = LaiYuWashContainer -ReagentContainer = LaiYuReagentContainer -TipDisposal = LaiYuTipDisposal -MaintenancePosition = LaiYuMaintenancePosition \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md b/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md deleted file mode 100644 index a0f2b63..0000000 --- a/unilabos/devices/laiyu_liquid/docs/CHANGELOG.md +++ /dev/null @@ -1,69 +0,0 @@ -# 更新日志 - -本文档记录了 LaiYu_Liquid 模块的所有重要变更。 - -## [1.0.0] - 2024-01-XX - -### 新增功能 -- ✅ 完整的液体处理工作站集成 -- ✅ RS485 通信协议支持 -- ✅ SOPA 气动式移液器驱动 -- ✅ XYZ 三轴步进电机控制 -- ✅ PyLabRobot 兼容后端 -- ✅ 标准化资源管理系统 -- ✅ 96孔板、离心管架、枪头架支持 -- ✅ RViz 可视化后端 -- ✅ 完整的配置管理系统 -- ✅ 抽象协议实现 -- ✅ 生产级错误处理和日志记录 - -### 技术特性 -- **硬件支持**: SOPA移液器 + XYZ三轴运动平台 -- **通信协议**: RS485总线，波特率115200 -- **坐标系统**: 机械坐标与工作坐标自动转换 -- **安全机制**: 限位保护、紧急停止、错误恢复 -- **兼容性**: 完全兼容 PyLabRobot 框架 - -### 文件结构 -``` -LaiYu_Liquid/ -├── core/ -│ └── LaiYu_Liquid.py # 主模块文件 -├── __init__.py # 模块初始化 -├── abstract_protocol.py # 抽象协议 -├── laiyu_liquid_res.py # 资源管理 -├── rviz_backend.py # RViz后端 -├── backend/ # 后端驱动 -├── config/ # 配置文件 -├── controllers/ # 控制器 -├── docs/ # 技术文档 -└── drivers/ # 底层驱动 -``` - -### 已知问题 -- 无 - -### 依赖要求 -- Python 3.8+ -- PyLabRobot -- pyserial -- asyncio - ---- - -## 版本说明 - -### 版本号格式 -采用语义化版本控制 (Semantic Versioning): `MAJOR.MINOR.PATCH` - -- **MAJOR**: 不兼容的API变更 -- **MINOR**: 向后兼容的功能新增 -- **PATCH**: 向后兼容的问题修复 - -### 变更类型 -- **新增功能**: 新的功能特性 -- **变更**: 现有功能的变更 -- **弃用**: 即将移除的功能 -- **移除**: 已移除的功能 -- **修复**: 问题修复 -- **安全**: 安全相关的修复 \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md b/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md deleted file mode 100644 index 6db19eb..0000000 --- a/unilabos/devices/laiyu_liquid/docs/hardware/SOPA气动式移液器RS485控制指令.md +++ /dev/null @@ -1,267 +0,0 @@ -# SOPA气动式移液器RS485控制指令合集 - -## 1. RS485通信基本配置 - -### 1.1 支持的设备型号 -- **仅SC-STxxx-00-13支持RS485通信** -- 其他型号主要使用CAN通信 - -### 1.2 通信参数 -- **波特率**: 9600, 115200（默认值） -- **地址范围**: 1~254个设备，255为广播地址 -- **通信接口**: RS485差分信号 - -### 1.3 引脚分配（10位LIF连接器） -- **引脚7**: RS485+ (RS485通信正极) -- **引脚8**: RS485- (RS485通信负极) - -## 2. RS485通信协议格式 - -### 2.1 发送数据格式 -``` -头码 | 地址 | 命令/数据 | 尾码 | 校验和 -``` - -### 2.2 从机回应格式 -``` -头码 | 地址 | 数据（固定9字节） | 尾码 | 校验和 -``` - -### 2.3 格式详细说明 -- **头码**: - - 终端调试: '/' (0x2F) - - OEM通信: '[' (0x5B) -- **地址**: 设备节点地址，1~254，多字节ASCII（注意：地址不可为47，69，91） -- **命令/数据**: ASCII格式的命令字符串 -- **尾码**: 'E' (0x45) -- **校验和**: 以上数据的累加值，1字节 - -## 3. 初始化和基本控制指令 - -### 3.1 初始化指令 -```bash -# 初始化活塞驱动机构 -HE - -# 示例（OEM通信）： -# 主机发送: 5B 32 48 45 1A -# 从机回应开始: 2F 02 06 0A 30 00 00 00 00 00 00 45 B6 -# 从机回应完成: 2F 02 06 00 30 00 00 00 00 00 00 45 AC -``` - -### 3.2 枪头操作指令 -```bash -# 顶出枪头 -RE - -# 枪头检测状态报告 -Q28 # 返回枪头存在状态（0=不存在，1=存在） -``` - -## 4. 移液控制指令 - -### 4.1 位置控制指令 -```bash -# 绝对位置移动（微升） -A[n]E -# 示例：移动到位置0 -A0E - -# 相对抽吸（向上移动） -P[n]E -# 示例：抽吸200微升 -P200E - -# 相对分配（向下移动） -D[n]E -# 示例：分配200微升 -D200E -``` - -### 4.2 速度设置指令 -```bash -# 设置最高速度（0.1ul/秒为单位） -s[n]E -# 示例：设置最高速度为2000（200ul/秒） -s2000E - -# 设置启动速度 -b[n]E -# 示例：设置启动速度为100（10ul/秒） -b100E - -# 设置断流速度 -c[n]E -# 示例：设置断流速度为100（10ul/秒） -c100E - -# 设置加速度 -a[n]E -# 示例：设置加速度为30000 -a30000E -``` - -## 5. 液体检测和安全控制指令 - -### 5.1 吸排液检测控制 -```bash -# 开启吸排液检测 -f1E # 开启 -f0E # 关闭 - -# 设置空吸门限 -$[n]E -# 示例：设置空吸门限为4 -$4E - -# 设置泡沫门限 -![n]E -# 示例：设置泡沫门限为20 -!20E - -# 设置堵塞门限 -%[n]E -# 示例：设置堵塞门限为350 -%350E -``` - -### 5.2 液位检测指令 -```bash -# 压力式液位检测 -m0E # 设置为压力探测模式 -L[n]E # 执行液位检测，[n]为灵敏度(3~40) -k[n]E # 设置检测速度(100~2000) - -# 电容式液位检测 -m1E # 设置为电容探测模式 -``` - -## 6. 状态查询和报告指令 - -### 6.1 基本状态查询 -```bash -# 查询固件版本 -V - -# 查询设备状态 -Q[n] -# 常用查询参数： -Q01 # 报告加速度 -Q02 # 报告启动速度 -Q03 # 报告断流速度 -Q06 # 报告最大速度 -Q08 # 报告节点地址 -Q11 # 报告波特率 -Q18 # 报告当前位置 -Q28 # 报告枪头存在状态 -Q29 # 报告校准系数 -Q30 # 报告空吸门限 -Q31 # 报告堵针门限 -Q32 # 报告泡沫门限 -``` - -## 7. 配置和校准指令 - -### 7.1 校准参数设置 -```bash -# 设置校准系数 -j[n]E -# 示例：设置校准系数为1.04 -j1.04E - -# 设置补偿偏差 -e[n]E -# 示例：设置补偿偏差为2.03 -e2.03E - -# 设置吸头容量 -C[n]E -# 示例：设置1000ul吸头 -C1000E -``` - -### 7.2 高级控制参数 -```bash -# 设置回吸粘度 -][n]E -# 示例：设置回吸粘度为30 -]30E - -# 延时控制 -M[n]E -# 示例：延时1000毫秒 -M1000E -``` - -## 8. 复合操作指令示例 - -### 8.1 标准移液操作 -```bash -# 完整的200ul移液操作 -a30000b200c200s2000P200E -# 解析：设置加速度30000 + 启动速度200 + 断流速度200 + 最高速度2000 + 抽吸200ul + 执行 -``` - -### 8.2 带检测的移液操作 -```bash -# 带空吸检测的200ul抽吸 -a30000b200c200s2000f1P200f0E -# 解析：设置参数 + 开启检测 + 抽吸200ul + 关闭检测 + 执行 -``` - -### 8.3 液面检测操作 -```bash -# 压力式液面检测 -m0k200L5E -# 解析：压力模式 + 检测速度200 + 灵敏度5 + 执行检测 - -# 电容式液面检测 -m1L3E -# 解析：电容模式 + 灵敏度3 + 执行检测 -``` - -## 9. 错误处理 - -### 9.1 状态字节说明 -- **00h**: 无错误 -- **01h**: 上次动作未完成 -- **02h**: 设备未初始化 -- **03h**: 设备过载 -- **04h**: 无效指令 -- **05h**: 液位探测故障 -- **0Dh**: 空吸 -- **0Eh**: 堵针 -- **10h**: 泡沫 -- **11h**: 吸液超过吸头容量 - -### 9.2 错误查询 -```bash -# 查询当前错误状态 -Q # 返回状态字节和错误代码 -``` - -## 10. 通信示例 - -### 10.1 基本通信流程 -1. **执行命令**: 主机发送命令 → 从机确认 → 从机执行 → 从机回应完成 -2. **读取数据**: 主机发送查询 → 从机确认 → 从机返回数据 - -### 10.2 快速指令表 -| 操作 | 指令 | 说明 | -|------|------|------| -| 初始化 | `HE` | 初始化设备 | -| 退枪头 | `RE` | 顶出枪头 | -| 吸液200ul | `a30000b200c200s2000P200E` | 基本吸液 | -| 带检测吸液 | `a30000b200c200s2000f1P200f0E` | 开启空吸检测 | -| 吐液200ul | `a300000b500c500s6000D200E` | 基本分配 | -| 压力液面检测 | `m0k200L5E` | pLLD检测 | -| 电容液面检测 | `m1L3E` | cLLD检测 | - -## 11. 注意事项 - -1. **地址限制**: RS485地址不可设为47、69、91 -2. **校验和**: 终端调试时不关心校验和，OEM通信需要校验 -3. **ASCII格式**: 所有命令和参数都使用ASCII字符 -4. **执行指令**: 大部分命令需要以'E'结尾才能执行 -5. **设备支持**: 只有SC-STxxx-00-13型号支持RS485通信 -6. **波特率设置**: 默认115200，可设置为9600 \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md b/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md deleted file mode 100644 index e701348..0000000 --- a/unilabos/devices/laiyu_liquid/docs/hardware/步进电机控制指令.md +++ /dev/null @@ -1,162 +0,0 @@ -# 步进电机B系列控制指令详解 - -## 基本通信参数 -- **通信方式**: RS485 -- **协议**: Modbus -- **波特率**: 115200 (默认) -- **数据位**: 8位 -- **停止位**: 1位 -- **校验位**: 无 -- **默认站号**: 1 (可设置1-254) - -## 支持的功能码 -- **03H**: 读取寄存器 -- **06H**: 写入单个寄存器 -- **10H**: 写入多个寄存器 - -## 寄存器地址表 - -### 状态监控寄存器 (只读) -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| 00H | 03H | 电机状态 | 0000H-待机/到位, 0001H-运行中, 0002H-碰撞停, 0003H-正光电停, 0004H-反光电停 | -| 01H | 03H | 实际步数高位 | 当前电机位置的高16位 | -| 02H | 03H | 实际步数低位 | 当前电机位置的低16位 | -| 03H | 03H | 实际速度 | 当前转速 (rpm) | -| 05H | 03H | 电流 | 当前工作电流 (mA) | - -### 控制寄存器 (读写) -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| 04H | 03H/06H/10H | 急停指令 | 紧急停止控制 | -| 06H | 03H/06H/10H | 失能控制 | 1-使能, 0-失能 | -| 07H | 03H/06H/10H | PWM输出 | 0-1000对应0%-100%占空比 | -| 0EH | 03H/06H/10H | 单圈绝对值归零 | 归零指令 | -| 0FH | 03H/06H/10H | 归零指令 | 定点模式归零速度设置 | - -### 位置模式寄存器 -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| 10H | 03H/06H/10H | 目标步数高位 | 目标位置高16位 | -| 11H | 03H/06H/10H | 目标步数低位 | 目标位置低16位 | -| 12H | 03H/06H/10H | 保留 | - | -| 13H | 03H/06H/10H | 速度 | 运行速度 (rpm) | -| 14H | 03H/06H/10H | 加速度 | 0-60000 rpm/s | -| 15H | 03H/06H/10H | 精度 | 到位精度设置 | - -### 速度模式寄存器 -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| 60H | 03H/06H/10H | 保留 | - | -| 61H | 03H/06H/10H | 速度 | 正值正转，负值反转 | -| 62H | 03H/06H/10H | 加速度 | 0-60000 rpm/s | - -### 设备参数寄存器 -| 地址 | 功能码 | 内容 | 默认值 | 说明 | -|------|--------|------|--------|------| -| E0H | 03H/06H/10H | 设备地址 | 0001H | Modbus从站地址 | -| E1H | 03H/06H/10H | 堵转电流 | 0BB8H | 堵转检测电流阈值 | -| E2H | 03H/06H/10H | 保留 | 0258H | - | -| E3H | 03H/06H/10H | 每圈步数 | 0640H | 细分设置 | -| E4H | 03H/06H/10H | 限位开关使能 | F000H | 1-使能, 0-禁用 | -| E5H | 03H/06H/10H | 堵转逻辑 | 0000H | 00-断电, 01-对抗 | -| E6H | 03H/06H/10H | 堵转时间 | 0000H | 堵转检测时间(ms) | -| E7H | 03H/06H/10H | 默认速度 | 1388H | 上电默认速度 | -| E8H | 03H/06H/10H | 默认加速度 | EA60H | 上电默认加速度 | -| E9H | 03H/06H/10H | 默认精度 | 0064H | 上电默认精度 | -| EAH | 03H/06H/10H | 波特率高位 | 0001H | 通信波特率设置 | -| EBH | 03H/06H/10H | 波特率低位 | C200H | 115200对应01C200H | - -### 版本信息寄存器 (只读) -| 地址 | 功能码 | 内容 | 说明 | -|------|--------|------|------| -| F0H | 03H | 版本号 | 固件版本信息 | -| F1H-F4H | 03H | 型号 | 产品型号信息 | - -## 常用控制指令示例 - -### 读取电机状态 -``` -发送: 01 03 00 00 00 01 84 0A -接收: 01 03 02 00 01 79 84 -说明: 电机状态为0001H (正在运行) -``` - -### 读取当前位置 -``` -发送: 01 03 00 01 00 02 95 CB -接收: 01 03 04 00 19 00 00 2B F4 -说明: 当前位置为1638400步 (100圈) -``` - -### 停止电机 -``` -发送: 01 10 00 04 00 01 02 00 00 A7 D4 -接收: 01 10 00 04 00 01 40 08 -说明: 急停指令 -``` - -### 位置模式运动 -``` -发送: 01 10 00 10 00 06 0C 00 19 00 00 00 00 13 88 00 00 00 00 9F FB -接收: 01 10 00 10 00 06 41 CE -说明: 以5000rpm速度运动到1638400步位置 -``` - -### 速度模式 - 正转 -``` -发送: 01 10 00 60 00 04 08 00 00 13 88 00 FA 00 00 F4 77 -接收: 01 10 00 60 00 04 C1 D4 -说明: 以5000rpm速度正转 -``` - -### 速度模式 - 反转 -``` -发送: 01 10 00 60 00 04 08 00 00 EC 78 00 FA 00 00 A0 6D -接收: 01 10 00 60 00 04 C1 D4 -说明: 以5000rpm速度反转 (EC78H = -5000) -``` - -### 设置设备地址 -``` -发送: 00 06 00 E0 00 02 C9 F1 -接收: 00 06 00 E0 00 02 C9 F1 -说明: 将设备地址设置为2 -``` - -## 错误码 -| 状态码 | 含义 | -|--------|------| -| 0001H | 功能码错误 | -| 0002H | 地址错误 | -| 0003H | 长度错误 | - -## CRC校验算法 -```c -public static byte[] ModBusCRC(byte[] data, int offset, int cnt) { - int wCrc = 0x0000FFFF; - byte[] CRC = new byte[2]; - for (int i = 0; i < cnt; i++) { - wCrc ^= ((data[i + offset]) & 0xFF); - for (int j = 0; j < 8; j++) { - if ((wCrc & 0x00000001) == 1) { - wCrc >>= 1; - wCrc ^= 0x0000A001; - } else { - wCrc >>= 1; - } - } - } - CRC[1] = (byte) ((wCrc & 0x0000FF00) >> 8); - CRC[0] = (byte) (wCrc & 0x000000FF); - return CRC; -} -``` - -## 注意事项 -1. 所有16位数据采用大端序传输 -2. 步数计算: 实际步数 = 高位<<16 | 低位 -3. 负数使用补码表示 -4. PWM输出K脚: 0%开漏, 100%接地, 其他输出1KHz PWM -5. 光电开关需使用NPN开漏型 -6. 限位开关: LF正向, LB反向 \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md b/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md deleted file mode 100644 index 6452909..0000000 --- a/unilabos/devices/laiyu_liquid/docs/hardware/硬件连接配置指南.md +++ /dev/null @@ -1,1281 +0,0 @@ -# LaiYu液体处理设备硬件连接配置指南 - -## 📋 文档概述 - -本指南提供LaiYu液体处理设备的完整硬件连接配置方案，包括快速入门、详细配置、连接验证和故障排除。适用于设备初次安装、配置变更和问题诊断。 - ---- - -## 🚀 快速入门指南 - -### 基本配置步骤 - -1. **确认硬件连接** - - 将RS485转USB设备连接到计算机 - - 确保XYZ控制器和移液器通过RS485总线连接 - - 检查设备供电状态 - -2. **获取串口信息** - ```bash - # macOS/Linux - ls /dev/cu.* | grep usbserial - - # 常见输出: /dev/cu.usbserial-3130 - ``` - -3. **基本配置参数** - ```python - # 推荐的默认配置 - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", # 🔧 替换为实际串口号 - address=4, # 移液器地址（固定） - baudrate=115200, # 推荐波特率 - timeout=5.0 # 通信超时 - ) - ``` - -4. **快速连接测试** - ```python - device = LaiYuLiquid(config) - success = await device.setup() - print(f"连接状态: {'成功' if success else '失败'}") - ``` - ---- - -## 🏗️ 硬件架构详解 - -### 系统组成 - -LaiYu液体处理设备采用RS485总线架构，包含以下核心组件： - -| 组件 | 通信协议 | 设备地址 | 默认波特率 | 功能描述 | -|------|----------|----------|------------|----------| -| **XYZ三轴控制器** | RS485 (Modbus) | X轴=1, Y轴=2, Z轴=3 | 115200 | 三维运动控制 | -| **SOPA移液器** | RS485 | 4 (推荐) | 115200 | 液体吸取分配 | -| **RS485转USB** | USB/串口 | - | 115200 | 通信接口转换 | - -### 地址分配策略 - -``` -RS485总线地址分配: -├── 地址 1: X轴步进电机 (自动分配) -├── 地址 2: Y轴步进电机 (自动分配) -├── 地址 3: Z轴步进电机 (自动分配) -├── 地址 4: SOPA移液器 (推荐配置) -└── 禁用地址: 47('/'), 69('E'), 91('[') -``` - -### 通信参数规范 - -| 参数 | XYZ控制器 | SOPA移液器 | 说明 | -|------|-----------|------------|------| -| **数据位** | 8 | 8 | 固定值 | -| **停止位** | 1 | 1 | 固定值 | -| **校验位** | 无 | 无 | 固定值 | -| **流控制** | 无 | 无 | 固定值 | - ---- - -## ⚙️ 配置参数详解 - -### 1. 核心配置类 - -#### LaiYuLiquidConfig 参数说明 - -```python -@dataclass -class LaiYuLiquidConfig: - # === 通信参数 === - port: str = "/dev/cu.usbserial-3130" # 串口设备路径 - address: int = 4 # 移液器地址（推荐值） - baudrate: int = 115200 # 通信波特率（推荐值） - timeout: float = 5.0 # 通信超时时间（秒） - - # === 工作台物理尺寸 === - deck_width: float = 340.0 # 工作台宽度 (mm) - deck_height: float = 250.0 # 工作台高度 (mm) - deck_depth: float = 160.0 # 工作台深度 (mm) - - # === 运动控制参数 === - max_speed: float = 100.0 # 最大移动速度 (mm/s) - acceleration: float = 50.0 # 加速度 (mm/s²) - safe_height: float = 50.0 # 安全移动高度 (mm) - - # === 移液参数 === - max_volume: float = 1000.0 # 最大移液体积 (μL) - min_volume: float = 0.1 # 最小移液体积 (μL) - liquid_detection: bool = True # 启用液面检测 - - # === 枪头操作参数 === - tip_pickup_speed: int = 30 # 取枪头速度 (rpm) - tip_pickup_acceleration: int = 500 # 取枪头加速度 (rpm/s) - tip_pickup_depth: float = 10.0 # 枪头插入深度 (mm) - tip_drop_height: float = 10.0 # 丢弃枪头高度 (mm) -``` - -### 2. 配置文件位置 - -#### A. 代码配置（推荐） -```python -# 在Python代码中直接配置 -from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig - -config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", # 🔧 修改为实际串口 - address=4, # 🔧 移液器地址 - baudrate=115200, # 🔧 通信波特率 - timeout=5.0 # 🔧 超时时间 -) -``` - -#### B. JSON配置文件 -```json -{ - "laiyu_liquid_config": { - "port": "/dev/cu.usbserial-3130", - "address": 4, - "baudrate": 115200, - "timeout": 5.0, - "deck_width": 340.0, - "deck_height": 250.0, - "deck_depth": 160.0, - "max_speed": 100.0, - "acceleration": 50.0, - "safe_height": 50.0 - } -} -``` - -#### C. 实验协议配置 -```json -// test/experiments/laiyu_liquid.json -{ - "device_config": { - "type": "laiyu_liquid", - "config": { - "port": "/dev/cu.usbserial-3130", - "address": 4, - "baudrate": 115200 - } - } -} -``` - -### 2. 串口设备识别 - -#### 自动识别方法（推荐） - -```python -import serial.tools.list_ports - -def find_laiyu_device(): - """自动查找LaiYu设备串口""" - ports = serial.tools.list_ports.comports() - - for port in ports: - # 根据设备描述或VID/PID识别 - if 'usbserial' in port.device.lower(): - print(f"找到可能的设备: {port.device}") - print(f"描述: {port.description}") - print(f"硬件ID: {port.hwid}") - return port.device - - return None - -# 使用示例 -device_port = find_laiyu_device() -if device_port: - print(f"检测到设备端口: {device_port}") -else: - print("未检测到设备") -``` - -#### 手动识别方法 - -| 操作系统 | 命令 | 设备路径格式 | -|---------|------|-------------| -| **macOS** | `ls /dev/cu.*` | `/dev/cu.usbserial-XXXX` | -| **Linux** | `ls /dev/ttyUSB*` | `/dev/ttyUSB0` | -| **Windows** | 设备管理器 | `COM3`, `COM4` 等 | - -#### macOS 详细识别 -```bash -# 1. 列出所有USB串口设备 -ls /dev/cu.usbserial-* - -# 2. 查看USB设备详细信息 -system_profiler SPUSBDataType | grep -A 10 "Serial" - -# 3. 实时监控设备插拔 -ls /dev/cu.* && echo "--- 请插入设备 ---" && sleep 3 && ls /dev/cu.* -``` - -#### Linux 详细识别 -```bash -# 1. 列出串口设备 -ls /dev/ttyUSB* /dev/ttyACM* - -# 2. 查看设备信息 -dmesg | grep -i "usb.*serial" -lsusb | grep -i "serial\|converter" - -# 3. 查看设备属性 -udevadm info --name=/dev/ttyUSB0 --attribute-walk -``` - -#### Windows 详细识别 -```powershell -# PowerShell命令 -Get-WmiObject -Class Win32_SerialPort | Select-Object Name, DeviceID, Description - -# 或在设备管理器中查看"端口(COM和LPT)" -``` - -### 3. 控制器特定配置 - -#### XYZ步进电机控制器 -- **地址范围**: 1-3 (X轴=1, Y轴=2, Z轴=3) -- **通信协议**: Modbus RTU -- **波特率**: 9600 或 115200 -- **数据位**: 8 -- **停止位**: 1 -- **校验位**: None - -#### XYZ控制器配置 (`controllers/xyz_controller.py`) - -XYZ控制器负责三轴运动控制，提供精确的位置控制和运动规划功能。 - -**主要功能：** -- 三轴独立控制（X、Y、Z轴） -- 位置精度控制 -- 运动速度调节 -- 安全限位检测 - -**配置参数：** -```python -xyz_config = { - "port": "/dev/ttyUSB0", # 串口设备 - "baudrate": 115200, # 波特率 - "timeout": 1.0, # 通信超时 - "max_speed": { # 最大速度限制 - "x": 1000, # X轴最大速度 - "y": 1000, # Y轴最大速度 - "z": 500 # Z轴最大速度 - }, - "acceleration": 500, # 加速度 - "home_position": [0, 0, 0] # 原点位置 -} -``` - -```python -def __init__(self, port: str, baudrate: int = 115200, - machine_config: Optional[MachineConfig] = None, - config_file: str = "machine_config.json", - auto_connect: bool = True): - """ - Args: - port: 串口端口 (如: "/dev/cu.usbserial-3130") - baudrate: 波特率 (默认: 115200) - machine_config: 机械配置参数 - config_file: 配置文件路径 - auto_connect: 是否自动连接 - """ -``` - -#### SOPA移液器 -- **地址**: 通常为 4 或更高 -- **通信协议**: 自定义协议 -- **波特率**: 115200 (推荐) -- **响应时间**: < 100ms - -#### 移液器控制器配置 (`controllers/pipette_controller.py`) - -移液器控制器负责精确的液体吸取和分配操作，支持多种移液模式和参数配置。 - -**主要功能：** -- 精确体积控制 -- 液面检测 -- 枪头管理 -- 速度调节 - -**配置参数：** -```python -@dataclass -class SOPAConfig: - # 通信参数 - port: str = "/dev/ttyUSB0" # 🔧 修改串口号 - baudrate: int = 115200 # 🔧 修改波特率 - address: int = 1 # 🔧 修改设备地址 (1-254) - timeout: float = 5.0 # 🔧 修改超时时间 - comm_type: CommunicationType = CommunicationType.TERMINAL_DEBUG -``` - -## 🔍 连接验证与测试 - -### 1. 编程方式验证连接 - -#### 创建测试脚本 -```python -#!/usr/bin/env python3 -""" -LaiYu液体处理设备连接测试脚本 -""" - -import sys -import os -sys.path.append('/Users/dp/Documents/DPT/HuaiRou/Uni-Lab-OS') - -from unilabos.devices.laiyu_liquid.core.LaiYu_Liquid import ( - LaiYuLiquid, LaiYuLiquidConfig -) - -def test_connection(): - """测试设备连接""" - - # 🔧 修改这里的配置参数 - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", # 修改为你的串口号 - address=1, # 修改为你的设备地址 - baudrate=9600, # 修改为你的波特率 - timeout=5.0 - ) - - print("🔌 正在测试LaiYu液体处理设备连接...") - print(f"串口: {config.port}") - print(f"波特率: {config.baudrate}") - print(f"设备地址: {config.address}") - print("-" * 50) - - try: - # 创建设备实例 - device = LaiYuLiquid(config) - - # 尝试连接和初始化 - print("📡 正在连接设备...") - success = await device.setup() - - if success: - print("✅ 设备连接成功!") - print(f"连接状态: {device.is_connected}") - print(f"初始化状态: {device.is_initialized}") - print(f"当前位置: {device.current_position}") - - # 获取设备状态 - status = device.get_status() - print("\n📊 设备状态:") - for key, value in status.items(): - print(f" {key}: {value}") - - else: - print("❌ 设备连接失败!") - print("请检查:") - print(" 1. 串口号是否正确") - print(" 2. 设备是否已连接并通电") - print(" 3. 波特率和设备地址是否匹配") - print(" 4. 串口是否被其他程序占用") - - except Exception as e: - print(f"❌ 连接测试出错: {e}") - print("\n🔧 故障排除建议:") - print(" 1. 检查串口设备是否存在:") - print(" macOS: ls /dev/cu.*") - print(" Linux: ls /dev/ttyUSB* /dev/ttyACM*") - print(" 2. 检查设备权限:") - print(" sudo chmod 666 /dev/cu.usbserial-*") - print(" 3. 检查设备是否被占用:") - print(" lsof | grep /dev/cu.usbserial") - - finally: - # 清理连接 - if 'device' in locals(): - await device.stop() - -if __name__ == "__main__": - import asyncio - asyncio.run(test_connection()) -``` - -### 2. 命令行验证工具 - -#### 串口通信测试 -```bash -# 安装串口调试工具 -pip install pyserial - -# 使用Python测试串口 -python -c " -import serial -try: - ser = serial.Serial('/dev/cu.usbserial-3130', 9600, timeout=1) - print('串口连接成功:', ser.is_open) - ser.close() -except Exception as e: - print('串口连接失败:', e) -" -``` - -#### 设备权限检查 -```bash -# macOS/Linux 检查串口权限 -ls -la /dev/cu.usbserial-* - -# 如果权限不足，修改权限 -sudo chmod 666 /dev/cu.usbserial-* - -# 检查串口是否被占用 -lsof | grep /dev/cu.usbserial -``` - -### 3. 连接状态指示器 - -设备提供多种方式检查连接状态： - -#### A. 属性检查 -```python -device = LaiYuLiquid(config) - -# 检查连接状态 -print(f"设备已连接: {device.is_connected}") -print(f"设备已初始化: {device.is_initialized}") -print(f"枪头已安装: {device.tip_attached}") -print(f"当前位置: {device.current_position}") -print(f"当前体积: {device.current_volume}") -``` - -#### B. 状态字典 -```python -status = device.get_status() -print("完整设备状态:", status) - -# 输出示例: -# { -# 'connected': True, -# 'initialized': True, -# 'position': (0.0, 0.0, 50.0), -# 'tip_attached': False, -# 'current_volume': 0.0, -# 'last_error': None -# } -``` - -## 🛠️ 故障排除指南 - -### 1. 连接问题诊断 - -#### 🔍 问题诊断流程 -```python -def diagnose_connection_issues(): - """连接问题诊断工具""" - import serial.tools.list_ports - import serial - - print("🔍 开始连接问题诊断...") - - # 1. 检查串口设备 - ports = list(serial.tools.list_ports.comports()) - if not ports: - print("❌ 未检测到任何串口设备") - print("💡 解决方案:") - print(" - 检查USB连接线") - print(" - 确认设备电源") - print(" - 安装设备驱动") - return - - print(f"✅ 检测到 {len(ports)} 个串口设备") - for port in ports: - print(f" 📍 {port.device}: {port.description}") - - # 2. 测试串口访问权限 - for port in ports: - try: - with serial.Serial(port.device, 9600, timeout=1): - print(f"✅ {port.device}: 访问权限正常") - except PermissionError: - print(f"❌ {port.device}: 权限不足") - print("💡 解决方案: sudo chmod 666 " + port.device) - except Exception as e: - print(f"⚠️ {port.device}: {e}") - -# 运行诊断 -diagnose_connection_issues() -``` - -#### 🚫 常见连接错误 - -| 错误类型 | 症状 | 解决方案 | -|---------|------|----------| -| **设备未找到** | `FileNotFoundError: No such file or directory` | 1. 检查USB连接
2. 确认设备驱动
3. 重新插拔设备 | -| **权限不足** | `PermissionError: Permission denied` | 1. `sudo chmod 666 /dev/ttyUSB0`
2. 添加用户到dialout组
3. 使用sudo运行 | -| **设备占用** | `SerialException: Device or resource busy` | 1. 关闭其他程序
2. `lsof /dev/ttyUSB0`查找占用
3. 重启系统 | -| **驱动问题** | 设备管理器显示未知设备 | 1. 安装CH340/CP210x驱动
2. 更新系统驱动
3. 使用原装USB线 | - -### 2. 通信问题解决 - -#### 📡 通信参数调试 -```python -def test_communication_parameters(): - """测试不同通信参数""" - import serial - - port = "/dev/cu.usbserial-3130" # 修改为实际端口 - baudrates = [9600, 19200, 38400, 57600, 115200] - - for baudrate in baudrates: - print(f"🔄 测试波特率: {baudrate}") - try: - with serial.Serial(port, baudrate, timeout=2) as ser: - # 发送测试命令 - test_cmd = b'\x01\x03\x00\x00\x00\x01\x84\x0A' - ser.write(test_cmd) - - response = ser.read(100) - if response: - print(f" ✅ 成功: 收到 {len(response)} 字节") - print(f" 📦 数据: {response.hex()}") - return baudrate - else: - print(f" ❌ 无响应") - except Exception as e: - print(f" ❌ 错误: {e}") - - return None -``` - -#### ⚡ 通信故障排除 - -| 问题类型 | 症状 | 诊断方法 | 解决方案 | -|---------|------|----------|----------| -| **通信超时** | `TimeoutError` | 检查波特率和设备地址 | 1. 调整超时时间
2. 验证波特率
3. 检查设备地址 | -| **数据校验错误** | `CRCError` | 检查数据完整性 | 1. 更换USB线
2. 降低波特率
3. 检查电磁干扰 | -| **协议错误** | 响应格式异常 | 验证命令格式 | 1. 检查协议版本
2. 确认设备类型
3. 更新固件 | -| **间歇性故障** | 时好时坏 | 监控连接稳定性 | 1. 检查连接线
2. 稳定电源
3. 减少干扰源 | - -### 3. 设备功能问题 - -#### 🎯 设备状态检查 -```python -def check_device_health(): - """设备健康状态检查""" - from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend - - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200, - timeout=5.0 - ) - - try: - backend = LaiYuLiquidBackend(config) - backend.connect() - - # 检查项目 - checks = { - "设备连接": lambda: backend.is_connected(), - "XYZ轴状态": lambda: backend.xyz_controller.get_all_positions(), - "移液器状态": lambda: backend.pipette_controller.get_status(), - "设备温度": lambda: backend.get_temperature(), - "错误状态": lambda: backend.get_error_status(), - } - - print("🏥 设备健康检查报告") - print("=" * 40) - - for check_name, check_func in checks.items(): - try: - result = check_func() - print(f"✅ {check_name}: 正常") - if result: - print(f" 📊 数据: {result}") - except Exception as e: - print(f"❌ {check_name}: 异常 - {e}") - - backend.disconnect() - - except Exception as e: - print(f"❌ 无法连接设备: {e}") -``` - -### 4. 高级故障排除 - -#### 🔧 日志分析工具 -```python -import logging - -def setup_debug_logging(): - """设置调试日志""" - logging.basicConfig( - level=logging.DEBUG, - format='%(asctime)s - %(name)s - %(levelname)s - %(message)s', - handlers=[ - logging.FileHandler('laiyu_debug.log'), - logging.StreamHandler() - ] - ) - - # 启用串口通信日志 - serial_logger = logging.getLogger('serial') - serial_logger.setLevel(logging.DEBUG) - - print("🔍 调试日志已启用，日志文件: laiyu_debug.log") -``` - -#### 📊 性能监控 -```python -def monitor_performance(): - """性能监控工具""" - import time - import psutil - - print("📊 开始性能监控...") - - start_time = time.time() - start_cpu = psutil.cpu_percent() - start_memory = psutil.virtual_memory().percent - - # 执行设备操作 - # ... 你的设备操作代码 ... - - end_time = time.time() - end_cpu = psutil.cpu_percent() - end_memory = psutil.virtual_memory().percent - - print(f"⏱️ 执行时间: {end_time - start_time:.2f} 秒") - print(f"💻 CPU使用: {end_cpu - start_cpu:.1f}%") - print(f"🧠 内存使用: {end_memory - start_memory:.1f}%") -``` - -## 📝 配置文件模板 - -### 1. 基础配置模板 - -#### 标准配置（推荐） -```python -from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend, LaiYuLiquid - -# 创建标准配置 -config = LaiYuLiquidConfig( - # === 通信参数 === - port="/dev/cu.usbserial-3130", # 🔧 修改为实际串口 - address=4, # 移液器地址（推荐） - baudrate=115200, # 通信波特率（推荐） - timeout=5.0, # 通信超时时间 - - # === 工作台尺寸 === - deck_width=340.0, # 工作台宽度 (mm) - deck_height=250.0, # 工作台高度 (mm) - deck_depth=160.0, # 工作台深度 (mm) - - # === 运动控制参数 === - max_speed=100.0, # 最大移动速度 (mm/s) - acceleration=50.0, # 加速度 (mm/s²) - safe_height=50.0, # 安全移动高度 (mm) - - # === 移液参数 === - max_volume=1000.0, # 最大移液体积 (μL) - min_volume=0.1, # 最小移液体积 (μL) - liquid_detection=True, # 启用液面检测 - - # === 枪头操作参数 === - tip_pickup_speed=30, # 取枪头速度 (rpm) - tip_pickup_acceleration=500, # 取枪头加速度 (rpm/s) - tip_pickup_depth=10.0, # 枪头插入深度 (mm) - tip_drop_height=10.0, # 丢弃枪头高度 (mm) -) - -# 创建设备实例 -backend = LaiYuLiquidBackend(config) -device = LaiYuLiquid(backend) -``` - -### 2. 高级配置模板 - -#### 多设备配置 -```python -# 配置多个LaiYu设备 -configs = { - "device_1": LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200, - deck_width=340.0, - deck_height=250.0, - deck_depth=160.0 - ), - "device_2": LaiYuLiquidConfig( - port="/dev/cu.usbserial-3131", - address=4, - baudrate=115200, - deck_width=340.0, - deck_height=250.0, - deck_depth=160.0 - ) -} - -# 创建设备实例 -devices = {} -for name, config in configs.items(): - backend = LaiYuLiquidBackend(config) - devices[name] = LaiYuLiquid(backend) -``` - -#### 自定义参数配置 -```python -# 高精度移液配置 -precision_config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200, - timeout=10.0, # 增加超时时间 - - # 精密运动控制 - max_speed=50.0, # 降低速度提高精度 - acceleration=25.0, # 降低加速度 - safe_height=30.0, # 降低安全高度 - - # 精密移液参数 - max_volume=200.0, # 小体积移液 - min_volume=0.5, # 提高最小体积 - liquid_detection=True, - - # 精密枪头操作 - tip_pickup_speed=15, # 降低取枪头速度 - tip_pickup_acceleration=250, # 降低加速度 - tip_pickup_depth=8.0, # 减少插入深度 - tip_drop_height=5.0, # 降低丢弃高度 -) -``` - -### 3. 实验协议配置 - -#### JSON配置文件模板 -```json -{ - "experiment_name": "LaiYu液体处理实验", - "version": "1.0", - "devices": { - "laiyu_liquid": { - "type": "LaiYu_Liquid", - "config": { - "port": "/dev/cu.usbserial-3130", - "address": 4, - "baudrate": 115200, - "timeout": 5.0, - "deck_width": 340.0, - "deck_height": 250.0, - "deck_depth": 160.0, - "max_speed": 100.0, - "acceleration": 50.0, - "safe_height": 50.0, - "max_volume": 1000.0, - "min_volume": 0.1, - "liquid_detection": true - } - } - }, - "deck_layout": { - "tip_rack": { - "type": "tip_rack_96", - "position": [10, 10, 0], - "tips": "1000μL" - }, - "source_plate": { - "type": "plate_96", - "position": [100, 10, 0], - "contents": "样品" - }, - "dest_plate": { - "type": "plate_96", - "position": [200, 10, 0], - "contents": "目标" - } - } -} -``` - -### 4. 完整配置示例 -```json -{ - "laiyu_liquid_config": { - "communication": { - "xyz_controller": { - "port": "/dev/cu.usbserial-3130", - "baudrate": 115200, - "timeout": 5.0 - }, - "pipette_controller": { - "port": "/dev/cu.usbserial-3131", - "baudrate": 115200, - "address": 4, - "timeout": 5.0 - } - }, - "mechanical": { - "deck_width": 340.0, - "deck_height": 250.0, - "deck_depth": 160.0, - "safe_height": 50.0 - }, - "motion": { - "max_speed": 100.0, - "acceleration": 50.0, - "tip_pickup_speed": 30, - "tip_pickup_acceleration": 500 - }, - "safety": { - "position_validation": true, - "emergency_stop_enabled": true, - "deck_width": 300.0, - "deck_height": 200.0, - "deck_depth": 100.0, - "safe_height": 50.0 - } - } -} -``` - -### 5. 完整使用示例 - -#### 基础移液操作 -```python -async def basic_pipetting_example(): - """基础移液操作示例""" - - # 1. 设备初始化 - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200 - ) - - backend = LaiYuLiquidBackend(config) - device = LaiYuLiquid(backend) - - try: - # 2. 设备设置 - await device.setup() - print("✅ 设备初始化完成") - - # 3. 回到原点 - await device.home_all_axes() - print("✅ 轴归零完成") - - # 4. 取枪头 - tip_position = (50, 50, 10) # 枪头架位置 - await device.pick_up_tip(tip_position) - print("✅ 取枪头完成") - - # 5. 移液操作 - source_pos = (100, 100, 15) # 源位置 - dest_pos = (200, 200, 15) # 目标位置 - volume = 100.0 # 移液体积 (μL) - - await device.aspirate(volume, source_pos) - print(f"✅ 吸取 {volume}μL 完成") - - await device.dispense(volume, dest_pos) - print(f"✅ 分配 {volume}μL 完成") - - # 6. 丢弃枪头 - trash_position = (300, 300, 20) - await device.drop_tip(trash_position) - print("✅ 丢弃枪头完成") - - except Exception as e: - print(f"❌ 操作失败: {e}") - - finally: - # 7. 清理资源 - await device.cleanup() - print("✅ 设备清理完成") - -# 运行示例 -import asyncio -asyncio.run(basic_pipetting_example()) -``` - -#### 批量处理示例 -```python -async def batch_processing_example(): - """批量处理示例""" - - config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200 - ) - - backend = LaiYuLiquidBackend(config) - device = LaiYuLiquid(backend) - - try: - await device.setup() - await device.home_all_axes() - - # 定义位置 - tip_rack = [(50 + i*9, 50, 10) for i in range(12)] # 12个枪头位置 - source_wells = [(100 + i*9, 100, 15) for i in range(12)] # 12个源孔 - dest_wells = [(200 + i*9, 200, 15) for i in range(12)] # 12个目标孔 - - # 批量移液 - for i in range(12): - print(f"🔄 处理第 {i+1} 个样品...") - - # 取枪头 - await device.pick_up_tip(tip_rack[i]) - - # 移液 - await device.aspirate(50.0, source_wells[i]) - await device.dispense(50.0, dest_wells[i]) - - # 丢弃枪头 - await device.drop_tip((300, 300, 20)) - - print(f"✅ 第 {i+1} 个样品处理完成") - - print("🎉 批量处理完成!") - - except Exception as e: - print(f"❌ 批量处理失败: {e}") - - finally: - await device.cleanup() - -# 运行批量处理 -asyncio.run(batch_processing_example()) -``` - -## 🔧 调试与日志管理 - -### 1. 调试模式配置 - -#### 启用全局调试 -```python -import logging -from unilabos.devices.laiyu_liquid import LaiYuLiquidConfig, LaiYuLiquidBackend - -# 配置全局日志 -logging.basicConfig( - level=logging.DEBUG, - format='%(asctime)s - %(name)s - %(levelname)s - %(message)s', - handlers=[ - logging.FileHandler('laiyu_debug.log'), - logging.StreamHandler() - ] -) - -# 创建调试配置 -debug_config = LaiYuLiquidConfig( - port="/dev/cu.usbserial-3130", - address=4, - baudrate=115200, - timeout=10.0, # 增加超时时间便于调试 - debug_mode=True # 启用调试模式 -) -``` - -#### 分级日志配置 -```python -def setup_logging(log_level="INFO"): - """设置分级日志""" - - # 日志级别映射 - levels = { - "DEBUG": logging.DEBUG, - "INFO": logging.INFO, - "WARNING": logging.WARNING, - "ERROR": logging.ERROR - } - - # 创建日志记录器 - logger = logging.getLogger('LaiYu_Liquid') - logger.setLevel(levels.get(log_level, logging.INFO)) - - # 文件处理器 - file_handler = logging.FileHandler('laiyu_operations.log') - file_formatter = logging.Formatter( - '%(asctime)s - %(name)s - %(levelname)s - %(funcName)s:%(lineno)d - %(message)s' - ) - file_handler.setFormatter(file_formatter) - - # 控制台处理器 - console_handler = logging.StreamHandler() - console_formatter = logging.Formatter('%(levelname)s - %(message)s') - console_handler.setFormatter(console_formatter) - - logger.addHandler(file_handler) - logger.addHandler(console_handler) - - return logger - -# 使用示例 -logger = setup_logging("DEBUG") -logger.info("开始LaiYu设备操作") -``` - -### 2. 通信监控 - -#### 串口通信日志 -```python -def enable_serial_logging(): - """启用串口通信日志""" - import serial - - # 创建串口日志记录器 - serial_logger = logging.getLogger('serial.communication') - serial_logger.setLevel(logging.DEBUG) - - # 创建专用的串口日志文件 - serial_handler = logging.FileHandler('laiyu_serial.log') - serial_formatter = logging.Formatter( - '%(asctime)s - SERIAL - %(message)s' - ) - serial_handler.setFormatter(serial_formatter) - serial_logger.addHandler(serial_handler) - - print("📡 串口通信日志已启用: laiyu_serial.log") - return serial_logger -``` - -#### 实时通信监控 -```python -class CommunicationMonitor: - """通信监控器""" - - def __init__(self): - self.sent_count = 0 - self.received_count = 0 - self.error_count = 0 - self.start_time = time.time() - - def log_sent(self, data): - """记录发送数据""" - self.sent_count += 1 - logging.debug(f"📤 发送 #{self.sent_count}: {data.hex()}") - - def log_received(self, data): - """记录接收数据""" - self.received_count += 1 - logging.debug(f"📥 接收 #{self.received_count}: {data.hex()}") - - def log_error(self, error): - """记录错误""" - self.error_count += 1 - logging.error(f"❌ 通信错误 #{self.error_count}: {error}") - - def get_statistics(self): - """获取统计信息""" - duration = time.time() - self.start_time - return { - "运行时间": f"{duration:.2f}秒", - "发送次数": self.sent_count, - "接收次数": self.received_count, - "错误次数": self.error_count, - "成功率": f"{((self.sent_count - self.error_count) / max(self.sent_count, 1) * 100):.1f}%" - } -``` - -### 3. 性能监控 - -#### 操作性能分析 -```python -import time -import functools - -def performance_monitor(operation_name): - """性能监控装饰器""" - def decorator(func): - @functools.wraps(func) - async def wrapper(*args, **kwargs): - start_time = time.time() - start_memory = psutil.Process().memory_info().rss / 1024 / 1024 # MB - - try: - result = await func(*args, **kwargs) - - end_time = time.time() - end_memory = psutil.Process().memory_info().rss / 1024 / 1024 # MB - - duration = end_time - start_time - memory_delta = end_memory - start_memory - - logging.info(f"⏱️ {operation_name}: {duration:.3f}s, 内存变化: {memory_delta:+.1f}MB") - - return result - - except Exception as e: - end_time = time.time() - duration = end_time - start_time - logging.error(f"❌ {operation_name} 失败 ({duration:.3f}s): {e}") - raise - - return wrapper - return decorator - -# 使用示例 -@performance_monitor("移液操作") -async def monitored_pipetting(): - await device.aspirate(100.0, (100, 100, 15)) - await device.dispense(100.0, (200, 200, 15)) -``` - -#### 系统资源监控 -```python -import psutil -import threading -import time - -class SystemMonitor: - """系统资源监控器""" - - def __init__(self, interval=1.0): - self.interval = interval - self.monitoring = False - self.data = [] - - def start_monitoring(self): - """开始监控""" - self.monitoring = True - self.monitor_thread = threading.Thread(target=self._monitor_loop) - self.monitor_thread.daemon = True - self.monitor_thread.start() - print("📊 系统监控已启动") - - def stop_monitoring(self): - """停止监控""" - self.monitoring = False - if hasattr(self, 'monitor_thread'): - self.monitor_thread.join() - print("📊 系统监控已停止") - - def _monitor_loop(self): - """监控循环""" - while self.monitoring: - cpu_percent = psutil.cpu_percent() - memory = psutil.virtual_memory() - - self.data.append({ - 'timestamp': time.time(), - 'cpu_percent': cpu_percent, - 'memory_percent': memory.percent, - 'memory_used_mb': memory.used / 1024 / 1024 - }) - - time.sleep(self.interval) - - def get_report(self): - """生成监控报告""" - if not self.data: - return "无监控数据" - - avg_cpu = sum(d['cpu_percent'] for d in self.data) / len(self.data) - avg_memory = sum(d['memory_percent'] for d in self.data) / len(self.data) - max_memory = max(d['memory_used_mb'] for d in self.data) - - return f""" -📊 系统资源监控报告 -================== -监控时长: {len(self.data) * self.interval:.1f}秒 -平均CPU使用率: {avg_cpu:.1f}% -平均内存使用率: {avg_memory:.1f}% -峰值内存使用: {max_memory:.1f}MB - """ - -# 使用示例 -monitor = SystemMonitor() -monitor.start_monitoring() - -# 执行设备操作 -# ... 你的代码 ... - -monitor.stop_monitoring() -print(monitor.get_report()) -``` - -### 4. 错误追踪 - -#### 异常处理和记录 -```python -import traceback - -class ErrorTracker: - """错误追踪器""" - - def __init__(self): - self.errors = [] - - def log_error(self, operation, error, context=None): - """记录错误""" - error_info = { - 'timestamp': time.time(), - 'operation': operation, - 'error_type': type(error).__name__, - 'error_message': str(error), - 'traceback': traceback.format_exc(), - 'context': context or {} - } - - self.errors.append(error_info) - - # 记录到日志 - logging.error(f"❌ {operation} 失败: {error}") - logging.debug(f"错误详情: {error_info}") - - def get_error_summary(self): - """获取错误摘要""" - if not self.errors: - return "✅ 无错误记录" - - error_types = {} - for error in self.errors: - error_type = error['error_type'] - error_types[error_type] = error_types.get(error_type, 0) + 1 - - summary = f"❌ 共记录 {len(self.errors)} 个错误:\n" - for error_type, count in error_types.items(): - summary += f" - {error_type}: {count} 次\n" - - return summary - -# 全局错误追踪器 -error_tracker = ErrorTracker() - -# 使用示例 -try: - await device.move_to(x=1000, y=1000, z=100) # 可能超出范围 -except Exception as e: - error_tracker.log_error("移动操作", e, {"target": (1000, 1000, 100)}) -``` - ---- - -## 📚 总结 - -本文档提供了LaiYu液体处理设备的完整硬件连接配置指南，涵盖了从基础设置到高级故障排除的所有方面。 - -### 🎯 关键要点 - -1. **标准配置**: 使用 `port="/dev/cu.usbserial-3130"`, `address=4`, `baudrate=115200` -2. **设备架构**: XYZ轴控制器(地址1-3) + SOPA移液器(地址4) -3. **连接验证**: 使用提供的测试脚本验证硬件连接 -4. **故障排除**: 参考故障排除指南解决常见问题 -5. **性能监控**: 启用日志和监控确保稳定运行 - -### 🔗 相关文档 - -- [LaiYu控制架构详解](./UniLab_LaiYu_控制架构详解.md) -- [XYZ集成功能说明](./XYZ_集成功能说明.md) -- [设备API文档](./readme.md) - -### 📞 技术支持 - -如遇到问题，请： -1. 检查硬件连接和配置 -2. 查看调试日志 -3. 参考故障排除指南 -4. 联系技术支持团队 - ---- - -*最后更新: 2024年1月* \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/docs/readme.md b/unilabos/devices/laiyu_liquid/docs/readme.md deleted file mode 100644 index 4927138..0000000 --- a/unilabos/devices/laiyu_liquid/docs/readme.md +++ /dev/null @@ -1,269 +0,0 @@ -# LaiYu_Liquid 液体处理工作站 - -## 概述 - -LaiYu_Liquid 是一个完全集成到 UniLabOS 的自动化液体处理工作站，基于 RS485 通信协议，专为精确的液体分配和转移操作而设计。本模块已完成生产环境部署准备，提供完整的硬件控制、资源管理和标准化接口。 - -## 系统组成 - -### 硬件组件 -- **XYZ三轴运动平台**: 3个RS485步进电机驱动（地址：X轴=0x01, Y轴=0x02, Z轴=0x03） -- **SOPA气动式移液器**: RS485总线控制，支持精密液体处理操作 -- **通信接口**: RS485转USB模块，默认波特率115200 -- **机械结构**: 稳固工作台面，支持离心管架、96孔板等标准实验耗材 - -### 软件架构 -- **驱动层**: 底层硬件通信驱动，支持RS485协议 -- **控制层**: 高级控制逻辑和坐标系管理 -- **抽象层**: 完全符合UniLabOS标准的液体处理接口 -- **资源层**: 标准化的实验器具和耗材管理 - -## 🎯 生产就绪组件 - -### ✅ 核心驱动程序 (`drivers/`) -- **`sopa_pipette_driver.py`** - SOPA移液器完整驱动 - - 支持液体吸取、分配、检测 - - 完整的错误处理和状态管理 - - 生产级别的通信协议实现 - -- **`xyz_stepper_driver.py`** - XYZ三轴步进电机驱动 - - 精确的位置控制和运动规划 - - 安全限位和错误检测 - - 高性能运动控制算法 - -### ✅ 高级控制器 (`controllers/`) -- **`pipette_controller.py`** - 移液控制器 - - 封装高级液体处理功能 - - 支持多种液体类型和处理参数 - - 智能错误恢复机制 - -- **`xyz_controller.py`** - XYZ运动控制器 - - 坐标系管理和转换 - - 运动路径优化 - - 安全运动控制 - -### ✅ UniLabOS集成 (`core/LaiYu_Liquid.py`) -- **完整的液体处理抽象接口** -- **标准化的资源管理系统** -- **与PyLabRobot兼容的后端实现** -- **生产级别的错误处理和日志记录** - -### ✅ 资源管理系统 -- **`laiyu_liquid_res.py`** - 标准化资源定义 - - 96孔板、离心管架、枪头架等标准器具 - - 自动化的资源创建和配置函数 - - 与工作台布局的完美集成 - -### ✅ 配置管理 (`config/`) -- **`config/deck.json`** - 工作台布局配置 - - 精确的空间定义和槽位管理 - - 支持多种实验器具的标准化放置 - - 可扩展的配置架构 - -- **`__init__.py`** - 模块集成和导出 - - 完整的API导出和版本管理 - - 依赖检查和安装验证 - - 专业的模块信息展示 - - - -## 🚀 核心功能特性 - -### 液体处理能力 -- **精密体积控制**: 支持1-1000μL精确分配 -- **多种液体类型**: 水性、有机溶剂、粘稠液体等 -- **智能检测**: 液位检测、气泡检测、堵塞检测 -- **自动化流程**: 完整的吸取-转移-分配工作流 - -### 运动控制系统 -- **三轴精密定位**: 微米级精度控制 -- **路径优化**: 智能运动规划和碰撞避免 -- **安全机制**: 限位保护、紧急停止、错误恢复 -- **坐标系管理**: 工作坐标与机械坐标的自动转换 - -### 资源管理 -- **标准化器具**: 支持96孔板、离心管架、枪头架等 -- **状态跟踪**: 实时监控液体体积、枪头状态等 -- **自动配置**: 基于JSON的灵活配置系统 -- **扩展性**: 易于添加新的器具类型 - -## 📁 目录结构 - -``` -LaiYu_Liquid/ -├── __init__.py # 模块初始化和API导出 -├── readme.md # 本文档 -├── backend/ # 后端驱动模块 -│ ├── __init__.py -│ └── laiyu_backend.py # PyLabRobot兼容后端 -├── core/ # 核心模块 -│ ├── core/ -│ │ └── LaiYu_Liquid.py # 主设备类 -│ ├── abstract_protocol.py # 抽象协议 -│ └── laiyu_liquid_res.py # 设备资源定义 -├── config/ # 配置文件目录 -│ └── deck.json # 工作台布局配置 -├── controllers/ # 高级控制器 -│ ├── __init__.py -│ ├── pipette_controller.py # 移液控制器 -│ └── xyz_controller.py # XYZ运动控制器 -├── docs/ # 技术文档 -│ ├── SOPA气动式移液器RS485控制指令.md -│ ├── 步进电机控制指令.md -│ └── hardware/ # 硬件相关文档 -├── drivers/ # 底层驱动程序 -│ ├── __init__.py -│ ├── sopa_pipette_driver.py # SOPA移液器驱动 -│ └── xyz_stepper_driver.py # XYZ步进电机驱动 -└── tests/ # 测试文件 -``` - -## 🔧 快速开始 - -### 1. 安装和验证 - -```python -# 验证模块安装 -from unilabos.devices.laiyu_liquid import ( - LaiYuLiquid, - LaiYuLiquidConfig, - create_quick_setup, - print_module_info -) - -# 查看模块信息 -print_module_info() - -# 快速创建默认资源 -resources = create_quick_setup() -print(f"已创建 {len(resources)} 个资源") -``` - -### 2. 基本使用示例 - -```python -from unilabos.devices.LaiYu_Liquid import ( - create_quick_setup, - create_96_well_plate, - create_laiyu_backend -) - -# 快速创建默认资源 -resources = create_quick_setup() -print(f"创建了以下资源: {list(resources.keys())}") - -# 创建96孔板 -plate_96 = create_96_well_plate("test_plate") -print(f"96孔板包含 {len(plate_96.children)} 个孔位") - -# 创建后端实例（用于PyLabRobot集成） -backend = create_laiyu_backend("LaiYu_Device") -print(f"后端设备: {backend.name}") -``` - -### 3. 后端驱动使用 - -```python -from unilabos.devices.laiyu_liquid.backend import create_laiyu_backend - -# 创建后端实例 -backend = create_laiyu_backend("LaiYu_Liquid_Station") - -# 连接设备 -await backend.connect() - -# 设备归位 -await backend.home_device() - -# 获取设备状态 -status = await backend.get_status() -print(f"设备状态: {status}") - -# 断开连接 -await backend.disconnect() -``` - -### 4. 资源管理示例 - -```python -from unilabos.devices.LaiYu_Liquid import ( - create_centrifuge_tube_rack, - create_tip_rack, - load_deck_config -) - -# 加载工作台配置 -deck_config = load_deck_config() -print(f"工作台尺寸: {deck_config['size_x']}x{deck_config['size_y']}mm") - -# 创建不同类型的资源 -tube_rack = create_centrifuge_tube_rack("sample_rack") -tip_rack = create_tip_rack("tip_rack_200ul") - -print(f"离心管架: {tube_rack.name}, 容量: {len(tube_rack.children)} 个位置") -print(f"枪头架: {tip_rack.name}, 容量: {len(tip_rack.children)} 个枪头") -``` - -## 🔍 技术架构 - -### 坐标系统 -- **机械坐标**: 基于步进电机的原始坐标系统 -- **工作坐标**: 用户友好的实验室坐标系统 -- **自动转换**: 透明的坐标系转换和校准 - -### 通信协议 -- **RS485总线**: 高可靠性工业通信标准 -- **Modbus协议**: 标准化的设备通信协议 -- **错误检测**: 完整的通信错误检测和恢复 - -### 安全机制 -- **限位保护**: 硬件和软件双重限位保护 -- **紧急停止**: 即时停止所有运动和操作 -- **状态监控**: 实时设备状态监控和报警 - -## 🧪 验证和测试 - -### 功能验证 -```python -# 验证模块安装 -from unilabos.devices.laiyu_liquid import validate_installation -validate_installation() - -# 查看模块信息 -from unilabos.devices.laiyu_liquid import print_module_info -print_module_info() -``` - -### 硬件连接测试 -```python -# 测试SOPA移液器连接 -from unilabos.devices.laiyu_liquid.drivers import SOPAPipette, SOPAConfig - -config = SOPAConfig(port="/dev/cu.usbserial-3130", address=4) -pipette = SOPAPipette(config) -success = pipette.connect() -print(f"SOPA连接状态: {'成功' if success else '失败'}") -``` - -## 📚 维护和支持 - -### 日志记录 -- **结构化日志**: 使用Python logging模块的专业日志记录 -- **错误追踪**: 详细的错误信息和堆栈跟踪 -- **性能监控**: 操作时间和性能指标记录 - -### 配置管理 -- **JSON配置**: 灵活的JSON格式配置文件 -- **参数验证**: 自动配置参数验证和错误提示 -- **热重载**: 支持配置文件的动态重载 - -### 扩展性 -- **模块化设计**: 易于扩展和定制的模块化架构 -- **插件接口**: 支持第三方插件和扩展 -- **API兼容**: 向后兼容的API设计 - - diff --git a/unilabos/devices/laiyu_liquid/drivers/__init__.py b/unilabos/devices/laiyu_liquid/drivers/__init__.py deleted file mode 100644 index cedd47a..0000000 --- a/unilabos/devices/laiyu_liquid/drivers/__init__.py +++ /dev/null @@ -1,30 +0,0 @@ -""" -LaiYu_Liquid 驱动程序模块 - -该模块包含了LaiYu_Liquid液体处理工作站的硬件驱动程序： -- SOPA移液器驱动程序 -- XYZ步进电机驱动程序 -""" - -# SOPA移液器驱动程序导入 -from .sopa_pipette_driver import SOPAPipette, SOPAConfig, SOPAStatusCode - -# XYZ步进电机驱动程序导入 -from .xyz_stepper_driver import StepperMotorDriver, XYZStepperController, MotorAxis, MotorStatus - -__all__ = [ - # SOPA移液器 - "SOPAPipette", - "SOPAConfig", - "SOPAStatusCode", - - # XYZ步进电机 - "StepperMotorDriver", - "XYZStepperController", - "MotorAxis", - "MotorStatus", -] - -__version__ = "1.0.0" -__author__ = "LaiYu_Liquid Driver Team" -__description__ = "LaiYu_Liquid 硬件驱动程序集合" \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py b/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py deleted file mode 100644 index 3cfed55..0000000 --- a/unilabos/devices/laiyu_liquid/drivers/sopa_pipette_driver.py +++ /dev/null @@ -1,1079 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -SOPA气动式移液器RS485控制驱动程序 - -基于SOPA气动式移液器RS485控制指令合集编写的Python驱动程序， -支持完整的移液器控制功能，包括移液、检测、配置等操作。 - -仅支持SC-STxxx-00-13型号的RS485通信。 -""" - -import serial -import time -import logging -import threading -from typing import Optional, Union, Dict, Any, Tuple, List -from enum import Enum, IntEnum -from dataclasses import dataclass -from contextlib import contextmanager - -# 配置日志 -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger(__name__) - - -class SOPAError(Exception): - """SOPA移液器异常基类""" - pass - - -class SOPACommunicationError(SOPAError): - """通信异常""" - pass - - -class SOPADeviceError(SOPAError): - """设备异常""" - pass - - -class SOPAStatusCode(IntEnum): - """状态码枚举""" - NO_ERROR = 0x00 # 无错误 - ACTION_INCOMPLETE = 0x01 # 上次动作未完成 - NOT_INITIALIZED = 0x02 # 设备未初始化 - DEVICE_OVERLOAD = 0x03 # 设备过载 - INVALID_COMMAND = 0x04 # 无效指令 - LLD_FAULT = 0x05 # 液位探测故障 - AIR_ASPIRATE = 0x0D # 空吸 - NEEDLE_BLOCK = 0x0E # 堵针 - FOAM_DETECT = 0x10 # 泡沫 - EXCEED_TIP_VOLUME = 0x11 # 吸液超过吸头容量 - - -class CommunicationType(Enum): - """通信类型""" - TERMINAL_DEBUG = "/" # 终端调试，头码为0x2F - OEM_COMMUNICATION = "[" # OEM通信，头码为0x5B - - -class DetectionMode(IntEnum): - """液位检测模式""" - PRESSURE = 0 # 压力式检测(pLLD) - CAPACITIVE = 1 # 电容式检测(cLLD) - - -@dataclass -class SOPAConfig: - """SOPA移液器配置参数""" - # 通信参数 - port: str = "/dev/ttyUSB0" - baudrate: int = 115200 - address: int = 1 - timeout: float = 5.0 - comm_type: CommunicationType = CommunicationType.TERMINAL_DEBUG - - # 运动参数 (单位: 0.1ul/秒) - max_speed: int = 2000 # 最高速度 200ul/秒 - start_speed: int = 200 # 启动速度 20ul/秒 - cutoff_speed: int = 200 # 断流速度 20ul/秒 - acceleration: int = 30000 # 加速度 - - # 检测参数 - empty_threshold: int = 4 # 空吸门限 - foam_threshold: int = 20 # 泡沫门限 - block_threshold: int = 350 # 堵塞门限 - - # 液位检测参数 - lld_speed: int = 200 # 检测速度 (100~2000) - lld_sensitivity: int = 5 # 检测灵敏度 (3~40) - detection_mode: DetectionMode = DetectionMode.PRESSURE - - # 吸头参数 - tip_volume: int = 1000 # 吸头容量 (ul) - calibration_factor: float = 1.0 # 校准系数 - compensation_offset: float = 0.0 # 补偿偏差 - - def __post_init__(self): - """初始化后验证参数""" - self._validate_address() - - def _validate_address(self): - """ - 验证设备地址是否符合协议要求 - - 协议要求： - - 地址范围：1~254 - - 禁用地址：47, 69, 91 (对应ASCII字符 '/', 'E', '[') - """ - if not (1 <= self.address <= 254): - raise ValueError(f"设备地址必须在1-254范围内，当前地址: {self.address}") - - forbidden_addresses = [47, 69, 91] # '/', 'E', '[' - if self.address in forbidden_addresses: - forbidden_chars = {47: "'/' (0x2F)", 69: "'E' (0x45)", 91: "'[' (0x5B)"} - char_desc = forbidden_chars[self.address] - raise ValueError( - f"地址 {self.address} 不可用，因为它对应协议字符 {char_desc}。" - f"请选择其他地址（1-254，排除47、69、91）" - ) - - -class SOPAPipette: - """SOPA气动式移液器驱动类""" - - def __init__(self, config: SOPAConfig): - """ - 初始化SOPA移液器 - - Args: - config: 移液器配置参数 - """ - self.config = config - self.serial_port: Optional[serial.Serial] = None - self.is_connected = False - self.is_initialized = False - self.lock = threading.Lock() - - # 状态缓存 - self._last_status = SOPAStatusCode.NOT_INITIALIZED - self._current_position = 0 - self._tip_present = False - - def connect(self) -> bool: - """ - 连接移液器 - - Returns: - bool: 连接是否成功 - """ - try: - self.serial_port = serial.Serial( - port=self.config.port, - baudrate=self.config.baudrate, - bytesize=serial.EIGHTBITS, - parity=serial.PARITY_NONE, - stopbits=serial.STOPBITS_ONE, - timeout=self.config.timeout - ) - - if self.serial_port.is_open: - self.is_connected = True - logger.info(f"已连接到SOPA移液器，端口: {self.config.port}, 地址: {self.config.address}") - - # 查询设备信息 - version = self.get_firmware_version() - if version: - logger.info(f"固件版本: {version}") - - return True - else: - raise SOPACommunicationError("串口打开失败") - - except Exception as e: - logger.error(f"连接失败: {str(e)}") - self.is_connected = False - return False - - def disconnect(self): - """断开连接""" - if self.serial_port and self.serial_port.is_open: - self.serial_port.close() - self.is_connected = False - self.is_initialized = False - logger.info("已断开SOPA移液器连接") - - def _calculate_checksum(self, data: bytes) -> int: - """计算校验和""" - return sum(data) & 0xFF - - def _build_command(self, command: str) -> bytes: - """ - 构建完整命令字节串 - - 根据协议格式：头码 + 地址 + 命令/数据 + 尾码 + 校验和 - - Args: - command: 命令字符串 - - Returns: - bytes: 完整的命令字节串 - """ - header = self.config.comm_type.value # '/' 或 '[' - address = str(self.config.address) # 设备地址 - tail = "E" # 尾码固定为 'E' - - # 构建基础命令字符串：头码 + 地址 + 命令 + 尾码 - cmd_str = f"{header}{address}{command}{tail}" - - # 转换为字节串 - cmd_bytes = cmd_str.encode('ascii') - - # 计算校验和（所有字节的累加值） - checksum = self._calculate_checksum(cmd_bytes) - - # 返回完整命令：基础命令字节 + 校验和字节 - return cmd_bytes + bytes([checksum]) - - def _send_command(self, command: str) -> bool: - """ - 发送命令到移液器 - - Args: - command: 要发送的命令 - - Returns: - bool: 命令是否发送成功 - """ - if not self.is_connected or not self.serial_port: - raise SOPACommunicationError("设备未连接") - - with self.lock: - try: - full_command_bytes = self._build_command(command) - # 转换为可读字符串用于日志显示 - readable_cmd = ''.join(chr(b) if 32 <= b <= 126 else f'\\x{b:02X}' for b in full_command_bytes) - logger.debug(f"发送命令: {readable_cmd}") - - self.serial_port.write(full_command_bytes) - self.serial_port.flush() - - # 等待响应 - time.sleep(0.1) - return True - - except Exception as e: - logger.error(f"发送命令失败: {str(e)}") - raise SOPACommunicationError(f"发送命令失败: {str(e)}") - - def _read_response(self, timeout: float = None) -> Optional[str]: - """ - 读取设备响应 - - Args: - timeout: 超时时间 - - Returns: - Optional[str]: 设备响应字符串 - """ - if not self.is_connected or not self.serial_port: - return None - - timeout = timeout or self.config.timeout - - try: - # 设置读取超时 - self.serial_port.timeout = timeout - - response = b'' - start_time = time.time() - - while time.time() - start_time < timeout: - if self.serial_port.in_waiting > 0: - chunk = self.serial_port.read(self.serial_port.in_waiting) - response += chunk - - # 检查是否收到完整响应（以'E'结尾） - if response.endswith(b'E') or len(response) >= 20: - break - - time.sleep(0.01) - - if response: - decoded_response = response.decode('ascii', errors='ignore') - logger.debug(f"收到响应: {decoded_response}") - return decoded_response - - except Exception as e: - logger.error(f"读取响应失败: {str(e)}") - - return None - - def _send_query(self, query: str) -> Optional[str]: - """ - 发送查询命令并获取响应 - - Args: - query: 查询命令 - - Returns: - Optional[str]: 查询结果 - """ - try: - self._send_command(query) - return self._read_response() - except Exception as e: - logger.error(f"查询失败: {str(e)}") - return None - - # ==================== 基础控制方法 ==================== - - def initialize(self) -> bool: - """ - 初始化移液器 - - Returns: - bool: 初始化是否成功 - """ - try: - logger.info("初始化SOPA移液器...") - - # 发送初始化命令 - self._send_command("HE") - - # 等待初始化完成 - time.sleep(2.0) - - # 检查状态 - status = self.get_status() - if status == SOPAStatusCode.NO_ERROR: - self.is_initialized = True - logger.info("移液器初始化成功") - - # 应用配置参数 - self._apply_configuration() - return True - else: - logger.error(f"初始化失败，状态码: {status}") - return False - - except Exception as e: - logger.error(f"初始化异常: {str(e)}") - return False - - def _apply_configuration(self): - """应用配置参数""" - try: - # 设置运动参数 - self.set_acceleration(self.config.acceleration) - self.set_start_speed(self.config.start_speed) - self.set_cutoff_speed(self.config.cutoff_speed) - self.set_max_speed(self.config.max_speed) - - # 设置检测参数 - self.set_empty_threshold(self.config.empty_threshold) - self.set_foam_threshold(self.config.foam_threshold) - self.set_block_threshold(self.config.block_threshold) - - # 设置吸头参数 - self.set_tip_volume(self.config.tip_volume) - self.set_calibration_factor(self.config.calibration_factor) - - # 设置液位检测参数 - self.set_detection_mode(self.config.detection_mode) - self.set_lld_speed(self.config.lld_speed) - - logger.info("配置参数应用完成") - - except Exception as e: - logger.warning(f"应用配置参数失败: {str(e)}") - - def eject_tip(self) -> bool: - """ - 顶出枪头 - - Returns: - bool: 操作是否成功 - """ - try: - logger.info("顶出枪头") - self._send_command("RE") - time.sleep(1.0) - return True - except Exception as e: - logger.error(f"顶出枪头失败: {str(e)}") - return False - - def get_tip_status(self) -> bool: - """ - 获取枪头状态 - - Returns: - bool: True表示有枪头，False表示无枪头 - """ - try: - response = self._send_query("Q28") - if response and len(response) > 10: - # 解析响应中的枪头状态 - status_char = response[10] if len(response) > 10 else '0' - self._tip_present = (status_char == '1') - return self._tip_present - except Exception as e: - logger.error(f"获取枪头状态失败: {str(e)}") - - return False - - # ==================== 移液控制方法 ==================== - - def move_absolute(self, position: float) -> bool: - """ - 绝对位置移动 - - Args: - position: 目标位置(微升) - - Returns: - bool: 移动是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - pos_int = int(position) - logger.debug(f"绝对移动到位置: {pos_int}ul") - - self._send_command(f"A{pos_int}E") - time.sleep(0.5) - - self._current_position = pos_int - return True - - except Exception as e: - logger.error(f"绝对移动失败: {str(e)}") - return False - - def aspirate(self, volume: float, detection: bool = False) -> bool: - """ - 抽吸液体 - - Args: - volume: 抽吸体积(微升) - detection: 是否开启液体检测 - - Returns: - bool: 抽吸是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - vol_int = int(volume) - logger.info(f"抽吸液体: {vol_int}ul, 检测: {detection}") - - # 构建命令 - cmd_parts = [] - cmd_parts.append(f"a{self.config.acceleration}") - cmd_parts.append(f"b{self.config.start_speed}") - cmd_parts.append(f"c{self.config.cutoff_speed}") - cmd_parts.append(f"s{self.config.max_speed}") - - if detection: - cmd_parts.append("f1") # 开启检测 - - cmd_parts.append(f"P{vol_int}") - - if detection: - cmd_parts.append("f0") # 关闭检测 - - cmd_parts.append("E") - - command = "".join(cmd_parts) - self._send_command(command) - - # 等待操作完成 - time.sleep(max(1.0, vol_int / 100.0)) - - # 检查状态 - status = self.get_status() - if status == SOPAStatusCode.NO_ERROR: - self._current_position += vol_int - logger.info(f"抽吸成功: {vol_int}ul") - return True - elif status == SOPAStatusCode.AIR_ASPIRATE: - logger.warning("检测到空吸") - return False - elif status == SOPAStatusCode.NEEDLE_BLOCK: - logger.error("检测到堵针") - return False - else: - logger.error(f"抽吸失败，状态码: {status}") - return False - - except Exception as e: - logger.error(f"抽吸失败: {str(e)}") - return False - - def dispense(self, volume: float, detection: bool = False) -> bool: - """ - 分配液体 - - Args: - volume: 分配体积(微升) - detection: 是否开启液体检测 - - Returns: - bool: 分配是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - vol_int = int(volume) - logger.info(f"分配液体: {vol_int}ul, 检测: {detection}") - - # 构建命令 - cmd_parts = [] - cmd_parts.append(f"a{self.config.acceleration}") - cmd_parts.append(f"b{self.config.start_speed}") - cmd_parts.append(f"c{self.config.cutoff_speed}") - cmd_parts.append(f"s{self.config.max_speed}") - - if detection: - cmd_parts.append("f1") # 开启检测 - - cmd_parts.append(f"D{vol_int}") - - if detection: - cmd_parts.append("f0") # 关闭检测 - - cmd_parts.append("E") - - command = "".join(cmd_parts) - self._send_command(command) - - # 等待操作完成 - time.sleep(max(1.0, vol_int / 200.0)) - - # 检查状态 - status = self.get_status() - if status == SOPAStatusCode.NO_ERROR: - self._current_position -= vol_int - logger.info(f"分配成功: {vol_int}ul") - return True - else: - logger.error(f"分配失败，状态码: {status}") - return False - - except Exception as e: - logger.error(f"分配失败: {str(e)}") - return False - - # ==================== 液位检测方法 ==================== - - def liquid_level_detection(self, sensitivity: int = None) -> bool: - """ - 执行液位检测 - - Args: - sensitivity: 检测灵敏度 (3~40) - - Returns: - bool: 检测是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - sens = sensitivity or self.config.lld_sensitivity - - if self.config.detection_mode == DetectionMode.PRESSURE: - # 压力式液面检测 - command = f"m0k{self.config.lld_speed}L{sens}E" - else: - # 电容式液面检测 - command = f"m1L{sens}E" - - logger.info(f"执行液位检测, 模式: {self.config.detection_mode.name}, 灵敏度: {sens}") - - self._send_command(command) - time.sleep(2.0) - - # 检查检测结果 - status = self.get_status() - if status == SOPAStatusCode.NO_ERROR: - logger.info("液位检测成功") - return True - elif status == SOPAStatusCode.LLD_FAULT: - logger.error("液位检测故障") - return False - else: - logger.warning(f"液位检测异常，状态码: {status}") - return False - - except Exception as e: - logger.error(f"液位检测失败: {str(e)}") - return False - - # ==================== 参数设置方法 ==================== - - def set_max_speed(self, speed: int) -> bool: - """设置最高速度 (0.1ul/秒为单位)""" - try: - self._send_command(f"s{speed}E") - self.config.max_speed = speed - logger.debug(f"设置最高速度: {speed} (0.1ul/秒)") - return True - except Exception as e: - logger.error(f"设置最高速度失败: {str(e)}") - return False - - def set_start_speed(self, speed: int) -> bool: - """设置启动速度 (0.1ul/秒为单位)""" - try: - self._send_command(f"b{speed}E") - self.config.start_speed = speed - logger.debug(f"设置启动速度: {speed} (0.1ul/秒)") - return True - except Exception as e: - logger.error(f"设置启动速度失败: {str(e)}") - return False - - def set_cutoff_speed(self, speed: int) -> bool: - """设置断流速度 (0.1ul/秒为单位)""" - try: - self._send_command(f"c{speed}E") - self.config.cutoff_speed = speed - logger.debug(f"设置断流速度: {speed} (0.1ul/秒)") - return True - except Exception as e: - logger.error(f"设置断流速度失败: {str(e)}") - return False - - def set_acceleration(self, accel: int) -> bool: - """设置加速度""" - try: - self._send_command(f"a{accel}E") - self.config.acceleration = accel - logger.debug(f"设置加速度: {accel}") - return True - except Exception as e: - logger.error(f"设置加速度失败: {str(e)}") - return False - - def set_empty_threshold(self, threshold: int) -> bool: - """设置空吸门限""" - try: - self._send_command(f"${threshold}E") - self.config.empty_threshold = threshold - logger.debug(f"设置空吸门限: {threshold}") - return True - except Exception as e: - logger.error(f"设置空吸门限失败: {str(e)}") - return False - - def set_foam_threshold(self, threshold: int) -> bool: - """设置泡沫门限""" - try: - self._send_command(f"!{threshold}E") - self.config.foam_threshold = threshold - logger.debug(f"设置泡沫门限: {threshold}") - return True - except Exception as e: - logger.error(f"设置泡沫门限失败: {str(e)}") - return False - - def set_block_threshold(self, threshold: int) -> bool: - """设置堵塞门限""" - try: - self._send_command(f"%{threshold}E") - self.config.block_threshold = threshold - logger.debug(f"设置堵塞门限: {threshold}") - return True - except Exception as e: - logger.error(f"设置堵塞门限失败: {str(e)}") - return False - - def set_tip_volume(self, volume: int) -> bool: - """设置吸头容量""" - try: - self._send_command(f"C{volume}E") - self.config.tip_volume = volume - logger.debug(f"设置吸头容量: {volume}ul") - return True - except Exception as e: - logger.error(f"设置吸头容量失败: {str(e)}") - return False - - def set_calibration_factor(self, factor: float) -> bool: - """设置校准系数""" - try: - self._send_command(f"j{factor}E") - self.config.calibration_factor = factor - logger.debug(f"设置校准系数: {factor}") - return True - except Exception as e: - logger.error(f"设置校准系数失败: {str(e)}") - return False - - def set_detection_mode(self, mode: DetectionMode) -> bool: - """设置液位检测模式""" - try: - self._send_command(f"m{mode.value}E") - self.config.detection_mode = mode - logger.debug(f"设置检测模式: {mode.name}") - return True - except Exception as e: - logger.error(f"设置检测模式失败: {str(e)}") - return False - - def set_lld_speed(self, speed: int) -> bool: - """设置液位检测速度""" - try: - if 100 <= speed <= 2000: - self._send_command(f"k{speed}E") - self.config.lld_speed = speed - logger.debug(f"设置检测速度: {speed}") - return True - else: - logger.error("检测速度超出范围 (100~2000)") - return False - except Exception as e: - logger.error(f"设置检测速度失败: {str(e)}") - return False - - # ==================== 状态查询方法 ==================== - - def get_status(self) -> SOPAStatusCode: - """ - 获取设备状态 - - Returns: - SOPAStatusCode: 当前状态码 - """ - try: - response = self._send_query("Q") - if response and len(response) > 8: - # 解析状态字节 - status_char = response[8] if len(response) > 8 else '0' - try: - status_code = int(status_char, 16) if status_char.isdigit() or status_char.lower() in 'abcdef' else 0 - self._last_status = SOPAStatusCode(status_code) - except ValueError: - self._last_status = SOPAStatusCode.NO_ERROR - - return self._last_status - except Exception as e: - logger.error(f"获取状态失败: {str(e)}") - - return SOPAStatusCode.NO_ERROR - - def get_firmware_version(self) -> Optional[str]: - """ - 获取固件版本信息 - 处理SOPA移液器的双响应帧格式 - - Returns: - Optional[str]: 固件版本字符串，获取失败返回None - """ - try: - if not self.is_connected: - logger.debug("设备未连接，无法查询版本") - return "设备未连接" - - # 清空串口缓冲区，避免残留数据干扰 - if self.serial_port and self.serial_port.in_waiting > 0: - logger.debug(f"清空缓冲区中的 {self.serial_port.in_waiting} 字节数据") - self.serial_port.reset_input_buffer() - - # 发送版本查询命令 - 使用VE命令 - command = self._build_command("VE") - logger.debug(f"发送版本查询命令: {command}") - self.serial_port.write(command) - - # 等待响应 - time.sleep(0.3) # 增加等待时间 - - # 读取所有可用数据 - all_data = b'' - timeout_count = 0 - max_timeout = 15 # 增加最大等待时间到1.5秒 - - while timeout_count < max_timeout: - if self.serial_port.in_waiting > 0: - data = self.serial_port.read(self.serial_port.in_waiting) - all_data += data - logger.debug(f"接收到 {len(data)} 字节数据: {data.hex().upper()}") - timeout_count = 0 # 重置超时计数 - else: - time.sleep(0.1) - timeout_count += 1 - - # 检查是否收到完整的双响应帧 - if len(all_data) >= 26: # 两个13字节的响应帧 - logger.debug("收到完整的双响应帧") - break - elif len(all_data) >= 13: # 至少一个响应帧 - # 继续等待一段时间看是否有第二个帧 - if timeout_count > 5: # 等待0.5秒后如果没有更多数据就停止 - logger.debug("只收到单响应帧") - break - - logger.debug(f"总共接收到 {len(all_data)} 字节数据: {all_data.hex().upper()}") - - if len(all_data) < 13: - logger.warning("接收到的数据不足一个完整响应帧") - return "版本信息不可用" - - # 解析响应数据 - version_info = self._parse_version_response(all_data) - logger.info(f"解析得到版本信息: {version_info}") - return version_info - - except Exception as e: - logger.error(f"获取固件版本失败: {str(e)}") - return "版本信息不可用" - - def _parse_version_response(self, data: bytes) -> str: - """ - 解析版本响应数据 - - Args: - data: 原始响应数据 - - Returns: - str: 解析后的版本信息 - """ - try: - # 将数据转换为十六进制字符串用于调试 - hex_data = data.hex().upper() - logger.debug(f"收到版本响应数据: {hex_data}") - - # 查找响应帧的起始位置 - responses = [] - i = 0 - while i < len(data) - 12: - # 查找帧头 0x2F (/) - if data[i] == 0x2F: - # 检查是否是完整的13字节帧 - if i + 12 < len(data) and data[i + 11] == 0x45: # 尾码 E - frame = data[i:i+13] - responses.append(frame) - i += 13 - else: - i += 1 - else: - i += 1 - - if len(responses) < 2: - # 如果只有一个响应帧，尝试解析 - if len(responses) == 1: - return self._extract_version_from_frame(responses[0]) - else: - return f"响应格式异常: {hex_data}" - - # 解析第二个响应帧（通常包含版本信息） - version_frame = responses[1] - return self._extract_version_from_frame(version_frame) - - except Exception as e: - logger.error(f"解析版本响应失败: {str(e)}") - return f"解析失败: {data.hex().upper()}" - - def _extract_version_from_frame(self, frame: bytes) -> str: - """ - 从响应帧中提取版本信息 - - Args: - frame: 13字节的响应帧 - - Returns: - str: 版本信息字符串 - """ - try: - # 帧格式: 头码(1) + 地址(1) + 数据(9) + 尾码(1) + 校验和(1) - if len(frame) != 13: - return f"帧长度错误: {frame.hex().upper()}" - - # 提取数据部分 (索引2-10，共9字节) - data_part = frame[2:11] - - # 尝试不同的解析方法 - version_candidates = [] - - # 方法1: 查找可打印的ASCII字符 - ascii_chars = [] - for byte in data_part: - if 32 <= byte <= 126: # 可打印ASCII范围 - ascii_chars.append(chr(byte)) - - if ascii_chars: - version_candidates.append(''.join(ascii_chars)) - - # 方法2: 解析为版本号格式 (如果前几个字节是版本信息) - if len(data_part) >= 3: - # 检查是否是 V.x.y 格式 - if data_part[0] == 0x56: # 'V' - version_str = f"V{data_part[1]}.{data_part[2]}" - version_candidates.append(version_str) - - # 方法3: 十六进制表示 - hex_version = ' '.join(f'{b:02X}' for b in data_part) - version_candidates.append(f"HEX: {hex_version}") - - # 返回最合理的版本信息 - for candidate in version_candidates: - if candidate and len(candidate.strip()) > 1: - return candidate.strip() - - return f"原始数据: {frame.hex().upper()}" - - except Exception as e: - logger.error(f"提取版本信息失败: {str(e)}") - return f"提取失败: {frame.hex().upper()}" - - def get_current_position(self) -> float: - """ - 获取当前位置 - - Returns: - float: 当前位置 (微升) - """ - try: - response = self._send_query("Q18") - if response and len(response) > 10: - # 解析位置信息 - pos_str = response[8:14].strip() - try: - self._current_position = int(pos_str) - except ValueError: - pass - except Exception as e: - logger.error(f"获取位置失败: {str(e)}") - - return self._current_position - - def get_device_info(self) -> Dict[str, Any]: - """ - 获取设备完整信息 - - Returns: - Dict[str, Any]: 设备信息字典 - """ - info = { - 'firmware_version': self.get_firmware_version(), - 'current_position': self.get_current_position(), - 'tip_present': self.get_tip_status(), - 'status': self.get_status(), - 'is_connected': self.is_connected, - 'is_initialized': self.is_initialized, - 'config': { - 'address': self.config.address, - 'baudrate': self.config.baudrate, - 'max_speed': self.config.max_speed, - 'tip_volume': self.config.tip_volume, - 'detection_mode': self.config.detection_mode.name - } - } - - return info - - # ==================== 高级操作方法 ==================== - - def transfer_liquid(self, source_volume: float, dispense_volume: float = None, - with_detection: bool = True, pre_wet: bool = False) -> bool: - """ - 完整的液体转移操作 - - Args: - source_volume: 从源容器抽吸的体积 - dispense_volume: 分配到目标容器的体积（默认等于抽吸体积） - with_detection: 是否使用液体检测 - pre_wet: 是否进行预润湿 - - Returns: - bool: 操作是否成功 - """ - try: - if not self.is_initialized: - raise SOPADeviceError("设备未初始化") - - dispense_volume = dispense_volume or source_volume - - logger.info(f"开始液体转移: 抽吸{source_volume}ul -> 分配{dispense_volume}ul") - - # 预润湿（如果需要） - if pre_wet: - logger.info("执行预润湿操作") - if not self.aspirate(source_volume * 0.1, with_detection): - return False - if not self.dispense(source_volume * 0.1): - return False - - # 执行液位检测（如果启用） - if with_detection: - if not self.liquid_level_detection(): - logger.warning("液位检测失败，继续执行") - - # 抽吸液体 - if not self.aspirate(source_volume, with_detection): - logger.error("抽吸失败") - return False - - # 可选的延时 - time.sleep(0.5) - - # 分配液体 - if not self.dispense(dispense_volume, with_detection): - logger.error("分配失败") - return False - - logger.info("液体转移完成") - return True - - except Exception as e: - logger.error(f"液体转移失败: {str(e)}") - return False - - @contextmanager - def batch_operation(self): - """批量操作上下文管理器""" - logger.info("开始批量操作") - try: - yield self - finally: - logger.info("批量操作完成") - - def reset_to_home(self) -> bool: - """回到初始位置""" - return self.move_absolute(0) - - def emergency_stop(self): - """紧急停止""" - try: - if self.serial_port and self.serial_port.is_open: - # 发送停止命令（如果协议支持） - self.serial_port.write(b'\x03') # Ctrl+C - logger.warning("执行紧急停止") - except Exception as e: - logger.error(f"紧急停止失败: {str(e)}") - - def __enter__(self): - """上下文管理器入口""" - if not self.is_connected: - self.connect() - return self - - def __exit__(self, exc_type, exc_val, exc_tb): - """上下文管理器出口""" - self.disconnect() - - def __del__(self): - """析构函数""" - self.disconnect() - - -# ==================== 工厂函数和便利方法 ==================== - -def create_sopa_pipette(port: str = "/dev/ttyUSB0", address: int = 1, - baudrate: int = 115200, **kwargs) -> SOPAPipette: - """ - 创建SOPA移液器实例的便利函数 - - Args: - port: 串口端口 - address: RS485地址 - baudrate: 波特率 - **kwargs: 其他配置参数 - - Returns: - SOPAPipette: 移液器实例 - """ - config = SOPAConfig( - port=port, - address=address, - baudrate=baudrate, - **kwargs - ) - - return SOPAPipette(config) diff --git a/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py b/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py deleted file mode 100644 index 146cbb4..0000000 --- a/unilabos/devices/laiyu_liquid/drivers/xyz_stepper_driver.py +++ /dev/null @@ -1,663 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -XYZ三轴步进电机B系列驱动程序 -支持RS485通信，Modbus协议 -""" - -import serial -import struct -import time -import logging -from typing import Optional, Tuple, Dict, Any -from enum import Enum -from dataclasses import dataclass - -# 配置日志 -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger(__name__) - - -class MotorAxis(Enum): - """电机轴枚举""" - X = 1 - Y = 2 - Z = 3 - - -class MotorStatus(Enum): - """电机状态枚举""" - STANDBY = 0x0000 # 待机/到位 - RUNNING = 0x0001 # 运行中 - COLLISION_STOP = 0x0002 # 碰撞停 - FORWARD_LIMIT_STOP = 0x0003 # 正光电停 - REVERSE_LIMIT_STOP = 0x0004 # 反光电停 - - -class ModbusFunction(Enum): - """Modbus功能码""" - READ_HOLDING_REGISTERS = 0x03 - WRITE_SINGLE_REGISTER = 0x06 - WRITE_MULTIPLE_REGISTERS = 0x10 - - -@dataclass -class MotorPosition: - """电机位置信息""" - steps: int - speed: int - current: int - status: MotorStatus - - -class ModbusException(Exception): - """Modbus通信异常""" - pass - - -class StepperMotorDriver: - """步进电机驱动器基类""" - - # 寄存器地址常量 - REG_STATUS = 0x00 - REG_POSITION_HIGH = 0x01 - REG_POSITION_LOW = 0x02 - REG_ACTUAL_SPEED = 0x03 - REG_EMERGENCY_STOP = 0x04 - REG_CURRENT = 0x05 - REG_ENABLE = 0x06 - REG_PWM_OUTPUT = 0x07 - REG_ZERO_SINGLE = 0x0E - REG_ZERO_COMMAND = 0x0F - - # 位置模式寄存器 - REG_TARGET_POSITION_HIGH = 0x10 - REG_TARGET_POSITION_LOW = 0x11 - REG_POSITION_SPEED = 0x13 - REG_POSITION_ACCELERATION = 0x14 - REG_POSITION_PRECISION = 0x15 - - # 速度模式寄存器 - REG_SPEED_MODE_SPEED = 0x61 - REG_SPEED_MODE_ACCELERATION = 0x62 - - # 设备参数寄存器 - REG_DEVICE_ADDRESS = 0xE0 - REG_DEFAULT_SPEED = 0xE7 - REG_DEFAULT_ACCELERATION = 0xE8 - - def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0): - """ - 初始化步进电机驱动器 - - Args: - port: 串口端口名 - baudrate: 波特率 - timeout: 通信超时时间 - """ - self.port = port - self.baudrate = baudrate - self.timeout = timeout - self.serial_conn: Optional[serial.Serial] = None - - def connect(self) -> bool: - """ - 建立串口连接 - - Returns: - 连接是否成功 - """ - try: - self.serial_conn = serial.Serial( - port=self.port, - baudrate=self.baudrate, - bytesize=serial.EIGHTBITS, - parity=serial.PARITY_NONE, - stopbits=serial.STOPBITS_ONE, - timeout=self.timeout - ) - logger.info(f"已连接到串口: {self.port}") - return True - except Exception as e: - logger.error(f"串口连接失败: {e}") - return False - - def disconnect(self) -> None: - """关闭串口连接""" - if self.serial_conn and self.serial_conn.is_open: - self.serial_conn.close() - logger.info("串口连接已关闭") - - def __enter__(self): - """上下文管理器入口""" - if self.connect(): - return self - raise ModbusException("无法建立串口连接") - - def __exit__(self, exc_type, exc_val, exc_tb): - """上下文管理器出口""" - self.disconnect() - - @staticmethod - def calculate_crc(data: bytes) -> bytes: - """ - 计算Modbus CRC校验码 - - Args: - data: 待校验的数据 - - Returns: - CRC校验码 (2字节) - """ - crc = 0xFFFF - for byte in data: - crc ^= byte - for _ in range(8): - if crc & 0x0001: - crc >>= 1 - crc ^= 0xA001 - else: - crc >>= 1 - return struct.pack(' bytes: - """ - 发送Modbus命令并接收响应 - - Args: - slave_addr: 从站地址 - data: 命令数据 - - Returns: - 响应数据 - - Raises: - ModbusException: 通信异常 - """ - if not self.serial_conn or not self.serial_conn.is_open: - raise ModbusException("串口未连接") - - # 构建完整命令 - command = bytes([slave_addr]) + data - crc = self.calculate_crc(command) - full_command = command + crc - - # 清空接收缓冲区 - self.serial_conn.reset_input_buffer() - - # 发送命令 - self.serial_conn.write(full_command) - logger.debug(f"发送命令: {' '.join(f'{b:02X}' for b in full_command)}") - - # 等待响应 - time.sleep(0.01) # 短暂延时 - - # 读取响应 - response = self.serial_conn.read(256) # 最大读取256字节 - if not response: - raise ModbusException("未收到响应") - - logger.debug(f"接收响应: {' '.join(f'{b:02X}' for b in response)}") - - # 验证CRC - if len(response) < 3: - raise ModbusException("响应数据长度不足") - - data_part = response[:-2] - received_crc = response[-2:] - calculated_crc = self.calculate_crc(data_part) - - if received_crc != calculated_crc: - raise ModbusException("CRC校验失败") - - return response - - def read_registers(self, slave_addr: int, start_addr: int, count: int) -> list: - """ - 读取保持寄存器 - - Args: - slave_addr: 从站地址 - start_addr: 起始地址 - count: 寄存器数量 - - Returns: - 寄存器值列表 - """ - data = struct.pack('>BHH', ModbusFunction.READ_HOLDING_REGISTERS.value, start_addr, count) - response = self._send_command(slave_addr, data) - - if len(response) < 5: - raise ModbusException("响应长度不足") - - if response[1] != ModbusFunction.READ_HOLDING_REGISTERS.value: - raise ModbusException(f"功能码错误: {response[1]:02X}") - - byte_count = response[2] - values = [] - for i in range(0, byte_count, 2): - value = struct.unpack('>H', response[3+i:5+i])[0] - values.append(value) - - return values - - def write_single_register(self, slave_addr: int, addr: int, value: int) -> bool: - """ - 写入单个寄存器 - - Args: - slave_addr: 从站地址 - addr: 寄存器地址 - value: 寄存器值 - - Returns: - 写入是否成功 - """ - data = struct.pack('>BHH', ModbusFunction.WRITE_SINGLE_REGISTER.value, addr, value) - response = self._send_command(slave_addr, data) - - return len(response) >= 8 and response[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value - - def write_multiple_registers(self, slave_addr: int, start_addr: int, values: list) -> bool: - """ - 写入多个寄存器 - - Args: - slave_addr: 从站地址 - start_addr: 起始地址 - values: 寄存器值列表 - - Returns: - 写入是否成功 - """ - byte_count = len(values) * 2 - data = struct.pack('>BHHB', ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, - start_addr, len(values), byte_count) - - for value in values: - data += struct.pack('>H', value) - - response = self._send_command(slave_addr, data) - - return len(response) >= 8 and response[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value - - -class XYZStepperController(StepperMotorDriver): - """XYZ三轴步进电机控制器""" - - # 电机配置常量 - STEPS_PER_REVOLUTION = 16384 # 每圈步数 - - def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.0): - """ - 初始化XYZ三轴步进电机控制器 - - Args: - port: 串口端口名 - baudrate: 波特率 - timeout: 通信超时时间 - """ - super().__init__(port, baudrate, timeout) - self.axis_addresses = { - MotorAxis.X: 1, - MotorAxis.Y: 2, - MotorAxis.Z: 3 - } - - def degrees_to_steps(self, degrees: float) -> int: - """ - 将角度转换为步数 - - Args: - degrees: 角度值 - - Returns: - 对应的步数 - """ - return int(degrees * self.STEPS_PER_REVOLUTION / 360.0) - - def steps_to_degrees(self, steps: int) -> float: - """ - 将步数转换为角度 - - Args: - steps: 步数 - - Returns: - 对应的角度值 - """ - return steps * 360.0 / self.STEPS_PER_REVOLUTION - - def revolutions_to_steps(self, revolutions: float) -> int: - """ - 将圈数转换为步数 - - Args: - revolutions: 圈数 - - Returns: - 对应的步数 - """ - return int(revolutions * self.STEPS_PER_REVOLUTION) - - def steps_to_revolutions(self, steps: int) -> float: - """ - 将步数转换为圈数 - - Args: - steps: 步数 - - Returns: - 对应的圈数 - """ - return steps / self.STEPS_PER_REVOLUTION - - def get_motor_status(self, axis: MotorAxis) -> MotorPosition: - """ - 获取电机状态信息 - - Args: - axis: 电机轴 - - Returns: - 电机位置信息 - """ - addr = self.axis_addresses[axis] - - # 读取状态、位置、速度、电流 - values = self.read_registers(addr, self.REG_STATUS, 6) - - status = MotorStatus(values[0]) - position_high = values[1] - position_low = values[2] - speed = values[3] - current = values[5] - - # 合并32位位置 - position = (position_high << 16) | position_low - # 处理有符号数 - if position > 0x7FFFFFFF: - position -= 0x100000000 - - return MotorPosition(position, speed, current, status) - - def emergency_stop(self, axis: MotorAxis) -> bool: - """ - 紧急停止电机 - - Args: - axis: 电机轴 - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - return self.write_single_register(addr, self.REG_EMERGENCY_STOP, 0x0000) - - def enable_motor(self, axis: MotorAxis, enable: bool = True) -> bool: - """ - 使能/失能电机 - - Args: - axis: 电机轴 - enable: True为使能，False为失能 - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - value = 0x0001 if enable else 0x0000 - return self.write_single_register(addr, self.REG_ENABLE, value) - - def move_to_position(self, axis: MotorAxis, position: int, speed: int = 5000, - acceleration: int = 1000, precision: int = 100) -> bool: - """ - 移动到指定位置 - - Args: - axis: 电机轴 - position: 目标位置(步数) - speed: 运行速度(rpm) - acceleration: 加速度(rpm/s) - precision: 到位精度 - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - - # 处理32位位置 - if position < 0: - position += 0x100000000 - - position_high = (position >> 16) & 0xFFFF - position_low = position & 0xFFFF - - values = [ - position_high, # 目标位置高位 - position_low, # 目标位置低位 - 0x0000, # 保留 - speed, # 速度 - acceleration, # 加速度 - precision # 精度 - ] - - return self.write_multiple_registers(addr, self.REG_TARGET_POSITION_HIGH, values) - - def set_speed_mode(self, axis: MotorAxis, speed: int, acceleration: int = 1000) -> bool: - """ - 设置速度模式运行 - - Args: - axis: 电机轴 - speed: 运行速度(rpm)，正值正转，负值反转 - acceleration: 加速度(rpm/s) - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - - # 处理负数 - if speed < 0: - speed = 0x10000 + speed # 补码表示 - - values = [0x0000, speed, acceleration, 0x0000] - - return self.write_multiple_registers(addr, 0x60, values) - - def home_axis(self, axis: MotorAxis) -> bool: - """ - 轴归零操作 - - Args: - axis: 电机轴 - - Returns: - 操作是否成功 - """ - addr = self.axis_addresses[axis] - return self.write_single_register(addr, self.REG_ZERO_SINGLE, 0x0001) - - def wait_for_completion(self, axis: MotorAxis, timeout: float = 30.0) -> bool: - """ - 等待电机运动完成 - - Args: - axis: 电机轴 - timeout: 超时时间(秒) - - Returns: - 是否在超时前完成 - """ - start_time = time.time() - - while time.time() - start_time < timeout: - status = self.get_motor_status(axis) - if status.status == MotorStatus.STANDBY: - return True - time.sleep(0.1) - - logger.warning(f"{axis.name}轴运动超时") - return False - - def move_xyz(self, x: Optional[int] = None, y: Optional[int] = None, z: Optional[int] = None, - speed: int = 5000, acceleration: int = 1000) -> Dict[MotorAxis, bool]: - """ - 同时控制XYZ轴移动 - - Args: - x: X轴目标位置 - y: Y轴目标位置 - z: Z轴目标位置 - speed: 运行速度 - acceleration: 加速度 - - Returns: - 各轴操作结果字典 - """ - results = {} - - if x is not None: - results[MotorAxis.X] = self.move_to_position(MotorAxis.X, x, speed, acceleration) - - if y is not None: - results[MotorAxis.Y] = self.move_to_position(MotorAxis.Y, y, speed, acceleration) - - if z is not None: - results[MotorAxis.Z] = self.move_to_position(MotorAxis.Z, z, speed, acceleration) - - return results - - def move_xyz_degrees(self, x_deg: Optional[float] = None, y_deg: Optional[float] = None, - z_deg: Optional[float] = None, speed: int = 5000, - acceleration: int = 1000) -> Dict[MotorAxis, bool]: - """ - 使用角度值同时移动多个轴到指定位置 - - Args: - x_deg: X轴目标角度（度） - y_deg: Y轴目标角度（度） - z_deg: Z轴目标角度（度） - speed: 移动速度 - acceleration: 加速度 - - Returns: - 各轴移动操作结果 - """ - # 将角度转换为步数 - x_steps = self.degrees_to_steps(x_deg) if x_deg is not None else None - y_steps = self.degrees_to_steps(y_deg) if y_deg is not None else None - z_steps = self.degrees_to_steps(z_deg) if z_deg is not None else None - - return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration) - - def move_xyz_revolutions(self, x_rev: Optional[float] = None, y_rev: Optional[float] = None, - z_rev: Optional[float] = None, speed: int = 5000, - acceleration: int = 1000) -> Dict[MotorAxis, bool]: - """ - 使用圈数值同时移动多个轴到指定位置 - - Args: - x_rev: X轴目标圈数 - y_rev: Y轴目标圈数 - z_rev: Z轴目标圈数 - speed: 移动速度 - acceleration: 加速度 - - Returns: - 各轴移动操作结果 - """ - # 将圈数转换为步数 - x_steps = self.revolutions_to_steps(x_rev) if x_rev is not None else None - y_steps = self.revolutions_to_steps(y_rev) if y_rev is not None else None - z_steps = self.revolutions_to_steps(z_rev) if z_rev is not None else None - - return self.move_xyz(x_steps, y_steps, z_steps, speed, acceleration) - - def move_to_position_degrees(self, axis: MotorAxis, degrees: float, speed: int = 5000, - acceleration: int = 1000, precision: int = 100) -> bool: - """ - 使用角度值移动单个轴到指定位置 - - Args: - axis: 电机轴 - degrees: 目标角度（度） - speed: 移动速度 - acceleration: 加速度 - precision: 精度 - - Returns: - 移动操作是否成功 - """ - steps = self.degrees_to_steps(degrees) - return self.move_to_position(axis, steps, speed, acceleration, precision) - - def move_to_position_revolutions(self, axis: MotorAxis, revolutions: float, speed: int = 5000, - acceleration: int = 1000, precision: int = 100) -> bool: - """ - 使用圈数值移动单个轴到指定位置 - - Args: - axis: 电机轴 - revolutions: 目标圈数 - speed: 移动速度 - acceleration: 加速度 - precision: 精度 - - Returns: - 移动操作是否成功 - """ - steps = self.revolutions_to_steps(revolutions) - return self.move_to_position(axis, steps, speed, acceleration, precision) - - def stop_all_axes(self) -> Dict[MotorAxis, bool]: - """ - 紧急停止所有轴 - - Returns: - 各轴停止结果字典 - """ - results = {} - for axis in MotorAxis: - results[axis] = self.emergency_stop(axis) - return results - - def enable_all_axes(self, enable: bool = True) -> Dict[MotorAxis, bool]: - """ - 使能/失能所有轴 - - Args: - enable: True为使能，False为失能 - - Returns: - 各轴操作结果字典 - """ - results = {} - for axis in MotorAxis: - results[axis] = self.enable_motor(axis, enable) - return results - - def get_all_positions(self) -> Dict[MotorAxis, MotorPosition]: - """ - 获取所有轴的位置信息 - - Returns: - 各轴位置信息字典 - """ - positions = {} - for axis in MotorAxis: - positions[axis] = self.get_motor_status(axis) - return positions - - def home_all_axes(self) -> Dict[MotorAxis, bool]: - """ - 所有轴归零 - - Returns: - 各轴归零结果字典 - """ - results = {} - for axis in MotorAxis: - results[axis] = self.home_axis(axis) - return results diff --git a/unilabos/devices/laiyu_liquid/tests/__init__.py b/unilabos/devices/laiyu_liquid/tests/__init__.py deleted file mode 100644 index 7ff58fe..0000000 --- a/unilabos/devices/laiyu_liquid/tests/__init__.py +++ /dev/null @@ -1,13 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -LaiYu液体处理设备测试模块 - -该模块包含LaiYu液体处理设备的测试用例： -- test_deck_config.py: 工作台配置测试 - -作者: UniLab团队 -版本: 2.0.0 -""" - -__all__ = [] \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid/tests/test_deck_config.py b/unilabos/devices/laiyu_liquid/tests/test_deck_config.py deleted file mode 100644 index 0468830..0000000 --- a/unilabos/devices/laiyu_liquid/tests/test_deck_config.py +++ /dev/null @@ -1,315 +0,0 @@ -#!/usr/bin/env python3 -# -*- coding: utf-8 -*- -""" -测试脚本：验证更新后的deck配置是否正常工作 -""" - -import sys -import os -import json - -# 添加项目根目录到Python路径 -project_root = os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))) -sys.path.insert(0, project_root) - -def test_config_loading(): - """测试配置文件加载功能""" - print("=" * 50) - print("测试配置文件加载功能") - print("=" * 50) - - try: - # 直接测试配置文件加载 - config_path = os.path.join(os.path.dirname(__file__), "controllers", "deckconfig.json") - fallback_path = os.path.join(os.path.dirname(__file__), "config", "deck.json") - - config = None - config_source = "" - - if os.path.exists(config_path): - with open(config_path, 'r', encoding='utf-8') as f: - config = json.load(f) - config_source = "config/deckconfig.json" - elif os.path.exists(fallback_path): - with open(fallback_path, 'r', encoding='utf-8') as f: - config = json.load(f) - config_source = "config/deck.json" - else: - print("❌ 配置文件不存在") - return False - - print(f"✅ 配置文件加载成功: {config_source}") - print(f" - 甲板尺寸: {config.get('size_x', 'N/A')} x {config.get('size_y', 'N/A')} x {config.get('size_z', 'N/A')}") - print(f" - 子模块数量: {len(config.get('children', []))}") - - # 检查各个模块是否存在 - modules = config.get('children', []) - module_types = [module.get('type') for module in modules] - module_names = [module.get('name') for module in modules] - - print(f" - 模块类型: {', '.join(set(filter(None, module_types)))}") - print(f" - 模块名称: {', '.join(filter(None, module_names))}") - - return config - except Exception as e: - print(f"❌ 配置文件加载失败: {e}") - return None - -def test_module_coordinates(config): - """测试各模块的坐标信息""" - print("\n" + "=" * 50) - print("测试模块坐标信息") - print("=" * 50) - - if not config: - print("❌ 配置为空，无法测试") - return False - - modules = config.get('children', []) - - for module in modules: - module_name = module.get('name', '未知模块') - module_type = module.get('type', '未知类型') - position = module.get('position', {}) - size = module.get('size', {}) - - print(f"\n模块: {module_name} ({module_type})") - print(f" - 位置: ({position.get('x', 0)}, {position.get('y', 0)}, {position.get('z', 0)})") - print(f" - 尺寸: {size.get('x', 0)} x {size.get('y', 0)} x {size.get('z', 0)}") - - # 检查孔位信息 - wells = module.get('wells', []) - if wells: - print(f" - 孔位数量: {len(wells)}") - - # 显示前几个和后几个孔位的坐标 - sample_wells = wells[:3] + wells[-3:] if len(wells) > 6 else wells - for well in sample_wells: - well_id = well.get('id', '未知') - well_pos = well.get('position', {}) - print(f" {well_id}: ({well_pos.get('x', 0)}, {well_pos.get('y', 0)}, {well_pos.get('z', 0)})") - else: - print(f" - 无孔位信息") - - return True - -def test_coordinate_ranges(config): - """测试坐标范围的合理性""" - print("\n" + "=" * 50) - print("测试坐标范围合理性") - print("=" * 50) - - if not config: - print("❌ 配置为空，无法测试") - return False - - deck_size = { - 'x': config.get('size_x', 340), - 'y': config.get('size_y', 250), - 'z': config.get('size_z', 160) - } - - print(f"甲板尺寸: {deck_size['x']} x {deck_size['y']} x {deck_size['z']}") - - modules = config.get('children', []) - all_coordinates = [] - - for module in modules: - module_name = module.get('name', '未知模块') - wells = module.get('wells', []) - - for well in wells: - well_pos = well.get('position', {}) - x, y, z = well_pos.get('x', 0), well_pos.get('y', 0), well_pos.get('z', 0) - all_coordinates.append((x, y, z, f"{module_name}:{well.get('id', '未知')}")) - - if not all_coordinates: - print("❌ 没有找到任何坐标信息") - return False - - # 计算坐标范围 - x_coords = [coord[0] for coord in all_coordinates] - y_coords = [coord[1] for coord in all_coordinates] - z_coords = [coord[2] for coord in all_coordinates] - - x_range = (min(x_coords), max(x_coords)) - y_range = (min(y_coords), max(y_coords)) - z_range = (min(z_coords), max(z_coords)) - - print(f"X坐标范围: {x_range[0]:.2f} ~ {x_range[1]:.2f}") - print(f"Y坐标范围: {y_range[0]:.2f} ~ {y_range[1]:.2f}") - print(f"Z坐标范围: {z_range[0]:.2f} ~ {z_range[1]:.2f}") - - # 检查是否超出甲板范围 - issues = [] - if x_range[1] > deck_size['x']: - issues.append(f"X坐标超出甲板范围: {x_range[1]} > {deck_size['x']}") - if y_range[1] > deck_size['y']: - issues.append(f"Y坐标超出甲板范围: {y_range[1]} > {deck_size['y']}") - if z_range[1] > deck_size['z']: - issues.append(f"Z坐标超出甲板范围: {z_range[1]} > {deck_size['z']}") - - if x_range[0] < 0: - issues.append(f"X坐标为负值: {x_range[0]}") - if y_range[0] < 0: - issues.append(f"Y坐标为负值: {y_range[0]}") - if z_range[0] < 0: - issues.append(f"Z坐标为负值: {z_range[0]}") - - if issues: - print("⚠️ 发现坐标问题:") - for issue in issues: - print(f" - {issue}") - return False - else: - print("✅ 所有坐标都在合理范围内") - return True - -def test_well_spacing(config): - """测试孔位间距的一致性""" - print("\n" + "=" * 50) - print("测试孔位间距一致性") - print("=" * 50) - - if not config: - print("❌ 配置为空，无法测试") - return False - - modules = config.get('children', []) - - for module in modules: - module_name = module.get('name', '未知模块') - module_type = module.get('type', '未知类型') - wells = module.get('wells', []) - - if len(wells) < 2: - continue - - print(f"\n模块: {module_name} ({module_type})") - - # 计算相邻孔位的间距 - spacings_x = [] - spacings_y = [] - - # 按行列排序孔位 - wells_by_row = {} - for well in wells: - well_id = well.get('id', '') - if len(well_id) >= 3: # 如A01格式 - row = well_id[0] - col = int(well_id[1:]) - if row not in wells_by_row: - wells_by_row[row] = {} - wells_by_row[row][col] = well - - # 计算同行相邻孔位的X间距 - for row, cols in wells_by_row.items(): - sorted_cols = sorted(cols.keys()) - for i in range(len(sorted_cols) - 1): - col1, col2 = sorted_cols[i], sorted_cols[i + 1] - if col2 == col1 + 1: # 相邻列 - pos1 = cols[col1].get('position', {}) - pos2 = cols[col2].get('position', {}) - spacing = abs(pos2.get('x', 0) - pos1.get('x', 0)) - spacings_x.append(spacing) - - # 计算同列相邻孔位的Y间距 - cols_by_row = {} - for well in wells: - well_id = well.get('id', '') - if len(well_id) >= 3: - row = ord(well_id[0]) - ord('A') - col = int(well_id[1:]) - if col not in cols_by_row: - cols_by_row[col] = {} - cols_by_row[col][row] = well - - for col, rows in cols_by_row.items(): - sorted_rows = sorted(rows.keys()) - for i in range(len(sorted_rows) - 1): - row1, row2 = sorted_rows[i], sorted_rows[i + 1] - if row2 == row1 + 1: # 相邻行 - pos1 = rows[row1].get('position', {}) - pos2 = rows[row2].get('position', {}) - spacing = abs(pos2.get('y', 0) - pos1.get('y', 0)) - spacings_y.append(spacing) - - # 检查间距一致性 - if spacings_x: - avg_x = sum(spacings_x) / len(spacings_x) - max_diff_x = max(abs(s - avg_x) for s in spacings_x) - print(f" - X方向平均间距: {avg_x:.2f}mm, 最大偏差: {max_diff_x:.2f}mm") - - if spacings_y: - avg_y = sum(spacings_y) / len(spacings_y) - max_diff_y = max(abs(s - avg_y) for s in spacings_y) - print(f" - Y方向平均间距: {avg_y:.2f}mm, 最大偏差: {max_diff_y:.2f}mm") - - return True - -def main(): - """主测试函数""" - print("LaiYu液体处理设备配置测试") - print("测试时间:", os.popen('date').read().strip()) - - # 运行所有测试 - tests = [ - ("配置文件加载", test_config_loading), - ] - - config = None - results = [] - - for test_name, test_func in tests: - try: - if test_name == "配置文件加载": - result = test_func() - config = result if result else None - results.append((test_name, bool(result))) - else: - result = test_func(config) - results.append((test_name, result)) - except Exception as e: - print(f"❌ 测试 {test_name} 执行失败: {e}") - results.append((test_name, False)) - - # 如果配置加载成功，运行其他测试 - if config: - additional_tests = [ - ("模块坐标信息", test_module_coordinates), - ("坐标范围合理性", test_coordinate_ranges), - ("孔位间距一致性", test_well_spacing) - ] - - for test_name, test_func in additional_tests: - try: - result = test_func(config) - results.append((test_name, result)) - except Exception as e: - print(f"❌ 测试 {test_name} 执行失败: {e}") - results.append((test_name, False)) - - # 输出测试总结 - print("\n" + "=" * 50) - print("测试总结") - print("=" * 50) - - passed = sum(1 for _, result in results if result) - total = len(results) - - for test_name, result in results: - status = "✅ 通过" if result else "❌ 失败" - print(f" {test_name}: {status}") - - print(f"\n总计: {passed}/{total} 个测试通过") - - if passed == total: - print("🎉 所有测试通过！配置更新成功。") - return True - else: - print("⚠️ 部分测试失败，需要进一步检查。") - return False - -if __name__ == "__main__": - success = main() - sys.exit(0 if success else 1) \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py b/unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py deleted file mode 100644 index a3c5797..0000000 --- a/unilabos/devices/laiyu_liquid_test/driver_enable_move_test.py +++ /dev/null @@ -1,138 +0,0 @@ - -import os -import time -import json -import logging -from xyz_stepper_driver import ModbusRTUTransport, ModbusClient, XYZStepperController, MotorStatus - -# ========== 日志配置 ========== -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger("XYZ_Debug") - - -def create_controller(port: str = "/dev/ttyUSB1", baudrate: int = 115200) -> XYZStepperController: - """ - 初始化通信层与三轴控制器 - """ - logger.info(f"🔧 初始化控制器: {port} @ {baudrate}bps") - transport = ModbusRTUTransport(port=port, baudrate=baudrate) - transport.open() - client = ModbusClient(transport) - return XYZStepperController(client=client, port=port, baudrate=baudrate) - - -def load_existing_soft_zero(ctrl: XYZStepperController, path: str = "work_origin.json") -> bool: - """ - 如果已存在软零点文件则加载，否则返回 False - """ - if not os.path.exists(path): - logger.warning("⚠ 未找到已有软零点文件，将等待人工定义新零点。") - return False - - try: - with open(path, "r", encoding="utf-8") as f: - data = json.load(f) - origin = data.get("work_origin_steps", {}) - ctrl.work_origin_steps = origin - ctrl.is_homed = True - logger.info(f"✔ 已加载软零点文件：{path}") - logger.info(f"当前软零点步数: {origin}") - return True - except Exception as e: - logger.error(f"读取软零点文件失败: {e}") - return False - - -def test_enable_axis(ctrl: XYZStepperController): - """ - 依次使能 X / Y / Z 三轴 - """ - logger.info("=== 测试各轴使能 ===") - for axis in ["X", "Y", "Z"]: - try: - result = ctrl.enable(axis, True) - if result: - vals = ctrl.get_status(axis) - st = MotorStatus(vals[3]) - logger.info(f"{axis} 轴使能成功，当前状态: {st.name}") - else: - logger.error(f"{axis} 轴使能失败") - except Exception as e: - logger.error(f"{axis} 轴使能异常: {e}") - time.sleep(0.5) - - -def test_status_read(ctrl: XYZStepperController): - """ - 读取各轴当前状态（调试） - """ - logger.info("=== 当前各轴状态 ===") - for axis in ["X", "Y", "Z"]: - try: - vals = ctrl.get_status(axis) - st = MotorStatus(vals[3]) - logger.info( - f"{axis}: steps={vals[0]}, speed={vals[1]}, " - f"current={vals[2]}, status={st.name}" - ) - except Exception as e: - logger.error(f"获取 {axis} 状态失败: {e}") - time.sleep(0.2) - - -def redefine_soft_zero(ctrl: XYZStepperController): - """ - 手动重新定义软零点 - """ - logger.info("=== ⚙️ 重新定义软零点 ===") - ctrl.define_current_as_zero("work_origin.json") - logger.info("✅ 新软零点已写入 work_origin.json") - - -def test_soft_zero_move(ctrl: XYZStepperController): - """ - 以软零点为基准执行三轴运动测试 - """ - logger.info("=== 测试软零点相对运动 ===") - ctrl.move_xyz_work(x=100.0, y=100.0, z=40.0, speed=100, acc=800) - - for axis in ["X", "Y", "Z"]: - ctrl.wait_complete(axis) - - test_status_read(ctrl) - logger.info("✅ 软零点运动测试完成") - - -def main(): - ctrl = create_controller(port="/dev/ttyUSB1", baudrate=115200) - - try: - test_enable_axis(ctrl) - test_status_read(ctrl) - - # === 初始化或加载软零点 === - loaded = load_existing_soft_zero(ctrl) - if not loaded: - logger.info("👣 首次运行，定义软零点并保存。") - ctrl.define_current_as_zero("work_origin.json") - - # === 软零点回归动作 === - ctrl.return_to_work_origin() - - # === 可选软零点运动测试 === - # test_soft_zero_move(ctrl) - - except KeyboardInterrupt: - logger.info("🛑 手动中断退出") - - except Exception as e: - logger.exception(f"❌ 调试出错: {e}") - - finally: - if hasattr(ctrl.client, "transport"): - ctrl.client.transport.close() - logger.info("串口已安全关闭 ✅") - - -if __name__ == "__main__": - main() diff --git a/unilabos/devices/laiyu_liquid_test/driver_status_test.py b/unilabos/devices/laiyu_liquid_test/driver_status_test.py deleted file mode 100644 index f6960d5..0000000 --- a/unilabos/devices/laiyu_liquid_test/driver_status_test.py +++ /dev/null @@ -1,58 +0,0 @@ - -import logging -from xyz_stepper_driver import ( - ModbusRTUTransport, - ModbusClient, - XYZStepperController, - MotorAxis, -) - -logger = logging.getLogger("XYZStepperCommTest") -logging.basicConfig(level=logging.INFO, format="%(asctime)s [%(levelname)s] %(message)s") - - -def test_xyz_stepper_comm(): - """仅测试 Modbus 通信是否正常（并输出寄存器数据，不做电机运动）""" - port = "/dev/ttyUSB1" - baudrate = 115200 - timeout = 1.2 # 略长避免响应被截断 - - logger.info(f"尝试连接 Modbus 设备 {port} ...") - transport = ModbusRTUTransport(port, baudrate=baudrate, timeout=timeout) - transport.open() - - client = ModbusClient(transport) - ctrl = XYZStepperController(client) - - try: - logger.info("✅ 串口已打开，开始读取三个轴状态（打印寄存器内容） ...") - for axis in [MotorAxis.X, MotorAxis.Y, MotorAxis.Z]: - addr = ctrl.axis_addr[axis] - - try: - # # 在 get_status 前打印原始寄存器内容 - # regs = client.read_registers(addr, ctrl.REG_STATUS, 6) - # hex_regs = [f"0x{val:04X}" for val in regs] - # logger.info(f"[{axis.name}] 原始寄存器 ({len(regs)} 个): {regs} -> {hex_regs}") - - # 调用 get_status() 正常解析 - status = ctrl.get_status(axis) - logger.info( - f"[{axis.name}] ✅ 通信正常: steps={status.steps}, speed={status.speed}, " - f"current={status.current}, status={status.status.name}" - ) - - except Exception as e_axis: - logger.error(f"[{axis.name}] ❌ 通信失败: {e_axis}") - - - except Exception as e: - logger.error(f"❌ 通讯测试失败: {e}") - - finally: - transport.close() - logger.info("🔌 串口已关闭") - - -if __name__ == "__main__": - test_xyz_stepper_comm() diff --git a/unilabos/devices/laiyu_liquid_test/work_origin.json b/unilabos/devices/laiyu_liquid_test/work_origin.json deleted file mode 100644 index 935c3e3..0000000 --- a/unilabos/devices/laiyu_liquid_test/work_origin.json +++ /dev/null @@ -1,8 +0,0 @@ -{ - "work_origin_steps": { - "x": 11799, - "y": 11476, - "z": 3312 - }, - "timestamp": "2025-11-04T15:31:09.802155" -} \ No newline at end of file diff --git a/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py b/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py deleted file mode 100644 index 6ad37ed..0000000 --- a/unilabos/devices/laiyu_liquid_test/xyz_stepper_driver.py +++ /dev/null @@ -1,336 +0,0 @@ - -""" -XYZ 三轴步进电机驱动（统一字符串参数版） -基于 Modbus RTU 协议 -Author: Xiuyu Chen (Modified by Assistant) -""" - -import serial # type: ignore -import struct -import time -import logging -from enum import Enum -from dataclasses import dataclass -from typing import Optional, List, Dict - -# ========== 日志配置 ========== -logging.basicConfig(level=logging.INFO) -logger = logging.getLogger("XYZStepper") - - -# ========== 层 1：Modbus RTU ========== -class ModbusException(Exception): - pass - - -class ModbusRTUTransport: - """底层串口通信层""" - - def __init__(self, port: str, baudrate: int = 115200, timeout: float = 1.2): - self.port = port - self.baudrate = baudrate - self.timeout = timeout - self.ser: Optional[serial.Serial] = None - - def open(self): - try: - self.ser = serial.Serial( - port=self.port, - baudrate=self.baudrate, - bytesize=serial.EIGHTBITS, - parity=serial.PARITY_NONE, - stopbits=serial.STOPBITS_ONE, - timeout=0.02, - write_timeout=0.5, - ) - logger.info(f"[RTU] 串口连接成功: {self.port}") - except Exception as e: - raise ModbusException(f"无法打开串口 {self.port}: {e}") - - def close(self): - if self.ser and self.ser.is_open: - self.ser.close() - logger.info("[RTU] 串口已关闭") - - def send(self, frame: bytes): - if not self.ser or not self.ser.is_open: - raise ModbusException("串口未连接") - - self.ser.reset_input_buffer() - self.ser.write(frame) - self.ser.flush() - logger.debug(f"[TX] {frame.hex(' ').upper()}") - - def receive(self, expected_len: int) -> bytes: - if not self.ser or not self.ser.is_open: - raise ModbusException("串口未连接") - - start = time.time() - buf = bytearray() - while len(buf) < expected_len and (time.time() - start) < self.timeout: - chunk = self.ser.read(expected_len - len(buf)) - if chunk: - buf.extend(chunk) - else: - time.sleep(0.01) - return bytes(buf) - - -# ========== 层 2：Modbus 协议 ========== -class ModbusFunction(Enum): - READ_HOLDING_REGISTERS = 0x03 - WRITE_SINGLE_REGISTER = 0x06 - WRITE_MULTIPLE_REGISTERS = 0x10 - - -class ModbusClient: - """Modbus RTU 客户端""" - - def __init__(self, transport: ModbusRTUTransport): - self.transport = transport - - @staticmethod - def calc_crc(data: bytes) -> bytes: - crc = 0xFFFF - for b in data: - crc ^= b - for _ in range(8): - crc = (crc >> 1) ^ 0xA001 if crc & 1 else crc >> 1 - return struct.pack(" bytes: - frame = bytes([addr, func]) + payload - full = frame + self.calc_crc(frame) - self.transport.send(full) - time.sleep(0.01) - resp = self.transport.ser.read(256) - if not resp: - raise ModbusException("未收到响应") - - start = resp.find(bytes([addr, func])) - if start > 0: - resp = resp[start:] - if len(resp) < 5: - raise ModbusException(f"响应长度不足: {resp.hex(' ').upper()}") - if self.calc_crc(resp[:-2]) != resp[-2:]: - raise ModbusException("CRC 校验失败") - return resp - - def read_registers(self, addr: int, start: int, count: int) -> List[int]: - payload = struct.pack(">HH", start, count) - resp = self.send_request(addr, ModbusFunction.READ_HOLDING_REGISTERS.value, payload) - byte_count = resp[2] - regs = [struct.unpack(">H", resp[3 + i:5 + i])[0] for i in range(0, byte_count, 2)] - return regs - - def write_single_register(self, addr: int, reg: int, val: int) -> bool: - payload = struct.pack(">HH", reg, val) - resp = self.send_request(addr, ModbusFunction.WRITE_SINGLE_REGISTER.value, payload) - return resp[1] == ModbusFunction.WRITE_SINGLE_REGISTER.value - - def write_multiple_registers(self, addr: int, start: int, values: List[int]) -> bool: - byte_count = len(values) * 2 - payload = struct.pack(">HHB", start, len(values), byte_count) - payload += b"".join(struct.pack(">H", v & 0xFFFF) for v in values) - resp = self.send_request(addr, ModbusFunction.WRITE_MULTIPLE_REGISTERS.value, payload) - return resp[1] == ModbusFunction.WRITE_MULTIPLE_REGISTERS.value - - -# ========== 层 3：业务逻辑 ========== -class MotorAxis(Enum): - X = 1 - Y = 2 - Z = 3 - - -class MotorStatus(Enum): - STANDBY = 0 - RUNNING = 1 - COLLISION_STOP = 2 - FORWARD_LIMIT_STOP = 3 - REVERSE_LIMIT_STOP = 4 - - -@dataclass -class MotorPosition: - steps: int - speed: int - current: int - status: MotorStatus - - -class XYZStepperController: - """XYZ 三轴步进控制器（字符串接口版）""" - - STEPS_PER_REV = 16384 - LEAD_MM_X, LEAD_MM_Y, LEAD_MM_Z = 80.0, 80.0, 5.0 - STEPS_PER_MM_X = STEPS_PER_REV / LEAD_MM_X - STEPS_PER_MM_Y = STEPS_PER_REV / LEAD_MM_Y - STEPS_PER_MM_Z = STEPS_PER_REV / LEAD_MM_Z - - REG_STATUS, REG_POS_HIGH, REG_POS_LOW = 0x00, 0x01, 0x02 - REG_ACTUAL_SPEED, REG_CURRENT, REG_ENABLE = 0x03, 0x05, 0x06 - REG_ZERO_CMD, REG_TARGET_HIGH, REG_TARGET_LOW = 0x0F, 0x10, 0x11 - REG_SPEED, REG_ACCEL, REG_PRECISION, REG_START = 0x13, 0x14, 0x15, 0x16 - REG_COMMAND = 0x60 - - def __init__(self, client: Optional[ModbusClient] = None, - port="/dev/ttyUSB0", baudrate=115200, - origin_path="unilabos/devices/laiyu_liquid_test/work_origin.json"): - if client is None: - transport = ModbusRTUTransport(port, baudrate) - transport.open() - self.client = ModbusClient(transport) - else: - self.client = client - - self.axis_addr = {MotorAxis.X: 1, MotorAxis.Y: 2, MotorAxis.Z: 3} - self.work_origin_steps = {"x": 0, "y": 0, "z": 0} - self.is_homed = False - self._load_work_origin(origin_path) - - # ========== 基础工具 ========== - @staticmethod - def s16(v: int) -> int: - return v - 0x10000 if v & 0x8000 else v - - @staticmethod - def s32(h: int, l: int) -> int: - v = (h << 16) | l - return v - 0x100000000 if v & 0x80000000 else v - - @classmethod - def mm_to_steps(cls, axis: str, mm: float = 0.0) -> int: - axis = axis.upper() - if axis == "X": - return int(mm * cls.STEPS_PER_MM_X) - elif axis == "Y": - return int(mm * cls.STEPS_PER_MM_Y) - elif axis == "Z": - return int(mm * cls.STEPS_PER_MM_Z) - raise ValueError(f"未知轴: {axis}") - - @classmethod - def steps_to_mm(cls, axis: str, steps: int) -> float: - axis = axis.upper() - if axis == "X": - return steps / cls.STEPS_PER_MM_X - elif axis == "Y": - return steps / cls.STEPS_PER_MM_Y - elif axis == "Z": - return steps / cls.STEPS_PER_MM_Z - raise ValueError(f"未知轴: {axis}") - - # ========== 状态与控制 ========== - def get_status(self, axis: str = "Z") -> list: - """返回简化数组格式: [steps, speed, current, status_value]""" - if isinstance(axis, MotorAxis): - axis_enum = axis - elif isinstance(axis, str): - axis_enum = MotorAxis[axis.upper()] - else: - raise TypeError("axis 参数必须为 str 或 MotorAxis") - - vals = self.client.read_registers(self.axis_addr[axis_enum], self.REG_STATUS, 6) - return [ - self.s32(vals[1], vals[2]), - self.s16(vals[3]), - vals[4], - int(MotorStatus(vals[0]).value) - ] - - def enable(self, axis: str, state: bool) -> bool: - a = MotorAxis[axis.upper()] - return self.client.write_single_register(self.axis_addr[a], self.REG_ENABLE, 1 if state else 0) - - def wait_complete(self, axis: str, timeout=30.0) -> bool: - a = axis.upper() - start = time.time() - while time.time() - start < timeout: - vals = self.get_status(a) - st = MotorStatus(vals[3]) # 第4个元素是状态值 - if st == MotorStatus.STANDBY: - return True - if st in (MotorStatus.COLLISION_STOP, MotorStatus.FORWARD_LIMIT_STOP, MotorStatus.REVERSE_LIMIT_STOP): - logger.warning(f"{a} 轴异常停止: {st.name}") - return False - time.sleep(0.1) - logger.warning(f"{a} 轴运动超时") - return False - - # ========== 控制命令 ========== - def move_to(self, axis: str, steps: int, speed: int = 2000, acc: int = 500, precision: int = 50) -> bool: - a = MotorAxis[axis.upper()] - addr = self.axis_addr[a] - hi, lo = (steps >> 16) & 0xFFFF, steps & 0xFFFF - values = [hi, lo, speed, acc, precision] - ok = self.client.write_multiple_registers(addr, self.REG_TARGET_HIGH, values) - if ok: - self.client.write_single_register(addr, self.REG_START, 1) - return ok - - def move_xyz_work(self, x: float = 0.0, y: float = 0.0, z: float = 0.0, speed: int = 100, acc: int = 1500): - logger.info("🧭 执行安全多轴运动：Z→XY→Z") - if z is not None: - safe_z = self._to_machine_steps("Z", 0.0) - self.move_to("Z", safe_z, speed, acc) - self.wait_complete("Z") - - if x is not None or y is not None: - if x is not None: - self.move_to("X", self._to_machine_steps("X", x), speed, acc) - if y is not None: - self.move_to("Y", self._to_machine_steps("Y", y), speed, acc) - if x is not None: - self.wait_complete("X") - if y is not None: - self.wait_complete("Y") - - if z is not None: - self.move_to("Z", self._to_machine_steps("Z", z), speed, acc) - self.wait_complete("Z") - logger.info("✅ 多轴顺序运动完成") - - # ========== 坐标与零点 ========== - def _to_machine_steps(self, axis: str, mm: float) -> int: - base = self.work_origin_steps.get(axis.lower(), 0) - return base + self.mm_to_steps(axis, mm) - - def define_current_as_zero(self, save_path="work_origin.json"): - import json - from datetime import datetime - - origin = {} - for axis in ["X", "Y", "Z"]: - vals = self.get_status(axis) - origin[axis.lower()] = int(vals[0]) # 第1个是步数 - with open(save_path, "w", encoding="utf-8") as f: - json.dump({"work_origin_steps": origin, "timestamp": datetime.now().isoformat()}, f, indent=2) - self.work_origin_steps = origin - self.is_homed = True - logger.info(f"✅ 零点已定义并保存至 {save_path}") - - def _load_work_origin(self, path: str) -> bool: - import json, os - - if not os.path.exists(path): - logger.warning("⚠️ 未找到软零点文件") - return False - with open(path, "r", encoding="utf-8") as f: - data = json.load(f) - self.work_origin_steps = data.get("work_origin_steps", {"x": 0, "y": 0, "z": 0}) - self.is_homed = True - logger.info(f"📂 软零点已加载: {self.work_origin_steps}") - return True - - def return_to_work_origin(self, speed: int = 200, acc: int = 800): - logger.info("🏁 回工件软零点") - self.move_to("Z", self._to_machine_steps("Z", 0.0), speed, acc) - self.wait_complete("Z") - self.move_to("X", self.work_origin_steps.get("x", 0), speed, acc) - self.move_to("Y", self.work_origin_steps.get("y", 0), speed, acc) - self.wait_complete("X") - self.wait_complete("Y") - self.move_to("Z", self.work_origin_steps.get("z", 0), speed, acc) - self.wait_complete("Z") - logger.info("🎯 回软零点完成 ✅") diff --git a/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py b/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py index d5636b2..9e824e1 100644 --- a/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py +++ b/unilabos/devices/liquid_handling/laiyu/backend/laiyu_v_backend.py @@ -153,7 +153,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend): if self.hardware_interface.tip_status == TipStatus.TIP_ATTACHED: print("已有枪头，无需重复拾取") return - self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=100) + self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200) self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height,speed=100) # self.joint_state_publisher.send_resource_action(ops[0].resource.name, x, y, z, "pick",channels=use_channels) # goback() @@ -202,7 +202,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend): if self.hardware_interface.tip_status == TipStatus.NO_TIP: print("无枪头，无需丢弃") return - self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z) + self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200) self.hardware_interface.eject_tip self.hardware_interface.xyz_controller.move_to_work_coord_safe(z=self.hardware_interface.xyz_controller.machine_config.safe_z_height) @@ -267,7 +267,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend): return # 移动到吸液位置 - self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z) + self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200) self.pipette_aspirate(volume=ops[0].volume, flow_rate=flow_rate) @@ -340,7 +340,7 @@ class UniLiquidHandlerLaiyuBackend(LiquidHandlerBackend): # 移动到排液位置 - self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z) + self.hardware_interface.xyz_controller.move_to_work_coord_safe(x=x, y=-y, z=z,speed=200) self.pipette_dispense(volume=ops[0].volume, flow_rate=flow_rate) diff --git a/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py b/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py index e6ddd4f..17a47df 100644 --- a/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py +++ b/unilabos/devices/liquid_handling/laiyu/controllers/pipette_controller.py @@ -128,6 +128,7 @@ class PipetteController: baudrate=115200 ) self.pipette = SOPAPipette(self.config) + self.pipette_port = port self.tip_status = TipStatus.NO_TIP self.current_volume = 0.0 self.max_volume = 1000.0 # 默认1000ul @@ -154,7 +155,7 @@ class PipetteController: logger.info("移液器连接成功") # 连接XYZ步进电机控制器（如果提供了端口） - if self.xyz_port: + if self.xyz_port != self.pipette_port: try: self.xyz_controller = XYZController(self.xyz_port) if self.xyz_controller.connect(): @@ -168,7 +169,12 @@ class PipetteController: self.xyz_controller = None self.xyz_connected = False else: - logger.info("未配置XYZ步进电机端口，跳过运动控制器连接") + try: + self.xyz_controller = XYZController(self.xyz_port, auto_connect=False) + self.xyz_controller.serial_conn = self.pipette.serial_port + self.xyz_controller.is_connected = True + except Exception as e: + logger.info("未配置XYZ步进电机端口，跳过运动控制器连接") return True except Exception as e: diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index e849ffb..96289ff 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -6,6 +6,7 @@ import traceback from collections import Counter from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast +from typing_extensions import TypedDict from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend @@ -28,12 +29,15 @@ from pylabrobot.resources import ( ) from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode - +class SimpleReturn(TypedDict): + samples: list + volumes: list class LiquidHandlerMiddleware(LiquidHandler): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs): self._simulator = simulator self.channel_num = channel_num + self.pending_liquids_dict = {} joint_config = kwargs.get("joint_config", None) if simulator: if joint_config: @@ -131,7 +135,9 @@ class LiquidHandlerMiddleware(LiquidHandler): return await self._simulate_handler.drop_tips( tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs ) - return await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs) + await super().drop_tips(tip_spots, use_channels, offsets, allow_nonzero_volume, **backend_kwargs) + self.pending_liquids_dict = {} + return async def return_tips( self, use_channels: Optional[list[int]] = None, allow_nonzero_volume: bool = False, **backend_kwargs @@ -154,8 +160,10 @@ class LiquidHandlerMiddleware(LiquidHandler): offsets = [Coordinate.zero()] * len(use_channels) if self._simulator: return await self._simulate_handler.discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) - return await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) - + await super().discard_tips(use_channels, allow_nonzero_volume, offsets, **backend_kwargs) + self.pending_liquids_dict = {} + return + def _check_containers(self, resources: Sequence[Resource]): super()._check_containers(resources) @@ -171,6 +179,8 @@ class LiquidHandlerMiddleware(LiquidHandler): spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, ): + + if self._simulator: return await self._simulate_handler.aspirate( resources, @@ -183,7 +193,7 @@ class LiquidHandlerMiddleware(LiquidHandler): spread, **backend_kwargs, ) - return await super().aspirate( + await super().aspirate( resources, vols, use_channels, @@ -195,6 +205,18 @@ class LiquidHandlerMiddleware(LiquidHandler): **backend_kwargs, ) + res_samples = [] + res_volumes = [] + for resource, volume, channel in zip(resources, vols, use_channels): + res_samples.append({"name": resource.name, "sample_uuid": resource.unilabos_extra.get("sample_uuid", None)}) + res_volumes.append(volume) + self.pending_liquids_dict[channel] = { + "sample_uuid": resource.unilabos_extra.get("sample_uuid", None), + "volume": volume + } + return SimpleReturn(samples=res_samples, volumes=res_volumes) + + async def dispense( self, resources: Sequence[Container], @@ -206,7 +228,7 @@ class LiquidHandlerMiddleware(LiquidHandler): blow_out_air_volume: Optional[List[Optional[float]]] = None, spread: Literal["wide", "tight", "custom"] = "wide", **backend_kwargs, - ): + ) -> SimpleReturn: if self._simulator: return await self._simulate_handler.dispense( resources, @@ -219,7 +241,7 @@ class LiquidHandlerMiddleware(LiquidHandler): spread, **backend_kwargs, ) - return await super().dispense( + await super().dispense( resources, vols, use_channels, @@ -229,7 +251,17 @@ class LiquidHandlerMiddleware(LiquidHandler): blow_out_air_volume, **backend_kwargs, ) + res_samples = [] + res_volumes = [] + for resource, volume, channel in zip(resources, vols, use_channels): + res_uuid = self.pending_liquids_dict[channel]["sample_uuid"] + self.pending_liquids_dict[channel]["volume"] -= volume + resource.unilabos_extra["sample_uuid"] = res_uuid + res_samples.append({"name": resource.name, "sample_uuid": res_uuid}) + res_volumes.append(volume) + return SimpleReturn(samples=res_samples, volumes=res_volumes) + async def transfer( self, source: Well, @@ -549,25 +581,66 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): support_touch_tip = True _ros_node: BaseROS2DeviceNode - def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8): + def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool=False, channel_num:int = 8, total_height:float = 310): """Initialize a LiquidHandler. Args: backend: Backend to use. deck: Deck to use. """ + backend_type = None + if isinstance(backend, dict) and "type" in backend: + backend_dict = backend.copy() + type_str = backend_dict.pop("type") + try: + # Try to get class from string using globals (current module), or fallback to pylabrobot or unilabos namespaces + backend_cls = None + if type_str in globals(): + backend_cls = globals()[type_str] + else: + # Try resolving dotted notation, e.g. "xxx.yyy.ClassName" + components = type_str.split(".") + mod = None + if len(components) > 1: + module_name = ".".join(components[:-1]) + try: + import importlib + mod = importlib.import_module(module_name) + except ImportError: + mod = None + if mod is not None: + backend_cls = getattr(mod, components[-1], None) + if backend_cls is None: + # Try pylabrobot style import (if available) + try: + import pylabrobot + backend_cls = getattr(pylabrobot, type_str, None) + except Exception: + backend_cls = None + if backend_cls is not None and isinstance(backend_cls, type): + backend_type = backend_cls(**backend_dict) # pass the rest of dict as kwargs + except Exception as exc: + raise RuntimeError(f"Failed to convert backend type '{type_str}' to class: {exc}") + else: + backend_type = backend self._simulator = simulator self.group_info = dict() - super().__init__(backend, deck, simulator, channel_num) + super().__init__(backend_type, deck, simulator, channel_num) def post_init(self, ros_node: BaseROS2DeviceNode): self._ros_node = ros_node @classmethod - def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]): + def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: """Set the liquid in a well.""" + res_samples = [] + res_volumes = [] for well, liquid_name, volume in zip(wells, liquid_names, volumes): well.set_liquids([(liquid_name, volume)]) # type: ignore + res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)}) + res_volumes.append(volume) + + return SimpleReturn(samples=res_samples, volumes=res_volumes) # --------------------------------------------------------------- # REMOVE LIQUID -------------------------------------------------- # --------------------------------------------------------------- diff --git a/unilabos/devices/liquid_handling/prcxi/base_material.json b/unilabos/devices/liquid_handling/prcxi/base_material.json new file mode 100644 index 0000000..1206b20 --- /dev/null +++ b/unilabos/devices/liquid_handling/prcxi/base_material.json @@ -0,0 +1,954 @@ +[ + { + "uuid": "3b6f33ffbf734014bcc20e3c63e124d4", + "Code": "ZX-58-1250", + "Name": "Tip头适配器 1250uL", + "SummaryName": "Tip头适配器 1250uL", + "SupplyType": 2, + "Factory": "宁静致远", + "LengthNum": 128, + "WidthNum": 85, + "HeightNum": 20, + "DepthNum": 4, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 1, + "HoleRow": 1, + "HoleDiameter": 0, + "Volume": 1250, + "ImagePath": "/images/20220624015044.jpg", + "QRCode": null, + "Qty": 10, + "CreateName": null, + "CreateTime": "2021-12-30 16:03:52.6583727", + "UpdateName": null, + "UpdateTime": "2022-06-24 13:50:44.8123474", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 1, + "ArmCode": null, + "XSpacing": null, + "YSpacing": null, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "7c822592b360451fb59690e49ac6b181", + "Code": "ZX-58-300", + "Name": "ZHONGXI 适配器 300uL", + "SummaryName": "ZHONGXI 适配器 300uL", + "SupplyType": 2, + "Factory": "宁静致远", + "LengthNum": 127, + "WidthNum": 85, + "HeightNum": 81, + "DepthNum": 4, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 1, + "HoleRow": 1, + "HoleDiameter": 0, + "Volume": 300, + "ImagePath": "/images/20220623102838.jpg", + "QRCode": null, + "Qty": 10, + "CreateName": null, + "CreateTime": "2021-12-30 16:07:53.7453351", + "UpdateName": null, + "UpdateTime": "2022-06-23 10:28:38.6190575", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 1, + "ArmCode": null, + "XSpacing": null, + "YSpacing": null, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", + "Code": "ZX-58-10", + "Name": "吸头10ul 适配器", + "SummaryName": "吸头10ul 适配器", + "SupplyType": 2, + "Factory": "宁静致远", + "LengthNum": 128, + "WidthNum": 85, + "HeightNum": 72.3, + "DepthNum": 0, + "StandardHeight": 0, + "PipetteHeight": 0, + "HoleColum": 1, + "HoleRow": 1, + "HoleDiameter": 127, + "Volume": 1000, + "ImagePath": "", + "QRCode": null, + "Qty": 10, + "CreateName": null, + "CreateTime": "2021-12-30 16:37:40.7073733", + "UpdateName": null, + "UpdateTime": "2025-05-30 15:17:01.8231737", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 0, + "YSpacing": 0, + "materialEnum": 0, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "7960f49ddfe9448abadda89bd1556936", + "Code": "ZX-001-1250", + "Name": "1250μL Tip头", + "SummaryName": "1250μL Tip头", + "SupplyType": 1, + "Factory": "宁静致远", + "LengthNum": 118.09, + "WidthNum": 80.7, + "HeightNum": 107.67, + "DepthNum": 100, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 7.95, + "Volume": 1250, + "ImagePath": "/images/20220623102536.jpg", + "QRCode": null, + "Qty": 96, + "CreateName": null, + "CreateTime": "2021-12-30 20:53:27.8591195", + "UpdateName": null, + "UpdateTime": "2022-06-23 10:25:36.2592442", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "45f2ed3ad925484d96463d675a0ebf66", + "Code": "ZX-001-10", + "Name": "10μL Tip头", + "SummaryName": "10μL Tip头", + "SupplyType": 1, + "Factory": "宁静致远", + "LengthNum": 120.98, + "WidthNum": 82.12, + "HeightNum": 67, + "DepthNum": 39.1, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 5, + "Volume": 10, + "ImagePath": "/images/20221119041031.jpg", + "QRCode": null, + "Qty": -21, + "CreateName": null, + "CreateTime": "2021-12-30 20:56:53.462015", + "UpdateName": null, + "UpdateTime": "2022-11-19 16:10:31.126801", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "068b3815e36b4a72a59bae017011b29f", + "Code": "ZX-001-10+", + "Name": "10μL加长 Tip头", + "SummaryName": "10μL加长 Tip头", + "SupplyType": 1, + "Factory": "宁静致远", + "LengthNum": 122.11, + "WidthNum": 80.05, + "HeightNum": 58.23, + "DepthNum": 45.1, + "StandardHeight": 0, + "PipetteHeight": 60, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 7, + "Volume": 10, + "ImagePath": "", + "QRCode": null, + "Qty": 42, + "CreateName": null, + "CreateTime": "2021-12-30 20:57:57.331211", + "UpdateName": null, + "UpdateTime": "2025-09-17 17:02:51.2070383", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": 1, + "Margins_X": 7.97, + "Margins_Y": 5 + }, + { + "uuid": "80652665f6a54402b2408d50b40398df", + "Code": "ZX-001-1000", + "Name": "1000μL Tip头", + "SummaryName": "1000μL Tip头", + "SupplyType": 1, + "Factory": "宁静致远", + "LengthNum": 128.09, + "WidthNum": 85.8, + "HeightNum": 98, + "DepthNum": 88, + "StandardHeight": 0, + "PipetteHeight": 100, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 7.95, + "Volume": 1000, + "ImagePath": "", + "QRCode": null, + "Qty": 47, + "CreateName": null, + "CreateTime": "2021-12-30 20:59:20.5534915", + "UpdateName": null, + "UpdateTime": "2025-05-30 14:49:53.639727", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": 1, + "Margins_X": 14.5, + "Margins_Y": 11.4 + }, + { + "uuid": "076250742950465b9d6ea29a225dfb00", + "Code": "ZX-001-300", + "Name": "300μL Tip头", + "SummaryName": "300μL Tip头", + "SupplyType": 1, + "Factory": "宁静致远", + "LengthNum": 122.11, + "WidthNum": 80.05, + "HeightNum": 58.23, + "DepthNum": 45.1, + "StandardHeight": 0, + "PipetteHeight": 60, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 7, + "Volume": 300, + "ImagePath": "", + "QRCode": null, + "Qty": 11, + "CreateName": null, + "CreateTime": "2021-12-30 21:00:24.7266192", + "UpdateName": null, + "UpdateTime": "2025-09-17 17:02:40.6676947", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": 1, + "Margins_X": 7.97, + "Margins_Y": 5 + }, + { + "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", + "Code": "ZX-001-200", + "Name": "200μL Tip头", + "SummaryName": "200μL Tip头", + "SupplyType": 1, + "Factory": "宁静致远", + "LengthNum": 120.98, + "WidthNum": 82.12, + "HeightNum": 66.9, + "DepthNum": 52, + "StandardHeight": 0, + "PipetteHeight": 30, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 5.5, + "Volume": 200, + "ImagePath": "", + "QRCode": null, + "Qty": 19, + "CreateName": null, + "CreateTime": "2021-12-30 21:01:17.626704", + "UpdateName": null, + "UpdateTime": "2025-05-27 11:42:24.6021522", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": 0, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "73bb9b10bc394978b70e027bf45ce2d3", + "Code": "ZX-023-0.2", + "Name": "0.2ml PCR板", + "SummaryName": "0.2ml PCR板", + "SupplyType": 1, + "Factory": "中析", + "LengthNum": 126, + "WidthNum": 86, + "HeightNum": 21.2, + "DepthNum": 15.17, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 6, + "Volume": 1000, + "ImagePath": "", + "QRCode": null, + "Qty": -12, + "CreateName": null, + "CreateTime": "2021-12-30 21:06:02.7746392", + "UpdateName": null, + "UpdateTime": "2024-02-20 16:17:16.7921748", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "ca877b8b114a4310b429d1de4aae96ee", + "Code": "ZX-019-2.2", + "Name": "2.2ml 深孔板", + "SummaryName": "2.2ml 深孔板", + "SupplyType": 1, + "Factory": "宁静致远", + "LengthNum": 127.3, + "WidthNum": 85.35, + "HeightNum": 44, + "DepthNum": 42, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 8.2, + "Volume": 2200, + "ImagePath": "", + "QRCode": null, + "Qty": 34, + "CreateName": null, + "CreateTime": "2021-12-30 21:07:16.4538022", + "UpdateName": null, + "UpdateTime": "2023-08-12 13:11:26.3993472", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "04211a2dc93547fe9bf6121eac533650", + "Code": "ZX-58-10000", + "Name": "储液槽", + "SummaryName": "储液槽", + "SupplyType": 1, + "Factory": "宁静致远", + "LengthNum": 125.02, + "WidthNum": 82.97, + "HeightNum": 31.2, + "DepthNum": 24, + "StandardHeight": 0, + "PipetteHeight": 0, + "HoleColum": 1, + "HoleRow": 1, + "HoleDiameter": 99.33, + "Volume": 1250, + "ImagePath": "", + "QRCode": null, + "Qty": -172, + "CreateName": null, + "CreateTime": "2021-12-31 18:37:56.7949909", + "UpdateName": null, + "UpdateTime": "2025-09-17 17:22:22.8543991", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": 0, + "Margins_X": 8.5, + "Margins_Y": 5.5 + }, + { + "uuid": "4a043a07c65a4f9bb97745e1f129b165", + "Code": "ZX-58-0001", + "Name": "全裙边 PCR适配器", + "SummaryName": "全裙边 PCR适配器", + "SupplyType": 2, + "Factory": "宁静致远", + "LengthNum": 125.42, + "WidthNum": 83.13, + "HeightNum": 15.69, + "DepthNum": 13.41, + "StandardHeight": 0, + "PipetteHeight": 0, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 5.1, + "Volume": 1250, + "ImagePath": "", + "QRCode": null, + "Qty": 100, + "CreateName": null, + "CreateTime": "2022-01-02 19:21:35.8664843", + "UpdateName": null, + "UpdateTime": "2025-09-17 17:14:36.1210193", + "IsStright": 1, + "IsGeneral": 1, + "IsControl": 1, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": 3, + "Margins_X": 9.78, + "Margins_Y": 7.72 + }, + { + "uuid": "6bdfdd7069df453896b0806df50f2f4d", + "Code": "ZX-ADP-001", + "Name": "储液槽 适配器", + "SummaryName": "储液槽 适配器", + "SupplyType": 2, + "Factory": "宁静致远", + "LengthNum": 133, + "WidthNum": 91.8, + "HeightNum": 70, + "DepthNum": 4, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 1, + "HoleRow": 1, + "HoleDiameter": 1, + "Volume": 1250, + "ImagePath": "", + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2022-02-16 17:31:26.413594", + "UpdateName": null, + "UpdateTime": "2023-08-12 13:10:58.786996", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 0, + "ArmCode": null, + "XSpacing": 0, + "YSpacing": 0, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "9a439bed8f3344549643d6b3bc5a5eb4", + "Code": "ZX-002-300", + "Name": "300ul深孔板适配器", + "SummaryName": "300ul深孔板适配器", + "SupplyType": 2, + "Factory": "宁静致远", + "LengthNum": 136.4, + "WidthNum": 93.8, + "HeightNum": 96, + "DepthNum": 7, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 8.1, + "Volume": 300, + "ImagePath": "", + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2022-06-18 15:17:42.7917763", + "UpdateName": null, + "UpdateTime": "2023-08-12 13:10:46.1526635", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 0, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "4dc8d6ecfd0449549683b8ef815a861b", + "Code": "ZX-002-10", + "Name": "10ul专用深孔板适配器", + "SummaryName": "10ul专用深孔板适配器", + "SupplyType": 2, + "Factory": "宁静致远", + "LengthNum": 136.5, + "WidthNum": 93.8, + "HeightNum": 121.5, + "DepthNum": 7, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 8.1, + "Volume": 10, + "ImagePath": "", + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2022-06-30 09:37:31.0451435", + "UpdateName": null, + "UpdateTime": "2023-08-12 13:10:38.5409878", + "IsStright": 0, + "IsGeneral": 0, + "IsControl": 0, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "b01627718d3341aba649baa81c2c083c", + "Code": "Sd155", + "Name": "爱津", + "SummaryName": "爱津", + "SupplyType": 1, + "Factory": "中析", + "LengthNum": 125, + "WidthNum": 85, + "HeightNum": 64, + "DepthNum": 45.5, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 4, + "Volume": 20, + "ImagePath": "", + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2022-11-07 08:56:30.1794274", + "UpdateName": null, + "UpdateTime": "2022-11-07 09:00:29.5496845", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 0, + "ArmCode": null, + "XSpacing": null, + "YSpacing": null, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "adfabfffa8f24af5abfbba67b8d0f973", + "Code": "Fhh478", + "Name": "适配器", + "SummaryName": "适配器", + "SupplyType": 2, + "Factory": "中析", + "LengthNum": 120, + "WidthNum": 90, + "HeightNum": 86, + "DepthNum": 4, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 1, + "HoleRow": 1, + "HoleDiameter": 4, + "Volume": 1000, + "ImagePath": null, + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2022-11-07 09:00:10.7579131", + "UpdateName": null, + "UpdateTime": "2022-11-07 09:00:10.7579134", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 0, + "ArmCode": null, + "XSpacing": null, + "YSpacing": null, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "730067cf07ae43849ddf4034299030e9", + "Code": "q1", + "Name": "废弃槽", + "SummaryName": "废弃槽", + "SupplyType": 1, + "Factory": "中析", + "LengthNum": 126.59, + "WidthNum": 84.87, + "HeightNum": 103.17, + "DepthNum": 80, + "StandardHeight": 0, + "PipetteHeight": 0, + "HoleColum": 1, + "HoleRow": 1, + "HoleDiameter": 1, + "Volume": 1250, + "ImagePath": "", + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2023-10-14 13:15:45.8172852", + "UpdateName": null, + "UpdateTime": "2025-09-17 17:06:18.3331101", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 0, + "ArmCode": null, + "XSpacing": 1, + "YSpacing": 1, + "materialEnum": 0, + "Margins_X": 2.29, + "Margins_Y": 2.64 + }, + { + "uuid": "57b1e4711e9e4a32b529f3132fc5931f", + "Code": "q2", + "Name": "96深孔板", + "SummaryName": "96深孔板", + "SupplyType": 1, + "Factory": "中析", + "LengthNum": 127.3, + "WidthNum": 85.35, + "HeightNum": 44, + "DepthNum": 42, + "StandardHeight": 0, + "PipetteHeight": 1, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 8.2, + "Volume": 1250, + "ImagePath": "", + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2023-10-14 13:19:55.7225524", + "UpdateName": null, + "UpdateTime": "2025-07-03 17:28:59.0082394", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 0, + "ArmCode": null, + "XSpacing": 9, + "YSpacing": 9, + "materialEnum": 0, + "Margins_X": 15, + "Margins_Y": 10 + }, + { + "uuid": "853dcfb6226f476e8b23c250217dc7da", + "Code": "q3", + "Name": "384板", + "SummaryName": "384板", + "SupplyType": 1, + "Factory": "中析", + "LengthNum": 126.6, + "WidthNum": 84, + "HeightNum": 9.4, + "DepthNum": 8, + "StandardHeight": 0, + "PipetteHeight": null, + "HoleColum": 24, + "HoleRow": 16, + "HoleDiameter": 3, + "Volume": 1250, + "ImagePath": null, + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2023-10-14 13:22:34.779818", + "UpdateName": null, + "UpdateTime": "2023-10-14 13:22:34.7798181", + "IsStright": 0, + "IsGeneral": 1, + "IsControl": 0, + "ArmCode": null, + "XSpacing": 4.5, + "YSpacing": 4.5, + "materialEnum": null, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": 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"HoleRow": 8, + "HoleDiameter": null, + "Volume": 23, + "ImagePath": null, + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2025-03-19 09:38:09.8535874", + "UpdateName": null, + "UpdateTime": "2025-03-19 09:38:09.8536386", + "IsStright": null, + "IsGeneral": null, + "IsControl": null, + "ArmCode": null, + "XSpacing": 18.5, + "YSpacing": 9, + "materialEnum": 2, + "Margins_X": 0, + "Margins_Y": 0 + }, + { + "uuid": "0f1639987b154e1fac78f4fb29a1f7c1", + "Code": "12道储液槽", + "Name": "12道储液槽", + "SummaryName": "12道储液槽", + "SupplyType": 1, + "Factory": "", + "LengthNum": 129.5, + "WidthNum": 83.047, + "HeightNum": 30.6, + "DepthNum": 26.7, + "StandardHeight": null, + "PipetteHeight": 0, + "HoleColum": 12, + "HoleRow": 8, + "HoleDiameter": 8.04, + "Volume": 12, + "ImagePath": "", + "QRCode": null, + "Qty": null, + "CreateName": null, + "CreateTime": "2025-05-21 13:10:53.2735971", + "UpdateName": null, + "UpdateTime": "2025-09-17 17:20:40.4460256", + "IsStright": null, + 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+ "YSpacing": 9, + "materialEnum": 4, + "Margins_X": 9.28, + "Margins_Y": 6.19 + } +] \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/deck.json b/unilabos/devices/liquid_handling/prcxi/deck.json index bc52e1d..ab7e6e9 100644 --- a/unilabos/devices/liquid_handling/prcxi/deck.json +++ b/unilabos/devices/liquid_handling/prcxi/deck.json @@ -156,7 +156,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300TipRack", "size_x": 50, "size_y": 50, "size_z": 10, @@ -4323,7 +4323,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -8297,7 +8297,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -8425,7 +8425,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -12496,7 +12496,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300TipRack", "size_x": 50, "size_y": 50, "size_z": 10, @@ -16664,7 +16664,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -20640,7 +20640,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -20671,7 +20671,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -20799,7 +20799,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -24872,7 +24872,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -28848,7 +28848,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -28879,7 +28879,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -29007,7 +29007,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -33080,7 +33080,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -37153,7 +37153,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 50, "size_z": 10, @@ -41151,6 +41151,5 @@ "uuid": "730067cf07ae43849ddf4034299030e9" } } - ], - "links": [] -} \ No newline at end of file + } +] \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/CodeDataEntity.json b/unilabos/devices/liquid_handling/prcxi/json_output/CodeDataEntity.json new file mode 100644 index 0000000..0637a08 --- /dev/null +++ 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a/unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json b/unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json new file mode 100644 index 0000000..5f1b618 --- /dev/null +++ b/unilabos/devices/liquid_handling/prcxi/json_output/base_qrcode.json @@ -0,0 +1,58 @@ +[ + { + "uuid": "4034fa042e7f418db42ab80b0044a8cd", + "Code": "MDHC-001-10", + "Key": "c28ae2cb", + "Value": "MDHC-001-1000522001001612db9dc", + "CreateTime": "2022-01-22 17:07:00.8651386" + }, + { + "uuid": "8fb6d7589fdd42df93c1e1989ff13a62", + "Code": "MDHC-001-10", + "Key": "52980979", + "Value": "MDHC-001-100052200100119bb6731", + "CreateTime": "2022-01-22 20:19:20.9444209" + }, + { + "uuid": "efc4c92b40a94de6b0662c64486c18d1", + "Code": "MDHC-001-10", + "Key": "79da8402", + "Value": "MDHC-001-1000522001001e24ea780", + "CreateTime": "2022-01-22 20:19:26.8107506" + }, + { + "uuid": "3b81b1a9eabc4449b4dcbbbde47cb17f", + "Code": "MDHC-001-10", + "Key": "daa51755", + "Value": "MDHC-001-100052200100185dd22e2", + "CreateTime": "2022-01-22 20:19:36.1581374" + }, + { + "uuid": "d005a70801544e42ab9d216ad68dbf50", + "Code": "MDHC-023-0.2", + "Key": "992bbdab", + "Value": "MDHC-023-0.2005220010014871a385", + "CreateTime": "2022-02-16 15:49:53.760377" + }, + { + "uuid": "222315afb8e04320b0fcff10e3ddb8ae", + "Code": "MDHC-023-0.2", + "Key": "76d23270", + "Value": "MDHC-023-0.200522001001e61547ee", + "CreateTime": "2022-02-16 15:50:05.1932055" + }, + { + "uuid": "31e2a5d4f884419aa9ba96cef98b7385", + "Code": "MDHC-023-0.2", + "Key": "ba2b8a46", + "Value": "MDHC-023-0.2005220010013bfed6cf", + "CreateTime": "2022-02-16 17:26:20.0024235" + }, + { + "uuid": "9ccb8e0c5ca64ef09b8aced680395335", + "Code": "MDHC-023-0.2", + "Key": "1d1276d0", + "Value": "MDHC-023-0.2005220010015c039a9c", + "CreateTime": "2022-02-16 17:26:31.8479966" + } +] \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json b/unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json new file mode 100644 index 0000000..8fd51b2 --- /dev/null +++ b/unilabos/devices/liquid_handling/prcxi/json_output/sys_role.json @@ -0,0 +1,22 @@ +[ + { + "uuid": "f3932aeae93533f19c0519c4c14702aa", + "RoleCode": "admin", + "RoleName": "管理员", + "RoleMenu": "all", + "CreateTime": "2022-02-26 00:00:00.000", + "CreateName": "admin", + "UpdateTime": "2022-02-26 14:50:10.000", + "UpdateName": "admin" + }, + { + "uuid": "8c822592b360345fb59690e49ac6b181", + "RoleCode": "user", + "RoleName": "实验员", + "RoleMenu": "nosetting", + "CreateTime": "2022-02-26 14:54:16.000", + "CreateName": "admin", + "UpdateTime": "2022-02-26 14:54:19.000", + "UpdateName": "admin" + } +] \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json b/unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json new file mode 100644 index 0000000..ee4422f --- /dev/null +++ b/unilabos/devices/liquid_handling/prcxi/json_output/sys_user.json @@ -0,0 +1,54 @@ +[ + { + "uuid": "f3932aeae93533f19c0519c4c14702dd", + "UserName": "admin", + "Password": "NuGlByx4NZBm7XcV9f89qA==", + "RealName": "管理员", + "IsEnable": 1, + "uuidRole": "f3932aeae93533f19c0519c4c14702aa", + "IsDel": 0, + "CreateTime": "2022-02-26 14:51:41.000", + "CreateName": "admin", + "UpdateTime": "2022-02-26 14:51:49.000", + "UpdateName": "admin" + }, + { + "uuid": "5c522592b366645fb55690e49ac6b166", + "UserName": "user", + "Password": "4QrcOUm6Wau+VuBX8g+IPg==", + "RealName": "实验员", + "IsEnable": 1, + "uuidRole": "8c822592b360345fb59690e49ac6b181", + "IsDel": 0, + "CreateTime": "2022-02-26 14:56:57.000", + "CreateName": "admin", + "UpdateTime": "2022-02-26 14:58:39.000", + "UpdateName": "admin" + }, + { + "uuid": "ju0514zjhi9267mz8s0buspq8b9s0bgb", + "UserName": "Administrator", + "Password": "3J17Il4KOR+wKPszf/0cHQ==", + "RealName": "超级管理员", + "IsEnable": 1, + "uuidRole": "f3932aeae93533f19c0519c4c14702aa", + "IsDel": 0, + "CreateTime": "2023-08-12 00:00:00.000", + "CreateName": "admin", + "UpdateTime": "2023-08-12 00:00:00.000", + "UpdateName": "admin" + }, + { + "uuid": "2", + "UserName": "shortcut", + "Password": "4QrcOUm6Wau+VuBX8g+IPg==", + "RealName": "实验员", + "IsEnable": 1, + "uuidRole": "8c822592b360345fb59690e49ac6b181", + "IsDel": 0, + "CreateTime": null, + "CreateName": "admin", + "UpdateTime": "2023-10-23 00:00:00.000", + "UpdateName": null + } +] \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index cd20f4c..02ef20d 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -1,5 +1,6 @@ import asyncio import collections +from collections import OrderedDict import contextlib import json import os @@ -7,6 +8,7 @@ import socket import time import uuid from typing import Any, List, Dict, Optional, Tuple, TypedDict, Union, Sequence, Iterator, Literal +from pylabrobot.liquid_handling.standard import GripDirection from pylabrobot.liquid_handling import ( LiquidHandlerBackend, @@ -28,9 +30,9 @@ from pylabrobot.liquid_handling.standard import ( ResourceMove, ResourceDrop, ) -from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash +from pylabrobot.resources import ResourceHolder, ResourceStack, Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash, PlateAdapter, TubeRack -from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract +from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode @@ -69,10 +71,8 @@ class PRCXI9300Deck(Deck): def __init__(self, name: str, size_x: float, size_y: float, size_z: float, **kwargs): super().__init__(name, size_x, size_y, size_z) self.slots = [None] * 6 # PRCXI 9300 有 6 个槽位 - - -class PRCXI9300Container(Plate, TipRack): - """PRCXI 9300 的专用 Container 类，继承自 Plate和TipRack。 +class PRCXI9300Container(Plate): + """PRCXI 9300 的专用 Container 类，继承自 Plate，用于槽位定位和未知模块。 该类定义了 PRCXI 9300 的工作台布局和槽位信息。 """ @@ -99,21 +99,193 @@ class PRCXI9300Container(Plate, TipRack): def serialize_state(self) -> Dict[str, Dict[str, Any]]: data = super().serialize_state() data.update(self._unilabos_state) + return data +class PRCXI9300Plate(Plate): + """ + 专用孔板类： + 1. 继承自 PLR 原生 Plate，保留所有物理特性。 + 2. 增加 material_info 参数，用于在初始化时直接绑定 Unilab UUID。 + """ + def __init__(self, name: str, size_x: float, size_y: float, size_z: float, + category: str = "plate", + ordered_items: collections.OrderedDict = None, + ordering: Optional[collections.OrderedDict] = None, + model: Optional[str] = None, + material_info: Optional[Dict[str, Any]] = None, + **kwargs): + # 如果 ordered_items 不为 None，直接使用 + if ordered_items is not None: + items = ordered_items + elif ordering is not None: + # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况） + # 如果是字符串，说明这是位置名称，需要让 Plate 自己创建 Well 对象 + # 我们只传递位置信息（键），不传递值，使用 ordering 参数 + if ordering and isinstance(next(iter(ordering.values()), None), str): + # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict + # 传递 ordering 参数而不是 ordered_items，让 Plate 自己创建 Well 对象 + items = None + # 使用 ordering 参数，只包含位置信息（键） + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) + else: + # ordering 的值已经是对象，可以直接使用 + items = ordering + ordering_param = None + else: + items = None + ordering_param = None + + # 根据情况传递不同的参数 + if items is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items, + category=category, + model=model, **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 Plate 自己创建 Well 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + category=category, + model=model, **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + category=category, + model=model, **kwargs) + + self._unilabos_state = {} + if material_info: + self._unilabos_state["Material"] = material_info + + + def load_state(self, state: Dict[str, Any]) -> None: + super().load_state(state) + self._unilabos_state = state + + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + try: + data = super().serialize_state() + except AttributeError: + data = {} + if hasattr(self, '_unilabos_state') and self._unilabos_state: + safe_state = {} + for k, v in self._unilabos_state.items(): + # 如果是 Material 字典，深入检查 + if k == "Material" and isinstance(v, dict): + safe_material = {} + for mk, mv in v.items(): + # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典) + if isinstance(mv, (str, int, float, bool, list, dict, type(None))): + safe_material[mk] = mv + else: + # 打印日志提醒（可选） + # print(f"Warning: Removing non-serializable key {mk} from {self.name}") + pass + safe_state[k] = safe_material + # 其他顶层属性也进行类型检查 + elif isinstance(v, (str, int, float, bool, list, dict, type(None))): + safe_state[k] = v + + data.update(safe_state) + return data # 其他顶层属性也进行类型检查 +class PRCXI9300TipRack(TipRack): + """ 专用吸头盒类 """ + def __init__(self, name: str, size_x: float, size_y: float, size_z: float, + category: str = "tip_rack", + ordered_items: collections.OrderedDict = None, + ordering: Optional[collections.OrderedDict] = None, + model: Optional[str] = None, + material_info: Optional[Dict[str, Any]] = None, + **kwargs): + # 如果 ordered_items 不为 None，直接使用 + if ordered_items is not None: + items = ordered_items + elif ordering is not None: + # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况） + # 如果是字符串，说明这是位置名称，需要让 TipRack 自己创建 Tip 对象 + # 我们只传递位置信息（键），不传递值，使用 ordering 参数 + if ordering and isinstance(next(iter(ordering.values()), None), str): + # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict + # 传递 ordering 参数而不是 ordered_items，让 TipRack 自己创建 Tip 对象 + items = None + # 使用 ordering 参数，只包含位置信息（键） + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) + else: + # ordering 的值已经是对象，可以直接使用 + items = ordering + ordering_param = None + else: + items = None + ordering_param = None + + # 根据情况传递不同的参数 + if items is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items, + category=category, + model=model, **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 TipRack 自己创建 Tip 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + category=category, + model=model, **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + category=category, + model=model, **kwargs) + self._unilabos_state = {} + if material_info: + self._unilabos_state["Material"] = material_info + + def load_state(self, state: Dict[str, Any]) -> None: + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + try: + data = super().serialize_state() + except AttributeError: + data = {} + if hasattr(self, '_unilabos_state') and self._unilabos_state: + safe_state = {} + for k, v in self._unilabos_state.items(): + # 如果是 Material 字典，深入检查 + if k == "Material" and isinstance(v, dict): + safe_material = {} + for mk, mv in v.items(): + # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典) + if isinstance(mv, (str, int, float, bool, list, dict, type(None))): + safe_material[mk] = mv + else: + # 打印日志提醒（可选） + # print(f"Warning: Removing non-serializable key {mk} from {self.name}") + pass + safe_state[k] = safe_material + # 其他顶层属性也进行类型检查 + elif isinstance(v, (str, int, float, bool, list, dict, type(None))): + safe_state[k] = v + + data.update(safe_state) return data - - + class PRCXI9300Trash(Trash): """PRCXI 9300 的专用 Trash 类，继承自 Trash。 该类定义了 PRCXI 9300 的工作台布局和槽位信息。 """ - def __init__(self, name: str, size_x: float, size_y: float, size_z: float, category: str, **kwargs): + def __init__(self, name: str, size_x: float, size_y: float, size_z: float, + category: str = "trash", + material_info: Optional[Dict[str, Any]] = None, + **kwargs): + if name != "trash": - name = "trash" - print("PRCXI9300Trash name must be 'trash', using 'trash' instead.") - super().__init__(name, size_x, size_y, size_z, category=category, **kwargs) + print(f"Warning: PRCXI9300Trash usually expects name='trash' for backend logic, but got '{name}'.") + super().__init__(name, size_x, size_y, size_z, **kwargs) self._unilabos_state = {} + # 初始化时注入 UUID + if material_info: + self._unilabos_state["Material"] = material_info def load_state(self, state: Dict[str, Any]) -> None: """从给定的状态加载工作台信息。""" @@ -121,10 +293,189 @@ class PRCXI9300Trash(Trash): self._unilabos_state = state def serialize_state(self) -> Dict[str, Dict[str, Any]]: - data = super().serialize_state() - data.update(self._unilabos_state) + try: + data = super().serialize_state() + except AttributeError: + data = {} + if hasattr(self, '_unilabos_state') and self._unilabos_state: + safe_state = {} + for k, v in self._unilabos_state.items(): + # 如果是 Material 字典，深入检查 + if k == "Material" and isinstance(v, dict): + safe_material = {} + for mk, mv in v.items(): + # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典) + if isinstance(mv, (str, int, float, bool, list, dict, type(None))): + safe_material[mk] = mv + else: + # 打印日志提醒（可选） + # print(f"Warning: Removing non-serializable key {mk} from {self.name}") + pass + safe_state[k] = safe_material + # 其他顶层属性也进行类型检查 + elif isinstance(v, (str, int, float, bool, list, dict, type(None))): + safe_state[k] = v + + data.update(safe_state) return data +class PRCXI9300TubeRack(TubeRack): + """ + 专用管架类：用于 EP 管架、试管架等。 + 继承自 PLR 的 TubeRack，并支持注入 material_info (UUID)。 + """ + def __init__(self, name: str, size_x: float, size_y: float, size_z: float, + category: str = "tube_rack", + items: Optional[Dict[str, Any]] = None, + ordered_items: Optional[OrderedDict] = None, + ordering: Optional[OrderedDict] = None, + model: Optional[str] = None, + material_info: Optional[Dict[str, Any]] = None, + **kwargs): + + # 如果 ordered_items 不为 None，直接使用 + if ordered_items is not None: + items_to_pass = ordered_items + ordering_param = None + elif ordering is not None: + # 检查 ordering 中的值是否是字符串（从 JSON 反序列化时的情况） + # 如果是字符串，说明这是位置名称，需要让 TubeRack 自己创建 Tube 对象 + # 我们只传递位置信息（键），不传递值，使用 ordering 参数 + if ordering and isinstance(next(iter(ordering.values()), None), str): + # ordering 的值是字符串，只使用键（位置信息）创建新的 OrderedDict + # 传递 ordering 参数而不是 ordered_items，让 TubeRack 自己创建 Tube 对象 + items_to_pass = None + # 使用 ordering 参数，只包含位置信息（键） + ordering_param = collections.OrderedDict((k, None) for k in ordering.keys()) + else: + # ordering 的值已经是对象，可以直接使用 + items_to_pass = ordering + ordering_param = None + elif items is not None: + # 兼容旧的 items 参数 + items_to_pass = items + ordering_param = None + else: + items_to_pass = None + ordering_param = None + + # 根据情况传递不同的参数 + if items_to_pass is not None: + super().__init__(name, size_x, size_y, size_z, + ordered_items=items_to_pass, + model=model, + **kwargs) + elif ordering_param is not None: + # 传递 ordering 参数，让 TubeRack 自己创建 Tube 对象 + super().__init__(name, size_x, size_y, size_z, + ordering=ordering_param, + model=model, + **kwargs) + else: + super().__init__(name, size_x, size_y, size_z, + model=model, + **kwargs) + + self._unilabos_state = {} + if material_info: + self._unilabos_state["Material"] = material_info + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + try: + data = super().serialize_state() + except AttributeError: + data = {} + if hasattr(self, '_unilabos_state') and self._unilabos_state: + safe_state = {} + for k, v in self._unilabos_state.items(): + # 如果是 Material 字典，深入检查 + if k == "Material" and isinstance(v, dict): + safe_material = {} + for mk, mv in v.items(): + # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典) + if isinstance(mv, (str, int, float, bool, list, dict, type(None))): + safe_material[mk] = mv + else: + # 打印日志提醒（可选） + # print(f"Warning: Removing non-serializable key {mk} from {self.name}") + pass + safe_state[k] = safe_material + # 其他顶层属性也进行类型检查 + elif isinstance(v, (str, int, float, bool, list, dict, type(None))): + safe_state[k] = v + + data.update(safe_state) + return data + +class PRCXI9300PlateAdapter(PlateAdapter): + """ + 专用板式适配器类：用于承载 Plate 的底座（如 PCR 适配器、磁吸架等）。 + 支持注入 material_info (UUID)。 + """ + def __init__(self, name: str, size_x: float, size_y: float, size_z: float, + category: str = "plate_adapter", + model: Optional[str] = None, + material_info: Optional[Dict[str, Any]] = None, + # 参数给予默认值 (标准96孔板尺寸) + adapter_hole_size_x: float = 127.76, + adapter_hole_size_y: float = 85.48, + adapter_hole_size_z: float = 10.0, # 假设凹槽深度或板子放置高度 + dx: Optional[float] = None, + dy: Optional[float] = None, + dz: float = 0.0, # 默认Z轴偏移 + **kwargs): + + # 自动居中计算：如果未指定 dx/dy，则根据适配器尺寸和孔尺寸计算居中位置 + if dx is None: + dx = (size_x - adapter_hole_size_x) / 2 + if dy is None: + dy = (size_y - adapter_hole_size_y) / 2 + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + dx=dx, + dy=dy, + dz=dz, + adapter_hole_size_x=adapter_hole_size_x, + adapter_hole_size_y=adapter_hole_size_y, + adapter_hole_size_z=adapter_hole_size_z, + model=model, + **kwargs + ) + + self._unilabos_state = {} + if material_info: + self._unilabos_state["Material"] = material_info + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + try: + data = super().serialize_state() + except AttributeError: + data = {} + if hasattr(self, '_unilabos_state') and self._unilabos_state: + safe_state = {} + for k, v in self._unilabos_state.items(): + # 如果是 Material 字典，深入检查 + if k == "Material" and isinstance(v, dict): + safe_material = {} + for mk, mv in v.items(): + # 只保留基本数据类型 (字符串, 数字, 布尔值, 列表, 字典) + if isinstance(mv, (str, int, float, bool, list, dict, type(None))): + safe_material[mk] = mv + else: + # 打印日志提醒（可选） + # print(f"Warning: Removing non-serializable key {mk} from {self.name}") + pass + safe_state[k] = safe_material + # 其他顶层属性也进行类型检查 + elif isinstance(v, (str, int, float, bool, list, dict, type(None))): + safe_state[k] = v + + data.update(safe_state) + return data class PRCXI9300Handler(LiquidHandlerAbstract): support_touch_tip = False @@ -154,11 +505,12 @@ class PRCXI9300Handler(LiquidHandlerAbstract): tablets_info = [] count = 0 for child in deck.children: - if "Material" in child._unilabos_state: - count += 1 - tablets_info.append( - WorkTablets(Number=count, Code=f"T{count}", Material=child._unilabos_state["Material"]) - ) + if child.children: + if "Material" in child.children[0]._unilabos_state: + number = int(child.name.replace("T", "")) + tablets_info.append( + WorkTablets(Number=number, Code=f"T{number}", Material=child.children[0]._unilabos_state["Material"]) + ) if is_9320: print("当前设备是9320") # 始终初始化 step_mode 属性 @@ -177,7 +529,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): 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]): + def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: return super().set_liquid(wells, liquid_names, volumes) def set_group(self, group_name: str, wells: List[Well], volumes: List[float]): @@ -434,6 +786,36 @@ class PRCXI9300Handler(LiquidHandlerAbstract): async def move_to(self, well: Well, dis_to_top: float = 0, channel: int = 0): return await super().move_to(well, dis_to_top, channel) + async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): + return await self._unilabos_backend.shaker_action(time, module_no, amplitude, is_wait) + + async def heater_action(self, temperature: float, time: int): + return await self._unilabos_backend.heater_action(temperature, time) + async def move_plate( + self, + plate: Plate, + to: Resource, + intermediate_locations: Optional[List[Coordinate]] = None, + pickup_offset: Coordinate = Coordinate.zero(), + destination_offset: Coordinate = Coordinate.zero(), + drop_direction: GripDirection = GripDirection.FRONT, + pickup_direction: GripDirection = GripDirection.FRONT, + pickup_distance_from_top: float = 13.2 - 3.33, + **backend_kwargs, + ): + + return await super().move_plate( + plate, + to, + intermediate_locations, + pickup_offset, + destination_offset, + drop_direction, + pickup_direction, + pickup_distance_from_top, + target_plate_number = to, + **backend_kwargs, + ) class PRCXI9300Backend(LiquidHandlerBackend): """PRCXI 9300 的后端实现，继承自 LiquidHandlerBackend。 @@ -475,6 +857,55 @@ class PRCXI9300Backend(LiquidHandlerBackend): self._num_channels = channel_num self._execute_setup = setup self.debug = debug + self.axis = "Left" + + async def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): + step = self.api_client.shaker_action( + time=time, + module_no=module_no, + amplitude=amplitude, + is_wait=is_wait, + ) + self.steps_todo_list.append(step) + return step + + + async def pick_up_resource(self, pickup: ResourcePickup, **backend_kwargs): + + resource=pickup.resource + offset=pickup.offset + pickup_distance_from_top=pickup.pickup_distance_from_top + direction=pickup.direction + + plate_number = int(resource.parent.name.replace("T", "")) + is_whole_plate = True + balance_height = 0 + step = self.api_client.clamp_jaw_pick_up(plate_number, is_whole_plate, balance_height) + + self.steps_todo_list.append(step) + return step + + async def drop_resource(self, drop: ResourceDrop, **backend_kwargs): + + + plate_number = None + target_plate_number = backend_kwargs.get("target_plate_number", None) + if target_plate_number is not None: + plate_number = int(target_plate_number.name.replace("T", "")) + + + is_whole_plate = True + balance_height = 0 + if plate_number is None: + raise ValueError("target_plate_number is required when dropping a resource") + step = self.api_client.clamp_jaw_drop(plate_number, is_whole_plate, balance_height) + self.steps_todo_list.append(step) + return step + + + async def heater_action(self, temperature: float, time: int): + print(f"\n\nHeater action: temperature={temperature}, time={time}\n\n") + # return await self.api_client.heater_action(temperature, time) def post_init(self, ros_node: BaseROS2DeviceNode): self._ros_node = ros_node @@ -506,7 +937,11 @@ class PRCXI9300Backend(LiquidHandlerBackend): print(f"PRCXI9300Backend created solution with ID: {solution_id}") self.api_client.load_solution(solution_id) print(json.dumps(self.steps_todo_list, indent=2)) - return self.api_client.start() + if not self.api_client.start(): + return False + if not self.api_client.wait_for_finish(): + return False + return True @classmethod def check_channels(cls, use_channels: List[int]) -> List[int]: @@ -528,7 +963,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): # 清除错误代码 self.api_client.clear_error_code() print("PRCXI9300 error code cleared.") - + self.api_client.call("IAutomation", "Stop") # 执行重置 print("Starting PRCXI9300 reset...") self.api_client.call("IAutomation", "Reset") @@ -552,12 +987,23 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def pick_up_tips(self, ops: List[Pickup], use_channels: List[int] = None): """Pick up tips from the specified resource.""" - + # INSERT_YOUR_CODE + # Ensure use_channels is converted to a list of ints if it's an array + if hasattr(use_channels, 'tolist'): + _use_channels = use_channels.tolist() + else: + _use_channels = list(use_channels) if use_channels is not None else None + if _use_channels == [0]: + axis = "Left" + elif _use_channels == [1]: + axis = "Right" + else: + raise ValueError("Invalid use channels: " + str(_use_channels)) plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) # print(f"Plate index: {plate_index}, Plate name: {plate.name}") # print(f"Number of children in deck: {len(deck.children)}") @@ -582,6 +1028,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_row = tipspot_index % 8 + 1 step = self.api_client.Load( + axis=axis, dosage=0, plate_no=PlateNo, is_whole_plate=False, @@ -596,13 +1043,23 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def drop_tips(self, ops: List[Drop], use_channels: List[int] = None): """Pick up tips from the specified resource.""" - + if hasattr(use_channels, 'tolist'): + _use_channels = use_channels.tolist() + else: + _use_channels = list(use_channels) if use_channels is not None else None + if _use_channels == [0]: + axis = "Left" + elif _use_channels == [1]: + axis = "Right" + else: + raise ValueError("Invalid use channels: " + str(_use_channels)) # 检查trash # if ops[0].resource.name == "trash": - PlateNo = ops[0].resource.parent.children.index(ops[0].resource) + 1 + PlateNo = ops[0].resource.parent.parent.children.index(ops[0].resource.parent) + 1 step = self.api_client.UnLoad( + axis=axis, dosage=0, plate_no=PlateNo, is_whole_plate=False, @@ -620,8 +1077,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: raise ValueError( @@ -645,6 +1102,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_row = tipspot_index % 8 + 1 step = self.api_client.UnLoad( + axis=axis, dosage=0, plate_no=PlateNo, is_whole_plate=False, @@ -668,12 +1126,12 @@ class PRCXI9300Backend(LiquidHandlerBackend): none_keys: List[str] = [], ): """Mix liquid in the specified resources.""" - + plate_indexes = [] for op in targets: - deck = op.parent.parent + deck = op.parent.parent.parent plate = op.parent - plate_index = deck.children.index(plate) + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -711,12 +1169,21 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def aspirate(self, ops: List[SingleChannelAspiration], use_channels: List[int] = None): """Aspirate liquid from the specified resources.""" - + if hasattr(use_channels, 'tolist'): + _use_channels = use_channels.tolist() + else: + _use_channels = list(use_channels) if use_channels is not None else None + if _use_channels == [0]: + axis = "Left" + elif _use_channels == [1]: + axis = "Right" + else: + raise ValueError("Invalid use channels: " + str(_use_channels)) plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -744,6 +1211,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_row = tipspot_index % 8 + 1 step = self.api_client.Imbibing( + axis=axis, dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, @@ -758,12 +1226,21 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def dispense(self, ops: List[SingleChannelDispense], use_channels: List[int] = None): """Dispense liquid into the specified resources.""" - + if hasattr(use_channels, 'tolist'): + _use_channels = use_channels.tolist() + else: + _use_channels = list(use_channels) if use_channels is not None else None + if _use_channels == [0]: + axis = "Left" + elif _use_channels == [1]: + axis = "Right" + else: + raise ValueError("Invalid use channels: " + str(_use_channels)) plate_indexes = [] for op in ops: plate = op.resource.parent - deck = plate.parent - plate_index = deck.children.index(plate) + deck = plate.parent.parent + plate_index = deck.children.index(plate.parent) plate_indexes.append(plate_index) if len(set(plate_indexes)) != 1: @@ -792,6 +1269,7 @@ class PRCXI9300Backend(LiquidHandlerBackend): hole_row = tipspot_index % 8 + 1 step = self.api_client.Tapping( + axis=axis, dosage=int(volumes[0]), plate_no=PlateNo, is_whole_plate=False, @@ -816,14 +1294,8 @@ class PRCXI9300Backend(LiquidHandlerBackend): async def dispense96(self, dispense: Union[MultiHeadDispensePlate, MultiHeadDispenseContainer]): raise NotImplementedError("The Opentrons backend does not support the 96 head.") - async def pick_up_resource(self, pickup: ResourcePickup): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") - async def move_picked_up_resource(self, move: ResourceMove): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") - - async def drop_resource(self, drop: ResourceDrop): - raise NotImplementedError("The Opentrons backend does not support the robotic arm.") + pass def can_pick_up_tip(self, channel_idx: int, tip: Tip) -> bool: return True # PRCXI9300Backend does not have tip compatibility issues @@ -914,6 +1386,28 @@ class PRCXI9300Api: def start(self) -> bool: return self.call("IAutomation", "Start") + def wait_for_finish(self) -> bool: + success = False + start = False + while not success: + status = self.step_state_list() + if len(status) == 1: + start = True + if status is None: + break + if len(status) == 0: + break + if status[-1]["State"] == 2 and start: + success = True + elif status[-1]["State"] > 2: + break + elif status[-1]["State"] == 0: + start = True + else: + time.sleep(1) + return success + + def call(self, service: str, method: str, params: Optional[list] = None) -> Any: payload = json.dumps( {"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":") @@ -1000,9 +1494,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", + axis: str = "Left", ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "Load", "DosageNum": dosage, "PlateNo": plate_no, @@ -1038,9 +1533,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", - ) -> Dict[str, Any]: + axis: str = "Left", + ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "Imbibing", "DosageNum": dosage, "PlateNo": plate_no, @@ -1076,9 +1572,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", + axis: str = "Left", ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "Tapping", "DosageNum": dosage, "PlateNo": plate_no, @@ -1114,9 +1611,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", - ) -> Dict[str, Any]: + axis: str = "Left", + ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "Blending", "DosageNum": dosage, "PlateNo": plate_no, @@ -1152,9 +1650,10 @@ class PRCXI9300Api: assist_fun4: str = "", assist_fun5: str = "", liquid_method: str = "NormalDispense", + axis: str = "Left", ) -> Dict[str, Any]: return { - "StepAxis": self.axis, + "StepAxis": axis, "Function": "UnLoad", "DosageNum": dosage, "PlateNo": plate_no, @@ -1173,6 +1672,50 @@ class PRCXI9300Api: "LiquidDispensingMethod": liquid_method, } + def clamp_jaw_pick_up(self, + plate_no: int, + is_whole_plate: bool, + balance_height: int, + + ) -> Dict[str, Any]: + return { + "StepAxis": "ClampingJaw", + "Function": "DefectiveLift", + "PlateNo": plate_no, + "IsWholePlate": is_whole_plate, + "HoleRow": 1, + "HoleCol": 1, + "BalanceHeight": balance_height, + "PlateOrHoleNum": f"T{plate_no}" + } + + def clamp_jaw_drop( + self, + plate_no: int, + is_whole_plate: bool, + balance_height: int, + + ) -> Dict[str, Any]: + return { + "StepAxis": "ClampingJaw", + "Function": "PutDown", + "PlateNo": plate_no, + "IsWholePlate": is_whole_plate, + "HoleRow": 1, + "HoleCol": 1, + "BalanceHeight": balance_height, + "PlateOrHoleNum": f"T{plate_no}" + } + + def shaker_action(self, time: int, module_no: int, amplitude: int, is_wait: bool): + return { + "StepAxis": "Left", + "Function": "Shaking", + "AssistFun1": time, + "AssistFun2": module_no, + "AssistFun3": amplitude, + "AssistFun4": is_wait, + } class DefaultLayout: @@ -1533,31 +2076,31 @@ if __name__ == "__main__": from pylabrobot.resources.opentrons.tip_racks import tipone_96_tiprack_200ul, opentrons_96_tiprack_10ul from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep - def get_well_container(name: str) -> PRCXI9300Container: + def get_well_container(name: str) -> PRCXI9300Plate: well_containers = corning_96_wellplate_360ul_flat(name).serialize() - plate = PRCXI9300Container( - name=name, size_x=50, size_y=50, size_z=10, category="plate", ordering=well_containers["ordering"] + plate = PRCXI9300Plate( + name=name, size_x=50, size_y=50, size_z=10, category="plate", ordered_items=well_containers["ordering"] ) plate_serialized = plate.serialize() plate_serialized["parent_name"] = deck.name well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]}) - new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers) + new_plate: PRCXI9300Plate = PRCXI9300Plate.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") -> PRCXI9300TipRack: tip_racks = opentrons_96_tiprack_10ul(name).serialize() - tip_rack = PRCXI9300Container( + tip_rack = PRCXI9300TipRack( 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()}), + ordered_items=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 tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]}) - new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks) + new_tip_rack: PRCXI9300TipRack = PRCXI9300TipRack.deserialize(tip_racks) return new_tip_rack plate1 = get_tip_rack("RackT1") @@ -1604,8 +2147,8 @@ if __name__ == "__main__": } } ) - plate7 = PRCXI9300Container( - name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict() + plate7 = PRCXI9300Plate( + name="plateT7", size_x=50, size_y=50, size_z=10, category="plate", ordered_items=collections.OrderedDict() ) plate7.load_state({"Material": {"uuid": "04211a2dc93547fe9bf6121eac533650"}}) plate8 = get_tip_rack("PlateT8") @@ -1679,13 +2222,13 @@ if __name__ == "__main__": deck.assign_child_resource(plate1, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate2, location=Coordinate(0, 0, 0)) deck.assign_child_resource( - PRCXI9300Container( + PRCXI9300Plate( name="container_for_nothin3", size_x=50, size_y=50, size_z=10, category="plate", - ordering=collections.OrderedDict(), + ordered_items=collections.OrderedDict(), ), location=Coordinate(0, 0, 0), ) @@ -1693,48 +2236,48 @@ if __name__ == "__main__": deck.assign_child_resource(plate5, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate6, location=Coordinate(0, 0, 0)) deck.assign_child_resource( - PRCXI9300Container( + PRCXI9300Plate( name="container_for_nothing7", size_x=50, size_y=50, size_z=10, category="plate", - ordering=collections.OrderedDict(), + ordered_items=collections.OrderedDict(), ), location=Coordinate(0, 0, 0), ) deck.assign_child_resource( - PRCXI9300Container( + PRCXI9300Plate( name="container_for_nothing8", size_x=50, size_y=50, size_z=10, category="plate", - ordering=collections.OrderedDict(), + ordered_items=collections.OrderedDict(), ), location=Coordinate(0, 0, 0), ) deck.assign_child_resource(plate9, location=Coordinate(0, 0, 0)) deck.assign_child_resource(plate10, location=Coordinate(0, 0, 0)) deck.assign_child_resource( - PRCXI9300Container( + PRCXI9300Plate( name="container_for_nothing11", size_x=50, size_y=50, size_z=10, category="plate", - ordering=collections.OrderedDict(), + ordered_items=collections.OrderedDict(), ), location=Coordinate(0, 0, 0), ) deck.assign_child_resource( - PRCXI9300Container( + PRCXI9300Plate( name="container_for_nothing12", size_x=50, size_y=50, size_z=10, category="plate", - ordering=collections.OrderedDict(), + ordered_items=collections.OrderedDict(), ), location=Coordinate(0, 0, 0), ) diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py b/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py new file mode 100644 index 0000000..b87e1e2 --- /dev/null +++ b/unilabos/devices/liquid_handling/prcxi/prcxi_labware.py @@ -0,0 +1,841 @@ +from typing import Optional +from pylabrobot.resources import Tube, Coordinate +from pylabrobot.resources.well import Well, WellBottomType, CrossSectionType +from pylabrobot.resources.tip import Tip, TipCreator +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.utils import create_ordered_items_2d +from pylabrobot.resources.height_volume_functions import ( + compute_height_from_volume_rectangle, + compute_volume_from_height_rectangle, +) + +from .prcxi import PRCXI9300Plate, PRCXI9300TipRack, PRCXI9300Trash, PRCXI9300TubeRack, PRCXI9300PlateAdapter + +def _make_tip_helper(volume: float, length: float, depth: float) -> Tip: + """ + PLR 的 Tip 类参数名为: maximal_volume, total_tip_length, fitting_depth + """ + return Tip( + has_filter=False, # 默认无滤芯 + maximal_volume=volume, + total_tip_length=length, + fitting_depth=depth + ) + +# ========================================================================= +# 标准品 参照 PLR 标准库的参数，但是用 PRCXI9300Plate 实例化，并注入 UUID +# ========================================================================= +def PRCXI_BioER_96_wellplate(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: ZX-019-2.2 (2.2ml 深孔板) + 原型: pylabrobot.resources.bioer.BioER_96_wellplate_Vb_2200uL + """ + return PRCXI9300Plate( + name=name, + size_x=127.1, + size_y=85.0, + size_z=44.2, + lid=None, + model="PRCXI_BioER_96_wellplate", + category="plate", + material_info={ + "uuid": "ca877b8b114a4310b429d1de4aae96ee", + "Code": "ZX-019-2.2", + "Name": "2.2ml 深孔板", + "materialEnum": 0, + "SupplyType": 1 + }, + + ordered_items=create_ordered_items_2d( + Well, + size_x=8.25, + size_y=8.25, + size_z=39.3, # 修改过 + dx=9.5, + dy=7.5, + dz=6, + material_z_thickness=0.8, + item_dx=9.0, + item_dy=9.0, + num_items_x=12, + num_items_y=8, + cross_section_type=CrossSectionType.RECTANGLE, + bottom_type=WellBottomType.V, # 是否需要修改？ + max_volume=2200, + ), + ) +def PRCXI_nest_1_troughplate(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: ZX-58-10000 (储液槽) + 原型: pylabrobot.resources.nest.nest_1_troughplate_195000uL_Vb + """ + well_size_x = 127.76 - (14.38 - 9 / 2) * 2 + well_size_y = 85.48 - (11.24 - 9 / 2) * 2 + well_kwargs = { + "size_x": well_size_x, + "size_y": well_size_y, + "size_z": 26.85, + "bottom_type": WellBottomType.V, + "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle( + liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y + ), + "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle( + liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y + ), + "material_z_thickness": 31.4 - 26.85 - 3.55, + } + + return PRCXI9300Plate( + name=name, + size_x=127.76, + size_y=85.48, + size_z=31.4, + lid=None, + model="PRCXI_Nest_1_troughplate", + category="plate", + material_info={ + "uuid": "04211a2dc93547fe9bf6121eac533650", + "Code": "ZX-58-10000", + "Name": "储液槽", + "materialEnum": 0, + "SupplyType": 1 + }, + + ordered_items=create_ordered_items_2d( + Well, + num_items_x=1, + num_items_y=1, + dx=14.38 - 9 / 2, + dy=11.24 - 9 / 2, + dz=3.55, + item_dx=9.0, + item_dy=9.0, + **well_kwargs, # 传入上面计算好的孔参数 + ), + ) +def PRCXI_BioRad_384_wellplate(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: q3 (384板) + 原型: pylabrobot.resources.biorad.BioRad_384_wellplate_50uL_Vb + """ + return PRCXI9300Plate( + name=name, + # 直接抄录 PLR 标准品的物理尺寸 + size_x=127.76, + size_y=85.48, + size_z=10.40, + model="BioRad_384_wellplate_50uL_Vb", + category="plate", + # 2. 注入 Unilab 必须的 UUID 信息 + material_info={ + "uuid": "853dcfb6226f476e8b23c250217dc7da", + "Code": "q3", + "Name": "384板", + "SupplyType": 1, + }, + # 3. 定义孔的排列 (抄录标准参数) + ordered_items=create_ordered_items_2d( + Well, + num_items_x=24, + num_items_y=16, + dx=10.58, # A1 左边缘距离板子左边缘 需要进一步测量 + dy=7.44, # P1 下边缘距离板子下边缘 需要进一步测量 + dz=1.05, + item_dx=4.5, + item_dy=4.5, + size_x=3.10, + size_y=3.10, + size_z=9.35, + max_volume=50, + material_z_thickness=1, + bottom_type=WellBottomType.V, + cross_section_type=CrossSectionType.CIRCLE, + ) + ) +def PRCXI_AGenBio_4_troughplate(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: sdfrth654 (4道储液槽) + 原型: pylabrobot.resources.agenbio.AGenBio_4_troughplate_75000uL_Vb + """ + INNER_WELL_WIDTH = 26.1 + INNER_WELL_LENGTH = 71.2 + well_kwargs = { + "size_x": 26, + "size_y": 71.2, + "size_z": 42.55, + "bottom_type": WellBottomType.FLAT, + "cross_section_type": CrossSectionType.RECTANGLE, + "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle( + liquid_volume, + INNER_WELL_LENGTH, + INNER_WELL_WIDTH, + ), + "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle( + liquid_height, + INNER_WELL_LENGTH, + INNER_WELL_WIDTH, + ), + "material_z_thickness": 1, + } + + return PRCXI9300Plate( + name=name, + size_x=127.76, + size_y=85.48, + size_z=43.80, + model="PRCXI_AGenBio_4_troughplate", + category="plate", + material_info={ + "uuid": "01953864f6f140ccaa8ddffd4f3e46f5", + "Code": "sdfrth654", + "Name": "4道储液槽", + "materialEnum": 0, + "SupplyType": 1 + }, + + ordered_items=create_ordered_items_2d( + Well, + num_items_x=4, + num_items_y=1, + dx=9.8, + dy=7.2, + dz=0.9, + item_dx=INNER_WELL_WIDTH + 1, # 1 mm wall thickness + item_dy=INNER_WELL_LENGTH, + **well_kwargs, + ), + ) +def PRCXI_nest_12_troughplate(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: 12道储液槽 (12道储液槽) + 原型: pylabrobot.resources.nest.nest_12_troughplate_15000uL_Vb + """ + well_size_x = 8.2 + well_size_y = 71.2 + well_kwargs = { + "size_x": well_size_x, + "size_y": well_size_y, + "size_z": 26.85, + "bottom_type": WellBottomType.V, + "compute_height_from_volume": lambda liquid_volume: compute_height_from_volume_rectangle( + liquid_volume=liquid_volume, well_length=well_size_x, well_width=well_size_y + ), + "compute_volume_from_height": lambda liquid_height: compute_volume_from_height_rectangle( + liquid_height=liquid_height, well_length=well_size_x, well_width=well_size_y + ), + "material_z_thickness": 31.4 - 26.85 - 3.55, + } + + return PRCXI9300Plate( + name=name, + size_x=127.76, + size_y=85.48, + size_z=31.4, + lid=None, + model="PRCXI_nest_12_troughplate", + category="plate", + material_info={ + "uuid": "0f1639987b154e1fac78f4fb29a1f7c1", + "Code": "12道储液槽", + "Name": "12道储液槽", + "materialEnum": 0, + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + Well, + num_items_x=12, + num_items_y=1, + dx=14.38 - 8.2 / 2, + dy=(85.48 - 71.2) / 2, + dz=3.55, + item_dx=9.0, + item_dy=9.0, + **well_kwargs, + ), + ) +def PRCXI_CellTreat_96_wellplate(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: ZX-78-096 (细菌培养皿) + 原型: pylabrobot.resources.celltreat.CellTreat_96_wellplate_350ul_Fb + """ + well_kwargs = { + "size_x": 6.96, + "size_y": 6.96, + "size_z": 10.04, + "bottom_type": WellBottomType.FLAT, + "material_z_thickness": 1.75, + "cross_section_type": CrossSectionType.CIRCLE, + "max_volume": 300, + } + + return PRCXI9300Plate( + name=name, + size_x=127.61, + size_y=85.24, + size_z=14.30, + lid=None, + model="PRCXI_CellTreat_96_wellplate", + category="plate", + material_info={ + "uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", + "Code": "ZX-78-096", + "Name": "细菌培养皿", + "materialEnum": 4, + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + Well, + num_items_x=12, + num_items_y=8, + dx=10.83, + dy=7.67, + dz=4.05, + item_dx=9, + item_dy=9, + **well_kwargs, + ), + ) +# ========================================================================= +# 自定义/需测量品 (Custom Measurement) +# ========================================================================= +def PRCXI_10ul_eTips(name: str) -> PRCXI9300TipRack: + """ + 对应 JSON Code: ZX-001-10+ + """ + return PRCXI9300TipRack( + name=name, + size_x=122.11, + size_y=85.48, #修改 + size_z=58.23, + model="PRCXI_10ul_eTips", + material_info={ + "uuid": "068b3815e36b4a72a59bae017011b29f", + "Code": "ZX-001-10+", + "Name": "10μL加长 Tip头", + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + TipSpot, + num_items_x=12, + num_items_y=8, + dx=7.97, #需要修改 + dy=5.0, #需修改 + dz=2.0, #需修改 + item_dx=9.0, + item_dy=9.0, + size_x=7.0, + size_y=7.0, + size_z=0, + make_tip=lambda: _make_tip_helper(volume=10, length=52.0, depth=45.1) + ) + ) +def PRCXI_300ul_Tips(name: str) -> PRCXI9300TipRack: + """ + 对应 JSON Code: ZX-001-300 + 吸头盒通常比较特殊，需要定义 Tip 对象 + """ + return PRCXI9300TipRack( + name=name, + size_x=122.11, + size_y=85.48, #修改 + size_z=58.23, + model="PRCXI_300ul_Tips", + material_info={ + "uuid": "076250742950465b9d6ea29a225dfb00", + "Code": "ZX-001-300", + "Name": "300μL Tip头", + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + TipSpot, + num_items_x=12, + num_items_y=8, + dx=7.97, #需要修改 + dy=5.0, #需修改 + dz=2.0, #需修改 + item_dx=9.0, + item_dy=9.0, + size_x=7.0, + size_y=7.0, + size_z=0, + make_tip=lambda: _make_tip_helper(volume=300, length=60.0, depth=51.0) + ) + ) +def PRCXI_PCR_Plate_200uL_nonskirted(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板) + """ + return PRCXI9300Plate( + name=name, + size_x=119.5, + size_y=80.0, + size_z=26.0, + model="PRCXI_PCR_Plate_200uL_nonskirted", + plate_type="non-skirted", + category="plate", + material_info={ + "uuid": "73bb9b10bc394978b70e027bf45ce2d3", + "Code": "ZX-023-0.2", + "Name": "0.2ml PCR 板", + "materialEnum": 0, + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + Well, + num_items_x=12, + num_items_y=8, + dx=7, + dy=5, + dz=0.0, + item_dx=9, + item_dy=9, + size_x=6, + size_y=6, + size_z=15.17, + bottom_type=WellBottomType.V, + cross_section_type=CrossSectionType.CIRCLE, + ), +) +def PRCXI_PCR_Plate_200uL_semiskirted(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板) + """ + return PRCXI9300Plate( + name=name, + size_x=126, + size_y=86, + size_z=21.2, + model="PRCXI_PCR_Plate_200uL_semiskirted", + plate_type="semi-skirted", + category="plate", + material_info={ + "uuid": "73bb9b10bc394978b70e027bf45ce2d3", + "Code": "ZX-023-0.2", + "Name": "0.2ml PCR 板", + "materialEnum": 0, + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + Well, + num_items_x=12, + num_items_y=8, + dx=11, + dy=8, + dz=0.0, + item_dx=9, + item_dy=9, + size_x=6, + size_y=6, + size_z=15.17, + bottom_type=WellBottomType.V, + cross_section_type=CrossSectionType.CIRCLE, + ), +) +def PRCXI_PCR_Plate_200uL_skirted(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: ZX-023-0.2 (0.2ml PCR 板) + """ + return PRCXI9300Plate( + name=name, + size_x=127.76, + size_y=86, + size_z=16.1, + model="PRCXI_PCR_Plate_200uL_skirted", + plate_type="skirted", + category="plate", + material_info={ + "uuid": "73bb9b10bc394978b70e027bf45ce2d3", + "Code": "ZX-023-0.2", + "Name": "0.2ml PCR 板", + "materialEnum": 0, + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + Well, + num_items_x=12, + num_items_y=8, + dx=11, + dy=8.49, + dz=0.8, + item_dx=9, + item_dy=9, + size_x=6, + size_y=6, + size_z=15.1, + bottom_type=WellBottomType.V, + cross_section_type=CrossSectionType.CIRCLE, + ), +) +def PRCXI_trash(name: str = "trash") -> PRCXI9300Trash: + """ + 对应 JSON Code: q1 (废弃槽) + """ + return PRCXI9300Trash( + name="trash", + size_x=126.59, + size_y=84.87, + size_z=89.5, # 修改 + category="trash", + model="PRCXI_trash", + material_info={ + "uuid": "730067cf07ae43849ddf4034299030e9", + "Code": "q1", + "Name": "废弃槽", + "materialEnum": 0, + "SupplyType": 1 + } + ) +def PRCXI_96_DeepWell(name: str) -> PRCXI9300Plate: + """ + 对应 JSON Code: q2 (96深孔板) + """ + return PRCXI9300Plate( + name=name, + size_x=127.3, + size_y=85.35, + size_z=45.0, #修改 + model="PRCXI_96_DeepWell", + material_info={ + "uuid": "57b1e4711e9e4a32b529f3132fc5931f", # 对应 q2 uuid + "Code": "q2", + "Name": "96深孔板", + "materialEnum": 0 + }, + ordered_items=create_ordered_items_2d( + Well, + num_items_x=12, + num_items_y=8, + dx=10.9, + dy=8.25, + dz=2.0, + item_dx=9.0, + item_dy=9.0, + size_x=8.2, + size_y=8.2, + size_z=42.0, + max_volume=2200 + ) + ) +def PRCXI_EP_Adapter(name: str) -> PRCXI9300TubeRack: + """ + 对应 JSON Code: 1 (ep适配器) + 这是一个 4x6 的 EP 管架，适配 1.5mL/2.0mL 离心管 + """ + ep_tube_prototype = Tube( + name="EP_Tube_1.5mL", + size_x=10.6, + size_y=10.6, + size_z=40.0, # 管子本身的高度，通常比架子孔略高或持平 + max_volume=1500, + model="EP_Tube_1.5mL" + ) + + # 计算 PRCXI9300TubeRack 中孔的起始位置 dx, dy + dy_calc = 85.8 - 10.5 - (3 * 18) - 10.6 + dx_calc = 3.54 + return PRCXI9300TubeRack( + name=name, + size_x=128.04, + size_y=85.8, + size_z=42.66, + model="PRCXI_EP_Adapter", + category="tube_rack", + material_info={ + "uuid": "e146697c395e4eabb3d6b74f0dd6aaf7", + "Code": "1", + "Name": "ep适配器", + "materialEnum": 0, + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + Tube, + num_items_x=6, + num_items_y=4, + dx=dx_calc, + dy=dy_calc, + dz=42.66 - 38.08, # 架高 - 孔深 + item_dx=21.0, + item_dy=18.0, + size_x=10.6, + size_y=10.6, + size_z=40.0, + max_volume=1500 + ) + ) +# ========================================================================= +# 无实物，需要测量 +# ========================================================================= +def PRCXI_Tip1250_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ Code: ZX-58-1250 """ + return PRCXI9300PlateAdapter( + name=name, + size_x=128, + size_y=85, + size_z=20, + material_info={ + "uuid": "3b6f33ffbf734014bcc20e3c63e124d4", + "Code": "ZX-58-1250", + "Name": "Tip头适配器 1250uL", + "SupplyType": 2 + } + ) +def PRCXI_Tip300_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ Code: ZX-58-300 """ + return PRCXI9300PlateAdapter( + name=name, + size_x=127, + size_y=85, + size_z=81, + material_info={ + "uuid": "7c822592b360451fb59690e49ac6b181", + "Code": "ZX-58-300", + "Name": "ZHONGXI 适配器 300uL", + "SupplyType": 2 + } + ) +def PRCXI_Tip10_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ Code: ZX-58-10 """ + return PRCXI9300PlateAdapter( + name=name, + size_x=128, + size_y=85, + size_z=72.3, + material_info={ + "uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", + "Code": "ZX-58-10", + "Name": "吸头10ul 适配器", + "SupplyType": 2 + } + ) +def PRCXI_1250uL_Tips(name: str) -> PRCXI9300TipRack: + """ Code: ZX-001-1250 """ + return PRCXI9300TipRack( + name=name, + size_x=118.09, + size_y=80.7, + size_z=107.67, + model="PRCXI_1250uL_Tips", + material_info={ + "uuid": "7960f49ddfe9448abadda89bd1556936", + "Code": "ZX-001-1250", + "Name": "1250μL Tip头", + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + TipSpot, + num_items_x=12, + num_items_y=8, + dx=9.545 - 7.95/2, + dy=8.85 - 7.95/2, + dz=2.0, + item_dx=9, + item_dy=9, + size_x=7.0, + size_y=7.0, + size_z=0, + make_tip=lambda: _make_tip_helper(volume=1250, length=107.67, depth=8) + ) + ) +def PRCXI_10uL_Tips(name: str) -> PRCXI9300TipRack: + """ Code: ZX-001-10 """ + return PRCXI9300TipRack( + name=name, + size_x=120.98, + size_y=82.12, + size_z=67, + model="PRCXI_10uL_Tips", + material_info={ + "uuid": "45f2ed3ad925484d96463d675a0ebf66", + "Code": "ZX-001-10", + "Name": "10μL Tip头", + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + TipSpot, + num_items_x=12, + num_items_y=8, + dx=10.99 - 5/2, + dy=9.56 - 5/2, + dz=2.0, + item_dx=9, + item_dy=9, + size_x=7.0, + size_y=7.0, + size_z=0, + make_tip=lambda: _make_tip_helper(volume=1250, length=52.0, depth=5) + ) + ) +def PRCXI_1000uL_Tips(name: str) -> PRCXI9300TipRack: + """ Code: ZX-001-1000 """ + return PRCXI9300TipRack( + name=name, + size_x=128.09, + size_y=85.8, + size_z=98, + model="PRCXI_1000uL_Tips", + material_info={ + "uuid": "80652665f6a54402b2408d50b40398df", + "Code": "ZX-001-1000", + "Name": "1000μL Tip头", + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + TipSpot, + num_items_x=12, + num_items_y=8, + dx=14.5 - 7.95/2, + dy=7.425, + dz=2.0, + item_dx=9, + item_dy=9, + size_x=7.0, + size_y=7.0, + size_z=0, + make_tip=lambda: _make_tip_helper(volume=1000, length=55.0, depth=8) + ) + ) +def PRCXI_200uL_Tips(name: str) -> PRCXI9300TipRack: + """ Code: ZX-001-200 """ + return PRCXI9300TipRack( + name=name, + size_x=120.98, + size_y=82.12, + size_z=66.9, + model="PRCXI_200uL_Tips", + material_info={ + "uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", + "Code": "ZX-001-200", + "Name": "200μL Tip头", + "SupplyType": 1}, + ordered_items=create_ordered_items_2d( + TipSpot, + num_items_x=12, + num_items_y=8, + dx=10.99 - 5.5/2, + dy=9.56 - 5.5/2, + dz=2.0, + item_dx=9, + item_dy=9, + size_x=7.0, + size_z=0, + size_y=7.0, + make_tip=lambda: _make_tip_helper(volume=200, length=52.0, depth=5) + ) + ) +def PRCXI_PCR_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ + 对应 JSON Code: ZX-58-0001 (全裙边 PCR适配器) + """ + return PRCXI9300PlateAdapter( + name=name, + size_x=127.76, + size_y=85.48, + size_z=21.69, + model="PRCXI_PCR_Adapter", + material_info={ + "uuid": "4a043a07c65a4f9bb97745e1f129b165", + "Code": "ZX-58-0001", + "Name": "全裙边 PCR适配器", + "materialEnum": 3, + "SupplyType": 2 + } + ) +def PRCXI_Reservoir_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ Code: ZX-ADP-001 """ + return PRCXI9300PlateAdapter( + name=name, + size_x=133, + size_y=91.8, + size_z=70, + material_info={ + "uuid": "6bdfdd7069df453896b0806df50f2f4d", + "Code": "ZX-ADP-001", + "Name": "储液槽 适配器", + "SupplyType": 2 + } + ) +def PRCXI_Deep300_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ Code: ZX-002-300 """ + return PRCXI9300PlateAdapter( + name=name, + size_x=136.4, + size_y=93.8, + size_z=96, + material_info={ + "uuid": "9a439bed8f3344549643d6b3bc5a5eb4", + "Code": "ZX-002-300", + "Name": "300ul深孔板适配器", + "SupplyType": 2 + } + ) +def PRCXI_Deep10_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ Code: ZX-002-10 """ + return PRCXI9300PlateAdapter( + name=name, + size_x=136.5, + size_y=93.8, + size_z=121.5, + material_info={ + "uuid": "4dc8d6ecfd0449549683b8ef815a861b", + "Code": "ZX-002-10", + "Name": "10ul专用深孔板适配器", + "SupplyType": 2 + } + ) +def PRCXI_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ Code: Fhh478 """ + return PRCXI9300PlateAdapter( + name=name, + size_x=120, + size_y=90, + size_z=86, + material_info={ + "uuid": "adfabfffa8f24af5abfbba67b8d0f973", + "Code": "Fhh478", + "Name": "适配器", + "SupplyType": 2 + } + ) +def PRCXI_48_DeepWell(name: str) -> PRCXI9300Plate: + """ Code: 22 (48孔深孔板) """ + print("Warning: Code '22' (48孔深孔板) dimensions are null in JSON.") + return PRCXI9300Plate( + name=name, + size_x=127, + size_y=85, + size_z=44, + model="PRCXI_48_DeepWell", + material_info={ + "uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", + "Code": "22", + "Name": "48孔深孔板", + "SupplyType": 1 + }, + ordered_items=create_ordered_items_2d( + Well, + num_items_x=6, + num_items_y=8, + dx=10, + dy=10, + dz=1, + item_dx=18.5, + item_dy=9, + size_x=8, + size_y=8, + size_z=40 + ) + ) +def PRCXI_30mm_Adapter(name: str) -> PRCXI9300PlateAdapter: + """ Code: ZX-58-30 """ + return PRCXI9300PlateAdapter( + name=name, + size_x=132, + size_y=93.5, + size_z=30, + material_info={ + "uuid": "a0757a90d8e44e81a68f306a608694f2", + "Code": "ZX-58-30", + "Name": "30mm适配器", + "SupplyType": 2 + } + ) \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_material.json b/unilabos/devices/liquid_handling/prcxi/prcxi_material.json deleted file mode 100644 index 8401e86..0000000 --- a/unilabos/devices/liquid_handling/prcxi/prcxi_material.json +++ /dev/null @@ -1,31 +0,0 @@ -{ - "Tip头适配器 1250uL": {"uuid": "3b6f33ffbf734014bcc20e3c63e124d4", "materialEnum": "0"}, - "ZHONGXI 适配器 300uL": {"uuid": "7c822592b360451fb59690e49ac6b181", "materialEnum": "0"}, - "吸头10ul 适配器": {"uuid": "8cc3dce884ac41c09f4570d0bcbfb01c", "materialEnum": "0"}, - "1250μL Tip头": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"}, - "10μL Tip头": {"uuid": "45f2ed3ad925484d96463d675a0ebf66", "materialEnum": "0"}, - "10μL加长 Tip头": {"uuid": "068b3815e36b4a72a59bae017011b29f", "materialEnum": "1"}, - "1000μL Tip头": {"uuid": "80652665f6a54402b2408d50b40398df", "materialEnum": "1"}, - "300μL Tip头": {"uuid": "076250742950465b9d6ea29a225dfb00", "materialEnum": "1"}, - "200μL Tip头": {"uuid": "7a73bb9e5c264515a8fcbe88aed0e6f7", "materialEnum": "0"}, - "0.2ml PCR板": {"uuid": "73bb9b10bc394978b70e027bf45ce2d3", "materialEnum": "0"}, - "2.2ml 深孔板": {"uuid": "ca877b8b114a4310b429d1de4aae96ee", "materialEnum": "0"}, - "储液槽": {"uuid": "04211a2dc93547fe9bf6121eac533650", "materialEnum": "0"}, - "全裙边 PCR适配器": {"uuid": "4a043a07c65a4f9bb97745e1f129b165", "materialEnum": "3"}, - "储液槽 适配器": {"uuid": "6bdfdd7069df453896b0806df50f2f4d", "materialEnum": "0"}, - "300ul深孔板适配器": {"uuid": "9a439bed8f3344549643d6b3bc5a5eb4", "materialEnum": "0"}, - "10ul专用深孔板适配器": {"uuid": "4dc8d6ecfd0449549683b8ef815a861b", "materialEnum": "0"}, - "爱津": {"uuid": "b01627718d3341aba649baa81c2c083c", "materialEnum": "0"}, - "适配器": {"uuid": "adfabfffa8f24af5abfbba67b8d0f973", "materialEnum": "0"}, - "废弃槽": {"uuid": "730067cf07ae43849ddf4034299030e9", "materialEnum": "0"}, - "96深孔板": {"uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"}, - "384板": {"uuid": "853dcfb6226f476e8b23c250217dc7da", "materialEnum": "0"}, - "4道储液槽": {"uuid": "01953864f6f140ccaa8ddffd4f3e46f5", "materialEnum": "0"}, - "48孔深孔板": {"uuid": "026c5d5cf3d94e56b4e16b7fb53a995b", "materialEnum": "2"}, - "12道储液槽": {"uuid": "0f1639987b154e1fac78f4fb29a1f7c1", "materialEnum": "0"}, - "HPLC料盘": {"uuid": "548bbc3df0d4447586f2c19d2c0c0c55", "materialEnum": "0"}, - "ep适配器": {"uuid": "e146697c395e4eabb3d6b74f0dd6aaf7", "materialEnum": "0"}, - "30mm适配器": {"uuid": "a0757a90d8e44e81a68f306a608694f2", "materialEnum": "0"}, - "细菌培养皿": {"uuid": "b05b3b2aafd94ec38ea0cd3215ecea8f", "materialEnum": "4"}, - "96 细胞培养皿":{ "uuid": "57b1e4711e9e4a32b529f3132fc5931f", "materialEnum": "0"} -} \ No newline at end of file diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_materials.py b/unilabos/devices/liquid_handling/prcxi/prcxi_materials.py deleted file mode 100644 index 097ee0a..0000000 --- a/unilabos/devices/liquid_handling/prcxi/prcxi_materials.py +++ /dev/null @@ -1,21 +0,0 @@ -import collections -import json -from pathlib import Path - -from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container - - -prcxi_materials_path = str(Path(__file__).parent / "prcxi_material.json") -with open(prcxi_materials_path, mode="r", encoding="utf-8") as f: - prcxi_materials = json.loads(f.read()) - - -def tip_adaptor_1250ul(name="Tip头适配器 1250uL") -> PRCXI9300Container: # 必须传入一个name参数，是plr的规范要求 - # tip_rack = PRCXI9300Container(name, prcxi_materials["name"]["Height"]) - tip_rack = PRCXI9300Container(name, 1000,400,800, "tip_rack", collections.OrderedDict()) - tip_rack.load_state({ - "Materials": {"uuid": "7960f49ddfe9448abadda89bd1556936", "materialEnum": "0"} - }) - return tip_rack - - diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi_res.py b/unilabos/devices/liquid_handling/prcxi/prcxi_res.py deleted file mode 100644 index b786d3a..0000000 --- a/unilabos/devices/liquid_handling/prcxi/prcxi_res.py +++ /dev/null @@ -1,44 +0,0 @@ -import collections - -from pylabrobot.resources import opentrons_96_tiprack_10ul -from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep - -from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash - - -def get_well_container(name: str) -> PRCXI9300Container: - well_containers = corning_96_wellplate_360ul_flat(name).serialize() - plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate", - ordering=collections.OrderedDict()) - plate_serialized = plate.serialize() - well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]}) - new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers) - return new_plate - -def get_tip_rack(name: str) -> 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()) - tip_rack_serialized = tip_rack.serialize() - tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]}) - new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks) - return new_tip_rack - -def prcxi_96_wellplate_360ul_flat(name: str): - return get_well_container(name) - -def prcxi_opentrons_96_tiprack_10ul(name: str): - return get_tip_rack(name) - -def prcxi_trash(name: str = None): - return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash") - -if __name__ == "__main__": - # Example usage - test_plate = prcxi_96_wellplate_360ul_flat("test_plate") - test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack") - tash = prcxi_trash("trash") - print(test_plate) - print(test_rack) - print(tash) - # Output will be a dictionary representation of the PRCXI9300Container with well details \ No newline at end of file diff --git a/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md b/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md new file mode 100644 index 0000000..21826df --- /dev/null +++ b/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_CN.md @@ -0,0 +1,560 @@ +# 新威电池测试系统 - OSS 上传功能说明 + +## 功能概述 + +本次更新为新威电池测试系统添加了**阿里云 OSS 文件上传功能**，采用统一的 API 方式，允许将测试数据备份文件上传到云端存储。 + +## 版本更新说明 + +### ⚠️ 重大变更（2025-12-17） + +本次更新将 OSS 上传方式从 **`oss2` 库** 改为 **统一 API 方式**，实现与团队其他系统的统一。 + +**主要变化**： +- ✅ 用 `requests` 库 +- ✅ 通过统一 API 获取预签名 URL 进行上传 +- ✅ 简化环境变量配置（仅需要 JWT Token） +- ✅ 返回文件访问 URL + +## 主要改动 + +### 1. OSS 上传工具函数重构（第30-200行） + +#### 新增函数 + +- **`get_upload_token(base_url, auth_token, scene, filename)`** + 从统一 API 获取文件上传的预签名 URL + +- **`upload_file_with_presigned_url(upload_info, file_path)`** + 使用预签名 URL 上传文件到 OSS + +#### 更新的函数 + +- **`upload_file_to_oss(local_file_path, oss_object_name)`** + 上传单个文件到阿里云 OSS（使用统一 API 方式） + - 返回值变更：成功时返回文件访问 URL，失败时返回 `False` + +- **`upload_files_to_oss(file_paths, oss_prefix)`** + 批量上传文件列表 + - `oss_prefix` 参数保留但暂不使用（接口兼容性） + +- **`upload_directory_to_oss(local_dir, oss_prefix)`** + 上传整个目录 + - 简化实现，直接使用文件名上传 + +### 2. 环境变量配置简化 + +#### 新方式（推荐） +```bash +# ✅ 必需 +UNI_LAB_AUTH_TOKEN # API Key 格式: "Api xxxxxx" + +# ✅ 可选（有默认值） +UNI_LAB_BASE_URL (默认: https://uni-lab.test.bohrium.com) +UNI_LAB_UPLOAD_SCENE (默认: job，其他值会被改成 default) +``` + +### 3. 初始化方法（保持不变） + +`__init__` 方法中的 OSS 相关配置参数： + +```python +# OSS 上传配置 +self.oss_upload_enabled = False # 默认不启用 OSS 上传 +self.oss_prefix = "neware_backup" # OSS 对象路径前缀 +self._last_backup_dir = None # 记录最近一次的 backup_dir +``` + +**默认行为**：OSS 上传功能默认关闭（`oss_upload_enabled=False`），不影响现有系统。 + +### 4. upload_backup_to_oss 方法（保持不变） + +```python +def upload_backup_to_oss( + self, + backup_dir: str = None, + file_pattern: str = "*", + oss_prefix: str = None +) -> dict +``` + +## 使用说明 + +### 前置条件 + +#### 1. 安装依赖 + +```bash +# requests 库（通常已安装） +pip install requests +``` + +#### 2. 配置环境变量 + +根据您使用的终端类型配置环境变量： + +##### PowerShell（推荐） + +```powershell +# 必需：设置认证 Token（API Key 格式） +$env:UNI_LAB_AUTH_TOKEN = "Api xxxx" + +# 可选：自定义服务器地址（默认为 test 环境） +$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com" + +# 可选：自定义上传场景（默认为 job） +$env:UNI_LAB_UPLOAD_SCENE = "job" + +# 验证是否设置成功 +echo $env:UNI_LAB_AUTH_TOKEN +``` + +##### CMD / 命令提示符 + +```cmd +REM 必需：设置认证 Token（API Key 格式） +set UNI_LAB_AUTH_TOKEN=Api xxxx + +REM 可选：自定义配置 +set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com +set UNI_LAB_UPLOAD_SCENE=job + +REM 验证是否设置成功 +echo %UNI_LAB_AUTH_TOKEN% +``` + +##### Linux/Mac + +```bash +# 必需：设置认证 Token（API Key 格式） +export UNI_LAB_AUTH_TOKEN="Api xxxx" + +# 可选：自定义配置 +export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com" +export UNI_LAB_UPLOAD_SCENE="job" + +# 验证是否设置成功 +echo $UNI_LAB_AUTH_TOKEN +``` + +#### 3. 获取认证 Token + +> **重要**：从 Uni-Lab 主页 → 账号安全 中获取 API Key。 + +**获取步骤**： +1. 登录 Uni-Lab 系统 +2. 进入主页 → 账号安全 +3. 复制 API Key + +Token 格式示例： +``` +Api 48ccxx336fba44f39e1e37db93xxxxx +``` + +> **提示**： +> - 如果 Token 已经包含 `Api ` 前缀，直接使用 +> - 如果没有前缀，代码会自动添加 `Api ` 前缀 +> - 旧版 `Bearer` JWT Token 格式仍然兼容 + +#### 4. 持久化配置（可选） + +**临时配置**：上述命令设置的环境变量只在当前终端会话中有效。 + +**持久化方式 1：PowerShell 配置文件** +```powershell +# 编辑 PowerShell 配置文件 +notepad $PROFILE + +# 在打开的文件中添加： +$env:UNI_LAB_AUTH_TOKEN = "Api 你的API_Key" +``` + +**持久化方式 2：Windows 系统环境变量** +- 右键"此电脑" → "属性" → "高级系统设置" → "环境变量" +- 添加用户变量或系统变量： + - 变量名：`UNI_LAB_AUTH_TOKEN` + - 变量值：`Api 你的API_Key` + +### 使用流程 + +#### 步骤 1：启用 OSS 上传功能 + +**推荐方式：在 `device.json` 中配置** + +编辑设备配置文件 `unilabos/devices/neware_battery_test_system/device.json`，在 `config` 中添加： + +```json +{ + "nodes": [ + { + "id": "NEWARE_BATTERY_TEST_SYSTEM", + "config": { + "ip": "127.0.0.1", + "port": 502, + "machine_id": 1, + "oss_upload_enabled": true, + "oss_prefix": "neware_backup/2025-12" + } + } + ] +} +``` + +**参数说明**： +- `oss_upload_enabled`: 设置为 `true` 启用 OSS 上传 +- `oss_prefix`: OSS 文件路径前缀，建议按日期或项目组织（暂时未使用，保留接口兼容性） + +**其他方式：通过初始化参数** + +```python +device = NewareBatteryTestSystem( + ip="127.0.0.1", + port=502, + oss_upload_enabled=True, # 启用 OSS 上传 + oss_prefix="neware_backup/2025-12" # 可选：自定义路径前缀 +) +``` + +**配置完成后，重启 ROS 节点使配置生效。** + +#### 步骤 2：提交测试任务 + +使用 `submit_from_csv` 提交测试任务： + +```python +result = device.submit_from_csv( + csv_path="test_data.csv", + output_dir="D:/neware_output" +) +``` + +此时会创建以下目录结构： +``` +D:/neware_output/ +├── xml_dir/ # XML 配置文件 +└── backup_dir/ # 测试数据备份（由新威设备生成） +``` + +#### 步骤 3：等待测试完成 + +等待新威设备完成测试，备份文件会生成到 `backup_dir` 中。 + +#### 步骤 4：上传备份文件到 OSS + +**方法 A：使用默认设置（推荐）** +```python +# 自动使用最近一次的 backup_dir，上传所有文件 +result = device.upload_backup_to_oss() +``` + +**方法 B：指定备份目录** +```python +# 手动指定备份目录 +result = device.upload_backup_to_oss( + backup_dir="D:/neware_output/backup_dir" +) +``` + +**方法 C：筛选特定文件** +```python +# 仅上传 CSV 文件 +result = device.upload_backup_to_oss( + backup_dir="D:/neware_output/backup_dir", + file_pattern="*.csv" +) + +# 仅上传特定电池编号的文件 +result = device.upload_backup_to_oss( + file_pattern="Battery_A001_*.nda" +) +``` + +### 返回结果示例 + +**成功上传所有文件**： +```python +{ + "return_info": "全部上传成功: 15/15 个文件", + "success": True, + "uploaded_count": 15, + "total_count": 15, + "failed_files": [], + "uploaded_files": [ + { + "filename": "Battery_A001.ndax", + "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax" + }, + { + "filename": "Battery_A002.ndax", + "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax" + } + # ... 其他 13 个文件 + ] +} +``` + +**部分上传成功**： +```python +{ + "return_info": "部分上传成功: 12/15 个文件，失败 3 个", + "success": True, + "uploaded_count": 12, + "total_count": 15, + "failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"], + "uploaded_files": [ + { + "filename": "Battery_A001.ndax", + "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax" + }, + { + "filename": "Battery_A002.ndax", + "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax" + } + # ... 其他 10 个成功上传的文件 + ] +} +``` + +> **说明**：`uploaded_files` 字段包含所有成功上传文件的详细信息： +> - `filename`: 文件名（不含路径） +> - `url`: 文件在 OSS 上的完整访问 URL + +## 错误处理 + +### OSS 上传未启用 + +如果 `oss_upload_enabled=False`，调用 `upload_backup_to_oss` 会返回： +```python +{ + "return_info": "OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: ...", + "success": False, + "uploaded_count": 0, + "total_count": 0, + "failed_files": [] +} +``` + +**解决方法**：设置 `device.oss_upload_enabled = True` + +### 环境变量未配置 + +如果缺少 `UNI_LAB_AUTH_TOKEN`，会返回： +```python +{ + "return_info": "OSS 环境变量配置错误: 请设置环境变量: UNI_LAB_AUTH_TOKEN", + "success": False, + ... +} +``` + +**解决方法**：按照前置条件配置环境变量 + +### 备份目录不存在 + +如果指定的备份目录不存在，会返回： +```python +{ + "return_info": "备份目录不存在: D:/neware_output/backup_dir", + "success": False, + ... +} +``` + +**解决方法**：检查目录路径是否正确，或等待测试生成备份文件 + +### API 认证失败 + +如果 Token 无效或过期，会返回： +```python +{ + "return_info": "获取凭证失败: 认证失败", + "success": False, + ... +} +``` + +**解决方法**：检查 Token 是否正确，或联系开发团队获取新 Token + +## 技术细节 + +### OSS 上传流程（新方式） + +```mermaid +flowchart TD + A[开始上传] --> B[验证配置和环境变量] + B --> C[扫描备份目录] + C --> D[筛选符合 pattern 的文件] + D --> E[遍历每个文件] + E --> F[调用 API 获取预签名 URL] + F --> G{获取成功?} + G -->|是| H[使用预签名 URL 上传文件] + G -->|否| I[记录失败] + H --> J{上传成功?} + J -->|是| K[记录成功 + 文件 URL] + J -->|否| I + I --> L{还有文件?} + K --> L + L -->|是| E + L -->|否| M[返回统计结果] +``` + +### 上传 API 流程 + +1. **获取预签名 URL** + - 请求：`GET /api/v1/applications/token?scene={scene}&filename={filename}` + - 认证：`Authorization: Bearer {token}` + - 响应：`{code: 0, data: {url: "预签名URL", path: "文件路径"}}` + +2. **上传文件** + - 请求：`PUT {预签名URL}` + - 内容：文件二进制数据 + - 响应：HTTP 200 表示成功 + +3. **生成访问 URL** + - 格式：`https://{OSS_PUBLIC_HOST}/{path}` + - 示例：`https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv` + +### 日志记录 + +所有上传操作都会通过 ROS 日志系统记录： +- `INFO` 级别：上传进度和成功信息 +- `WARNING` 级别：空目录、未启用等警告 +- `ERROR` 级别：上传失败、配置错误 + +## 注意事项 + +1. **上传时机**：`backup_dir` 中的文件是在新威设备执行测试过程中实时生成的，请确保测试已完成再上传。 + +2. **文件命名**：上传到 OSS 的文件会保留原始文件名，路径由统一 API 分配。 + +3. **网络要求**：上传需要稳定的网络连接到阿里云 OSS 服务。 + +4. **Token 有效期**：JWT Token 有过期时间，过期后需要重新获取。 + +5. **成本考虑**：OSS 存储和流量会产生费用，请根据需要合理设置文件筛选规则。 + +6. **并发上传**：当前实现为串行上传，大量文件上传可能需要较长时间。 + +7. **文件大小限制**：请注意单个文件大小是否有上传限制（由统一 API 控制）。 + +## 兼容性 + +- ✅ **向后兼容**：默认 `oss_upload_enabled=False`，不影响现有系统 +- ✅ **可选功能**：仅在需要时启用 +- ✅ **独立操作**：上传失败不会影响测试任务的提交和执行 +- ⚠️ **环境变量变更**：需要更新环境变量配置（从 OSS AK/SK 改为 JWT Token） + +## 迁移指南 + +如果您之前使用 `oss2` 库方式，请按以下步骤迁移： + +### 1. 卸载旧依赖（可选） +```bash +pip uninstall oss2 +``` + +### 2. 删除旧环境变量 +```powershell +# PowerShell +Remove-Item Env:\OSS_ACCESS_KEY_ID +Remove-Item Env:\OSS_ACCESS_KEY_SECRET +Remove-Item Env:\OSS_BUCKET_NAME +Remove-Item Env:\OSS_ENDPOINT +``` + +### 3. 设置新环境变量 +```powershell +# PowerShell +$env:UNI_LAB_AUTH_TOKEN = "Bearer 你的token..." +``` + +### 4. 测试上传功能 +```python +# 验证上传是否正常工作 +result = device.upload_backup_to_oss(backup_dir="测试目录") +print(result) +``` + +## 常见问题 + +**Q: 为什么要从 `oss2` 改为统一 API？** +A: 为了与团队其他系统保持一致，简化配置，并统一认证方式。 + +**Q: Token 在哪里获取？** +A: 请联系开发团队获取有效的 JWT Token。 + +**Q: Token 过期了怎么办？** +A: 重新获取新的 Token 并更新环境变量 `UNI_LAB_AUTH_TOKEN`。 + +**Q: 可以自定义上传路径吗？** +A: 当前版本路径由统一 API 自动分配，`oss_prefix` 参数暂不使用（保留接口兼容性）。 + +**Q: 为什么不在 `submit_from_csv` 中自动上传？** +A: 因为备份文件在测试进行中逐步生成，方法返回时可能文件尚未完全生成，因此提供独立的上传方法更灵活。 + +**Q: 上传后如何访问文件？** +A: 上传成功后会返回文件访问 URL，格式为 `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}` + +**Q: 如何删除已上传的文件？** +A: 需要通过 OSS 控制台或 API 操作，本功能仅负责上传。 + +## 验证上传结果 + +### 方法1：通过阿里云控制台查看 + +1. 登录 [阿里云 OSS 控制台](https://oss.console.aliyun.com/) +2. 点击左侧 **Bucket列表** +3. 选择 `uni-lab-test` Bucket +4. 点击 **文件管理** +5. 查看上传的文件列表 + +### 方法2：使用返回的文件 URL + +上传成功后，`upload_file_to_oss()` 会返回文件访问 URL： +```python +url = upload_file_to_oss("local_file.csv") +print(f"文件访问 URL: {url}") +# 输出示例：https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv +``` + +> **注意**：OSS 文件默认为私有访问，直接访问 URL 可能需要签名认证。 + +### 方法3：使用 ossutil 命令行工具 + +安装 [ossutil](https://help.aliyun.com/document_detail/120075.html) 后： + +```bash +# 列出文件 +ossutil ls oss://uni-lab-test/job/ + +# 下载文件到本地 +ossutil cp oss://uni-lab-test/job/20251217/文件名 ./本地路径 + +# 生成签名URL（有效期1小时） +ossutil sign oss://uni-lab-test/job/20251217/文件名 --timeout 3600 +``` + +## 更新日志 + +- **2025-12-17**: v2.0（重大更新） + - ⚠️ 从 `oss2` 库改为统一 API 方式 + - 简化环境变量配置（仅需 JWT Token） + - 新增 `get_upload_token()` 和 `upload_file_with_presigned_url()` 函数 + - `upload_file_to_oss()` 返回值改为文件访问 URL + - 更新文档和迁移指南 + +- **2025-12-15**: v1.1 + - 添加初始化参数 `oss_upload_enabled` 和 `oss_prefix` + - 支持在 `device.json` 中配置 OSS 上传 + - 更新使用说明，添加验证方法 + +- **2025-12-13**: v1.0 初始版本 + - 添加 OSS 上传工具函数（基于 `oss2` 库） + - 创建 `upload_backup_to_oss` 动作方法 + - 支持文件筛选和自定义 OSS 路径 + +## 参考资料 + +- [Uni-Lab 统一文件上传 API 文档](https://uni-lab.test.bohrium.com/api/docs)（如有） +- [阿里云 OSS 控制台](https://oss.console.aliyun.com/) +- [ossutil 工具文档](https://help.aliyun.com/document_detail/120075.html) diff --git a/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md b/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md new file mode 100644 index 0000000..e989c64 --- /dev/null +++ b/unilabos/devices/neware_battery_test_system/OSS_UPLOAD_README_EN.md @@ -0,0 +1,574 @@ +# Neware Battery Test System - OSS Upload Feature + +## Overview + +This update adds **Aliyun OSS file upload functionality** to the Neware Battery Test System using a unified API approach, allowing test data backup files to be uploaded to cloud storage. + +## Version Updates + +### ⚠️ Breaking Changes (2025-12-17) + +This update changes the OSS upload method from **`oss2` library** to **unified API approach** to align with other team systems. + +**Main Changes**: +- ✅ Use `requests` library +- ✅ Upload via presigned URLs obtained through unified API +- ✅ Simplified environment variable configuration (only API Key required) +- ✅ Returns file access URLs + +## Main Changes + +### 1. OSS Upload Functions Refactored (Lines 30-200) + +#### New Functions + +- **`get_upload_token(base_url, auth_token, scene, filename)`** + Obtain presigned URL for file upload from unified API + +- **`upload_file_with_presigned_url(upload_info, file_path)`** + Upload file to OSS using presigned URL + +#### Updated Functions + +- **`upload_file_to_oss(local_file_path, oss_object_name)`** + Upload single file to Aliyun OSS (using unified API approach) + - Return value changed: returns file access URL on success, `False` on failure + +- **`upload_files_to_oss(file_paths, oss_prefix)`** + Batch upload file list + - `oss_prefix` parameter retained but not used (interface compatibility) + +- **`upload_directory_to_oss(local_dir, oss_prefix)`** + Upload entire directory + - Simplified implementation, uploads using filenames directly + +### 2. Simplified Environment Variable Configuration + +#### Old Method (Deprecated) +```bash +# ❌ No longer used +OSS_ACCESS_KEY_ID +OSS_ACCESS_KEY_SECRET +OSS_BUCKET_NAME +OSS_ENDPOINT +``` + +#### New Method (Recommended) +```bash +# ✅ Required +UNI_LAB_AUTH_TOKEN # API Key format: "Api xxxxxx" + +# ✅ Optional (with defaults) +UNI_LAB_BASE_URL (default: https://uni-lab.test.bohrium.com) +UNI_LAB_UPLOAD_SCENE (default: job, other values will be changed to default) +``` + +### 3. Initialization Method (Unchanged) + +OSS-related configuration parameters in `__init__` method: + +```python +# OSS upload configuration +self.oss_upload_enabled = False # OSS upload disabled by default +self.oss_prefix = "neware_backup" # OSS object path prefix +self._last_backup_dir = None # Record last backup_dir +``` + +**Default Behavior**: OSS upload is disabled by default (`oss_upload_enabled=False`), does not affect existing systems. + +### 4. upload_backup_to_oss Method (Unchanged) + +```python +def upload_backup_to_oss( + self, + backup_dir: str = None, + file_pattern: str = "*", + oss_prefix: str = None +) -> dict +``` + +## Usage Guide + +### Prerequisites + +#### 1. Install Dependencies + +```bash +# requests library (usually pre-installed) +pip install requests +``` + +> **Note**: No longer need to install `oss2` library + +#### 2. Configure Environment Variables + +Configure environment variables based on your terminal type: + +##### PowerShell (Recommended) + +```powershell +# Required: Set authentication Token (API Key format) +$env:UNI_LAB_AUTH_TOKEN = "Api xxxx" + +# Optional: Custom server URL (defaults to test environment) +$env:UNI_LAB_BASE_URL = "https://uni-lab.test.bohrium.com" + +# Optional: Custom upload scene (defaults to job) +$env:UNI_LAB_UPLOAD_SCENE = "job" + +# Verify if set successfully +echo $env:UNI_LAB_AUTH_TOKEN +``` + +##### CMD / Command Prompt + +```cmd +REM Required: Set authentication Token (API Key format) +set UNI_LAB_AUTH_TOKEN=Api xxxx + +REM Optional: Custom configuration +set UNI_LAB_BASE_URL=https://uni-lab.test.bohrium.com +set UNI_LAB_UPLOAD_SCENE=job + +REM Verify if set successfully +echo %UNI_LAB_AUTH_TOKEN% +``` + +##### Linux/Mac + +```bash +# Required: Set authentication Token (API Key format) +export UNI_LAB_AUTH_TOKEN="Api xxxx" + +# Optional: Custom configuration +export UNI_LAB_BASE_URL="https://uni-lab.test.bohrium.com" +export UNI_LAB_UPLOAD_SCENE="job" + +# Verify if set successfully +echo $UNI_LAB_AUTH_TOKEN +``` + +#### 3. Obtain Authentication Token + +> **Important**: Obtain API Key from Uni-Lab Homepage → Account Security. + +**Steps to Obtain**: +1. Login to Uni-Lab system +2. Go to Homepage → Account Security +3. Copy your API Key + +Token format example: +``` +Api 48ccxx336fba44f39e1e37db93xxxxx +``` + +> **Tips**: +> - If Token already includes `Api ` prefix, use directly +> - If no prefix, code will automatically add `Api ` prefix +> - Old `Bearer` JWT Token format is still compatible + +#### 4. Persistent Configuration (Optional) + +**Temporary Configuration**: Environment variables set with the above commands are only valid for the current terminal session. + +**Persistence Method 1: PowerShell Profile** +```powershell +# Edit PowerShell profile +notepad $PROFILE + +# Add to the opened file: +$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key" +``` + +**Persistence Method 2: Windows System Environment Variables** +- Right-click "This PC" → "Properties" → "Advanced system settings" → "Environment Variables" +- Add user or system variable: + - Variable name: `UNI_LAB_AUTH_TOKEN` + - Variable value: `Api your_API_Key` + +### Usage Workflow + +#### Step 1: Enable OSS Upload Feature + +**Recommended: Configure in `device.json`** + +Edit device configuration file `unilabos/devices/neware_battery_test_system/device.json`, add to `config`: + +```json +{ + "nodes": [ + { + "id": "NEWARE_BATTERY_TEST_SYSTEM", + "config": { + "ip": "127.0.0.1", + "port": 502, + "machine_id": 1, + "oss_upload_enabled": true, + "oss_prefix": "neware_backup/2025-12" + } + } + ] +} +``` + +**Parameter Description**: +- `oss_upload_enabled`: Set to `true` to enable OSS upload +- `oss_prefix`: OSS file path prefix, recommended to organize by date or project (currently unused, retained for interface compatibility) + +**Alternative: Via Initialization Parameters** + +```python +device = NewareBatteryTestSystem( + ip="127.0.0.1", + port=502, + oss_upload_enabled=True, # Enable OSS upload + oss_prefix="neware_backup/2025-12" # Optional: custom path prefix +) +``` + +**After configuration, restart the ROS node for changes to take effect.** + +#### Step 2: Submit Test Tasks + +Use `submit_from_csv` to submit test tasks: + +```python +result = device.submit_from_csv( + csv_path="test_data.csv", + output_dir="D:/neware_output" +) +``` + +This creates the following directory structure: +``` +D:/neware_output/ +├── xml_dir/ # XML configuration files +└── backup_dir/ # Test data backup (generated by Neware device) +``` + +#### Step 3: Wait for Test Completion + +Wait for the Neware device to complete testing. Backup files will be generated in the `backup_dir`. + +#### Step 4: Upload Backup Files to OSS + +**Method A: Use Default Settings (Recommended)** +```python +# Automatically uses the last backup_dir, uploads all files +result = device.upload_backup_to_oss() +``` + +**Method B: Specify Backup Directory** +```python +# Manually specify backup directory +result = device.upload_backup_to_oss( + backup_dir="D:/neware_output/backup_dir" +) +``` + +**Method C: Filter Specific Files** +```python +# Upload only CSV files +result = device.upload_backup_to_oss( + backup_dir="D:/neware_output/backup_dir", + file_pattern="*.csv" +) + +# Upload files for specific battery IDs +result = device.upload_backup_to_oss( + file_pattern="Battery_A001_*.nda" +) +``` + +### Return Result Examples + +**All Files Uploaded Successfully**: +```python +{ + "return_info": "All uploads successful: 15/15 files", + "success": True, + "uploaded_count": 15, + "total_count": 15, + "failed_files": [], + "uploaded_files": [ + { + "filename": "Battery_A001.ndax", + "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax" + }, + { + "filename": "Battery_A002.ndax", + "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax" + } + # ... other 13 files + ] +} +``` + +**Partial Upload Success**: +```python +{ + "return_info": "Partial upload success: 12/15 files, 3 failed", + "success": True, + "uploaded_count": 12, + "total_count": 15, + "failed_files": ["Battery_A003.csv", "Battery_A007.csv", "test.log"], + "uploaded_files": [ + { + "filename": "Battery_A001.ndax", + "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A001.ndax" + }, + { + "filename": "Battery_A002.ndax", + "url": "https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/abc123.../Battery_A002.ndax" + } + # ... other 10 successfully uploaded files + ] +} +``` + +> **Note**: The `uploaded_files` field contains detailed information for all successfully uploaded files: +> - `filename`: Filename (without path) +> - `url`: Complete OSS access URL for the file + +## Error Handling + +### OSS Upload Not Enabled + +If `oss_upload_enabled=False`, calling `upload_backup_to_oss` returns: +```python +{ + "return_info": "OSS upload not enabled (oss_upload_enabled=False), skipping upload. Backup directory: ...", + "success": False, + "uploaded_count": 0, + "total_count": 0, + "failed_files": [] +} +``` + +**Solution**: Set `device.oss_upload_enabled = True` + +### Environment Variables Not Configured + +If `UNI_LAB_AUTH_TOKEN` is missing, returns: +```python +{ + "return_info": "OSS environment variable configuration error: Please set environment variable: UNI_LAB_AUTH_TOKEN", + "success": False, + ... +} +``` + +**Solution**: Configure environment variables as per prerequisites + +### Backup Directory Does Not Exist + +If specified backup directory doesn't exist, returns: +```python +{ + "return_info": "Backup directory does not exist: D:/neware_output/backup_dir", + "success": False, + ... +} +``` + +**Solution**: Check if directory path is correct, or wait for test to generate backup files + +### API Authentication Failed + +If Token is invalid or expired, returns: +```python +{ + "return_info": "Failed to get credentials: Authentication failed", + "success": False, + ... +} +``` + +**Solution**: Check if Token is correct, or contact development team for new Token + +## Technical Details + +### OSS Upload Process (New Method) + +```mermaid +flowchart TD + A[Start Upload] --> B[Verify Configuration and Environment Variables] + B --> C[Scan Backup Directory] + C --> D[Filter Files Matching Pattern] + D --> E[Iterate Each File] + E --> F[Call API to Get Presigned URL] + F --> G{Success?} + G -->|Yes| H[Upload File Using Presigned URL] + G -->|No| I[Record Failure] + H --> J{Upload Success?} + J -->|Yes| K[Record Success + File URL] + J -->|No| I + I --> L{More Files?} + K --> L + L -->|Yes| E + L -->|No| M[Return Statistics] +``` + +### Upload API Flow + +1. **Get Presigned URL** + - Request: `GET /api/v1/lab/storage/token?scene={scene}&filename={filename}&path={path}` + - Authentication: `Authorization: Api {api_key}` or `Authorization: Bearer {token}` + - Response: `{code: 0, data: {url: "presigned_url", path: "file_path"}}` + +2. **Upload File** + - Request: `PUT {presigned_url}` + - Content: File binary data + - Response: HTTP 200 indicates success + +3. **Generate Access URL** + - Format: `https://{OSS_PUBLIC_HOST}/{path}` + - Example: `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/battery_data.csv` + +### Logging + +All upload operations are logged through ROS logging system: +- `INFO` level: Upload progress and success information +- `WARNING` level: Empty directory, not enabled warnings +- `ERROR` level: Upload failures, configuration errors + +## Important Notes + +1. **Upload Timing**: Files in `backup_dir` are generated in real-time during test execution. Ensure testing is complete before uploading. + +2. **File Naming**: Files uploaded to OSS retain original filenames. Paths are assigned by unified API. + +3. **Network Requirements**: Upload requires stable network connection to Aliyun OSS service. + +4. **Token Expiration**: JWT Tokens have expiration time. Need to obtain new token after expiration. + +5. **Cost Considerations**: OSS storage and traffic incur costs. Set file filtering rules appropriately. + +6. **Concurrent Upload**: Current implementation uses serial upload. Large number of files may take considerable time. + +7. **File Size Limits**: Note single file size upload limits (controlled by unified API). + +## Compatibility + +- ✅ **Backward Compatible**: Default `oss_upload_enabled=False`, does not affect existing systems +- ✅ **Optional Feature**: Enable only when needed +- ✅ **Independent Operation**: Upload failures do not affect test task submission and execution +- ⚠️ **Environment Variable Changes**: Need to update environment variable configuration (from OSS AK/SK to API Key) + +## Migration Guide + +If you previously used the `oss2` library method, follow these steps to migrate: + +### 1. Uninstall Old Dependencies (Optional) +```bash +pip uninstall oss2 +``` + +### 2. Remove Old Environment Variables +```powershell +# PowerShell +Remove-Item Env:\OSS_ACCESS_KEY_ID +Remove-Item Env:\OSS_ACCESS_KEY_SECRET +Remove-Item Env:\OSS_BUCKET_NAME +Remove-Item Env:\OSS_ENDPOINT +``` + +### 3. Set New Environment Variables +```powershell +# PowerShell +$env:UNI_LAB_AUTH_TOKEN = "Api your_API_Key" +``` + +### 4. Test Upload Functionality +```python +# Verify upload works correctly +result = device.upload_backup_to_oss(backup_dir="test_directory") +print(result) +``` + +## FAQ + +**Q: Why change from `oss2` to unified API?** +A: To maintain consistency with other team systems, simplify configuration, and unify authentication methods. + +**Q: Where to get the Token?** +A: Obtain API Key from Uni-Lab Homepage → Account Security. + +**Q: What if Token expires?** +A: Obtain a new API Key and update the `UNI_LAB_AUTH_TOKEN` environment variable. + +**Q: Can I customize upload paths?** +A: Current version has paths automatically assigned by unified API. `oss_prefix` parameter is currently unused (retained for interface compatibility). + +**Q: Why not auto-upload in `submit_from_csv`?** +A: Because backup files are generated progressively during testing, they may not be fully generated when the method returns. A separate upload method provides more flexibility. + +**Q: How to access files after upload?** +A: Upload success returns file access URL in format `https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{path}` + +**Q: How to delete uploaded files?** +A: Need to operate through OSS console or API. This feature only handles uploads. + +## Verifying Upload Results + +### Method 1: Via Aliyun Console + +1. Login to [Aliyun OSS Console](https://oss.console.aliyun.com/) +2. Click **Bucket List** on the left +3. Select the `uni-lab-test` Bucket +4. Click **File Management** +5. View uploaded file list + +### Method 2: Using Returned File URL + +After successful upload, `upload_file_to_oss()` returns file access URL: +```python +url = upload_file_to_oss("local_file.csv") +print(f"File access URL: {url}") +# Example output: https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/job/20251217/local_file.csv +``` + +> **Note**: OSS files are private by default, direct URL access may require signature authentication. + +### Method 3: Using ossutil CLI Tool + +After installing [ossutil](https://help.aliyun.com/document_detail/120075.html): + +```bash +# List files +ossutil ls oss://uni-lab-test/job/ + +# Download file to local +ossutil cp oss://uni-lab-test/job/20251217/filename ./local_path + +# Generate signed URL (valid for 1 hour) +ossutil sign oss://uni-lab-test/job/20251217/filename --timeout 3600 +``` + +## Changelog + +- **2025-12-17**: v2.0 (Major Update) + - ⚠️ Changed from `oss2` library to unified API approach + - Simplified environment variable configuration (only API Key required) + - Added `get_upload_token()` and `upload_file_with_presigned_url()` functions + - `upload_file_to_oss()` return value changed to file access URL + - Updated documentation and migration guide + - Token format: Support both `Api Key` and `Bearer JWT` + - API endpoint: `/api/v1/lab/storage/token` + - Scene parameter: Fixed to `job` (other values changed to `default`) + +- **2025-12-15**: v1.1 + - Added initialization parameters `oss_upload_enabled` and `oss_prefix` + - Support OSS upload configuration in `device.json` + - Updated usage guide, added verification methods + +- **2025-12-13**: v1.0 Initial Version + - Added OSS upload utility functions (based on `oss2` library) + - Created `upload_backup_to_oss` action method + - Support file filtering and custom OSS paths + +## References + +- [Uni-Lab Unified File Upload API Documentation](https://uni-lab.test.bohrium.com/api/docs) (if available) +- [Aliyun OSS Console](https://oss.console.aliyun.com/) +- [ossutil Tool Documentation](https://help.aliyun.com/document_detail/120075.html) diff --git a/unilabos/devices/neware_battery_test_system/device.json b/unilabos/devices/neware_battery_test_system/device.json new file mode 100644 index 0000000..696112d --- /dev/null +++ b/unilabos/devices/neware_battery_test_system/device.json @@ -0,0 +1,35 @@ +{ + "nodes": [ + { + "id": "NEWARE_BATTERY_TEST_SYSTEM", + "name": "Neware Battery Test System", + "parent": null, + "type": "device", + "class": "neware_battery_test_system", + "position": { + "x": 620.0, + "y": 200.0, + "z": 0 + }, + "config": { + "ip": "127.0.0.1", + "port": 502, + "machine_id": 1, + "devtype": "27", + "timeout": 20, + "size_x": 500.0, + "size_y": 500.0, + "size_z": 2000.0, + "oss_upload_enabled": true, + "oss_prefix": "neware_backup/2025-12" + }, + "data": { + "功能说明": "新威电池测试系统，提供720通道监控和CSV批量提交功能", + "监控功能": "支持720个通道的实时状态监控、2盘电池物料管理、状态导出等", + "提交功能": "通过submit_from_csv action从CSV文件批量提交测试任务。CSV必须包含: Battery_Code, Pole_Weight, 集流体质量, 活性物质含量, 克容量mah/g, 电池体系, 设备号, 排号, 通道号" + }, + "children": [] + } + ], + "links": [] +} \ No newline at end of file diff --git a/unilabos/devices/neware_battery_test_system/neware_battery_test_system.py b/unilabos/devices/neware_battery_test_system/neware_battery_test_system.py new file mode 100644 index 0000000..0a81145 --- /dev/null +++ b/unilabos/devices/neware_battery_test_system/neware_battery_test_system.py @@ -0,0 +1,1838 @@ +#!/usr/bin/env python3 +# -*- coding: utf-8 -*- + +""" +新威电池测试系统设备类 +- 提供TCP通信接口查询电池通道状态 +- 支持720个通道（devid 1-7, 8, 86） +- 兼容BTSAPI getchlstatus协议 + +设备特点： +- TCP连接: 默认127.0.0.1:502 +- 通道映射: devid->subdevid->chlid 三级结构 +- 状态类型: working/stop/finish/protect/pause/false/unknown +""" + +import os +import sys +import socket +import xml.etree.ElementTree as ET +import json +import time +from dataclasses import dataclass +from typing import Any, Dict, List, Optional, TypedDict + +from pylabrobot.resources import ResourceHolder, Coordinate, create_ordered_items_2d, Deck, Plate +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +# ======================== +# OSS 上传工具函数 +# ======================== + +import requests + +# 服务器地址和OSS配置 +OSS_PUBLIC_HOST = "uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com" + +def get_upload_token(base_url, auth_token, scene, filename): + """ + 获取文件上传的预签名URL + + Args: + base_url: API服务器地址 + auth_token: 认证Token (JWT)，需要包含 "Bearer " 前缀 + scene: 上传场景 (例如: "job") + filename: 文件名 + + Returns: + dict: 包含上传URL和路径的字典，失败返回None + """ + url = f"{base_url}/api/v1/lab/storage/token" + params = { + "scene": scene, + "filename": filename, + "path": "neware_backup", # 添加 path 参数 + } + headers = { + "Authorization": auth_token, + } + + print(f"正在从 {url} 获取上传凭证...") + try: + response = requests.get(url, params=params, headers=headers) + response.raise_for_status() + + data = response.json() + if data.get("code") == 0 and "data" in data and "url" in data["data"]: + print("成功获取上传凭证!") + return data["data"] + else: + print(f"获取凭证失败: {data.get('msg', '未知错误')}") + return None + + except requests.exceptions.RequestException as e: + print(f"请求上传凭证时发生错误: {e}") + return None + + +def upload_file_with_presigned_url(upload_info, file_path): + """ + 使用预签名URL上传文件到OSS + + Args: + upload_info: 包含上传URL的字典 + file_path: 本地文件路径 + + Returns: + bool: 上传是否成功 + """ + upload_url = upload_info['url'] + + print(f"开始上传文件: {file_path} 到 {upload_url}") + try: + with open(file_path, 'rb') as f: + file_data = f.read() + response = requests.put(upload_url, data=file_data) + response.raise_for_status() + + print("文件上传成功!") + return True + + except FileNotFoundError: + print(f"错误: 文件未找到 {file_path}") + return False + except requests.exceptions.RequestException as e: + print(f"文件上传失败: {e}") + print(f"服务器响应: {e.response.text if e.response else '无响应'}") + return False + + +def upload_file_to_oss(local_file_path, oss_object_name=None): + """ + 上传文件到阿里云OSS (使用统一API方式) + + Args: + local_file_path: 本地文件路径 + oss_object_name: OSS对象名称 (暂时未使用，保留接口兼容性) + + Returns: + bool or str: 上传成功返回文件访问URL，失败返回False + """ + # 从环境变量获取配置 + base_url = os.getenv('UNI_LAB_BASE_URL', 'https://uni-lab.test.bohrium.com') + auth_token = os.getenv('UNI_LAB_AUTH_TOKEN') + upload_scene = os.getenv('UNI_LAB_UPLOAD_SCENE', 'job') # 必须使用 job，其他值会被改成 default + + # 检查环境变量是否设置 + if not auth_token: + raise ValueError("请设置环境变量: UNI_LAB_AUTH_TOKEN") + + # 确保 auth_token 包含正确的前缀 + # 支持两种格式: "Bearer xxx" (JWT) 或 "Api xxx" (API Key) + if not auth_token.startswith("Bearer ") and not auth_token.startswith("Api "): + # 默认使用 Api 格式 + auth_token = f"Api {auth_token}" + + # 检查文件是否存在 + if not os.path.exists(local_file_path): + print(f"错误: 无法找到要上传的文件 '{local_file_path}'") + return False + + filename = os.path.basename(local_file_path) + + # 1. 获取上传信息 + upload_info = get_upload_token(base_url, auth_token, upload_scene, filename) + + if not upload_info: + print("无法继续上传，因为没有获取到有效的上传信息。") + return False + + # 2. 上传文件 + success = upload_file_with_presigned_url(upload_info, local_file_path) + + if success: + access_url = f"https://{OSS_PUBLIC_HOST}/{upload_info['path']}" + print(f"文件访问URL: {access_url}") + return access_url + else: + return False + + +def upload_files_to_oss(file_paths, oss_prefix=""): + """ + 批量上传文件到OSS + + Args: + file_paths: 本地文件路径列表 + oss_prefix: OSS对象前缀 (暂时未使用，保留接口兼容性) + + Returns: + int: 成功上传的文件数量 + """ + success_count = 0 + print(f"开始批量上传 {len(file_paths)} 个文件到OSS...") + for i, fp in enumerate(file_paths, 1): + print(f"[{i}/{len(file_paths)}] 上传文件: {fp}") + try: + result = upload_file_to_oss(fp) + if result: + success_count += 1 + print(f"[{i}/{len(file_paths)}] 上传成功") + else: + print(f"[{i}/{len(file_paths)}] 上传失败") + except ValueError as e: + print(f"[{i}/{len(file_paths)}] 环境变量错误: {e}") + break + except Exception as e: + print(f"[{i}/{len(file_paths)}] 上传异常: {e}") + print(f"批量上传完成: {success_count}/{len(file_paths)} 个文件成功") + return success_count + + +def upload_directory_to_oss(local_dir, oss_prefix=""): + """ + 上传整个目录到OSS + + Args: + local_dir: 本地目录路径 + oss_prefix: OSS对象前缀 (暂时未使用，保留接口兼容性) + """ + for root, dirs, files in os.walk(local_dir): + for file in files: + local_file_path = os.path.join(root, file) + upload_file_to_oss(local_file_path) + + +# ======================== +# 内部数据类和结构 +# ======================== + +@dataclass(frozen=True) +class ChannelKey: + devid: int + subdevid: int + chlid: int + + +@dataclass +class ChannelStatus: + state: str # working/stop/finish/protect/pause/false/unknown + color: str # 状态对应颜色 + current_A: float # 电流 (A) + voltage_V: float # 电压 (V) + totaltime_s: float # 总时间 (s) + + +class BatteryTestPositionState(TypedDict): + voltage: float # 电压 (V) + current: float # 电流 (A) + time: float # 时间 (s) - 使用totaltime + capacity: float # 容量 (Ah) + energy: float # 能量 (Wh) + + status: str # 通道状态 + color: str # 状态对应颜色 + + + +class BatteryTestPosition(ResourceHolder): + def __init__( + self, + name, + size_x=60, + size_y=60, + size_z=60, + rotation=None, + category="resource_holder", + model=None, + child_location: Coordinate = Coordinate.zero(), + ): + super().__init__(name, size_x, size_y, size_z, rotation, category, model, child_location=child_location) + self._unilabos_state: Dict[str, Any] = {} + + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) + return data + + +class NewareBatteryTestSystem: + """ + 新威电池测试系统设备类 + + 提供电池测试通道状态查询、控制等功能。 + 支持720个通道的状态监控和数据导出。 + 包含完整的物料管理系统，支持2盘电池的状态映射。 + + Attributes: + ip (str): TCP服务器IP地址，默认127.0.0.1 + port (int): TCP端口，默认502 + devtype (str): 设备类型，默认"27" + timeout (int): 通信超时时间（秒），默认20 + """ + + # ======================== + # 基本通信与协议参数 + # ======================== + BTS_IP = "127.0.0.1" + BTS_PORT = 502 + DEVTYPE = "27" + TIMEOUT = 20 # 秒 + REQ_END = b"#\r\n" # 常见实现以 "#\\r\\n" 作为报文结束 + + # ======================== + # 状态与颜色映射（前端可直接使用） + # ======================== + STATUS_SET = {"working", "stop", "finish", "protect", "pause", "false"} + STATUS_COLOR = { + "working": "#22c55e", # 绿 + "stop": "#6b7280", # 灰 + "finish": "#3b82f6", # 蓝 + "protect": "#ef4444", # 红 + "pause": "#f59e0b", # 橙 + "false": "#9ca3af", # 不存在/无效 + "unknown": "#a855f7", # 未知 + } + + # 字母常量 + ascii_lowercase = 'abcdefghijklmnopqrstuvwxyz' + ascii_uppercase = 'ABCDEFGHIJKLMNOPQRSTUVWXYZ' + LETTERS = ascii_uppercase + ascii_lowercase + + def __init__(self, + ip: str = None, + port: int = None, + machine_id: int = 1, + devtype: str = None, + timeout: int = None, + + size_x: float = 50, + size_y: float = 50, + size_z: float = 20, + + oss_upload_enabled: bool = False, + oss_prefix: str = "neware_backup", + ): + """ + 初始化新威电池测试系统 + + Args: + ip: TCP服务器IP地址 + port: TCP端口 + devtype: 设备类型标识 + timeout: 通信超时时间（秒） + machine_id: 机器ID + size_x, size_y, size_z: 设备物理尺寸 + oss_upload_enabled: 是否启用OSS上传功能，默认False + oss_prefix: OSS对象路径前缀，默认"neware_backup" + """ + self.ip = ip or self.BTS_IP + self.port = port or self.BTS_PORT + self.machine_id = machine_id + self.devtype = devtype or self.DEVTYPE + self.timeout = timeout or self.TIMEOUT + + # 存储设备物理尺寸 + self.size_x = size_x + self.size_y = size_y + self.size_z = size_z + + # OSS 上传配置 + self.oss_upload_enabled = oss_upload_enabled + self.oss_prefix = oss_prefix + + self._last_status_update = None + self._cached_status = {} + self._last_backup_dir = None # 记录最近一次的 backup_dir，供上传使用 + self._ros_node: Optional[ROS2WorkstationNode] = None # ROS节点引用，由框架设置 + + + def post_init(self, ros_node): + """ + ROS节点初始化后的回调方法，用于建立设备连接 + + Args: + ros_node: ROS节点实例 + """ + self._ros_node = ros_node + # 创建2盘电池的物料管理系统 + self._setup_material_management() + # 初始化通道映射 + self._channels = self._build_channel_map() + try: + # 测试设备连接 + if self.test_connection(): + ros_node.lab_logger().info(f"新威电池测试系统连接成功: {self.ip}:{self.port}") + else: + ros_node.lab_logger().warning(f"新威电池测试系统连接失败: {self.ip}:{self.port}") + except Exception as e: + ros_node.lab_logger().error(f"新威电池测试系统初始化失败: {e}") + # 不抛出异常，允许节点继续运行，后续可以重试连接 + + def _setup_material_management(self): + """设置物料管理系统""" + # 第1盘：5行8列网格 (A1-E8) - 5行对应subdevid 1-5，8列对应chlid 1-8 + # 先给物料设置一个最大的Deck，并设置其在空间中的位置 + + deck_main = Deck("ADeckName", 2000, 1800, 100, origin=Coordinate(2000,2000,0)) + + plate1_resources: Dict[str, BatteryTestPosition] = create_ordered_items_2d( + BatteryTestPosition, + num_items_x=8, # 8列（对应chlid 1-8） + num_items_y=5, # 5行（对应subdevid 1-5，即A-E） + dx=10, + dy=10, + dz=0, + item_dx=65, + item_dy=65 + ) + plate1 = Plate("P1", 400, 300, 50, ordered_items=plate1_resources) + deck_main.assign_child_resource(plate1, location=Coordinate(0, 0, 0)) + + # 只有在真实ROS环境下才调用update_resource + if hasattr(self._ros_node, 'update_resource') and callable(getattr(self._ros_node, 'update_resource')): + try: + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [deck_main] + }) + except Exception as e: + if hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().warning(f"更新资源失败: {e}") + # 在非ROS环境下忽略此错误 + + # 为第1盘资源添加P1_前缀 + self.station_resources_plate1 = {} + for name, resource in plate1_resources.items(): + new_name = f"P1_{name}" + self.station_resources_plate1[new_name] = resource + + # 第2盘：5行8列网格 (A1-E8)，在Z轴上偏移 - 5行对应subdevid 6-10，8列对应chlid 1-8 + plate2_resources = create_ordered_items_2d( + BatteryTestPosition, + num_items_x=8, # 8列（对应chlid 1-8） + num_items_y=5, # 5行（对应subdevid 6-10，即A-E） + dx=10, + dy=10, + dz=0, + item_dx=65, + item_dy=65 + ) + + plate2 = Plate("P2", 400, 300, 50, ordered_items=plate2_resources) + deck_main.assign_child_resource(plate2, location=Coordinate(0, 350, 0)) + + + # 为第2盘资源添加P2_前缀 + self.station_resources_plate2 = {} + for name, resource in plate2_resources.items(): + new_name = f"P2_{name}" + self.station_resources_plate2[new_name] = resource + + # 合并两盘资源为统一的station_resources + self.station_resources = {} + self.station_resources.update(self.station_resources_plate1) + self.station_resources.update(self.station_resources_plate2) + + # ======================== + # 核心属性（Uni-Lab标准） + # ======================== + + @property + def status(self) -> str: + """设备状态属性 - 会被自动识别并定时广播""" + try: + if self.test_connection(): + return "Connected" + else: + return "Disconnected" + except: + return "Error" + + @property + def channel_status(self) -> Dict[int, Dict]: + """ + 获取所有通道状态（按设备ID分组） + + 这个属性会执行实际的TCP查询并返回格式化的状态数据。 + 结果按设备ID分组，包含统计信息和详细状态。 + + Returns: + Dict[int, Dict]: 按设备ID分组的通道状态统计 + """ + status_map = self._query_all_channels() + status_processed = {} if not status_map else self._group_by_devid(status_map) + + # 修复数据过滤逻辑：如果machine_id对应的数据不存在，尝试使用第一个可用的设备数据 + status_current_machine = status_processed.get(self.machine_id, {}) + + if not status_current_machine and status_processed: + # 如果machine_id没有匹配到数据，使用第一个可用的设备数据 + first_devid = next(iter(status_processed.keys())) + status_current_machine = status_processed[first_devid] + if self._ros_node: + self._ros_node.lab_logger().warning( + f"machine_id {self.machine_id} 没有匹配到数据，使用设备ID {first_devid} 的数据" + ) + + # 确保有默认的数据结构 + if not status_current_machine: + status_current_machine = { + "stats": {s: 0 for s in self.STATUS_SET | {"unknown"}}, + "subunits": {} + } + + # 确保subunits存在 + subunits = status_current_machine.get("subunits", {}) + + # 处理2盘电池的状态映射 + self._update_plate_resources(subunits) + + return status_current_machine + + def _update_plate_resources(self, subunits: Dict): + """更新两盘电池资源的状态""" + # 第1盘：subdevid 1-5 映射到 8列5行网格 (列0-7, 行0-4) + for subdev_id in range(1, 6): # subdevid 1-5 + status_row = subunits.get(subdev_id, {}) + + for chl_id in range(1, 9): # chlid 1-8 + try: + # 根据用户描述：第一个是(0,0)，最后一个是(7,4) + # 说明是8列5行，列从0开始，行从0开始 + col_idx = (chl_id - 1) # 0-7 (chlid 1-8 -> 列0-7) + row_idx = (subdev_id - 1) # 0-4 (subdevid 1-5 -> 行0-4) + + # 尝试多种可能的资源命名格式 + possible_names = [ + f"P1_batterytestposition_{col_idx}_{row_idx}", # 用户提到的格式 + f"P1_{self.LETTERS[row_idx]}{col_idx + 1}", # 原有的A1-E8格式 + f"P1_{self.LETTERS[row_idx].lower()}{col_idx + 1}", # 小写字母格式 + ] + + r = None + resource_name = None + for name in possible_names: + if name in self.station_resources: + r = self.station_resources[name] + resource_name = name + break + + if r: + status_channel = status_row.get(chl_id, {}) + metrics = status_channel.get("metrics", {}) + # 构建BatteryTestPosition状态数据（移除capacity和energy） + channel_state = { + # 基本测量数据 + "voltage": metrics.get("voltage_V", 0.0), + "current": metrics.get("current_A", 0.0), + "time": metrics.get("totaltime_s", 0.0), + + # 状态信息 + "status": status_channel.get("state", "unknown"), + "color": status_channel.get("color", self.STATUS_COLOR["unknown"]), + + # 通道名称标识 + "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}", + + } + r.load_state(channel_state) + + # 调试信息 + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug( + f"更新P1资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} " + f"状态:{channel_state['status']}" + ) + else: + # 如果找不到资源，记录调试信息 + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug( + f"P1未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}" + ) + except (KeyError, IndexError) as e: + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug(f"P1映射错误: subdev{subdev_id}/chl{chl_id} - {e}") + continue + + # 第2盘：subdevid 6-10 映射到 8列5行网格 (列0-7, 行0-4) + for subdev_id in range(6, 11): # subdevid 6-10 + status_row = subunits.get(subdev_id, {}) + + for chl_id in range(1, 9): # chlid 1-8 + try: + col_idx = (chl_id - 1) # 0-7 (chlid 1-8 -> 列0-7) + row_idx = (subdev_id - 6) # 0-4 (subdevid 6-10 -> 行0-4) + + # 尝试多种可能的资源命名格式 + possible_names = [ + f"P2_batterytestposition_{col_idx}_{row_idx}", # 用户提到的格式 + f"P2_{self.LETTERS[row_idx]}{col_idx + 1}", # 原有的A1-E8格式 + f"P2_{self.LETTERS[row_idx].lower()}{col_idx + 1}", # 小写字母格式 + ] + + r = None + resource_name = None + for name in possible_names: + if name in self.station_resources: + r = self.station_resources[name] + resource_name = name + break + + if r: + status_channel = status_row.get(chl_id, {}) + metrics = status_channel.get("metrics", {}) + # 构建BatteryTestPosition状态数据（移除capacity和energy） + channel_state = { + # 基本测量数据 + "voltage": metrics.get("voltage_V", 0.0), + "current": metrics.get("current_A", 0.0), + "time": metrics.get("totaltime_s", 0.0), + + # 状态信息 + "status": status_channel.get("state", "unknown"), + "color": status_channel.get("color", self.STATUS_COLOR["unknown"]), + + # 通道名称标识 + "Channel_Name": f"{self.machine_id}-{subdev_id}-{chl_id}", + + } + r.load_state(channel_state) + + # 调试信息 + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug( + f"更新P2资源状态: {resource_name} <- subdev{subdev_id}/chl{chl_id} " + f"状态:{channel_state['status']}" + ) + else: + # 如果找不到资源，记录调试信息 + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug( + f"P2未找到资源: subdev{subdev_id}/chl{chl_id} -> 尝试的名称: {possible_names}" + ) + except (KeyError, IndexError) as e: + if self._ros_node and hasattr(self._ros_node, 'lab_logger'): + self._ros_node.lab_logger().debug(f"P2映射错误: subdev{subdev_id}/chl{chl_id} - {e}") + continue + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": list(self.station_resources.values()) + }) + + @property + def connection_info(self) -> Dict[str, str]: + """获取连接信息""" + return { + "ip": self.ip, + "port": str(self.port), + "devtype": self.devtype, + "timeout": f"{self.timeout}s" + } + + @property + def total_channels(self) -> int: + """获取总通道数""" + return len(self._channels) + + # ======================== + # 设备动作方法（Uni-Lab标准） + # ======================== + + def export_status_json(self, filepath: str = "bts_status.json") -> dict: + """ + 导出当前状态到JSON文件（ROS2动作） + + Args: + filepath: 输出文件路径 + + Returns: + dict: ROS2动作结果格式 {"return_info": str, "success": bool} + """ + try: + grouped_status = self.channel_status + payload = { + "timestamp": time.time(), + "device_info": { + "ip": self.ip, + "port": self.port, + "devtype": self.devtype, + "total_channels": self.total_channels + }, + "data": grouped_status, + "color_mapping": self.STATUS_COLOR + } + + with open(filepath, "w", encoding="utf-8") as f: + json.dump(payload, f, ensure_ascii=False, indent=2) + + success_msg = f"状态数据已成功导出到: {filepath}" + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + return {"return_info": success_msg, "success": True} + + except Exception as e: + error_msg = f"导出JSON失败: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False} + + def _plate_status(self) -> Dict[str, Any]: + """ + 获取所有盘的状态信息（内部方法） + + Returns: + 包含所有盘状态信息的字典 + """ + try: + # 确保先更新所有资源的状态数据 + _ = self.channel_status # 这会触发状态更新并调用load_state + + # 手动计算两盘的状态 + plate1_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}} + plate1_active = [] + + for name, resource in self.station_resources_plate1.items(): + state = getattr(resource, '_unilabos_state', {}) + status = state.get('status', 'unknown') + plate1_stats[status] += 1 + + if status != 'unknown': + plate1_active.append({ + 'name': name, + 'status': status, + 'color': state.get('color', self.STATUS_COLOR['unknown']), + 'voltage': state.get('voltage', 0.0), + 'current': state.get('current', 0.0), + }) + + plate2_stats = {s: 0 for s in self.STATUS_SET | {"unknown"}} + plate2_active = [] + + for name, resource in self.station_resources_plate2.items(): + state = getattr(resource, '_unilabos_state', {}) + status = state.get('status', 'unknown') + plate2_stats[status] += 1 + + if status != 'unknown': + plate2_active.append({ + 'name': name, + 'status': status, + 'color': state.get('color', self.STATUS_COLOR['unknown']), + 'voltage': state.get('voltage', 0.0), + 'current': state.get('current', 0.0), + }) + + return { + "plate1": { + 'plate_num': 1, + 'stats': plate1_stats, + 'total_positions': len(self.station_resources_plate1), + 'active_positions': len(plate1_active), + 'resources': plate1_active + }, + "plate2": { + 'plate_num': 2, + 'stats': plate2_stats, + 'total_positions': len(self.station_resources_plate2), + 'active_positions': len(plate2_active), + 'resources': plate2_active + }, + "total_plates": 2 + } + except Exception as e: + if self._ros_node: + self._ros_node.lab_logger().error(f"获取盘状态失败: {e}") + return { + "plate1": {"error": str(e)}, + "plate2": {"error": str(e)}, + "total_plates": 2 + } + + + + + + + def debug_resource_names(self) -> dict: + """ + 调试方法：显示所有资源的实际名称（ROS2动作） + + Returns: + dict: ROS2动作结果格式，包含所有资源名称信息 + """ + try: + debug_info = { + "total_resources": len(self.station_resources), + "plate1_resources": len(self.station_resources_plate1), + "plate2_resources": len(self.station_resources_plate2), + "plate1_names": list(self.station_resources_plate1.keys())[:10], # 显示前10个 + "plate2_names": list(self.station_resources_plate2.keys())[:10], # 显示前10个 + "all_resource_names": list(self.station_resources.keys())[:20], # 显示前20个 + } + + # 检查是否有用户提到的命名格式 + batterytestposition_names = [name for name in self.station_resources.keys() + if "batterytestposition" in name] + debug_info["batterytestposition_names"] = batterytestposition_names[:10] + + success_msg = f"资源调试信息获取成功，共{debug_info['total_resources']}个资源" + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + self._ros_node.lab_logger().info(f"调试信息: {debug_info}") + + return { + "return_info": success_msg, + "success": True, + "debug_data": debug_info + } + + except Exception as e: + error_msg = f"获取资源调试信息失败: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False} + + def get_plate_status(self, plate_num: int = None) -> dict: + """ + 获取指定盘或所有盘的状态信息（ROS2动作） + + Args: + plate_num: 盘号 (1 或 2)，如果为None则返回所有盘的状态 + + Returns: + dict: ROS2动作结果格式 {"return_info": str, "success": bool, "plate_data": dict} + """ + try: + # 获取所有盘的状态 + all_plates_data = self._plate_status() + + # 如果指定了盘号，只返回该盘的数据 + if plate_num is not None: + if plate_num not in [1, 2]: + error_msg = f"无效的盘号: {plate_num}，必须是 1 或 2" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return { + "return_info": error_msg, + "success": False, + "plate_data": {} + } + + plate_key = f"plate{plate_num}" + plate_data = all_plates_data.get(plate_key, {}) + + success_msg = f"成功获取盘 {plate_num} 的状态信息" + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + + return { + "return_info": success_msg, + "success": True, + "plate_data": plate_data + } + else: + # 返回所有盘的状态 + success_msg = "成功获取所有盘的状态信息" + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + + return { + "return_info": success_msg, + "success": True, + "plate_data": all_plates_data + } + + except Exception as e: + error_msg = f"获取盘状态失败: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return { + "return_info": error_msg, + "success": False, + "plate_data": {} + } + + # ======================== + # 辅助方法 + # ======================== + + def test_connection(self) -> bool: + """ + 测试TCP连接是否正常 + + Returns: + bool: 连接是否成功 + """ + try: + with socket.create_connection((self.ip, self.port), timeout=5) as sock: + return True + except Exception as e: + if self._ros_node: + self._ros_node.lab_logger().debug(f"连接测试失败: {e}") + return False + + def print_status_summary(self) -> None: + """ + 打印通道状态摘要信息（支持2盘电池） + """ + try: + status_data = self.channel_status + if not status_data: + print(" 未获取到状态数据") + return + + print(f" 状态统计:") + total_channels = 0 + + # 从channel_status获取stats字段 + stats = status_data.get("stats", {}) + for state, count in stats.items(): + if isinstance(count, int) and count > 0: + color = self.STATUS_COLOR.get(state, "#000000") + print(f" {state}: {count} 个通道 ({color})") + total_channels += count + + print(f" 总计: {total_channels} 个通道") + print(f" 第1盘资源数: {len(self.station_resources_plate1)}") + print(f" 第2盘资源数: {len(self.station_resources_plate2)}") + print(f" 总资源数: {len(self.station_resources)}") + + except Exception as e: + print(f" 获取状态失败: {e}") + + # ======================== + # CSV批量提交功能（新增） + # ======================== + + def _ensure_local_import_path(self): + """确保本地模块导入路径""" + base_dir = os.path.dirname(__file__) + if base_dir not in sys.path: + sys.path.insert(0, base_dir) + + def _canon(self, bs: str) -> str: + """规范化电池体系名称""" + return str(bs).strip().replace('-', '_').upper() + + def _compute_values(self, row): + """ + 计算活性物质质量和容量 + + Args: + row: DataFrame行数据 + + Returns: + tuple: (活性物质质量mg, 容量mAh) + """ + pw = float(row['Pole_Weight']) + cm = float(row['集流体质量']) + am = row['活性物质含量'] + if isinstance(am, str) and am.endswith('%'): + amv = float(am.rstrip('%')) / 100.0 + else: + amv = float(am) + act_mass = (pw - cm) * amv + sc = float(row['克容量mah/g']) + cap = act_mass * sc / 1000.0 + return round(act_mass, 2), round(cap, 3) + + def _get_xml_builder(self, gen_mod, key: str): + """ + 获取对应电池体系的XML生成函数 + + Args: + gen_mod: generate_xml_content模块 + key: 电池体系标识 + + Returns: + callable: XML生成函数 + """ + fmap = { + 'LB6': gen_mod.xml_LB6, + 'GR_LI': gen_mod.xml_Gr_Li, + 'LFP_LI': gen_mod.xml_LFP_Li, + 'LFP_GR': gen_mod.xml_LFP_Gr, + '811_LI_002': gen_mod.xml_811_Li_002, + '811_LI_005': gen_mod.xml_811_Li_005, + 'SIGR_LI_STEP': gen_mod.xml_SiGr_Li_Step, + 'SIGR_LI': gen_mod.xml_SiGr_Li_Step, + '811_SIGR': gen_mod.xml_811_SiGr, + '811_CU_AGING': gen_mod.xml_811_Cu_aging, + } + if key not in fmap: + raise ValueError(f"未定义电池体系映射: {key}") + return fmap[key] + + def _save_xml(self, xml: str, path: str): + """ + 保存XML文件 + + Args: + xml: XML内容 + path: 文件路径 + """ + with open(path, 'w', encoding='utf-8') as f: + f.write(xml) + + def submit_from_csv(self, csv_path: str, output_dir: str = ".") -> dict: + """ + 从CSV文件批量提交Neware测试任务（设备动作） + + Args: + csv_path (str): 输入CSV文件路径 + output_dir (str): 输出目录，用于存储XML文件和备份，默认当前目录 + + Returns: + dict: 执行结果 {"return_info": str, "success": bool, "submitted_count": int} + """ + try: + # 确保可以导入本地模块 + self._ensure_local_import_path() + import pandas as pd + import generate_xml_content as gen_mod + from neware_driver import start_test + + if self._ros_node: + self._ros_node.lab_logger().info(f"开始从CSV文件提交任务: {csv_path}") + + # 读取CSV文件 + if not os.path.exists(csv_path): + error_msg = f"CSV文件不存在: {csv_path}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False, "submitted_count": 0, "total_count": 0} + + df = pd.read_csv(csv_path, encoding='gbk') + + # 验证必需列 + required = [ + 'Battery_Code', 'Electrolyte_Code', 'Pole_Weight', '集流体质量', '活性物质含量', + '克容量mah/g', '电池体系', '设备号', '排号', '通道号' + ] + missing = [c for c in required if c not in df.columns] + if missing: + error_msg = f"CSV缺少必需列: {missing}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False, "submitted_count": 0, "total_count": 0} + + # 创建输出目录 + xml_dir = os.path.join(output_dir, 'xml_dir') + backup_dir = os.path.join(output_dir, 'backup_dir') + os.makedirs(xml_dir, exist_ok=True) + os.makedirs(backup_dir, exist_ok=True) + + # 记录备份目录供后续 OSS 上传使用 + self._last_backup_dir = backup_dir + + if self._ros_node: + self._ros_node.lab_logger().info( + f"输出目录: XML={xml_dir}, 备份={backup_dir}" + ) + + # 逐行处理CSV数据 + submitted_count = 0 + results = [] + + for idx, row in df.iterrows(): + try: + coin_id = f"{row['Battery_Code']}-{row['Electrolyte_Code']}" + + # 计算活性物质质量和容量 + act_mass, cap_mAh = self._compute_values(row) + + if cap_mAh < 0: + error_msg = ( + f"容量为负数: Battery_Code={coin_id}, " + f"活性物质质量mg={act_mass}, 容量mah={cap_mAh}" + ) + if self._ros_node: + self._ros_node.lab_logger().warning(error_msg) + results.append(f"行{idx+1} 失败: {error_msg}") + continue + + # 获取电池体系对应的XML生成函数 + key = self._canon(row['电池体系']) + builder = self._get_xml_builder(gen_mod, key) + + # 生成XML内容 + xml_content = builder(act_mass, cap_mAh) + + # 获取设备信息 + devid = int(row['设备号']) + subdevid = int(row['排号']) + chlid = int(row['通道号']) + + # 保存XML文件 + recipe_path = os.path.join( + xml_dir, + f"{coin_id}_{devid}_{subdevid}_{chlid}.xml" + ) + self._save_xml(xml_content, recipe_path) + + # 提交测试任务 + resp = start_test( + ip=self.ip, + port=self.port, + devid=devid, + subdevid=subdevid, + chlid=chlid, + CoinID=coin_id, + recipe_path=recipe_path, + backup_dir=backup_dir + ) + + submitted_count += 1 + results.append(f"行{idx+1} {coin_id}: {resp}") + + if self._ros_node: + self._ros_node.lab_logger().info( + f"已提交 {coin_id} (设备{devid}-{subdevid}-{chlid}): {resp}" + ) + + except Exception as e: + error_msg = f"行{idx+1} 处理失败: {str(e)}" + results.append(error_msg) + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + + # 汇总结果 + success_msg = ( + f"批量提交完成: 成功{submitted_count}个，共{len(df)}行。" + f"\n详细结果:\n" + "\n".join(results) + ) + + if self._ros_node: + self._ros_node.lab_logger().info( + f"批量提交完成: 成功{submitted_count}/{len(df)}" + ) + + return { + "return_info": success_msg, + "success": True, + "submitted_count": submitted_count, + "total_count": len(df), + "results": results + } + + except Exception as e: + error_msg = f"批量提交失败: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return { + "return_info": error_msg, + "success": False, + "submitted_count": 0, + "total_count": 0 + } + + + def get_device_summary(self) -> dict: + """ + 获取设备级别的摘要统计（设备动作） + + Returns: + dict: ROS2动作结果格式 {"return_info": str, "success": bool} + """ + try: + # 确保_channels已初始化 + if not hasattr(self, '_channels') or not self._channels: + self._channels = self._build_channel_map() + + summary = {} + for channel in self._channels: + devid = channel.devid + summary[devid] = summary.get(devid, 0) + 1 + + result_info = json.dumps(summary, ensure_ascii=False) + success_msg = f"设备摘要统计: {result_info}" + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + return {"return_info": result_info, "success": True} + + except Exception as e: + error_msg = f"获取设备摘要失败: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False} + + def test_connection_action(self) -> dict: + """ + 测试TCP连接（设备动作） + + Returns: + dict: ROS2动作结果格式 {"return_info": str, "success": bool} + """ + try: + is_connected = self.test_connection() + if is_connected: + success_msg = f"TCP连接测试成功: {self.ip}:{self.port}" + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + return {"return_info": success_msg, "success": True} + else: + error_msg = f"TCP连接测试失败: {self.ip}:{self.port}" + if self._ros_node: + self._ros_node.lab_logger().warning(error_msg) + return {"return_info": error_msg, "success": False} + + except Exception as e: + error_msg = f"连接测试异常: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False} + + def print_status_summary_action(self) -> dict: + """ + 打印状态摘要（设备动作） + + Returns: + dict: ROS2动作结果格式 {"return_info": str, "success": bool} + """ + try: + self.print_status_summary() + success_msg = "状态摘要已打印到控制台" + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + return {"return_info": success_msg, "success": True} + + except Exception as e: + error_msg = f"打印状态摘要失败: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False} + + def upload_backup_to_oss( + self, + backup_dir: str = None, + file_pattern: str = "*", + oss_prefix: str = None + ) -> dict: + """ + 上传备份目录中的文件到 OSS（ROS2 动作） + + Args: + backup_dir: 备份目录路径，默认使用最近一次 submit_from_csv 的 backup_dir + file_pattern: 文件通配符模式，默认 "*" 上传所有文件（例如 "*.csv" 仅上传 CSV 文件） + oss_prefix: OSS 对象前缀，默认使用类初始化时的配置 + + Returns: + dict: { + "return_info": str, + "success": bool, + "uploaded_count": int, + "total_count": int, + "failed_files": List[str] + } + """ + try: + # 确定备份目录 + target_backup_dir = backup_dir if backup_dir else self._last_backup_dir + + if not target_backup_dir: + error_msg = "未指定 backup_dir 且没有可用的最近备份目录" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return { + "return_info": error_msg, + "success": False, + "uploaded_count": 0, + "total_count": 0, + "failed_files": [], + "uploaded_files": [] + } + + # 检查目录是否存在 + if not os.path.exists(target_backup_dir): + error_msg = f"备份目录不存在: {target_backup_dir}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return { + "return_info": error_msg, + "success": False, + "uploaded_count": 0, + "total_count": 0, + "failed_files": [], + "uploaded_files": [] + } + + # 检查是否启用 OSS 上传 + if not self.oss_upload_enabled: + warning_msg = f"OSS 上传未启用 (oss_upload_enabled=False)，跳过上传。备份目录: {target_backup_dir}" + if self._ros_node: + self._ros_node.lab_logger().warning(warning_msg) + return { "return_info": warning_msg, + "success": False, + "uploaded_count": 0, + "total_count": 0, + "failed_files": [], + "uploaded_files": [] + } + + # 确定 OSS 前缀 + target_oss_prefix = oss_prefix if oss_prefix else self.oss_prefix + + if self._ros_node: + self._ros_node.lab_logger().info( + f"开始上传备份文件到 OSS: {target_backup_dir} -> {target_oss_prefix}" + ) + + # 扫描匹配的文件 + import glob + pattern_path = os.path.join(target_backup_dir, file_pattern) + matched_files = glob.glob(pattern_path) + + if not matched_files: + warning_msg = f"备份目录中没有匹配 '{file_pattern}' 的文件: {target_backup_dir}" + if self._ros_node: + self._ros_node.lab_logger().warning(warning_msg) + return { + "return_info": warning_msg, + "success": True, # 没有文件也算成功 + "uploaded_count": 0, + "total_count": 0, + "failed_files": [], + "uploaded_files": [] + } + + total_count = len(matched_files) + if self._ros_node: + self._ros_node.lab_logger().info( + f"找到 {total_count} 个匹配文件，开始上传..." + ) + + # 批量上传文件 + uploaded_count = 0 + failed_files = [] + uploaded_files = [] # 记录成功上传的文件信息（文件名和URL） + + for i, file_path in enumerate(matched_files, 1): + try: + basename = os.path.basename(file_path) + oss_object_name = f"{target_oss_prefix}/{basename}" if target_oss_prefix else basename + oss_object_name = oss_object_name.replace('\\', '/') + + if self._ros_node: + self._ros_node.lab_logger().info( + f"[{i}/{total_count}] 上传: {file_path} -> {oss_object_name}" + ) + + # upload_file_to_oss 成功时返回 URL + result = upload_file_to_oss(file_path, oss_object_name) + if result: + uploaded_count += 1 + # 解析文件名获取 Battery_Code 和 Electrolyte_Code + name_without_ext = os.path.splitext(basename)[0] + parts = name_without_ext.split('-', 1) + battery_code = parts[0] + electrolyte_code = parts[1] if len(parts) > 1 else "" + + # 记录成功上传的文件信息 + uploaded_files.append({ + "filename": basename, + "url": result if isinstance(result, str) else f"https://uni-lab-test.oss-cn-zhangjiakou.aliyuncs.com/{oss_object_name}", + "Battery_Code": battery_code, + "Electrolyte_Code": electrolyte_code + }) + if self._ros_node: + self._ros_node.lab_logger().info( + f"[{i}/{total_count}] 上传成功: {result if isinstance(result, str) else oss_object_name}" + ) + else: + failed_files.append(basename) + if self._ros_node: + self._ros_node.lab_logger().error( + f"[{i}/{total_count}] 上传失败: {basename}" + ) + + except ValueError as e: + # OSS 环境变量错误，停止上传 + error_msg = f"OSS 环境变量配置错误: {e}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return { + "return_info": error_msg, + "success": False, + "uploaded_count": uploaded_count, + "total_count": total_count, + "failed_files": failed_files, + "uploaded_files": uploaded_files + } + + except Exception as e: + failed_files.append(os.path.basename(file_path)) + if self._ros_node: + self._ros_node.lab_logger().error( + f"[{i}/{total_count}] 上传异常: {e}" + ) + + # 汇总结果 + if uploaded_count == total_count: + success_msg = f"全部上传成功: {uploaded_count}/{total_count} 个文件" + success = True + elif uploaded_count > 0: + success_msg = f"部分上传成功: {uploaded_count}/{total_count} 个文件，失败 {len(failed_files)} 个" + success = True # 部分成功也算成功 + else: + success_msg = f"全部上传失败: 0/{total_count} 个文件" + success = False + + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + + return { + "return_info": success_msg, + "success": success, + "uploaded_count": uploaded_count, + "total_count": total_count, + "failed_files": failed_files, + "uploaded_files": uploaded_files # 添加成功上传的文件 URL 列表 + } + + except Exception as e: + error_msg = f"上传备份文件到 OSS 失败: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return { + "return_info": error_msg, + "success": False, + "uploaded_count": 0, + "total_count": 0, + "failed_files": [], + "uploaded_files": [] + } + + + def query_plate_action(self, plate_id: str = "P1") -> dict: + """ + 查询指定盘的详细信息（设备动作） + + Args: + plate_id: 盘号标识，如"P1"或"P2" + + Returns: + dict: ROS2动作结果格式，包含指定盘的详细通道信息 + """ + try: + # 解析盘号 + if plate_id.upper() == "P1": + plate_num = 1 + elif plate_id.upper() == "P2": + plate_num = 2 + else: + error_msg = f"无效的盘号: {plate_id}，仅支持P1或P2" + if self._ros_node: + self._ros_node.lab_logger().warning(error_msg) + return {"return_info": error_msg, "success": False} + + # 获取指定盘的详细信息 + plate_detail = self._get_plate_detail_info(plate_num) + + success_msg = f"成功获取{plate_id}盘详细信息，包含{len(plate_detail['channels'])}个通道" + if self._ros_node: + self._ros_node.lab_logger().info(success_msg) + + return { + "return_info": success_msg, + "success": True, + "plate_data": plate_detail + } + + except Exception as e: + error_msg = f"查询盘{plate_id}详细信息失败: {str(e)}" + if self._ros_node: + self._ros_node.lab_logger().error(error_msg) + return {"return_info": error_msg, "success": False} + + def _get_plate_detail_info(self, plate_num: int) -> dict: + """ + 获取指定盘的详细信息，包含设备ID、子设备ID、通道ID映射 + + Args: + plate_num: 盘号 (1 或 2) + + Returns: + dict: 包含详细通道信息的字典 + """ + # 获取最新的通道状态数据 + channel_status_data = self.channel_status + subunits = channel_status_data.get('subunits', {}) + + if plate_num == 1: + devid = 1 + subdevid_range = range(1, 6) # 子设备ID 1-5 + elif plate_num == 2: + devid = 1 + subdevid_range = range(6, 11) # 子设备ID 6-10 + else: + raise ValueError("盘号必须是1或2") + + channels = [] + + # 直接从subunits数据构建通道信息，而不依赖资源状态 + for subdev_id in subdevid_range: + status_row = subunits.get(subdev_id, {}) + + for chl_id in range(1, 9): # chlid 1-8 + try: + # 计算在5×8网格中的位置 + if plate_num == 1: + row_idx = (subdev_id - 1) # 0-4 (对应A-E) + else: # plate_num == 2 + row_idx = (subdev_id - 6) # 0-4 (subdevid 6->0, 7->1, ..., 10->4) (对应A-E) + + col_idx = (chl_id - 1) # 0-7 (对应1-8) + position = f"{self.LETTERS[row_idx]}{col_idx + 1}" + name = f"P{plate_num}_{position}" + + # 从subunits直接获取通道状态数据 + status_channel = status_row.get(chl_id, {}) + + # 提取metrics数据（如果存在） + metrics = status_channel.get('metrics', {}) + + channel_info = { + 'name': name, + 'devid': devid, + 'subdevid': subdev_id, + 'chlid': chl_id, + 'position': position, + 'status': status_channel.get('state', 'unknown'), + 'color': status_channel.get('color', self.STATUS_COLOR['unknown']), + 'voltage': metrics.get('voltage_V', 0.0), + 'current': metrics.get('current_A', 0.0), + 'time': metrics.get('totaltime_s', 0.0) + } + + channels.append(channel_info) + + except (ValueError, IndexError, KeyError): + # 如果解析失败，跳过该通道 + continue + + # 按位置排序（先按行，再按列） + channels.sort(key=lambda x: (x['subdevid'], x['chlid'])) + + # 统计状态 + stats = {s: 0 for s in self.STATUS_SET | {"unknown"}} + for channel in channels: + stats[channel['status']] += 1 + + return { + 'plate_id': f"P{plate_num}", + 'plate_num': plate_num, + 'devid': devid, + 'subdevid_range': list(subdevid_range), + 'total_channels': len(channels), + 'stats': stats, + 'channels': channels + } + + # ======================== + # TCP通信和协议处理 + # ======================== + + def _build_channel_map(self) -> List['ChannelKey']: + """构建全量通道映射（720个通道）""" + channels = [] + + # devid 1-7: subdevid 1-10, chlid 1-8 + for devid in range(1, 8): + for sub in range(1, 11): + for ch in range(1, 9): + channels.append(ChannelKey(devid, sub, ch)) + + # devid 8: subdevid 11-20, chlid 1-8 + for sub in range(11, 21): + for ch in range(1, 9): + channels.append(ChannelKey(8, sub, ch)) + + # devid 86: subdevid 1-10, chlid 1-8 + for sub in range(1, 11): + for ch in range(1, 9): + channels.append(ChannelKey(86, sub, ch)) + + return channels + + def _query_all_channels(self) -> Dict['ChannelKey', dict]: + """执行TCP查询获取所有通道状态""" + try: + req_xml = self._build_inquire_xml() + + with socket.create_connection((self.ip, self.port), timeout=self.timeout) as sock: + sock.settimeout(self.timeout) + sock.sendall(req_xml) + response = self._recv_until(sock) + + return self._parse_inquire_resp(response) + except Exception as e: + if self._ros_node: + self._ros_node.lab_logger().error(f"查询通道状态失败: {e}") + else: + print(f"查询通道状态失败: {e}") + return {} + + def _build_inquire_xml(self) -> bytes: + """构造inquire请求XML""" + lines = [ + '', + '', + 'inquire', + f'' + ] + + for c in self._channels: + lines.append( + f'true' + ) + + lines.extend(['', '']) + xml_text = "\n".join(lines) + return xml_text.encode("utf-8") + self.REQ_END + + def _recv_until(self, sock: socket.socket, end_token: bytes = None, + alt_close_tag: bytes = b"") -> bytes: + """接收TCP响应数据""" + if end_token is None: + end_token = self.REQ_END + + buf = bytearray() + while True: + chunk = sock.recv(8192) + if not chunk: + break + buf.extend(chunk) + if end_token in buf: + cut = buf.rfind(end_token) + return bytes(buf[:cut]) + if alt_close_tag in buf: + cut = buf.rfind(alt_close_tag) + len(alt_close_tag) + return bytes(buf[:cut]) + return bytes(buf) + + def _parse_inquire_resp(self, xml_bytes: bytes) -> Dict['ChannelKey', dict]: + """解析inquire_resp响应XML""" + mapping = {} + + try: + xml_text = xml_bytes.decode("utf-8", errors="ignore").strip() + if not xml_text: + return mapping + + root = ET.fromstring(xml_text) + cmd = root.findtext("cmd", default="").strip() + + if cmd != "inquire_resp": + return mapping + + list_node = root.find("list") + if list_node is None: + return mapping + + for node in list_node.findall("inquire"): + # 解析 dev="27-1-1-1-0" + dev = node.get("dev", "") + parts = dev.split("-") + # 容错：至少需要 5 段 + if len(parts) < 5: + continue + try: + devtype = int(parts[0]) # 未使用，但解析以校验正确性 + devid = int(parts[1]) + subdevid = int(parts[2]) + chlid = int(parts[3]) + aux = int(parts[4]) + except ValueError: + continue + + key = ChannelKey(devid, subdevid, chlid) + + # 提取属性，带类型转换与缺省值 + def fget(name: str, cast, default): + v = node.get(name) + if v is None or v == "": + return default + try: + return cast(v) + except Exception: + return default + + workstatus = (node.get("workstatus", "") or "").lower() + if workstatus not in self.STATUS_SET: + workstatus = "unknown" + + current = fget("current", float, 0.0) + voltage = fget("voltage", float, 0.0) + capacity = fget("capacity", float, 0.0) + energy = fget("energy", float, 0.0) + totaltime = fget("totaltime", float, 0.0) + relativetime = fget("relativetime", float, 0.0) + open_close = fget("open_or_close", int, 0) + cycle_id = fget("cycle_id", int, 0) + step_id = fget("step_id", int, 0) + step_type = node.get("step_type", "") or "" + log_code = node.get("log_code", "") or "" + barcode = node.get("barcode") + + mapping[key] = { + "state": workstatus, + "color": self.STATUS_COLOR.get(workstatus, self.STATUS_COLOR["unknown"]), + "current_A": current, + "voltage_V": voltage, + "capacity_Ah": capacity, + "energy_Wh": energy, + "totaltime_s": totaltime, + "relativetime_s": relativetime, + "open_or_close": open_close, + "step_type": step_type, + "cycle_id": cycle_id, + "step_id": step_id, + "log_code": log_code, + **({"barcode": barcode} if barcode is not None else {}), + } + + except Exception as e: + if self._ros_node: + self._ros_node.lab_logger().error(f"解析XML响应失败: {e}") + else: + print(f"解析XML响应失败: {e}") + + return mapping + + def _group_by_devid(self, status_map: Dict['ChannelKey', dict]) -> Dict[int, Dict]: + """按设备ID分组状态数据""" + result = {} + + for key, val in status_map.items(): + if key.devid not in result: + result[key.devid] = { + "stats": {s: 0 for s in self.STATUS_SET | {"unknown"}}, + "subunits": {} + } + + dev = result[key.devid] + state = val.get("state", "unknown") + dev["stats"][state] = dev["stats"].get(state, 0) + 1 + + subunits = dev["subunits"] + if key.subdevid not in subunits: + subunits[key.subdevid] = {} + + subunits[key.subdevid][key.chlid] = { + "state": state, + "color": val.get("color", self.STATUS_COLOR["unknown"]), + "open_or_close": val.get("open_or_close", 0), + "metrics": { + "voltage_V": val.get("voltage_V", 0.0), + "current_A": val.get("current_A", 0.0), + "capacity_Ah": val.get("capacity_Ah", 0.0), + "energy_Wh": val.get("energy_Wh", 0.0), + "totaltime_s": val.get("totaltime_s", 0.0), + "relativetime_s": val.get("relativetime_s", 0.0) + }, + "meta": { + "step_type": val.get("step_type", ""), + "cycle_id": val.get("cycle_id", 0), + "step_id": val.get("step_id", 0), + "log_code": val.get("log_code", "") + } + } + + return result + + +# ======================== +# 示例和测试代码 +# ======================== +def main(): + """测试和演示设备类的使用（支持2盘80颗电池）""" + print("=== 新威电池测试系统设备类演示（2盘80颗电池） ===") + + # 创建设备实例 + bts = NewareBatteryTestSystem() + + # 创建一个模拟的ROS节点用于初始化 + class MockRosNode: + def lab_logger(self): + import logging + return logging.getLogger(__name__) + + def update_resource(self, *args, **kwargs): + pass # 空实现，避免ROS调用错误 + + # 调用post_init进行正确的初始化 + mock_ros_node = MockRosNode() + bts.post_init(mock_ros_node) + + # 测试连接 + print(f"\n1. 连接测试:") + print(f" 连接信息: {bts.connection_info}") + if bts.test_connection(): + print(" ✓ TCP连接正常") + else: + print(" ✗ TCP连接失败") + return + + # 获取设备摘要 + print(f"\n2. 设备摘要:") + print(f" 总通道数: {bts.total_channels}") + summary_result = bts.get_device_summary() + if summary_result["success"]: + # 直接解析return_info，因为它就是JSON字符串 + summary = json.loads(summary_result["return_info"]) + for devid, count in summary.items(): + print(f" 设备ID {devid}: {count} 个通道") + else: + print(f" 获取设备摘要失败: {summary_result['return_info']}") + + # 显示物料管理系统信息 + print(f"\n3. 物料管理系统:") + print(f" 第1盘资源数: {len(bts.station_resources_plate1)}") + print(f" 第2盘资源数: {len(bts.station_resources_plate2)}") + print(f" 总资源数: {len(bts.station_resources)}") + + # 获取实时状态 + print(f"\n4. 获取通道状态:") + try: + bts.print_status_summary() + except Exception as e: + print(f" 获取状态失败: {e}") + + # 分别获取两盘的状态 + print(f"\n5. 分盘状态统计:") + try: + plate_status_data = bts.plate_status + for plate_num in [1, 2]: + plate_key = f"plate{plate_num}" # 修正键名格式：plate1, plate2 + if plate_key in plate_status_data: + plate_info = plate_status_data[plate_key] + print(f" 第{plate_num}盘:") + print(f" 总位置数: {plate_info['total_positions']}") + print(f" 活跃位置数: {plate_info['active_positions']}") + for state, count in plate_info['stats'].items(): + if count > 0: + print(f" {state}: {count} 个位置") + else: + print(f" 第{plate_num}盘: 无数据") + except Exception as e: + print(f" 获取分盘状态失败: {e}") + + # 导出JSON + print(f"\n6. 导出状态数据:") + result = bts.export_status_json("demo_2plate_status.json") + if result["success"]: + print(" ✓ 状态数据已导出到 demo_2plate_status.json") + else: + print(" ✗ 导出失败") + + +if __name__ == "__main__": + main() diff --git a/unilabos/devices/separator/chinwe.py b/unilabos/devices/separator/chinwe.py index 4eeb0f4..8beac44 100644 --- a/unilabos/devices/separator/chinwe.py +++ b/unilabos/devices/separator/chinwe.py @@ -1,282 +1,649 @@ -import sys -import threading -import serial -import serial.tools.list_ports -import re -import time -from typing import Optional, List, Dict, Tuple +# -*- coding: utf-8 -*- +""" +Contains drivers for: +1. SyringePump: Runze Fluid SY-03B (ASCII) +2. EmmMotor: Emm V5.0 Closed-loop Stepper (Modbus-RTU variant) +3. XKCSensor: XKC Non-contact Level Sensor (Modbus-RTU) +""" -class ChinweDevice: +import socket +import serial +import time +import threading +import struct +import re +import traceback +import queue +from typing import Optional, Dict, List, Any + +try: + from unilabos.device_comms.universal_driver import UniversalDriver +except ImportError: + import logging + class UniversalDriver: + def __init__(self): + self.logger = logging.getLogger(self.__class__.__name__) + + def execute_command_from_outer(self, command: str): + pass + +# ============================================================================== +# 1. Transport Layer (通信层) +# ============================================================================== + +class TransportManager: """ - ChinWe设备控制类 - 提供串口通信、电机控制、传感器数据读取等功能 + 统一通信管理类。 + 自动识别 串口 (Serial) 或 网络 (TCP) 连接。 """ - - def __init__(self, port: str, baudrate: int = 115200, debug: bool = False): - """ - 初始化ChinWe设备 - - Args: - port: 串口名称，如果为None则自动检测 - baudrate: 波特率，默认115200 - """ - self.debug = debug + def __init__(self, port: str, baudrate: int = 9600, timeout: float = 3.0, logger=None): self.port = port self.baudrate = baudrate - self.serial_port: Optional[serial.Serial] = None - self._voltage: float = 0.0 - self._ec_value: float = 0.0 - self._ec_adc_value: int = 0 + self.timeout = timeout + self.logger = logger + self.lock = threading.RLock() # 线程锁，确保多设备共用一个连接时不冲突 + + self.is_tcp = False + self.serial = None + self.socket = None + + # 简单判断: 如果包含 ':' (如 192.168.1.1:8899) 或者看起来像 IP，则认为是 TCP + if ':' in self.port or (self.port.count('.') == 3 and not self.port.startswith('/')): + self.is_tcp = True + self._connect_tcp() + else: + self._connect_serial() + + def _log(self, msg): + if self.logger: + pass + # self.logger.debug(f"[Transport] {msg}") + + def _connect_tcp(self): + try: + if ':' in self.port: + host, p = self.port.split(':') + self.tcp_host = host + self.tcp_port = int(p) + else: + self.tcp_host = self.port + self.tcp_port = 8899 # 默认端口 + + # if self.logger: self.logger.info(f"Connecting TCP {self.tcp_host}:{self.tcp_port} ...") + self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.socket.settimeout(self.timeout) + self.socket.connect((self.tcp_host, self.tcp_port)) + except Exception as e: + raise ConnectionError(f"TCP connection failed: {e}") + + def _connect_serial(self): + try: + # if self.logger: self.logger.info(f"Opening Serial {self.port} (Baud: {self.baudrate}) ...") + self.serial = serial.Serial( + port=self.port, + baudrate=self.baudrate, + timeout=self.timeout + ) + except Exception as e: + raise ConnectionError(f"Serial open failed: {e}") + + def close(self): + """关闭连接""" + if self.is_tcp and self.socket: + try: self.socket.close() + except: pass + elif not self.is_tcp and self.serial and self.serial.is_open: + self.serial.close() + + def clear_buffer(self): + """清空缓冲区 (Thread-safe)""" + with self.lock: + if self.is_tcp: + self.socket.setblocking(False) + try: + while True: + if not self.socket.recv(1024): break + except: pass + finally: self.socket.settimeout(self.timeout) + else: + self.serial.reset_input_buffer() + + def write(self, data: bytes): + """发送原始字节""" + with self.lock: + if self.is_tcp: + self.socket.sendall(data) + else: + self.serial.write(data) + + def read(self, size: int) -> bytes: + """读取指定长度字节""" + if self.is_tcp: + data = b'' + start = time.time() + while len(data) < size: + if time.time() - start > self.timeout: break + try: + chunk = self.socket.recv(size - len(data)) + if not chunk: break + data += chunk + except socket.timeout: break + return data + else: + return self.serial.read(size) + + def send_ascii_command(self, command: str) -> str: + """ + 发送 ASCII 字符串命令 (如注射泵指令)，读取直到 '\r'。 + """ + with self.lock: + data = command.encode('ascii') if isinstance(command, str) else command + self.clear_buffer() + self.write(data) + + # Read until \r + if self.is_tcp: + resp = b'' + start = time.time() + while True: + if time.time() - start > self.timeout: break + try: + char = self.socket.recv(1) + if not char: break + resp += char + if char == b'\r': break + except: break + return resp.decode('ascii', errors='ignore').strip() + else: + return self.serial.read_until(b'\r').decode('ascii', errors='ignore').strip() + +# ============================================================================== +# 2. Syringe Pump Driver (注射泵) +# ============================================================================== + +class SyringePump: + """SY-03B 注射泵驱动 (ASCII协议)""" + + CMD_INITIALIZE = "Z{speed},{drain_port},{output_port}R" + CMD_SWITCH_VALVE = "I{port}R" + CMD_ASPIRATE = "P{vol}R" + CMD_DISPENSE = "D{vol}R" + CMD_DISPENSE_ALL = "A0R" + CMD_STOP = "TR" + CMD_QUERY_STATUS = "Q" + CMD_QUERY_PLUNGER = "?0" + + def __init__(self, device_id: int, transport: TransportManager): + if not 1 <= device_id <= 15: + pass # Allow all IDs for now + self.id = str(device_id) + self.transport = transport + + def _send(self, template: str, **kwargs) -> str: + cmd = f"/{self.id}" + template.format(**kwargs) + "\r" + return self.transport.send_ascii_command(cmd) + + def is_busy(self) -> bool: + """查询繁忙状态""" + resp = self._send(self.CMD_QUERY_STATUS) + # 响应如 /0` (Ready, 0x60) 或 /0@ (Busy, 0x40) + if len(resp) >= 3: + status_byte = ord(resp[2]) + # Bit 5: 1=Ready, 0=Busy + return (status_byte & 0x20) == 0 + return False + + def wait_until_idle(self, timeout=30): + """阻塞等待直到空闲""" + start = time.time() + while time.time() - start < timeout: + if not self.is_busy(): return + time.sleep(0.5) + # raise TimeoutError(f"Pump {self.id} wait idle timeout") + pass + + def initialize(self, drain_port=0, output_port=0, speed=10): + """初始化""" + self._send(self.CMD_INITIALIZE, speed=speed, drain_port=drain_port, output_port=output_port) + + def switch_valve(self, port: int): + """切换阀门 (1-8)""" + self._send(self.CMD_SWITCH_VALVE, port=port) + + def aspirate(self, steps: int): + """吸液 (相对步数)""" + self._send(self.CMD_ASPIRATE, vol=steps) + + def dispense(self, steps: int): + """排液 (相对步数)""" + self._send(self.CMD_DISPENSE, vol=steps) + + def stop(self): + """停止""" + self._send(self.CMD_STOP) + + def get_position(self) -> int: + """获取柱塞位置 (步数)""" + resp = self._send(self.CMD_QUERY_PLUNGER) + m = re.search(r'\d+', resp) + return int(m.group()) if m else -1 + +# ============================================================================== +# 3. Stepper Motor Driver (步进电机) +# ============================================================================== + +class EmmMotor: + """Emm V5.0 闭环步进电机驱动""" + + def __init__(self, device_id: int, transport: TransportManager): + self.id = device_id + self.transport = transport + + def _send(self, func_code: int, payload: list) -> bytes: + with self.transport.lock: + self.transport.clear_buffer() + # 格式: [ID] [Func] [Data...] [Check=0x6B] + body = [self.id, func_code] + payload + body.append(0x6B) # Checksum + self.transport.write(bytes(body)) + + # 根据指令不同，读取不同长度响应 + read_len = 10 if func_code in [0x31, 0x32, 0x35, 0x24, 0x27] else 4 + return self.transport.read(read_len) + + def enable(self, on=True): + """使能 (True=锁轴, False=松轴)""" + state = 1 if on else 0 + self._send(0xF3, [0xAB, state, 0]) + + def run_speed(self, speed_rpm: int, direction=0, acc=10): + """速度模式运行""" + sp = struct.pack('>H', int(speed_rpm)) + self._send(0xF6, [direction, sp[0], sp[1], acc, 0]) + + def run_position(self, pulses: int, speed_rpm: int, direction=0, acc=10, absolute=False): + """位置模式运行""" + sp = struct.pack('>H', int(speed_rpm)) + pl = struct.pack('>I', int(pulses)) + is_abs = 1 if absolute else 0 + self._send(0xFD, [direction, sp[0], sp[1], acc, pl[0], pl[1], pl[2], pl[3], is_abs, 0]) + + def stop(self): + """停止""" + self._send(0xFE, [0x98, 0]) + + def set_zero(self): + """清零位置""" + self._send(0x0A, []) + + def get_position(self) -> int: + """获取当前脉冲位置""" + resp = self._send(0x32, []) + if len(resp) >= 8: + sign = resp[2] + val = struct.unpack('>I', resp[3:7])[0] + return -val if sign == 1 else val + return 0 + +# ============================================================================== +# 4. Liquid Sensor Driver (液位传感器) +# ============================================================================== + +class XKCSensor: + """XKC RS485 液位传感器 (Modbus RTU)""" + + def __init__(self, device_id: int, transport: TransportManager, threshold: int = 300): + self.id = device_id + self.transport = transport + self.threshold = threshold + + def _crc(self, data: bytes) -> bytes: + crc = 0xFFFF + for byte in data: + crc ^= byte + for _ in range(8): + if crc & 0x0001: crc = (crc >> 1) ^ 0xA001 + else: crc >>= 1 + return struct.pack(' Optional[Dict[str, Any]]: + """ + 读取液位。 + 返回: {'level': bool, 'rssi': int} + """ + with self.transport.lock: + self.transport.clear_buffer() + # Modbus Read Registers: 01 03 00 01 00 02 CRC + payload = struct.pack('>HH', 0x0001, 0x0002) + msg = struct.pack('BB', self.id, 0x03) + payload + msg += self._crc(msg) + self.transport.write(msg) + + # Read header + h = self.transport.read(3) # Addr, Func, Len + if len(h) < 3: return None + length = h[2] + + # Read body + CRC + body = self.transport.read(length + 2) + if len(body) < length + 2: + # Firmware bug fix specific to some modules + if len(body) == 4 and length == 4: + pass + else: + return None + + data = body[:-2] + if len(data) == 2: + rssi = data[1] + elif len(data) >= 4: + rssi = (data[2] << 8) | data[3] + else: + return None + + return { + 'level': rssi > self.threshold, + 'rssi': rssi + } + +# ============================================================================== +# 5. Main Device Class (ChinweDevice) +# ============================================================================== + +class ChinweDevice(UniversalDriver): + """ + ChinWe 工作站主驱动 + 继承自 UniversalDriver，管理所有子设备（泵、电机、传感器） + """ + + def __init__(self, port: str = "192.168.1.200:8899", baudrate: int = 9600, + pump_ids: List[int] = None, motor_ids: List[int] = None, + sensor_id: int = 6, sensor_threshold: int = 300, + timeout: float = 10.0): + """ + 初始化 ChinWe 工作站 + :param port: 串口号 或 IP:Port + :param baudrate: 串口波特率 + :param pump_ids: 注射泵 ID列表 (默认 [1, 2, 3]) + :param motor_ids: 步进电机 ID列表 (默认 [4, 5]) + :param sensor_id: 液位传感器 ID (默认 6) + :param sensor_threshold: 传感器液位判定阈值 + :param timeout: 通信超时时间 (默认 10秒) + """ + super().__init__() + self.port = port + self.baudrate = baudrate + self.timeout = timeout + self.mgr = None self._is_connected = False - self.connect() - + + # 默认配置 + if pump_ids is None: pump_ids = [1, 2, 3] + if motor_ids is None: motor_ids = [4, 5] + + # 配置信息 + self.pump_ids = pump_ids + self.motor_ids = motor_ids + self.sensor_id = sensor_id + self.sensor_threshold = sensor_threshold + + # 子设备实例容器 + self.pumps: Dict[int, SyringePump] = {} + self.motors: Dict[int, EmmMotor] = {} + self.sensor: Optional[XKCSensor] = None + + # 轮询线程控制 + self._stop_event = threading.Event() + self._poll_thread = None + + # 实时状态缓存 + self.status_cache = { + "sensor_rssi": 0, + "sensor_level": False, + "connected": False + } + + # 自动连接 + if self.port: + self.connect() + + def connect(self) -> bool: + if self._is_connected: return True + try: + self.logger.info(f"Connecting to {self.port} (timeout={self.timeout})...") + self.mgr = TransportManager(self.port, baudrate=self.baudrate, timeout=self.timeout, logger=self.logger) + + # 初始化所有泵 + for pid in self.pump_ids: + self.pumps[pid] = SyringePump(pid, self.mgr) + + # 初始化所有电机 + for mid in self.motor_ids: + self.motors[mid] = EmmMotor(mid, self.mgr) + + # 初始化传感器 + self.sensor = XKCSensor(self.sensor_id, self.mgr, self.sensor_threshold) + + self._is_connected = True + self.status_cache["connected"] = True + + # 启动轮询线程 + self._start_polling() + return True + except Exception as e: + self.logger.error(f"Connection failed: {e}") + self._is_connected = False + self.status_cache["connected"] = False + return False + + def disconnect(self): + self._stop_event.set() + if self._poll_thread: + self._poll_thread.join(timeout=2.0) + + if self.mgr: + self.mgr.close() + + self._is_connected = False + self.status_cache["connected"] = False + self.logger.info("Disconnected.") + + def _start_polling(self): + """启动传感器轮询线程""" + if self._poll_thread and self._poll_thread.is_alive(): + return + + self._stop_event.clear() + self._poll_thread = threading.Thread(target=self._polling_loop, daemon=True, name="ChinwePoll") + self._poll_thread.start() + + def _polling_loop(self): + """轮询主循环""" + self.logger.info("Sensor polling started.") + error_count = 0 + while not self._stop_event.is_set(): + if not self._is_connected or not self.sensor: + time.sleep(1) + continue + + try: + # 获取传感器数据 + data = self.sensor.read_level() + if data: + self.status_cache["sensor_rssi"] = data['rssi'] + self.status_cache["sensor_level"] = data['level'] + error_count = 0 + else: + error_count += 1 + + # 降低轮询频率防止总线拥塞 + time.sleep(0.2) + + except Exception as e: + error_count += 1 + if error_count > 10: # 连续错误记录日志 + # self.logger.error(f"Polling error: {e}") + error_count = 0 + time.sleep(1) + + # --- 对外暴露属性 (Properties) --- + + @property + def sensor_level(self) -> bool: + return self.status_cache["sensor_level"] + + @property + def sensor_rssi(self) -> int: + return self.status_cache["sensor_rssi"] + @property def is_connected(self) -> bool: - """获取连接状态""" - return self._is_connected and self.serial_port and self.serial_port.is_open - - @property - def voltage(self) -> float: - """获取电源电压值""" - return self._voltage - - @property - def ec_value(self) -> float: - """获取电导率值 (ms/cm)""" - return self._ec_value + return self._is_connected - @property - def ec_adc_value(self) -> int: - """获取EC ADC原始值""" - return self._ec_adc_value - + # --- 对外功能指令 (Actions) --- - @property - def device_status(self) -> Dict[str, any]: - """ - 获取设备状态信息 - - Returns: - 包含设备状态的字典 - """ - return { - "connected": self.is_connected, - "port": self.port, - "baudrate": self.baudrate, - "voltage": self.voltage, - "ec_value": self.ec_value, - "ec_adc_value": self.ec_adc_value - } - - def connect(self, port: Optional[str] = None, baudrate: Optional[int] = None) -> bool: - """ - 连接到串口设备 - - Args: - port: 串口名称，如果为None则使用初始化时的port或自动检测 - baudrate: 波特率，如果为None则使用初始化时的baudrate - - Returns: - 连接是否成功 - """ - if self.is_connected: + def pump_initialize(self, pump_id: int, drain_port=0, output_port=0, speed=10): + """指定泵初始化""" + pump_id = int(pump_id) + if pump_id in self.pumps: + self.pumps[pump_id].initialize(drain_port, output_port, speed) + self.pumps[pump_id].wait_until_idle() return True - - target_port = port or self.port - target_baudrate = baudrate or self.baudrate - - try: - self.serial_port = serial.Serial(target_port, target_baudrate, timeout=0.5) - self._is_connected = True - self.port = target_port - self.baudrate = target_baudrate - connect_allow_times = 5 - while not self.serial_port.is_open and connect_allow_times > 0: - time.sleep(0.5) - connect_allow_times -= 1 - print(f"尝试连接到 {target_port} @ {target_baudrate}，剩余尝试次数: {connect_allow_times}", self.debug) - raise ValueError("串口未打开，请检查设备连接") - print(f"已连接到 {target_port} @ {target_baudrate}", self.debug) - threading.Thread(target=self._read_data, daemon=True).start() + return False + + def pump_aspirate(self, pump_id: int, volume: int, valve_port: int): + """ + 泵吸液 (阻塞) + :param valve_port: 阀门端口 (1-8) + """ + pump_id = int(pump_id) + valve_port = int(valve_port) + if pump_id in self.pumps: + pump = self.pumps[pump_id] + # 1. 切换阀门 + pump.switch_valve(valve_port) + pump.wait_until_idle() + # 2. 吸液 + pump.aspirate(volume) + pump.wait_until_idle() return True - except Exception as e: - print(f"ChinweDevice连接失败: {e}") - self._is_connected = False - return False - - def disconnect(self) -> bool: + return False + + def pump_dispense(self, pump_id: int, volume: int, valve_port: int): """ - 断开串口连接 - - Returns: - 断开是否成功 + 泵排液 (阻塞) + :param valve_port: 阀门端口 (1-8) """ - if self.serial_port and self.serial_port.is_open: - try: - self.serial_port.close() - self._is_connected = False - print("已断开串口连接") - return True - except Exception as e: - print(f"断开连接失败: {e}") - return False + pump_id = int(pump_id) + valve_port = int(valve_port) + if pump_id in self.pumps: + pump = self.pumps[pump_id] + # 1. 切换阀门 + pump.switch_valve(valve_port) + pump.wait_until_idle() + # 2. 排液 + pump.dispense(volume) + pump.wait_until_idle() + return True + return False + + def pump_valve(self, pump_id: int, port: int): + """泵切换阀门 (阻塞)""" + pump_id = int(pump_id) + port = int(port) + if pump_id in self.pumps: + pump = self.pumps[pump_id] + pump.switch_valve(port) + pump.wait_until_idle() + return True + return False + + def motor_run_continuous(self, motor_id: int, speed: int, direction: str = "顺时针"): + """ + 电机一直旋转 (速度模式) + :param direction: "顺时针" or "逆时针" + """ + motor_id = int(motor_id) + if motor_id not in self.motors: return False + + dir_val = 0 if direction == "顺时针" else 1 + self.motors[motor_id].run_speed(speed, dir_val) return True - - def _send_motor_command(self, command: str) -> bool: + + def motor_rotate_quarter(self, motor_id: int, speed: int = 60, direction: str = "顺时针"): """ - 发送电机控制命令 - - Args: - command: 电机命令字符串，例如 "M 1 CW 1.5" - - Returns: - 发送是否成功 + 电机旋转1/4圈 (阻塞) + 假设电机设置为 3200 脉冲/圈，1/4圈 = 800脉冲 """ - if not self.is_connected: - print("设备未连接") - return False - - try: - self.serial_port.write((command + "\n").encode('utf-8')) - print(f"发送命令: {command}") + motor_id = int(motor_id) + if motor_id not in self.motors: return False + + pulses = 800 + dir_val = 0 if direction == "顺时针" else 1 + + self.motors[motor_id].run_position(pulses, speed, dir_val, absolute=False) + + # 预估时间阻塞 (单位: 分钟 -> 秒) + # Time(s) = revs / (RPM/60). revs = 0.25. time = 15 / RPM. + estimated_time = 15.0 / max(1, speed) + time.sleep(estimated_time + 0.5) + + return True + + def motor_stop(self, motor_id: int): + """电机停止""" + motor_id = int(motor_id) + if motor_id in self.motors: + self.motors[motor_id].stop() return True - except Exception as e: - print(f"发送命令失败: {e}") - return False - - def rotate_motor(self, motor_id: int, turns: float, clockwise: bool = True) -> bool: - """ - 使电机转动指定圈数 - - Args: - motor_id: 电机ID（1, 2, 3...） - turns: 转动圈数，支持小数 - clockwise: True为顺时针，False为逆时针 - - Returns: - 命令发送是否成功 - """ - if clockwise: - command = f"M {motor_id} CW {turns}" - else: - command = f"M {motor_id} CCW {turns}" - return self._send_motor_command(command) + return False - def set_motor_speed(self, motor_id: int, speed: float) -> bool: + def wait_sensor_level(self, target_state: str = "有液", timeout: int = 30) -> bool: """ - 设置电机转速（如果设备支持） - - Args: - motor_id: 电机ID（1, 2, 3...） - speed: 转速值 - - Returns: - 命令发送是否成功 + 等待传感器达到指定电平 + :param target_state: "有液" or "无液" """ - command = f"M {motor_id} SPEED {speed}" - return self._send_motor_command(command) + target_bool = True if target_state == "有液" else False - def _read_data(self) -> List[str]: - """ - 读取串口数据并解析 - - Returns: - 读取到的数据行列表 - """ - print("开始读取串口数据...") - if not self.is_connected: - return [] - - data_lines = [] - try: - while self.serial_port.in_waiting: - time.sleep(0.1) # 等待数据稳定 - try: - line = self.serial_port.readline().decode('utf-8', errors='ignore').strip() - if line: - data_lines.append(line) - self._parse_sensor_data(line) - except Exception as ex: - print(f"解码数据错误: {ex}") - except Exception as e: - print(f"读取串口数据错误: {e}") - - return data_lines - - def _parse_sensor_data(self, line: str) -> None: - """ - 解析传感器数据 - - Args: - line: 接收到的数据行 - """ - # 解析电源电压 - if "电源电压" in line: - try: - val = float(line.split("：")[1].replace("V", "").strip()) - self._voltage = val - if self.debug: - print(f"电源电压更新: {val}V") - except Exception: - pass + self.logger.info(f"Wait sensor: {target_state} ({target_bool}), timeout: {timeout}") + start = time.time() + while time.time() - start < timeout: + if self.sensor_level == target_bool: + return True + time.sleep(0.1) + self.logger.warning("Wait sensor level timeout") + return False - # 解析电导率和ADC原始值（支持两种格式） - if "电导率" in line and "ADC原始值" in line: - try: - # 支持格式如：电导率：2.50ms/cm, ADC原始值：2052 - ec_match = re.search(r"电导率[:：]\s*([\d\.]+)", line) - adc_match = re.search(r"ADC原始值[:：]\s*(\d+)", line) - if ec_match: - ec_val = float(ec_match.group(1)) - self._ec_value = ec_val - if self.debug: - print(f"电导率更新: {ec_val:.2f} ms/cm") - if adc_match: - adc_val = int(adc_match.group(1)) - self._ec_adc_value = adc_val - if self.debug: - print(f"EC ADC原始值更新: {adc_val}") - except Exception: - pass - # 仅电导率，无ADC原始值 - elif "电导率" in line: - try: - val = float(line.split("：")[1].replace("ms/cm", "").strip()) - self._ec_value = val - if self.debug: - print(f"电导率更新: {val:.2f} ms/cm") - except Exception: - pass - # 仅ADC原始值（如有分开回传场景） - elif "ADC原始值" in line: - try: - adc_val = int(line.split("：")[1].strip()) - self._ec_adc_value = adc_val - if self.debug: - print(f"EC ADC原始值更新: {adc_val}") - except Exception: - pass - - def spin_when_ec_ge_0(): - pass - + def wait_time(self, duration: int) -> bool: + """ + 等待指定时间 (秒) + :param duration: 秒 + """ + self.logger.info(f"Waiting for {duration} seconds...") + time.sleep(duration) + return True + + def execute_command_from_outer(self, command_dict: Dict[str, Any]) -> bool: + """支持标准 JSON 指令调用""" + return super().execute_command_from_outer(command_dict) -def main(): - """测试函数""" - print("=== ChinWe设备测试 ===") - - # 创建设备实例 - device = ChinweDevice("/dev/tty.usbserial-A5069RR4", debug=True) - try: - # 测试5: 发送电机命令 - print("\n5. 发送电机命令测试:") - print(" 5.3 使用通用函数控制电机20顺时针转2圈:") - device.rotate_motor(2, 20.0, clockwise=True) - time.sleep(0.5) - finally: - time.sleep(10) - # 测试7: 断开连接 - print("\n7. 断开连接:") - device.disconnect() if __name__ == "__main__": - main() + # Test + logging.basicConfig(level=logging.INFO) + dev = ChinweDevice(port="192.168.31.201:8899") + try: + if dev.is_connected: + print(f"Status: Level={dev.sensor_level}, RSSI={dev.sensor_rssi}") + + # Test pump 1 + # dev.pump_valve(1, 1) + # dev.pump_move(1, 1000, "aspirate") + + # Test motor 4 + # dev.motor_run(4, 60, 0, 2) + + for _ in range(5): + print(f"Level={dev.sensor_level}, RSSI={dev.sensor_rssi}") + time.sleep(1) + finally: + dev.disconnect() diff --git a/unilabos/devices/workstation/post_process/__init__.py b/unilabos/devices/workstation/post_process/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/unilabos/devices/workstation/post_process/bottle_carriers.py b/unilabos/devices/workstation/post_process/bottle_carriers.py new file mode 100644 index 0000000..51943c9 --- /dev/null +++ b/unilabos/devices/workstation/post_process/bottle_carriers.py @@ -0,0 +1,93 @@ +from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d + +from unilabos.resources.itemized_carrier import BottleCarrier +from unilabos.devices.workstation.post_process.bottles import POST_PROCESS_PolymerStation_Reagent_Bottle + +# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial + + +# ============================================================================ +# 聚合站（PolymerStation）载体定义（统一入口） +# ============================================================================ + +def POST_PROCESS_Raw_1BottleCarrier(name: str) -> BottleCarrier: + """聚合站-单试剂瓶载架 + + 参数: + - name: 载架名称前缀 + """ + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯/试剂瓶占位尺寸（使用圆形占位） + beaker_diameter = 60.0 + + # 计算中央位置 + center_x = (carrier_size_x - beaker_diameter) / 2 + center_y = (carrier_size_y - beaker_diameter) / 2 + center_z = 5.0 + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(center_x, center_y, center_z)], + resource_size_x=beaker_diameter, + resource_size_y=beaker_diameter, + name_prefix=name, + ), + model="POST_PROCESS_Raw_1BottleCarrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + # 统一后缀采用 "flask_1" 命名（可按需调整） + carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1") + return carrier + +def POST_PROCESS_Reaction_1BottleCarrier(name: str) -> BottleCarrier: + """聚合站-单试剂瓶载架 + + 参数: + - name: 载架名称前缀 + """ + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯/试剂瓶占位尺寸（使用圆形占位） + beaker_diameter = 60.0 + + # 计算中央位置 + center_x = (carrier_size_x - beaker_diameter) / 2 + center_y = (carrier_size_y - beaker_diameter) / 2 + center_z = 5.0 + + carrier = BottleCarrier( + name=name, + size_x=carrier_size_x, + size_y=carrier_size_y, + size_z=carrier_size_z, + sites=create_homogeneous_resources( + klass=ResourceHolder, + locations=[Coordinate(center_x, center_y, center_z)], + resource_size_x=beaker_diameter, + resource_size_y=beaker_diameter, + name_prefix=name, + ), + model="POST_PROCESS_Reaction_1BottleCarrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + # 统一后缀采用 "flask_1" 命名（可按需调整） + carrier[0] = POST_PROCESS_PolymerStation_Reagent_Bottle(f"{name}_flask_1") + return carrier diff --git a/unilabos/devices/workstation/post_process/bottles.py b/unilabos/devices/workstation/post_process/bottles.py new file mode 100644 index 0000000..6eccdec --- /dev/null +++ b/unilabos/devices/workstation/post_process/bottles.py @@ -0,0 +1,20 @@ +from unilabos.resources.itemized_carrier import Bottle + + +def POST_PROCESS_PolymerStation_Reagent_Bottle( + name: str, + diameter: float = 70.0, + height: float = 120.0, + max_volume: float = 500000.0, # 500mL + barcode: str = None, +) -> Bottle: + """创建试剂瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="POST_PROCESS_PolymerStation_Reagent_Bottle", + ) + diff --git a/unilabos/devices/workstation/post_process/decks.py b/unilabos/devices/workstation/post_process/decks.py new file mode 100644 index 0000000..4f7292c --- /dev/null +++ b/unilabos/devices/workstation/post_process/decks.py @@ -0,0 +1,46 @@ +from os import name +from pylabrobot.resources import Deck, Coordinate, Rotation + +from unilabos.devices.workstation.post_process.warehouses import ( + post_process_warehouse_4x3x1, + post_process_warehouse_4x3x1_2, +) + + + +class post_process_deck(Deck): + def __init__( + self, + name: str = "post_process_deck", + size_x: float = 2000.0, + size_y: float = 1000.0, + size_z: float = 2670.0, + category: str = "deck", + setup: bool = True, + ) -> None: + super().__init__(name=name, size_x=1700.0, size_y=1350.0, size_z=2670.0) + if setup: + self.setup() + + def setup(self) -> None: + # 添加仓库 + self.warehouses = { + "原料罐堆栈": post_process_warehouse_4x3x1("原料罐堆栈"), + "反应罐堆栈": post_process_warehouse_4x3x1_2("反应罐堆栈"), + + } + # warehouse 的位置 + self.warehouse_locations = { + "原料罐堆栈": Coordinate(350.0, 55.0, 0.0), + "反应罐堆栈": Coordinate(1000.0, 55.0, 0.0), + + } + + for warehouse_name, warehouse in self.warehouses.items(): + self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) + + + + + + diff --git a/unilabos/devices/workstation/post_process/opcua_huairou.json b/unilabos/devices/workstation/post_process/opcua_huairou.json new file mode 100644 index 0000000..ac6a637 --- /dev/null +++ b/unilabos/devices/workstation/post_process/opcua_huairou.json @@ -0,0 +1,157 @@ +{ + "register_node_list_from_csv_path": { + "path": "opcua_nodes_huairou.csv" + }, + "create_flow": [ + { + "name": "trigger_grab_action", + "description": "触发反应罐及原料罐抓取动作", + "parameters": ["reaction_tank_number", "raw_tank_number"], + "action": [ + { + "init_function": { + "func_name": "init_grab_params", + "write_nodes": ["reaction_tank_number", "raw_tank_number"] + }, + "start_function": { + "func_name": "start_grab", + "write_nodes": {"grab_trigger": true}, + "condition_nodes": ["grab_complete"], + "stop_condition_expression": "grab_complete == True", + "timeout_seconds": 999999.0 + }, + "stop_function": { + "func_name": "stop_grab", + "write_nodes": {"grab_trigger": false} + } + } + ] + }, + { + "name": "trigger_post_processing", + "description": "触发后处理动作", + "parameters": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed", + "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount", + "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time", + "first_powder_wash_count","second_powder_wash_count","initial_water_amount", + "pre_filtration_mixing_time","atomization_pressure_kpa"], + "action": [ + { + "init_function": { + "func_name": "init_post_processing_params", + "write_nodes": ["atomization_fast_speed", "wash_slow_speed","injection_pump_suction_speed", + "injection_pump_push_speed","raw_liquid_suction_count","first_wash_water_amount", + "second_wash_water_amount","first_powder_mixing_time","second_powder_mixing_time", + "first_powder_wash_count","second_powder_wash_count","initial_water_amount", + "pre_filtration_mixing_time","atomization_pressure_kpa"] + }, + "start_function": { + "func_name": "start_post_processing", + "write_nodes": {"post_process_trigger": true}, + "condition_nodes": ["post_process_complete"], + "stop_condition_expression": "post_process_complete == True", + "timeout_seconds": 999999.0 + }, + "stop_function": { + "func_name": "stop_post_processing", + "write_nodes": {"post_process_trigger": false} + } + } + ] + }, + { + "name": "trigger_cleaning_action", + "description": "触发清洗及管路吹气动作", + "parameters": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time", + "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count", + "nmp_pump_cleaning_suction_count", + "nmp_inner_wall_cleaning_waste_time", + "nmp_stirrer_cleaning_injection", + "nmp_stirrer_cleaning_count", + "nmp_stirrer_cleaning_wait_time", + "nmp_stirrer_cleaning_waste_time", + "water_outer_wall_cleaning_injection", + "water_outer_wall_cleaning_count", + "water_outer_wall_cleaning_wait_time", + "water_outer_wall_cleaning_waste_time", + "water_inner_wall_cleaning_injection", + "water_inner_wall_cleaning_count", + "water_pump_cleaning_suction_count", + "water_inner_wall_cleaning_waste_time", + "water_stirrer_cleaning_injection", + "water_stirrer_cleaning_count", + "water_stirrer_cleaning_wait_time", + "water_stirrer_cleaning_waste_time", + "acetone_outer_wall_cleaning_injection", + "acetone_outer_wall_cleaning_count", + "acetone_outer_wall_cleaning_wait_time", + "acetone_outer_wall_cleaning_waste_time", + "acetone_inner_wall_cleaning_injection", + "acetone_inner_wall_cleaning_count", + "acetone_pump_cleaning_suction_count", + "acetone_inner_wall_cleaning_waste_time", + "acetone_stirrer_cleaning_injection", + "acetone_stirrer_cleaning_count", + "acetone_stirrer_cleaning_wait_time", + "acetone_stirrer_cleaning_waste_time", + "pipe_blowing_time", + "injection_pump_forward_empty_suction_count", + "injection_pump_reverse_empty_suction_count", + "filtration_liquid_selection"], + "action": [ + { + "init_function": { + "func_name": "init_cleaning_params", + "write_nodes": ["nmp_outer_wall_cleaning_injection", "nmp_outer_wall_cleaning_count","nmp_outer_wall_cleaning_wait_time", + "nmp_outer_wall_cleaning_waste_time","nmp_inner_wall_cleaning_injection","nmp_inner_wall_cleaning_count", + "nmp_pump_cleaning_suction_count", + "nmp_inner_wall_cleaning_waste_time", + "nmp_stirrer_cleaning_injection", + "nmp_stirrer_cleaning_count", + "nmp_stirrer_cleaning_wait_time", + "nmp_stirrer_cleaning_waste_time", + "water_outer_wall_cleaning_injection", + "water_outer_wall_cleaning_count", + "water_outer_wall_cleaning_wait_time", + "water_outer_wall_cleaning_waste_time", + "water_inner_wall_cleaning_injection", + "water_inner_wall_cleaning_count", + "water_pump_cleaning_suction_count", + "water_inner_wall_cleaning_waste_time", + "water_stirrer_cleaning_injection", + "water_stirrer_cleaning_count", + "water_stirrer_cleaning_wait_time", + "water_stirrer_cleaning_waste_time", + "acetone_outer_wall_cleaning_injection", + "acetone_outer_wall_cleaning_count", + "acetone_outer_wall_cleaning_wait_time", + "acetone_outer_wall_cleaning_waste_time", + "acetone_inner_wall_cleaning_injection", + "acetone_inner_wall_cleaning_count", + "acetone_pump_cleaning_suction_count", + "acetone_inner_wall_cleaning_waste_time", + "acetone_stirrer_cleaning_injection", + "acetone_stirrer_cleaning_count", + "acetone_stirrer_cleaning_wait_time", + "acetone_stirrer_cleaning_waste_time", + "pipe_blowing_time", + "injection_pump_forward_empty_suction_count", + "injection_pump_reverse_empty_suction_count", + "filtration_liquid_selection"] + }, + "start_function": { + "func_name": "start_cleaning", + "write_nodes": {"cleaning_and_pipe_blowing_trigger": true}, + "condition_nodes": ["cleaning_complete"], + "stop_condition_expression": "cleaning_complete == True", + "timeout_seconds": 999999.0 + }, + "stop_function": { + "func_name": "stop_cleaning", + "write_nodes": {"cleaning_and_pipe_blowing_trigger": false} + } + } + ] + } + ] +} diff --git a/unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv b/unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv new file mode 100644 index 0000000..454de96 --- /dev/null +++ b/unilabos/devices/workstation/post_process/opcua_nodes_huairou.csv @@ -0,0 +1,70 @@ +Name,EnglishName,NodeType,DataType,NodeLanguage,NodeId +原料罐号码,raw_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|原料罐号码 +反应罐号码,reaction_tank_number,VARIABLE,INT16,Chinese,ns=4;s=OPC|反应罐号码 +反应罐及原料罐抓取触发,grab_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取触发 +后处理动作触发,post_process_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作触发 +搅拌桨雾化快速,atomization_fast_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨雾化快速 +搅拌桨洗涤慢速,wash_slow_speed,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|搅拌桨洗涤慢速 +注射泵抽液速度,injection_pump_suction_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵抽液速度 +注射泵推液速度,injection_pump_push_speed,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵推液速度 +抽原液次数,raw_liquid_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽原液次数 +第1次洗涤加水量,first_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第1次洗涤加水量 +第2次洗涤加水量,second_wash_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|第2次洗涤加水量 +第1次粉末搅拌时间,first_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第1次粉末搅拌时间 +第2次粉末搅拌时间,second_powder_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|第2次粉末搅拌时间 +第1次粉末洗涤次数,first_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第1次粉末洗涤次数 +第2次粉末洗涤次数,second_powder_wash_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|第2次粉末洗涤次数 +最开始加水量,initial_water_amount,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|最开始加水量 +抽滤前搅拌时间,pre_filtration_mixing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|抽滤前搅拌时间 +雾化压力Kpa,atomization_pressure_kpa,VARIABLE,INT16,Chinese,ns=4;s=OPC|雾化压力Kpa +清洗及管路吹气触发,cleaning_and_pipe_blowing_trigger,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气触发 +废液桶满报警,waste_tank_full_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|废液桶满报警 +清水桶空报警,water_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清水桶空报警 +NMP桶空报警,nmp_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|NMP桶空报警 +丙酮桶空报警,acetone_tank_empty_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|丙酮桶空报警 +门开报警,door_open_alarm,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|门开报警 +反应罐及原料罐抓取完成PLCtoPC,grab_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|反应罐及原料罐抓取完成PLCtoPC +后处理动作完成PLCtoPC,post_process_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|后处理动作完成PLCtoPC +清洗及管路吹气完成PLCtoPC,cleaning_complete,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|清洗及管路吹气完成PLCtoPC +远程模式PLCtoPC,remote_mode,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|远程模式PLCtoPC +设备准备就绪PLCtoPC,device_ready,VARIABLE,BOOLEAN,Chinese,ns=4;s=OPC|设备准备就绪PLCtoPC +NMP外壁清洗加注,nmp_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP外壁清洗加注 +NMP外壁清洗次数,nmp_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP外壁清洗次数 +NMP外壁清洗等待时间,nmp_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗等待时间 +NMP外壁清洗抽废时间,nmp_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP外壁清洗抽废时间 +NMP内壁清洗加注,nmp_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP内壁清洗加注 +NMP内壁清洗次数,nmp_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP内壁清洗次数 +NMP泵清洗抽次数,nmp_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP泵清洗抽次数 +NMP内壁清洗抽废时间,nmp_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP内壁清洗抽废时间 +NMP搅拌桨清洗加注,nmp_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|NMP搅拌桨清洗加注 +NMP搅拌桨清洗次数,nmp_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|NMP搅拌桨清洗次数 +NMP搅拌桨清洗等待时间,nmp_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗等待时间 +NMP搅拌桨清洗抽废时间,nmp_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|NMP搅拌桨清洗抽废时间 +清水外壁清洗加注,water_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水外壁清洗加注 +清水外壁清洗次数,water_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水外壁清洗次数 +清水外壁清洗等待时间,water_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗等待时间 +清水外壁清洗抽废时间,water_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水外壁清洗抽废时间 +清水内壁清洗加注,water_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水内壁清洗加注 +清水内壁清洗次数,water_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水内壁清洗次数 +清水泵清洗抽次数,water_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水泵清洗抽次数 +清水内壁清洗抽废时间,water_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水内壁清洗抽废时间 +清水搅拌桨清洗加注,water_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|清水搅拌桨清洗加注 +清水搅拌桨清洗次数,water_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|清水搅拌桨清洗次数 +清水搅拌桨清洗等待时间,water_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗等待时间 +清水搅拌桨清洗抽废时间,water_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|清水搅拌桨清洗抽废时间 +丙酮外壁清洗加注,acetone_outer_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮外壁清洗加注 +丙酮外壁清洗次数,acetone_outer_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮外壁清洗次数 +丙酮外壁清洗等待时间,acetone_outer_wall_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗等待时间 +丙酮外壁清洗抽废时间,acetone_outer_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮外壁清洗抽废时间 +丙酮内壁清洗加注,acetone_inner_wall_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮内壁清洗加注 +丙酮内壁清洗次数,acetone_inner_wall_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮内壁清洗次数 +丙酮泵清洗抽次数,acetone_pump_cleaning_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮泵清洗抽次数 +丙酮内壁清洗抽废时间,acetone_inner_wall_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮内壁清洗抽废时间 +丙酮搅拌桨清洗加注,acetone_stirrer_cleaning_injection,VARIABLE,FLOAT,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗加注 +丙酮搅拌桨清洗次数,acetone_stirrer_cleaning_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗次数 +丙酮搅拌桨清洗等待时间,acetone_stirrer_cleaning_wait_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗等待时间 +丙酮搅拌桨清洗抽废时间,acetone_stirrer_cleaning_waste_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|丙酮搅拌桨清洗抽废时间 +管道吹气时间,pipe_blowing_time,VARIABLE,INT32,Chinese,ns=4;s=OPC|管道吹气时间 +注射泵正向空抽次数,injection_pump_forward_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵正向空抽次数 +注射泵反向空抽次数,injection_pump_reverse_empty_suction_count,VARIABLE,INT16,Chinese,ns=4;s=OPC|注射泵反向空抽次数 +抽滤液选择0水1丙酮,filtration_liquid_selection,VARIABLE,INT16,Chinese,ns=4;s=OPC|抽滤液选择0水1丙酮 \ No newline at end of file diff --git a/unilabos/devices/workstation/post_process/post_process.py b/unilabos/devices/workstation/post_process/post_process.py new file mode 100644 index 0000000..b45cded --- /dev/null +++ b/unilabos/devices/workstation/post_process/post_process.py @@ -0,0 +1,1781 @@ +import json +import time +import traceback +from typing import Any, Union, List, Dict, Callable, Optional, Tuple +from pydantic import BaseModel + +from opcua import Client, ua +import pandas as pd +import os + +from unilabos.device_comms.opcua_client.node.uniopcua import Base as OpcUaNodeBase +from unilabos.device_comms.opcua_client.node.uniopcua import Variable, Method, NodeType, DataType +from unilabos.device_comms.universal_driver import UniversalDriver +from unilabos.utils.log import logger +from unilabos.devices.workstation.post_process.decks import post_process_deck + +class OpcUaNode(BaseModel): + name: str + node_type: NodeType + node_id: str = "" + data_type: Optional[DataType] = None + parent_node_id: Optional[str] = None + + +class OpcUaWorkflow(BaseModel): + name: str + actions: List[ + Union[ + "OpcUaWorkflow", + Callable[ + [Callable[[str], OpcUaNodeBase]], + None + ]] + ] + + +class Action(BaseModel): + name: str + rw: bool # read是0 write是1 + + +class WorkflowAction(BaseModel): + init: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None + start: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None + stop: Optional[Callable[[Callable[[str], OpcUaNodeBase]], bool]] = None + cleanup: Optional[Callable[[Callable[[str], OpcUaNodeBase]], None]] = None + + +class OpcUaWorkflowModel(BaseModel): + name: str + actions: List[Union["OpcUaWorkflowModel", WorkflowAction]] + parameters: Optional[List[str]] = None + description: Optional[str] = None + + +""" 前后端Json解析用 """ +class NodeFunctionJson(BaseModel): + func_name: str + node_name: str + mode: str # read, write, call + value: Any = None + + +class InitFunctionJson(NodeFunctionJson): + pass + + +class StartFunctionJson(NodeFunctionJson): + write_functions: List[str] + condition_functions: List[str] + stop_condition_expression: str + + +class StopFunctionJson(NodeFunctionJson): + pass + + +class CleanupFunctionJson(NodeFunctionJson): + pass + + +class ActionJson(BaseModel): + node_function_to_create: List[NodeFunctionJson] + create_init_function: Optional[InitFunctionJson] = None + create_start_function: Optional[StartFunctionJson] = None + create_stop_function: Optional[StopFunctionJson] = None + create_cleanup_function: Optional[CleanupFunctionJson] = None + + +class SimplifiedActionJson(BaseModel): + """简化的动作JSON格式，直接定义节点列表和函数""" + nodes: Optional[Dict[str, Dict[str, Any]]] = None # 节点定义，格式为 {func_name: {node_name, mode, value}} + init_function: Optional[Dict[str, Any]] = None + start_function: Optional[Dict[str, Any]] = None + stop_function: Optional[Dict[str, Any]] = None + cleanup_function: Optional[Dict[str, Any]] = None + + +class WorkflowCreateJson(BaseModel): + name: str + action: List[Union[ActionJson, SimplifiedActionJson, 'WorkflowCreateJson', str]] + parameters: Optional[List[str]] = None + description: Optional[str] = None + + +class ExecuteProcedureJson(BaseModel): + register_node_list_from_csv_path: Optional[Dict[str, Any]] = None + create_flow: List[WorkflowCreateJson] + execute_flow: List[str] + + +class BaseClient(UniversalDriver): + client: Optional[Client] = None + _node_registry: Dict[str, OpcUaNodeBase] = {} + DEFAULT_ADDRESS_PATH = "" + _variables_to_find: Dict[str, Dict[str, Any]] = {} + _name_mapping: Dict[str, str] = {} # 英文名到中文名的映射 + _reverse_mapping: Dict[str, str] = {} # 中文名到英文名的映射 + # 直接缓存已找到的 ua.Node 对象，避免因字符串 NodeId 格式导致订阅失败 + _found_node_objects: Dict[str, Any] = {} + + def __init__(self): + super().__init__() + # 自动查找节点功能默认开启 + self._auto_find_nodes = True + # 初始化名称映射字典 + self._name_mapping = {} + self._reverse_mapping = {} + # 初始化线程锁（在子类中会被重新创建，这里提供默认实现） + import threading + self._client_lock = threading.RLock() + + def _set_client(self, client: Optional[Client]) -> None: + if client is None: + raise ValueError('client is not valid') + self.client = client + + def _connect(self) -> None: + logger.info('try to connect client...') + if self.client: + try: + self.client.connect() + logger.info('client connected!') + + # 连接后开始查找节点 + if self._variables_to_find: + self._find_nodes() + except Exception as e: + logger.error(f'client connect failed: {e}') + raise + else: + raise ValueError('client is not initialized') + + def _find_nodes(self) -> None: + """查找服务器中的节点""" + if not self.client: + raise ValueError('client is not connected') + + logger.info(f'开始查找 {len(self._variables_to_find)} 个节点...') + try: + # 获取根节点 + root = self.client.get_root_node() + objects = root.get_child(["0:Objects"]) + + # 记录查找前的状态 + before_count = len(self._node_registry) + + # 查找节点 + self._find_nodes_recursive(objects) + + # 记录查找后的状态 + after_count = len(self._node_registry) + newly_found = after_count - before_count + + logger.info(f"本次查找新增 {newly_found} 个节点，当前共 {after_count} 个") + + # 检查是否所有节点都已找到 + not_found = [] + for var_name, var_info in self._variables_to_find.items(): + if var_name not in self._node_registry: + not_found.append(var_name) + + if not_found: + logger.warning(f"⚠ 以下 {len(not_found)} 个节点未找到: {', '.join(not_found[:10])}{'...' if len(not_found) > 10 else ''}") + logger.warning(f"提示：请检查这些节点名称是否与服务器的 BrowseName 完全匹配（包括大小写、空格等）") + # 提供一个示例来帮助调试 + if not_found: + logger.info(f"尝试在服务器中查找第一个未找到的节点 '{not_found[0]}' 的相似节点...") + else: + logger.info(f"✓ 所有 {len(self._variables_to_find)} 个节点均已找到并注册") + + except Exception as e: + logger.error(f"查找节点失败: {e}") + traceback.print_exc() + + def _find_nodes_recursive(self, node) -> None: + """递归查找节点""" + try: + # 获取当前节点的浏览名称 + browse_name = node.get_browse_name() + node_name = browse_name.Name + + # 检查是否是我们要找的变量 + if node_name in self._variables_to_find and node_name not in self._node_registry: + var_info = self._variables_to_find[node_name] + node_type = var_info.get("node_type") + data_type = var_info.get("data_type") + node_id_str = str(node.nodeid) + + # 根据节点类型创建相应的对象 + if node_type == NodeType.VARIABLE: + self._node_registry[node_name] = Variable(self.client, node_name, node_id_str, data_type) + logger.info(f"✓ 找到变量节点: '{node_name}', NodeId: {node_id_str}, DataType: {data_type}") + # 缓存真实的 ua.Node 对象用于订阅 + self._found_node_objects[node_name] = node + elif node_type == NodeType.METHOD: + # 对于方法节点，需要获取父节点ID + parent_node = node.get_parent() + parent_node_id = str(parent_node.nodeid) + self._node_registry[node_name] = Method(self.client, node_name, node_id_str, parent_node_id, data_type) + logger.info(f"✓ 找到方法节点: '{node_name}', NodeId: {node_id_str}, ParentId: {parent_node_id}") + + # 递归处理子节点 + for child in node.get_children(): + self._find_nodes_recursive(child) + + except Exception as e: + # 忽略处理单个节点时的错误，继续处理其他节点 + pass + + @classmethod + def load_csv(cls, file_path: str) -> List[OpcUaNode]: + """ + 从CSV文件加载节点定义 + CSV文件需包含Name,NodeType,DataType列 + 可选包含EnglishName和NodeLanguage列 + """ + df = pd.read_csv(file_path) + df = df.drop_duplicates(subset='Name', keep='first') # 重复的数据应该报错 + nodes = [] + + # 检查是否包含英文名称列和节点语言列 + has_english_name = 'EnglishName' in df.columns + has_node_language = 'NodeLanguage' in df.columns + + # 如果存在英文名称列，创建名称映射字典 + name_mapping = {} + reverse_mapping = {} + + for _, row in df.iterrows(): + name = row.get('Name') + node_type_str = row.get('NodeType') + data_type_str = row.get('DataType') + + # 获取英文名称和节点语言（如果有） + english_name = row.get('EnglishName') if has_english_name else None + node_language = row.get('NodeLanguage') if has_node_language else 'English' # 默认为英文 + + # 如果有英文名称，添加到映射字典 + if english_name and not pd.isna(english_name) and node_language == 'Chinese': + name_mapping[english_name] = name + reverse_mapping[name] = english_name + + if not name or not node_type_str: + logger.warning(f"跳过无效行: 名称或节点类型缺失") + continue + + # 只支持VARIABLE和METHOD两种类型 + if node_type_str not in ['VARIABLE', 'METHOD']: + logger.warning(f"不支持的节点类型: {node_type_str}，仅支持VARIABLE和METHOD") + continue + + try: + node_type = NodeType[node_type_str] + except KeyError: + logger.warning(f"无效的节点类型: {node_type_str}") + continue + + # 对于VARIABLE节点，必须指定数据类型 + if node_type == NodeType.VARIABLE: + if not data_type_str or pd.isna(data_type_str): + logger.warning(f"变量节点 {name} 必须指定数据类型") + continue + + try: + data_type = DataType[data_type_str] + except KeyError: + logger.warning(f"无效的数据类型: {data_type_str}") + continue + else: + # 对于METHOD节点，数据类型可选 + data_type = None + if data_type_str and not pd.isna(data_type_str): + try: + data_type = DataType[data_type_str] + except KeyError: + logger.warning(f"无效的数据类型: {data_type_str}，将使用默认值") + + # 创建节点对象，节点ID留空，将通过自动查找功能获取 + nodes.append(OpcUaNode( + name=name, + node_type=node_type, + data_type=data_type + )) + + # 返回节点列表和名称映射字典 + return nodes, name_mapping, reverse_mapping + + def use_node(self, name: str) -> OpcUaNodeBase: + """ + 获取已注册的节点 + 如果节点尚未找到，会尝试再次查找 + 支持使用英文名称访问中文节点 + """ + # 检查是否使用英文名称访问中文节点 + if name in self._name_mapping: + chinese_name = self._name_mapping[name] + if chinese_name in self._node_registry: + node = self._node_registry[chinese_name] + logger.debug(f"使用节点: '{name}' -> '{chinese_name}', NodeId: {node.node_id}") + return node + elif chinese_name in self._variables_to_find: + logger.warning(f"节点 {chinese_name} (英文名: {name}) 尚未找到，尝试重新查找") + if self.client: + self._find_nodes() + if chinese_name in self._node_registry: + node = self._node_registry[chinese_name] + logger.info(f"重新查找成功: '{chinese_name}', NodeId: {node.node_id}") + return node + raise ValueError(f'节点 {chinese_name} (英文名: {name}) 未注册或未找到') + + # 直接使用原始名称查找 + if name not in self._node_registry: + if name in self._variables_to_find: + logger.warning(f"节点 {name} 尚未找到，尝试重新查找") + if self.client: + self._find_nodes() + if name in self._node_registry: + node = self._node_registry[name] + logger.info(f"重新查找成功: '{name}', NodeId: {node.node_id}") + return node + logger.error(f"❌ 节点 '{name}' 未注册或未找到。已注册节点: {list(self._node_registry.keys())[:5]}...") + raise ValueError(f'节点 {name} 未注册或未找到') + node = self._node_registry[name] + logger.debug(f"使用节点: '{name}', NodeId: {node.node_id}") + return node + + def get_node_registry(self) -> Dict[str, OpcUaNodeBase]: + return self._node_registry + + def register_node_list_from_csv_path(self, path: str = None) -> "BaseClient": + """从CSV文件注册节点""" + if path is None: + path = self.DEFAULT_ADDRESS_PATH + nodes, name_mapping, reverse_mapping = self.load_csv(path) + self._name_mapping.update(name_mapping) + self._reverse_mapping.update(reverse_mapping) + return self.register_node_list(nodes) + + def register_node_list(self, node_list: List[OpcUaNode]) -> "BaseClient": + """注册节点列表""" + if not node_list or len(node_list) == 0: + logger.warning('节点列表为空') + return self + + logger.info(f'开始注册 {len(node_list)} 个节点...') + new_nodes_count = 0 + for node in node_list: + if node is None: + continue + + if node.name in self._node_registry: + logger.debug(f'节点 "{node.name}" 已存在于注册表') + exist = self._node_registry[node.name] + if exist.type != node.node_type: + raise ValueError(f'节点 {node.name} 类型 {node.node_type} 与已存在的类型 {exist.type} 不一致') + continue + + # 将节点添加到待查找列表 + self._variables_to_find[node.name] = { + "node_type": node.node_type, + "data_type": node.data_type + } + new_nodes_count += 1 + logger.debug(f'添加节点 "{node.name}" ({node.node_type}) 到待查找列表') + + logger.info(f'节点注册完成：新增 {new_nodes_count} 个待查找节点，总计 {len(self._variables_to_find)} 个') + + # 如果客户端已连接，立即开始查找 + if self.client: + self._find_nodes() + + return self + + def run_opcua_workflow(self, workflow: OpcUaWorkflow) -> None: + if not self.client: + raise ValueError('client is not connected') + + logger.info(f'start to run workflow {workflow.name}...') + + for action in workflow.actions: + if isinstance(action, OpcUaWorkflow): + self.run_opcua_workflow(action) + elif callable(action): + action(self.use_node) + else: + raise ValueError(f'invalid action {action}') + + def call_lifecycle_fn( + self, + workflow: OpcUaWorkflowModel, + fn: Optional[Callable[[Callable], bool]], + ) -> bool: + if not fn: + raise ValueError('fn is not valid in call_lifecycle_fn') + try: + result = fn(self.use_node) + # 处理函数返回值可能是元组的情况 + if isinstance(result, tuple) and len(result) == 2: + # 第二个元素是错误标志，True表示出错，False表示成功 + value, error_flag = result + return not error_flag # 转换成True表示成功，False表示失败 + return result + except Exception as e: + traceback.print_exc() + logger.error(f'execute {workflow.name} lifecycle failed, err: {e}') + return False + + def run_opcua_workflow_model(self, workflow: OpcUaWorkflowModel) -> bool: + if not self.client: + raise ValueError('client is not connected') + + logger.info(f'start to run workflow {workflow.name}...') + + for action in workflow.actions: + if isinstance(action, OpcUaWorkflowModel): + if self.run_opcua_workflow_model(action): + logger.info(f"{action.name} workflow done.") + continue + else: + logger.error(f"{action.name} workflow failed") + return False + elif isinstance(action, WorkflowAction): + init = action.init + start = action.start + stop = action.stop + cleanup = action.cleanup + if not init and not start and not stop: + raise ValueError(f'invalid action {action}') + + is_err = False + try: + if init and not self.call_lifecycle_fn(workflow, init): + raise ValueError(f"{workflow.name} init action failed") + if not self.call_lifecycle_fn(workflow, start): + raise ValueError(f"{workflow.name} start action failed") + if not self.call_lifecycle_fn(workflow, stop): + raise ValueError(f"{workflow.name} stop action failed") + logger.info(f"{workflow.name} action done.") + except Exception as e: + is_err = True + traceback.print_exc() + logger.error(f"{workflow.name} action failed, err: {e}") + finally: + logger.info(f"{workflow.name} try to run cleanup") + if cleanup: + self.call_lifecycle_fn(workflow, cleanup) + else: + logger.info(f"{workflow.name} cleanup is not defined") + if is_err: + return False + return True + else: + raise ValueError(f'invalid action type {type(action)}') + + return True + + function_name: Dict[str, Callable[[Callable[[str], OpcUaNodeBase]], bool]] = {} + + def create_node_function(self, func_name: str = None, node_name: str = None, mode: str = None, value: Any = None, **kwargs) -> Callable[[Callable[[str], OpcUaNodeBase]], bool]: + def execute_node_function(use_node: Callable[[str], OpcUaNodeBase]) -> Union[bool, Tuple[Any, bool]]: + target_node = use_node(node_name) + + # 检查是否有对应的参数值可用 + current_value = value + if hasattr(self, '_workflow_params') and func_name in self._workflow_params: + current_value = self._workflow_params[func_name] + print(f"使用参数值 {func_name} = {current_value}") + else: + print(f"执行 {node_name}, {type(target_node).__name__}, {target_node.node_id}, {mode}, {current_value}") + + if mode == 'read': + result_str = self.read_node(node_name) + + try: + # 将字符串转换为字典 + result_str = result_str.replace("'", '"') # 替换单引号为双引号以便JSON解析 + result_dict = json.loads(result_str) + + # 从字典获取值和错误标志 + val = result_dict.get("value") + err = result_dict.get("error") + + print(f"读取 {node_name} 返回值 = {val} (类型: {type(val).__name__}, 错误 = {err}") + return val, err + except Exception as e: + print(f"解析读取结果失败: {e}, 原始结果: {result_str}") + return None, True + elif mode == 'write': + # 构造完整的JSON输入，包含node_name和value + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + + try: + # 解析返回的字符串为字典 + result_str = result_str.replace("'", '"') # 替换单引号为双引号以便JSON解析 + result = json.loads(result_str) + success = result.get("success", False) + print(f"写入 {node_name} = {current_value}, 结果 = {success}") + return success + except Exception as e: + print(f"解析写入结果失败: {e}, 原始结果: {result_str}") + return False + elif mode == 'call' and hasattr(target_node, 'call'): + args = current_value if isinstance(current_value, list) else [current_value] + result = target_node.call(*args) + print(f"调用方法 {node_name} 参数 = {args}, 返回值 = {result}") + return result + return False + + if func_name is None: + func_name = f"{node_name}_{mode}_{str(value)}" + + print(f"创建 node function: {mode}, {func_name}") + self.function_name[func_name] = execute_node_function + + return execute_node_function + + def create_init_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): + """ + 创建初始化函数 + + 参数: + func_name: 函数名称 + write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} + 值可以是具体值，也可以是参数名称字符串（将从_workflow_params中查找） + """ + if write_nodes is None: + raise ValueError("必须提供write_nodes参数") + + def execute_init_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + """根据 _workflow_params 为各节点写入真实数值。 + + 约定: + - write_nodes 为 list 时: 节点名 == 参数名，从 _workflow_params[node_name] 取值； + - write_nodes 为 dict 时: + * value 为字符串且在 _workflow_params 中: 当作参数名去取值； + * 否则 value 视为常量直接写入。 + """ + + params = getattr(self, "_workflow_params", {}) or {} + + if isinstance(write_nodes, list): + # 节点列表形式: 节点名与参数名一致 + for node_name in write_nodes: + if node_name not in params: + print(f"初始化函数: 参数中未找到 {node_name}, 跳过写入") + continue + + current_value = params[node_name] + print(f"初始化函数: 写入节点 {node_name} = {current_value}") + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"初始化函数: 写入结果 = {success}") + except Exception as e: + print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + elif isinstance(write_nodes, dict): + # 映射形式: 节点名 -> 参数名或常量 + for node_name, node_value in write_nodes.items(): + if isinstance(node_value, str) and node_value in params: + current_value = params[node_value] + print(f"初始化函数: 从参数获取值 {node_value} = {current_value}") + else: + current_value = node_value + print(f"初始化函数: 使用常量值 写入 {node_name} = {current_value}") + + print(f"初始化函数: 写入节点 {node_name} = {current_value}") + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"初始化函数: 写入结果 = {success}") + except Exception as e: + print(f"初始化函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + return True + + if func_name is None: + func_name = f"init_function_{str(time.time())}" + + print(f"创建初始化函数: {func_name}") + self.function_name[func_name] = execute_init_function + return execute_init_function + + def create_stop_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): + """ + 创建停止函数 + + 参数: + func_name: 函数名称 + write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} + """ + if write_nodes is None: + raise ValueError("必须提供write_nodes参数") + + def execute_stop_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + if isinstance(write_nodes, list): + # 处理节点列表，默认值都是False + for node_name in write_nodes: + # 直接写入False + print(f"停止函数: 写入节点 {node_name} = False") + input_json = json.dumps({"node_name": node_name, "value": False}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"停止函数: 写入结果 = {success}") + except Exception as e: + print(f"停止函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + elif isinstance(write_nodes, dict): + # 处理节点字典，使用指定的值 + for node_name, node_value in write_nodes.items(): + print(f"停止函数: 写入节点 {node_name} = {node_value}") + input_json = json.dumps({"node_name": node_name, "value": node_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"停止函数: 写入结果 = {success}") + except Exception as e: + print(f"停止函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + return True + + if func_name is None: + func_name = f"stop_function_{str(time.time())}" + + print(f"创建停止函数: {func_name}") + self.function_name[func_name] = execute_stop_function + return execute_stop_function + + def create_cleanup_function(self, func_name: str = None, write_nodes: Union[Dict[str, Any], List[str]] = None): + """ + 创建清理函数 + + 参数: + func_name: 函数名称 + write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} + """ + if write_nodes is None: + raise ValueError("必须提供write_nodes参数") + + def execute_cleanup_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + if isinstance(write_nodes, list): + # 处理节点列表，默认值都是False + for node_name in write_nodes: + # 直接写入False + print(f"清理函数: 写入节点 {node_name} = False") + input_json = json.dumps({"node_name": node_name, "value": False}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"清理函数: 写入结果 = {success}") + except Exception as e: + print(f"清理函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + elif isinstance(write_nodes, dict): + # 处理节点字典，使用指定的值 + for node_name, node_value in write_nodes.items(): + print(f"清理函数: 写入节点 {node_name} = {node_value}") + input_json = json.dumps({"node_name": node_name, "value": node_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"清理函数: 写入结果 = {success}") + except Exception as e: + print(f"清理函数: 解析写入结果失败: {e}, 原始结果: {result_str}") + return True + + if func_name is None: + func_name = f"cleanup_function_{str(time.time())}" + + print(f"创建清理函数: {func_name}") + self.function_name[func_name] = execute_cleanup_function + return execute_cleanup_function + + def create_start_function(self, func_name: str, stop_condition_expression: str = "True", write_nodes: Union[Dict[str, Any], List[str]] = None, condition_nodes: Union[Dict[str, str], List[str]] = None): + """ + 创建开始函数 + + 参数: + func_name: 函数名称 + stop_condition_expression: 停止条件表达式，可直接引用节点名称 + write_nodes: 写节点配置，可以是节点名列表[节点1,节点2]或节点值映射{节点1:值1,节点2:值2} + condition_nodes: 条件节点列表 [节点名1, 节点名2] + """ + def execute_start_function(use_node: Callable[[str], OpcUaNodeBase]) -> bool: + """开始函数: 写入触发节点, 然后轮询条件节点直到满足停止条件。""" + + params = getattr(self, "_workflow_params", {}) or {} + + # 先处理写入节点（触发位等） + if write_nodes: + if isinstance(write_nodes, list): + # 列表形式: 节点名与参数名一致, 若无参数则直接写 True + for node_name in write_nodes: + if node_name in params: + current_value = params[node_name] + else: + current_value = True + + print(f"直接写入节点 {node_name} = {current_value}") + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"直接写入 {node_name} = {current_value}, 结果: {success}") + except Exception as e: + print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}") + elif isinstance(write_nodes, dict): + # 字典形式: 节点名 -> 常量值(如 True/False) + for node_name, node_value in write_nodes.items(): + if node_name in params: + current_value = params[node_name] + else: + current_value = node_value + + print(f"直接写入节点 {node_name} = {current_value}") + input_json = json.dumps({"node_name": node_name, "value": current_value}) + result_str = self.write_node(input_json) + try: + result_str = result_str.replace("'", '"') + result = json.loads(result_str) + success = result.get("success", False) + print(f"直接写入 {node_name} = {current_value}, 结果: {success}") + except Exception as e: + print(f"解析直接写入结果失败: {e}, 原始结果: {result_str}") + + # 如果没有条件节点，立即返回 + if not condition_nodes: + return True + + # 处理条件检查和等待 + while True: + next_loop = False + condition_source = {} + + # 直接读取条件节点 + if isinstance(condition_nodes, list): + # 处理节点列表 + for i, node_name in enumerate(condition_nodes): + # 直接读取节点 + result_str = self.read_node(node_name) + try: + time.sleep(1) + result_str = result_str.replace("'", '"') + result_dict = json.loads(result_str) + read_res = result_dict.get("value") + read_err = result_dict.get("error", False) + print(f"直接读取 {node_name} 返回值 = {read_res}, 错误 = {read_err}") + + if read_err: + next_loop = True + break + + # 将节点值存入条件源字典，使用节点名称作为键 + condition_source[node_name] = read_res + # 为了向后兼容，也保留read_i格式 + condition_source[f"read_{i}"] = read_res + except Exception as e: + print(f"解析直接读取结果失败: {e}, 原始结果: {result_str}") + read_res, read_err = None, True + next_loop = True + break + elif isinstance(condition_nodes, dict): + # 处理节点字典 + for condition_func, node_name in condition_nodes.items(): + # 直接读取节点 + result_str = self.read_node(node_name) + try: + result_str = result_str.replace("'", '"') + result_dict = json.loads(result_str) + read_res = result_dict.get("value") + read_err = result_dict.get("error", False) + print(f"直接读取 {node_name} 返回值 = {read_res}, 错误 = {read_err}") + + if read_err: + next_loop = True + break + + # 将节点值存入条件源字典 + condition_source[node_name] = read_res + # 也保存使用函数名作为键 + condition_source[condition_func] = read_res + except Exception as e: + print(f"解析直接读取结果失败: {e}, 原始结果: {result_str}") + next_loop = True + break + + if not next_loop: + if stop_condition_expression: + # 添加调试信息 + print(f"条件源数据: {condition_source}") + condition_source["__RESULT"] = None + + # 确保安全地执行条件表达式 + try: + # 先尝试使用eval更安全的方式计算表达式 + result = eval(stop_condition_expression, {}, condition_source) + condition_source["__RESULT"] = result + except Exception as e: + print(f"使用eval执行表达式失败: {e}") + try: + # 回退到exec方式 + exec(f"__RESULT = {stop_condition_expression}", {}, condition_source) + except Exception as e2: + print(f"使用exec执行表达式也失败: {e2}") + condition_source["__RESULT"] = False + + res = condition_source["__RESULT"] + print(f"取得计算结果: {res}, 条件表达式: {stop_condition_expression}") + + if res: + print("满足停止条件，结束工作流") + break + else: + # 如果没有停止条件，直接退出 + break + else: + time.sleep(0.3) + + return True + + self.function_name[func_name] = execute_start_function + return execute_start_function + + create_action_from_json = None + + def create_action_from_json(self, data: Union[Dict, Any]) -> WorkflowAction: + """ + 从JSON配置创建工作流动作 + + 参数: + data: 动作JSON数据 + + 返回: + WorkflowAction对象 + """ + # 初始化所需变量 + start_function = None + write_nodes = {} + condition_nodes = [] + stop_function = None + init_function = None + cleanup_function = None + + # 提取start_function相关信息 + if hasattr(data, "start_function") and data.start_function: + start_function = data.start_function + if "write_nodes" in start_function: + write_nodes = start_function["write_nodes"] + if "condition_nodes" in start_function: + condition_nodes = start_function["condition_nodes"] + elif isinstance(data, dict) and data.get("start_function"): + start_function = data.get("start_function") + if "write_nodes" in start_function: + write_nodes = start_function["write_nodes"] + if "condition_nodes" in start_function: + condition_nodes = start_function["condition_nodes"] + + # 提取stop_function信息 + if hasattr(data, "stop_function") and data.stop_function: + stop_function = data.stop_function + elif isinstance(data, dict) and data.get("stop_function"): + stop_function = data.get("stop_function") + + # 提取init_function信息 + if hasattr(data, "init_function") and data.init_function: + init_function = data.init_function + elif isinstance(data, dict) and data.get("init_function"): + init_function = data.get("init_function") + + # 提取cleanup_function信息 + if hasattr(data, "cleanup_function") and data.cleanup_function: + cleanup_function = data.cleanup_function + elif isinstance(data, dict) and data.get("cleanup_function"): + cleanup_function = data.get("cleanup_function") + + # 创建工作流动作组件 + init = None + start = None + stop = None + cleanup = None + + # 处理init function + if init_function: + init_params = {"func_name": init_function.get("func_name")} + if "write_nodes" in init_function: + init_params["write_nodes"] = init_function["write_nodes"] + else: + # 如果没有write_nodes，创建一个空字典 + init_params["write_nodes"] = {} + + init = self.create_init_function(**init_params) + + # 处理start function + if start_function: + start_params = { + "func_name": start_function.get("func_name"), + "stop_condition_expression": start_function.get("stop_condition_expression", "True"), + "write_nodes": write_nodes, + "condition_nodes": condition_nodes + } + start = self.create_start_function(**start_params) + + # 处理stop function + if stop_function: + stop_params = { + "func_name": stop_function.get("func_name"), + "write_nodes": stop_function.get("write_nodes", {}) + } + stop = self.create_stop_function(**stop_params) + + # 处理cleanup function + if cleanup_function: + cleanup_params = { + "func_name": cleanup_function.get("func_name"), + "write_nodes": cleanup_function.get("write_nodes", {}) + } + cleanup = self.create_cleanup_function(**cleanup_params) + + return WorkflowAction(init=init, start=start, stop=stop, cleanup=cleanup) + + workflow_name: Dict[str, OpcUaWorkflowModel] = {} + + def create_workflow_from_json(self, data: List[Dict]) -> None: + """ + 从JSON配置创建工作流程序 + + 参数: + data: 工作流配置列表 + """ + for ind, flow_dict in enumerate(data): + print(f"正在创建 workflow {ind}, {flow_dict['name']}") + actions = [] + + for i in flow_dict["action"]: + if isinstance(i, str): + print(f"沿用已有 workflow 作为 action: {i}") + action = self.workflow_name[i] + else: + print("创建 action") + # 直接将字典转换为SimplifiedActionJson对象或直接使用字典 + action = self.create_action_from_json(i) + + actions.append(action) + + # 获取参数 + parameters = flow_dict.get("parameters", []) + + flow_instance = OpcUaWorkflowModel( + name=flow_dict["name"], + actions=actions, + parameters=parameters, + description=flow_dict.get("description", "") + ) + print(f"创建完成 workflow: {flow_dict['name']}") + self.workflow_name[flow_dict["name"]] = flow_instance + + def execute_workflow_from_json(self, data: List[str]) -> None: + for i in data: + print(f"正在执行 workflow: {i}") + self.run_opcua_workflow_model(self.workflow_name[i]) + + def execute_procedure_from_json(self, data: Union[ExecuteProcedureJson, Dict]) -> None: + """从JSON配置执行工作流程序""" + if isinstance(data, dict): + # 处理字典类型 + register_params = data.get("register_node_list_from_csv_path") + create_flow = data.get("create_flow", []) + execute_flow = data.get("execute_flow", []) + else: + # 处理Pydantic模型类型 + register_params = data.register_node_list_from_csv_path + create_flow = data.create_flow + execute_flow = data.execute_flow if hasattr(data, "execute_flow") else [] + + # 注册节点 + if register_params: + print(f"注册节点 csv: {register_params}") + self.register_node_list_from_csv_path(**register_params) + + # 创建工作流 + print("创建工作流") + self.create_workflow_from_json(create_flow) + + # 注册工作流为实例方法 + self.register_workflows_as_methods() + + # 如果存在execute_flow字段，则执行指定的工作流（向后兼容） + if execute_flow: + print("执行工作流") + self.execute_workflow_from_json(execute_flow) + + def register_workflows_as_methods(self) -> None: + """将工作流注册为实例方法""" + for workflow_name, workflow in self.workflow_name.items(): + # 获取工作流的参数信息（如果存在） + workflow_params = getattr(workflow, 'parameters', []) or [] + workflow_desc = getattr(workflow, 'description', None) or f"执行工作流: {workflow_name}" + + # 创建执行工作流的方法 + def create_workflow_method(wf_name=workflow_name, wf=workflow, params=workflow_params): + def workflow_method(*args, **kwargs): + logger.info(f"执行工作流: {wf_name}, 参数: {args}, {kwargs}") + + # 处理传入的参数 + if params and (args or kwargs): + # 将位置参数转换为关键字参数 + params_dict = {} + for i, param_name in enumerate(params): + if i < len(args): + params_dict[param_name] = args[i] + + # 合并关键字参数 + params_dict.update(kwargs) + + # 保存参数，供节点函数使用 + self._workflow_params = params_dict + else: + self._workflow_params = {} + + # 执行工作流 + result = self.run_opcua_workflow_model(wf) + + # 清理参数 + self._workflow_params = {} + + return result + + # 设置方法的文档字符串 + workflow_method.__doc__ = workflow_desc + if params: + param_doc = ", ".join(params) + workflow_method.__doc__ += f"\n参数: {param_doc}" + + return workflow_method + + # 注册为实例方法 + method = create_workflow_method() + setattr(self, workflow_name, method) + logger.info(f"已将工作流 '{workflow_name}' 注册为实例方法") + + def read_node(self, node_name: str) -> Dict[str, Any]: + """ + 读取节点值的便捷方法 + 返回包含result字段的字典 + """ + # 使用锁保护客户端访问 + with self._client_lock: + try: + node = self.use_node(node_name) + value, error = node.read() + + # 创建结果字典 + result = { + "value": value, + "error": error, + "node_name": node_name, + "timestamp": time.time() + } + + # 返回JSON字符串 + return json.dumps(result) + except Exception as e: + logger.error(f"读取节点 {node_name} 失败: {e}") + # 创建错误结果字典 + result = { + "value": None, + "error": True, + "node_name": node_name, + "error_message": str(e), + "timestamp": time.time() + } + return json.dumps(result) + + def write_node(self, json_input: str) -> str: + """ + 写入节点值的便捷方法 + 接受单个JSON格式的字符串作为输入，包含节点名称和值 + eg:'{\"node_name\":\"反应罐号码\",\"value\":\"2\"}' + 返回JSON格式的字符串，包含操作结果 + """ + # 使用锁保护客户端访问 + with self._client_lock: + try: + # 解析JSON格式的输入 + if not isinstance(json_input, str): + json_input = str(json_input) + + try: + input_data = json.loads(json_input) + if not isinstance(input_data, dict): + return json.dumps({"error": True, "error_message": "输入必须是包含node_name和value的JSON对象", "success": False}) + + # 从JSON中提取节点名称和值 + node_name = input_data.get("node_name") + value = input_data.get("value") + + if node_name is None: + return json.dumps({"error": True, "error_message": "JSON中缺少node_name字段", "success": False}) + except json.JSONDecodeError as e: + return json.dumps({"error": True, "error_message": f"JSON解析错误: {str(e)}", "success": False}) + + node = self.use_node(node_name) + error = node.write(value) + + # 创建结果字典 + result = { + "value": value, + "error": error, + "node_name": node_name, + "timestamp": time.time(), + "success": not error + } + + return json.dumps(result) + except Exception as e: + logger.error(f"写入节点失败: {e}") + result = { + "error": True, + "error_message": str(e), + "timestamp": time.time(), + "success": False + } + return json.dumps(result) + + def call_method(self, node_name: str, *args) -> Tuple[Any, bool]: + """ + 调用方法节点的便捷方法 + 返回 (返回值, 是否出错) + """ + try: + node = self.use_node(node_name) + if hasattr(node, 'call'): + return node.call(*args) + else: + logger.error(f"节点 {node_name} 不是方法节点") + return None, True + except Exception as e: + logger.error(f"调用方法 {node_name} 失败: {e}") + return None, True + + +class OpcUaClient(BaseClient): + def __init__( + self, + url: str, + deck: Optional[Union[post_process_deck, Dict[str, Any]]] = None, + config_path: str = None, + username: str = None, + password: str = None, + use_subscription: bool = True, + cache_timeout: float = 5.0, + subscription_interval: int = 500, + *args, + **kwargs, + ): + # 降低OPCUA库的日志级别 + import logging + logging.getLogger("opcua").setLevel(logging.WARNING) + + super().__init__() + + # ===== 关键修改：参照 BioyondWorkstation 处理 deck ===== + + super().__init__() + + # 处理 deck 参数 + if deck is None: + self.deck = post_process_deck(setup=True) + elif isinstance(deck, dict): + self.deck = post_process_deck(setup=True) + elif hasattr(deck, 'children'): + self.deck = deck + else: + raise ValueError(f"deck 参数类型不支持: {type(deck)}") + + if self.deck is None: + raise ValueError("Deck 配置不能为空") + + # 统计仓库信息 + warehouse_count = 0 + if hasattr(self.deck, 'children'): + warehouse_count = len(self.deck.children) + logger.info(f"Deck 初始化完成，加载 {warehouse_count} 个资源") + + + # OPC UA 客户端初始化 + client = Client(url) + + if username and password: + client.set_user(username) + client.set_password(password) + + self._set_client(client) + + # 订阅相关属性 + self._use_subscription = use_subscription + self._subscription = None + self._subscription_handles = {} + self._subscription_interval = subscription_interval + + # 缓存相关属性 + self._node_values = {} # 修改为支持时间戳的缓存结构 + self._cache_timeout = cache_timeout + + # 连接状态监控 + self._connection_check_interval = 30.0 # 连接检查间隔(秒) + self._connection_monitor_running = False + self._connection_monitor_thread = None + + # 添加线程锁，保护OPC UA客户端的并发访问 + import threading + self._client_lock = threading.RLock() + + # 连接到服务器 + self._connect() + + # 如果提供了配置文件路径，则加载配置并注册工作流 + if config_path: + self.load_config(config_path) + + # 启动连接监控 + self._start_connection_monitor() + + + def _connect(self) -> None: + """连接到OPC UA服务器""" + logger.info('尝试连接到 OPC UA 服务器...') + if self.client: + try: + self.client.connect() + logger.info('✓ 客户端已连接!') + + # 连接后开始查找节点 + if self._variables_to_find: + self._find_nodes() + + # 如果启用订阅模式，设置订阅 + if self._use_subscription: + self._setup_subscriptions() + else: + logger.info("订阅模式已禁用，将使用按需读取模式") + + except Exception as e: + logger.error(f'客户端连接失败: {e}') + raise + else: + raise ValueError('客户端未初始化') + + class SubscriptionHandler: + """freeopcua订阅处理器：必须实现 datachange_notification 方法""" + def __init__(self, outer): + self.outer = outer + + def datachange_notification(self, node, val, data): + # 委托给外层类的处理函数 + try: + self.outer._on_subscription_datachange(node, val, data) + except Exception as e: + logger.error(f"订阅数据回调处理失败: {e}") + + # 可选：事件通知占位，避免库调用时报缺失 + def event_notification(self, event): + pass + + def _setup_subscriptions(self): + """设置 OPC UA 订阅""" + if not self.client or not self._use_subscription: + return + + with self._client_lock: + try: + logger.info(f"开始设置订阅 (发布间隔: {self._subscription_interval}ms)...") + + # 创建订阅 + handler = OpcUaClient.SubscriptionHandler(self) + self._subscription = self.client.create_subscription( + self._subscription_interval, + handler + ) + + # 为所有变量节点创建监控项 + subscribed_count = 0 + skipped_count = 0 + + for node_name, node in self._node_registry.items(): + # 只为变量节点创建订阅 + if node.type == NodeType.VARIABLE and node.node_id: + try: + # 优先使用在查找阶段缓存的真实 ua.Node 对象 + ua_node = self._found_node_objects.get(node_name) + if ua_node is None: + ua_node = self.client.get_node(node.node_id) + handle = self._subscription.subscribe_data_change(ua_node) + self._subscription_handles[node_name] = handle + subscribed_count += 1 + logger.debug(f"✓ 已订阅节点: {node_name}") + except Exception as e: + skipped_count += 1 + logger.warning(f"✗ 订阅节点 {node_name} 失败: {e}") + else: + skipped_count += 1 + + logger.info(f"订阅设置完成: 成功 {subscribed_count} 个, 跳过 {skipped_count} 个") + + except Exception as e: + logger.error(f"设置订阅失败: {e}") + traceback.print_exc() + # 订阅失败时回退到按需读取模式 + self._use_subscription = False + logger.warning("订阅模式设置失败，已自动切换到按需读取模式") + + def _on_subscription_datachange(self, node, val, data): + """订阅数据变化处理器（供内部 SubscriptionHandler 调用）""" + try: + node_id = str(node.nodeid) + current_time = time.time() + # 查找对应的节点名称 + for node_name, node_obj in self._node_registry.items(): + if node_obj.node_id == node_id: + self._node_values[node_name] = { + 'value': val, + 'timestamp': current_time, + 'source': 'subscription' + } + logger.debug(f"订阅更新: {node_name} = {val}") + break + except Exception as e: + logger.error(f"处理订阅数据失败: {e}") + + def get_node_value(self, name, use_cache=True, force_read=False): + """ + 获取节点值（智能缓存版本） + + 参数: + name: 节点名称（支持中文名或英文名） + use_cache: 是否使用缓存 + force_read: 是否强制从服务器读取（忽略缓存） + """ + # 处理名称映射 + if name in self._name_mapping: + chinese_name = self._name_mapping[name] + elif name in self._node_registry: + chinese_name = name + else: + raise ValueError(f"未找到名称为 '{name}' 的节点") + + # 如果强制读取，直接从服务器读取 + if force_read: + with self._client_lock: + value, _ = self.use_node(chinese_name).read() + # 更新缓存 + self._node_values[chinese_name] = { + 'value': value, + 'timestamp': time.time(), + 'source': 'forced_read' + } + return value + + # 检查缓存 + if use_cache and chinese_name in self._node_values: + cache_entry = self._node_values[chinese_name] + cache_age = time.time() - cache_entry['timestamp'] + + # 如果是订阅模式，缓存永久有效（由订阅更新） + # 如果是按需读取模式，检查缓存超时 + if cache_entry.get('source') == 'subscription' or cache_age < self._cache_timeout: + logger.debug(f"从缓存读取: {chinese_name} = {cache_entry['value']} (age: {cache_age:.2f}s, source: {cache_entry.get('source', 'unknown')})") + return cache_entry['value'] + + # 缓存过期或不存在，从服务器读取 + with self._client_lock: + try: + value, error = self.use_node(chinese_name).read() + if not error: + # 更新缓存 + self._node_values[chinese_name] = { + 'value': value, + 'timestamp': time.time(), + 'source': 'on_demand_read' + } + return value + else: + logger.warning(f"读取节点 {chinese_name} 失败") + return None + except Exception as e: + logger.error(f"读取节点 {chinese_name} 出错: {e}") + return None + + def set_node_value(self, name, value): + """ + 设置节点值 + 写入成功后会立即更新本地缓存 + """ + # 处理名称映射 + if name in self._name_mapping: + chinese_name = self._name_mapping[name] + elif name in self._node_registry: + chinese_name = name + else: + raise ValueError(f"未找到名称为 '{name}' 的节点") + + with self._client_lock: + try: + node = self.use_node(chinese_name) + error = node.write(value) + + if not error: + # 写入成功，立即更新缓存 + self._node_values[chinese_name] = { + 'value': value, + 'timestamp': time.time(), + 'source': 'write' + } + logger.debug(f"写入成功: {chinese_name} = {value}") + return True + else: + logger.warning(f"写入节点 {chinese_name} 失败") + return False + except Exception as e: + logger.error(f"写入节点 {chinese_name} 出错: {e}") + return False + + def _check_connection(self) -> bool: + """检查连接状态""" + try: + with self._client_lock: + if self.client: + # 尝试获取命名空间数组来验证连接 + self.client.get_namespace_array() + return True + except Exception as e: + logger.warning(f"连接检查失败: {e}") + return False + return False + + def _connection_monitor_worker(self): + """连接监控线程工作函数""" + self._connection_monitor_running = True + logger.info(f"连接监控线程已启动 (检查间隔: {self._connection_check_interval}秒)") + + reconnect_attempts = 0 + max_reconnect_attempts = 5 + + while self._connection_monitor_running: + try: + # 检查连接状态 + if not self._check_connection(): + logger.warning("检测到连接断开，尝试重新连接...") + reconnect_attempts += 1 + + if reconnect_attempts <= max_reconnect_attempts: + try: + # 尝试重新连接 + with self._client_lock: + if self.client: + try: + self.client.disconnect() + except: + pass + + self.client.connect() + logger.info("✓ 重新连接成功") + + # 重新设置订阅 + if self._use_subscription: + self._setup_subscriptions() + + reconnect_attempts = 0 + except Exception as e: + logger.error(f"重新连接失败 (尝试 {reconnect_attempts}/{max_reconnect_attempts}): {e}") + time.sleep(5) # 重连失败后等待5秒 + else: + logger.error(f"达到最大重连次数 ({max_reconnect_attempts})，停止重连") + self._connection_monitor_running = False + else: + # 连接正常，重置重连计数 + reconnect_attempts = 0 + + except Exception as e: + logger.error(f"连接监控出错: {e}") + + # 等待下次检查 + time.sleep(self._connection_check_interval) + + def _start_connection_monitor(self): + """启动连接监控线程""" + if self._connection_monitor_thread is not None and self._connection_monitor_thread.is_alive(): + logger.warning("连接监控线程已在运行") + return + + import threading + self._connection_monitor_thread = threading.Thread( + target=self._connection_monitor_worker, + daemon=True, + name="OpcUaConnectionMonitor" + ) + self._connection_monitor_thread.start() + + def _stop_connection_monitor(self): + """停止连接监控线程""" + self._connection_monitor_running = False + if self._connection_monitor_thread and self._connection_monitor_thread.is_alive(): + self._connection_monitor_thread.join(timeout=2.0) + logger.info("连接监控线程已停止") + + def read_node(self, node_name: str) -> str: + """ + 读取节点值的便捷方法（使用缓存） + 返回JSON格式字符串 + """ + try: + # 使用get_node_value方法，自动处理缓存 + value = self.get_node_value(node_name, use_cache=True) + + # 获取缓存信息 + chinese_name = self._name_mapping.get(node_name, node_name) + cache_info = self._node_values.get(chinese_name, {}) + + result = { + "value": value, + "error": False, + "node_name": node_name, + "timestamp": time.time(), + "cache_age": time.time() - cache_info.get('timestamp', time.time()), + "source": cache_info.get('source', 'unknown') + } + + return json.dumps(result) + except Exception as e: + logger.error(f"读取节点 {node_name} 失败: {e}") + result = { + "value": None, + "error": True, + "node_name": node_name, + "error_message": str(e), + "timestamp": time.time() + } + return json.dumps(result) + + def get_cache_stats(self) -> Dict[str, Any]: + """获取缓存统计信息""" + current_time = time.time() + stats = { + 'total_cached_nodes': len(self._node_values), + 'subscription_nodes': 0, + 'on_demand_nodes': 0, + 'expired_nodes': 0, + 'cache_timeout': self._cache_timeout, + 'using_subscription': self._use_subscription + } + + for node_name, cache_entry in self._node_values.items(): + source = cache_entry.get('source', 'unknown') + cache_age = current_time - cache_entry['timestamp'] + + if source == 'subscription': + stats['subscription_nodes'] += 1 + elif source in ['on_demand_read', 'forced_read', 'write']: + stats['on_demand_nodes'] += 1 + + if cache_age > self._cache_timeout: + stats['expired_nodes'] += 1 + + return stats + + def print_cache_stats(self): + """打印缓存统计信息""" + stats = self.get_cache_stats() + print("\n" + "="*80) + print("缓存统计信息") + print("="*80) + print(f"总缓存节点数: {stats['total_cached_nodes']}") + print(f"订阅模式: {'启用' if stats['using_subscription'] else '禁用'}") + print(f" - 订阅更新节点: {stats['subscription_nodes']}") + print(f" - 按需读取节点: {stats['on_demand_nodes']}") + print(f" - 已过期节点: {stats['expired_nodes']}") + print(f"缓存超时时间: {stats['cache_timeout']}秒") + print("="*80 + "\n") + + def load_config(self, config_path: str) -> None: + """从JSON配置文件加载并注册工作流""" + try: + with open(config_path, 'r', encoding='utf-8') as f: + config_data = json.load(f) + + # 处理节点注册 + if "register_node_list_from_csv_path" in config_data: + config_dir = os.path.dirname(os.path.abspath(config_path)) + + if "path" in config_data["register_node_list_from_csv_path"]: + csv_path = config_data["register_node_list_from_csv_path"]["path"] + if not os.path.isabs(csv_path): + csv_path = os.path.join(config_dir, csv_path) + config_data["register_node_list_from_csv_path"]["path"] = csv_path + + self.register_node_list_from_csv_path(**config_data["register_node_list_from_csv_path"]) + + if self.client and self._variables_to_find: + logger.info("CSV加载完成，开始查找服务器节点...") + self._find_nodes() + + # 处理工作流创建 + if "create_flow" in config_data: + self.create_workflow_from_json(config_data["create_flow"]) + self.register_workflows_as_methods() + + # 将所有节点注册为属性 + self._register_nodes_as_attributes() + + # 打印统计信息 + found_count = len(self._node_registry) + total_count = len(self._variables_to_find) + if found_count < total_count: + logger.warning(f"节点查找完成：找到 {found_count}/{total_count} 个节点") + else: + logger.info(f"✓ 节点查找完成：所有 {found_count} 个节点均已找到") + + # 如果使用订阅模式，重新设置订阅（确保新节点被订阅） + if self._use_subscription and found_count > 0: + self._setup_subscriptions() + + logger.info(f"成功从 {config_path} 加载配置") + except Exception as e: + logger.error(f"加载配置文件 {config_path} 失败: {e}") + traceback.print_exc() + + def disconnect(self): + """断开连接并清理资源""" + logger.info("正在断开连接...") + + # 停止连接监控 + self._stop_connection_monitor() + + # 删除订阅 + if self._subscription: + try: + with self._client_lock: + self._subscription.delete() + logger.info("订阅已删除") + except Exception as e: + logger.warning(f"删除订阅失败: {e}") + + # 断开客户端连接 + if self.client: + try: + with self._client_lock: + self.client.disconnect() + logger.info("✓ OPC UA 客户端已断开连接") + except Exception as e: + logger.error(f"断开连接失败: {e}") + + def _register_nodes_as_attributes(self): + """将所有节点注册为实例属性""" + for node_name, node in self._node_registry.items(): + if not node.node_id or node.node_id == "": + logger.warning(f"⚠ 节点 '{node_name}' 的 node_id 为空，跳过注册为属性") + continue + + eng_name = self._reverse_mapping.get(node_name) + attr_name = eng_name if eng_name else node_name.replace(' ', '_').replace('-', '_') + + def create_property_getter(node_key): + def getter(self): + return self.get_node_value(node_key, use_cache=True) + return getter + + setattr(OpcUaClient, attr_name, property(create_property_getter(node_name))) + logger.debug(f"已注册节点 '{node_name}' 为属性 '{attr_name}'") + + def post_init(self, ros_node): + """ROS2 节点就绪后的初始化""" + if not (hasattr(self, 'deck') and self.deck): + return + + if not (hasattr(ros_node, 'resource_tracker') and ros_node.resource_tracker): + logger.warning("resource_tracker 不存在，无法注册 deck") + return + + # 1. 本地注册（必需） + ros_node.resource_tracker.add_resource(self.deck) + + # 2. 上传云端 + try: + from unilabos.ros.nodes.base_device_node import ROS2DeviceNode + ROS2DeviceNode.run_async_func( + ros_node.update_resource, + True, + resources=[self.deck] + ) + logger.info("Deck 已上传到云端") + except Exception as e: + logger.error(f"上传失败: {e}") + + +if __name__ == '__main__': + # 示例用法 + + # 使用配置文件创建客户端并自动注册工作流 + import os + current_dir = os.path.dirname(os.path.abspath(__file__)) + config_path = os.path.join(current_dir, "opcua_huairou.json") + + # 创建OPC UA客户端并加载配置 + try: + client = OpcUaClient( + url="opc.tcp://192.168.1.88:4840/freeopcua/server/", # 替换为实际的OPC UA服务器地址 + config_path="D:\\Uni-Lab-OS\\unilabos\\device_comms\\opcua_client\\opcua_huairou.json" # 传入配置文件路径 + ) + + # 列出所有已注册的工作流 + print("\n已注册的工作流：") + for workflow_name in client.workflow_name: + print(f" - {workflow_name}") + + # 测试trigger_grab_action工作流 - 使用英文参数名 + print("\n测试trigger_grab_action工作流 - 使用英文参数名:") + client.trigger_grab_action(reaction_tank_number=2, raw_tank_number=2) + # client.set_node_value("reaction_tank_number", 2) + + + # 读取节点值 - 使用英文节点名 + grab_complete = client.get_node_value("grab_complete") + reaction_tank = client.get_node_value("reaction_tank_number") + raw_tank = client.get_node_value("raw_tank_number") + + print(f"\n执行后状态检查 (使用英文节点名):") + print(f" - 抓取完成状态: {grab_complete}") + print(f" - 当前反应罐号码: {reaction_tank}") + print(f" - 当前原料罐号码: {raw_tank}") + + # 测试节点值写入 - 使用英文节点名 + print("\n测试节点值写入 (使用英文节点名):") + success = client.set_node_value("atomization_fast_speed", 150.5) + print(f" - 写入搅拌浆雾化快速 = 150.5, 结果: {success}") + + # 读取写入的值 + atomization_speed = client.get_node_value("atomization_fast_speed") + print(f" - 读取搅拌浆雾化快速: {atomization_speed}") + + # 断开连接 + client.disconnect() + + except Exception as e: + print(f"错误: {e}") + traceback.print_exc() + + diff --git a/unilabos/devices/workstation/post_process/post_process_station.json b/unilabos/devices/workstation/post_process/post_process_station.json new file mode 100644 index 0000000..4433a15 --- /dev/null +++ b/unilabos/devices/workstation/post_process/post_process_station.json @@ -0,0 +1,45 @@ +{ + "nodes": [ + { + "id": "post_process_station", + "name": "post_process_station", + "children": [ + "post_process_deck" + ], + "parent": null, + "type": "device", + "class": "post_process_station", + "config": { + "url": "opc.tcp://LAPTOP-AN6QGCSD:53530/OPCUA/SimulationServer", + "config_path": "C:\\Users\\Roy\\Desktop\\DPLC\\Uni-Lab-OS\\unilabos\\devices\\workstation\\post_process\\opcua_huairou.json", + "deck": { + "data": { + "_resource_child_name": "post_process_deck", + "_resource_type": "unilabos.devices.workstation.post_process.decks:post_process_deck" + } + } + }, + "data": { + } + }, + { + "id": "post_process_deck", + "name": "post_process_deck", + "sample_id": null, + "children": [], + "parent": "post_process_station", + "type": "deck", + "class": "post_process_deck", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "post_process_deck", + "setup": true + }, + "data": {} + } + ] +} \ No newline at end of file diff --git a/unilabos/devices/workstation/post_process/post_process_warehouse.py b/unilabos/devices/workstation/post_process/post_process_warehouse.py new file mode 100644 index 0000000..62dda16 --- /dev/null +++ b/unilabos/devices/workstation/post_process/post_process_warehouse.py @@ -0,0 +1,160 @@ +from typing import Dict, Optional, List, Union +from pylabrobot.resources import Coordinate +from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources + +from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR + + +LETTERS = "ABCDEFGHIJKLMNOPQRSTUVWXYZ" + + +def warehouse_factory( + name: str, + num_items_x: int = 1, + num_items_y: int = 4, + num_items_z: int = 4, + dx: float = 137.0, + dy: float = 96.0, + dz: float = 120.0, + item_dx: float = 10.0, + item_dy: float = 10.0, + item_dz: float = 10.0, + resource_size_x: float = 127.0, + resource_size_y: float = 86.0, + resource_size_z: float = 25.0, + removed_positions: Optional[List[int]] = None, + empty: bool = False, + category: str = "warehouse", + model: Optional[str] = None, + col_offset: int = 0, # 列起始偏移量，用于生成5-8等命名 + layout: str = "col-major", # 新增：排序方式，"col-major"=列优先，"row-major"=行优先 +): + # 创建位置坐标 + locations = [] + + for layer in range(num_items_z): # 层 + for row in range(num_items_y): # 行 + for col in range(num_items_x): # 列 + # 计算位置 + x = dx + col * item_dx + + # 根据 layout 决定 y 坐标计算 + if layout == "row-major": + # 行优先：row=0(第1行) 应该显示在上方，y 值最小 + y = dy + row * item_dy + else: + # 列优先：保持原逻辑 + y = dy + (num_items_y - row - 1) * item_dy + + z = dz + (num_items_z - layer - 1) * item_dz + locations.append(Coordinate(x, y, z)) + + if removed_positions: + locations = [loc for i, loc in enumerate(locations) if i not in removed_positions] + + _sites = create_homogeneous_resources( + klass=ResourceHolder, + locations=locations, + resource_size_x=resource_size_x, + resource_size_y=resource_size_y, + resource_size_z=resource_size_z, + name_prefix=name, + ) + + len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z) + + # 🔑 修改：使用数字命名，最上面是4321，最下面是12,11,10,9 + # 命名顺序必须与坐标生成顺序一致：层 → 行 → 列 + keys = [] + for layer in range(num_items_z): # 遍历每一层 + for row in range(num_items_y): # 遍历每一行 + for col in range(num_items_x): # 遍历每一列 + # 倒序计算全局行号：row=0 应该对应 global_row=0（第1行：4321） + # row=1 应该对应 global_row=1（第2行：8765） + # row=2 应该对应 global_row=2（第3行：12,11,10,9） + # 但前端显示时 row=2 在最上面，所以需要反转 + reversed_row = (num_items_y - 1 - row) # row=0→reversed_row=2, row=1→reversed_row=1, row=2→reversed_row=0 + global_row = layer * num_items_y + reversed_row + + # 每行的最大数字 = (global_row + 1) * num_items_x + col_offset + base_num = (global_row + 1) * num_items_x + col_offset + + # 从右到左递减：4,3,2,1 + key = str(base_num - col) + keys.append(key) + + sites = {i: site for i, site in zip(keys, _sites.values())} + + return WareHouse( + name=name, + size_x=dx + item_dx * num_items_x, + size_y=dy + item_dy * num_items_y, + size_z=dz + item_dz * num_items_z, + num_items_x = num_items_x, + num_items_y = num_items_y, + num_items_z = num_items_z, + ordering_layout=layout, # 传递排序方式到 ordering_layout + sites=sites, + category=category, + model=model, + ) + + +class WareHouse(ItemizedCarrier): + """堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）""" + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + num_items_x: int, + num_items_y: int, + num_items_z: int, + layout: str = "x-y", + sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None, + category: str = "warehouse", + model: Optional[str] = None, + ordering_layout: str = "col-major", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + # ordered_items=ordered_items, + # ordering=ordering, + num_items_x=num_items_x, + num_items_y=num_items_y, + num_items_z=num_items_z, + layout=layout, + sites=sites, + category=category, + model=model, + ) + + # 保存排序方式，供graphio.py的坐标映射使用 + # 使用独立属性避免与父类的layout冲突 + self.ordering_layout = ordering_layout + + def serialize(self) -> dict: + """序列化时保存 ordering_layout 属性""" + data = super().serialize() + data['ordering_layout'] = self.ordering_layout + return data + + def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder: + if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1): + raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col)) + + site_index = layer * 4 + row * 1 + col + return self.sites[site_index] + + def add_rack_to_position(self, row: int, col: int, layer: int, rack) -> None: + site = self.get_site_by_layer_position(row, col, layer) + site.assign_child_resource(rack) + + def get_rack_at_position(self, row: int, col: int, layer: int): + site = self.get_site_by_layer_position(row, col, layer) + return site.resource diff --git a/unilabos/devices/workstation/post_process/warehouses.py b/unilabos/devices/workstation/post_process/warehouses.py new file mode 100644 index 0000000..385f026 --- /dev/null +++ b/unilabos/devices/workstation/post_process/warehouses.py @@ -0,0 +1,38 @@ +from unilabos.devices.workstation.post_process.post_process_warehouse import WareHouse, warehouse_factory + + + +# =================== Other =================== + + +def post_process_warehouse_4x3x1(name: str) -> WareHouse: + """创建post_process 4x3x1仓库""" + return warehouse_factory( + name=name, + num_items_x=4, + num_items_y=3, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + +def post_process_warehouse_4x3x1_2(name: str) -> WareHouse: + """已弃用：创建post_process 4x3x1仓库""" + return warehouse_factory( + name=name, + num_items_x=4, + num_items_y=3, + num_items_z=1, + dx=12.0, + dy=12.0, + dz=12.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml index 5f3e1dd..9ae76b7 100644 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml @@ -174,6 +174,35 @@ bioyond_dispensing_station: title: query_resource_by_name参数 type: object type: UniLabJsonCommand + auto-transfer_materials_to_reaction_station: + feedback: {} + goal: {} + goal_default: + target_device_id: null + transfer_groups: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + target_device_id: + type: string + transfer_groups: + type: array + required: + - target_device_id + - transfer_groups + type: object + result: {} + required: + - goal + title: transfer_materials_to_reaction_station参数 + type: object + type: UniLabJsonCommand auto-workflow_sample_locations: feedback: {} goal: {} diff --git a/unilabos/registry/devices/cameraSII.yaml b/unilabos/registry/devices/cameraSII.yaml new file mode 100644 index 0000000..ad2df95 --- /dev/null +++ b/unilabos/registry/devices/cameraSII.yaml @@ -0,0 +1,107 @@ +cameracontroller_device: + category: + - cameraSII + class: + action_value_mappings: + auto-start: + feedback: {} + goal: {} + goal_default: + config: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + config: + type: string + required: [] + type: object + result: {} + required: + - goal + title: start参数 + type: object + type: UniLabJsonCommand + auto-stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: stop参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.cameraSII.cameraUSB:CameraController + status_types: + status: dict + type: python + config_info: [] + description: Uni-Lab-OS 摄像头驱动（Linux USB 摄像头版，无 PTZ） + handles: [] + icon: '' + init_param_schema: + config: + properties: + audio_bitrate: + default: 64k + type: string + audio_device: + type: string + fps: + default: 30 + type: integer + height: + default: 720 + type: integer + host_id: + default: demo-host + type: string + rtmp_url: + default: rtmp://srs.sciol.ac.cn:4499/live/camera-01 + type: string + signal_backend_url: + default: wss://sciol.ac.cn/api/realtime/signal/host + type: string + video_bitrate: + default: 1500k + type: string + video_device: + default: /dev/video0 + type: string + webrtc_api: + default: https://srs.sciol.ac.cn/rtc/v1/play/ + type: string + webrtc_stream_url: + default: webrtc://srs.sciol.ac.cn:4500/live/camera-01 + type: string + width: + default: 1280 + type: integer + required: [] + type: object + data: + properties: + status: + type: object + required: + - status + type: object + registry_type: device + version: 1.0.0 diff --git a/unilabos/registry/devices/chinwe.yaml b/unilabos/registry/devices/chinwe.yaml new file mode 100644 index 0000000..2078d0f --- /dev/null +++ b/unilabos/registry/devices/chinwe.yaml @@ -0,0 +1,413 @@ +separator.chinwe: + category: + - separator + - chinwe + class: + action_value_mappings: + auto-connect: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: connect参数 + type: object + type: UniLabJsonCommand + auto-disconnect: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: disconnect参数 + type: object + type: UniLabJsonCommand + auto-execute_command_from_outer: + feedback: {} + goal: {} + goal_default: + command_dict: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + command_dict: + type: object + required: + - command_dict + type: object + result: {} + required: + - goal + title: execute_command_from_outer参数 + type: object + type: UniLabJsonCommand + motor_rotate_quarter: + goal: + direction: 顺时针 + motor_id: 4 + speed: 60 + handles: {} + schema: + description: 电机旋转 1/4 圈 + properties: + goal: + properties: + direction: + default: 顺时针 + description: 旋转方向 + enum: + - 顺时针 + - 逆时针 + type: string + motor_id: + default: '4' + description: 选择电机 (4:搅拌, 5:旋钮) + enum: + - '4' + - '5' + type: string + speed: + default: 60 + description: 速度 (RPM) + type: integer + required: + - motor_id + - speed + type: object + type: UniLabJsonCommand + motor_run_continuous: + goal: + direction: 顺时针 + motor_id: 4 + speed: 60 + handles: {} + schema: + description: 电机一直旋转 (速度模式) + properties: + goal: + properties: + direction: + default: 顺时针 + description: 旋转方向 + enum: + - 顺时针 + - 逆时针 + type: string + motor_id: + default: '4' + description: 选择电机 (4:搅拌, 5:旋钮) + enum: + - '4' + - '5' + type: string + speed: + default: 60 + description: 速度 (RPM) + type: integer + required: + - motor_id + - speed + type: object + type: UniLabJsonCommand + motor_stop: + goal: + motor_id: 4 + handles: {} + schema: + description: 停止指定步进电机 + properties: + goal: + properties: + motor_id: + default: '4' + description: 选择电机 + enum: + - '4' + - '5' + title: '注: 4=搅拌, 5=旋钮' + type: string + required: + - motor_id + type: object + type: UniLabJsonCommand + pump_aspirate: + goal: + pump_id: 1 + valve_port: 1 + volume: 1000 + handles: {} + schema: + description: 注射泵吸液 + properties: + goal: + properties: + pump_id: + default: '1' + description: 选择泵 + enum: + - '1' + - '2' + - '3' + type: string + valve_port: + default: '1' + description: 阀门端口 + enum: + - '1' + - '2' + - '3' + - '4' + - '5' + - '6' + - '7' + - '8' + type: string + volume: + default: 1000 + description: 吸液步数 + type: integer + required: + - pump_id + - volume + - valve_port + type: object + type: UniLabJsonCommand + pump_dispense: + goal: + pump_id: 1 + valve_port: 1 + volume: 1000 + handles: {} + schema: + description: 注射泵排液 + properties: + goal: + properties: + pump_id: + default: '1' + description: 选择泵 + enum: + - '1' + - '2' + - '3' + type: string + valve_port: + default: '1' + description: 阀门端口 + enum: + - '1' + - '2' + - '3' + - '4' + - '5' + - '6' + - '7' + - '8' + type: string + volume: + default: 1000 + description: 排液步数 + type: integer + required: + - pump_id + - volume + - valve_port + type: object + type: UniLabJsonCommand + pump_initialize: + goal: + drain_port: 0 + output_port: 0 + pump_id: 1 + speed: 10 + handles: {} + schema: + description: 初始化指定注射泵 + properties: + goal: + properties: + drain_port: + default: 0 + description: 排液口索引 + type: integer + output_port: + default: 0 + description: 输出口索引 + type: integer + pump_id: + default: '1' + description: 选择泵 + enum: + - '1' + - '2' + - '3' + title: '注: 1号泵, 2号泵, 3号泵' + type: string + speed: + default: 10 + description: 运动速度 + type: integer + required: + - pump_id + type: object + type: UniLabJsonCommand + pump_valve: + goal: + port: 1 + pump_id: 1 + handles: {} + schema: + description: 切换指定泵的阀门端口 + properties: + goal: + properties: + port: + default: '1' + description: 阀门端口号 (1-8) + enum: + - '1' + - '2' + - '3' + - '4' + - '5' + - '6' + - '7' + - '8' + type: string + pump_id: + default: '1' + description: 选择泵 + enum: + - '1' + - '2' + - '3' + type: string + required: + - pump_id + - port + type: object + type: UniLabJsonCommand + wait_sensor_level: + goal: + target_state: 有液 + timeout: 30 + handles: {} + schema: + description: 等待传感器液位条件 + properties: + goal: + properties: + target_state: + default: 有液 + description: 目标液位状态 + enum: + - 有液 + - 无液 + type: string + timeout: + default: 30 + description: 超时时间 (秒) + type: integer + required: + - target_state + type: object + type: UniLabJsonCommand + wait_time: + goal: + duration: 10 + handles: {} + schema: + description: 等待指定时间 + properties: + goal: + properties: + duration: + default: 10 + description: 等待时间 (秒) + type: integer + required: + - duration + type: object + type: UniLabJsonCommand + module: unilabos.devices.separator.chinwe:ChinweDevice + status_types: + is_connected: bool + sensor_level: bool + sensor_rssi: int + type: python + config_info: [] + description: ChinWe 简易工作站控制器 (3泵, 2电机, 1传感器) + handles: [] + icon: '' + init_param_schema: + config: + properties: + baudrate: + default: 9600 + type: integer + motor_ids: + items: + type: integer + type: array + port: + default: 192.168.1.200:8899 + type: string + pump_ids: + items: + type: integer + type: array + sensor_id: + default: 6 + type: integer + sensor_threshold: + default: 300 + type: integer + timeout: + default: 10.0 + type: number + required: [] + type: object + data: + properties: + is_connected: + type: boolean + sensor_level: + type: boolean + sensor_rssi: + type: integer + required: + - sensor_level + - sensor_rssi + - is_connected + type: object + version: 2.1.0 diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml deleted file mode 100644 index 64c0c18..0000000 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ /dev/null @@ -1,1919 +0,0 @@ -laiyu_liquid: - category: - - liquid_handler - - workstation - - laiyu_liquid - class: - action_value_mappings: - add_liquid: - feedback: {} - goal: - asp_vols: asp_vols - dis_vols: dis_vols - flow_rates: flow_rates - offsets: offsets - reagent_sources: reagent_sources - targets: targets - use_channels: use_channels - goal_default: - asp_vols: - - 0.0 - blow_out_air_volume: - - 0.0 - dis_vols: - - 0.0 - flow_rates: - - 0.0 - is_96_well: false - liquid_height: - - 0.0 - mix_liquid_height: 0.0 - mix_rate: 0 - mix_time: 0 - mix_vol: 0 - none_keys: - - '' - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - reagent_sources: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - spread: '' - targets: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - use_channels: - - 0 - handles: {} - placeholder_keys: - reagent_sources: unilabos_resources - targets: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerAdd_Feedback - type: object - goal: - properties: - asp_vols: - items: - type: number - type: array - blow_out_air_volume: - items: - type: number - type: array - dis_vols: - items: - type: number - type: array - flow_rates: - items: - type: number - type: array - is_96_well: - type: boolean - liquid_height: - items: - type: number - type: array - mix_liquid_height: - type: number - mix_rate: - maximum: 2147483647 - minimum: -2147483648 - type: integer - mix_time: - maximum: 2147483647 - minimum: -2147483648 - type: integer - mix_vol: - maximum: 2147483647 - minimum: -2147483648 - type: integer - none_keys: - items: - type: string - type: array - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - reagent_sources: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: reagent_sources - type: object - type: array - spread: - type: string - targets: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: targets - type: object - type: array - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - required: - - asp_vols - - dis_vols - - reagent_sources - - targets - - use_channels - - flow_rates - - offsets - - liquid_height - - blow_out_air_volume - - spread - - is_96_well - - mix_time - - mix_vol - - mix_rate - - mix_liquid_height - - none_keys - title: LiquidHandlerAdd_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerAdd_Result - type: object - required: - - goal - title: LiquidHandlerAdd - type: object - type: LiquidHandlerAdd - aspirate: - feedback: {} - goal: - flow_rates: flow_rates - resources: resources - use_channels: use_channels - vols: vols - goal_default: - blow_out_air_volume: - - 0.0 - flow_rates: - - 0.0 - liquid_height: - - 0.0 - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - resources: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - spread: '' - use_channels: - - 0 - vols: - - 0.0 - handles: {} - placeholder_keys: - resources: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerAspirate_Feedback - type: object - goal: - properties: - blow_out_air_volume: - items: - type: number - type: array - flow_rates: - items: - type: number - type: array - liquid_height: - items: - type: number - type: array - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - resources: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: resources - type: object - type: array - spread: - type: string - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - vols: - items: - type: number - type: array - required: - - resources - - vols - - use_channels - - flow_rates - - offsets - - liquid_height - - blow_out_air_volume - - spread - title: LiquidHandlerAspirate_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerAspirate_Result - type: object - required: - - goal - title: LiquidHandlerAspirate - type: object - type: LiquidHandlerAspirate - auto-add_resource: - feedback: {} - goal: {} - goal_default: - name: null - position: null - resource_type: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - name: - type: string - position: - items: - type: number - type: array - resource_type: - type: string - required: - - name - - resource_type - - position - type: object - result: {} - required: - - goal - title: add_resource参数 - type: object - type: UniLabJsonCommand - dispense: - feedback: {} - goal: - flow_rates: flow_rates - resources: resources - use_channels: use_channels - vols: vols - goal_default: - blow_out_air_volume: - - 0 - flow_rates: - - 0.0 - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - resources: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - spread: '' - use_channels: - - 0 - vols: - - 0.0 - handles: {} - placeholder_keys: - resources: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerDispense_Feedback - type: object - goal: - properties: - blow_out_air_volume: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - flow_rates: - items: - type: number - type: array - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - resources: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: resources - type: object - type: array - spread: - type: string - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - vols: - items: - type: number - type: array - required: - - resources - - vols - - use_channels - - flow_rates - - offsets - - blow_out_air_volume - - spread - title: LiquidHandlerDispense_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerDispense_Result - type: object - required: - - goal - title: LiquidHandlerDispense - type: object - type: LiquidHandlerDispense - drop_tip: - feedback: {} - goal: - use_channels: use_channels - goal_default: - allow_nonzero_volume: false - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - tip_spots: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - use_channels: - - 0 - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerDropTips_Feedback - type: object - goal: - properties: - allow_nonzero_volume: - type: boolean - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - tip_spots: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: tip_spots - type: object - type: array - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - required: - - tip_spots - - use_channels - - offsets - - allow_nonzero_volume - title: LiquidHandlerDropTips_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerDropTips_Result - type: object - required: - - goal - title: LiquidHandlerDropTips - type: object - type: LiquidHandlerDropTips - move_to: - feedback: {} - goal: - channel: channel - dis_to_top: dis_to_top - well: well - goal_default: - channel: 0 - dis_to_top: 0.0 - well: - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - handles: {} - placeholder_keys: - well: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerMoveTo_Feedback - type: object - goal: - properties: - channel: - maximum: 2147483647 - minimum: -2147483648 - type: integer - dis_to_top: - type: number - well: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: well - type: object - required: - - well - - dis_to_top - - channel - title: LiquidHandlerMoveTo_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerMoveTo_Result - type: object - required: - - goal - title: LiquidHandlerMoveTo - type: object - type: LiquidHandlerMoveTo - pick_up_tip: - feedback: {} - goal: - tip_rack: tip_rack - use_channels: use_channels - goal_default: - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - tip_spots: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - use_channels: - - 0 - handles: {} - placeholder_keys: - tip_rack: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerPickUpTips_Feedback - type: object - goal: - properties: - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - tip_spots: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: tip_spots - type: object - type: array - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - required: - - tip_spots - - use_channels - - offsets - title: LiquidHandlerPickUpTips_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerPickUpTips_Result - type: object - required: - - goal - title: LiquidHandlerPickUpTips - type: object - type: LiquidHandlerPickUpTips - setup: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - stop: - feedback: {} - goal: - string: string - goal_default: - string: '' - handles: {} - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: StrSingleInput_Feedback - type: object - goal: - properties: - string: - type: string - required: - - string - title: StrSingleInput_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: StrSingleInput_Result - type: object - required: - - goal - title: StrSingleInput - type: object - type: StrSingleInput - transfer: - feedback: {} - goal: - source: source - target: target - tip_position: tip_position - tip_rack: tip_rack - volume: volume - goal_default: - asp_flow_rates: - - 0.0 - asp_vols: - - 0.0 - blow_out_air_volume: - - 0.0 - delays: - - 0 - dis_flow_rates: - - 0.0 - dis_vols: - - 0.0 - is_96_well: false - liquid_height: - - 0.0 - mix_liquid_height: 0.0 - mix_rate: 0 - mix_stage: '' - mix_times: 0 - mix_vol: 0 - none_keys: - - '' - offsets: - - x: 0.0 - y: 0.0 - z: 0.0 - sources: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - spread: '' - targets: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - tip_racks: - - category: '' - children: [] - config: '' - data: '' - id: '' - name: '' - parent: '' - pose: - orientation: - w: 1.0 - x: 0.0 - y: 0.0 - z: 0.0 - position: - x: 0.0 - y: 0.0 - z: 0.0 - sample_id: '' - type: '' - touch_tip: false - use_channels: - - 0 - handles: {} - placeholder_keys: - source: unilabos_resources - target: unilabos_resources - tip_rack: unilabos_resources - result: - success: success - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: LiquidHandlerTransfer_Feedback - type: object - goal: - properties: - asp_flow_rates: - items: - type: number - type: array - asp_vols: - items: - type: number - type: array - blow_out_air_volume: - items: - type: number - type: array - delays: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - dis_flow_rates: - items: - type: number - type: array - dis_vols: - items: - type: number - type: array - is_96_well: - type: boolean - liquid_height: - items: - type: number - type: array - mix_liquid_height: - type: number - mix_rate: - maximum: 2147483647 - minimum: -2147483648 - type: integer - mix_stage: - type: string - mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer - mix_vol: - maximum: 2147483647 - minimum: -2147483648 - type: integer - none_keys: - items: - type: string - type: array - offsets: - items: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: offsets - type: object - type: array - sources: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: sources - type: object - type: array - spread: - type: string - targets: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: targets - type: object - type: array - tip_racks: - items: - properties: - category: - type: string - children: - items: - type: string - type: array - config: - type: string - data: - type: string - id: - type: string - name: - type: string - parent: - type: string - pose: - properties: - orientation: - properties: - w: - type: number - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - - w - title: orientation - type: object - position: - properties: - x: - type: number - y: - type: number - z: - type: number - required: - - x - - y - - z - title: position - type: object - required: - - position - - orientation - title: pose - type: object - sample_id: - type: string - type: - type: string - required: - - id - - name - - sample_id - - children - - parent - - type - - category - - pose - - config - - data - title: tip_racks - type: object - type: array - touch_tip: - type: boolean - use_channels: - items: - maximum: 2147483647 - minimum: -2147483648 - type: integer - type: array - required: - - asp_vols - - dis_vols - - sources - - targets - - tip_racks - - use_channels - - asp_flow_rates - - dis_flow_rates - - offsets - - touch_tip - - liquid_height - - blow_out_air_volume - - spread - - is_96_well - - mix_stage - - mix_times - - mix_vol - - mix_rate - - mix_liquid_height - - delays - - none_keys - title: LiquidHandlerTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: LiquidHandlerTransfer_Result - type: object - required: - - goal - title: LiquidHandlerTransfer - type: object - type: LiquidHandlerTransfer - module: unilabos.devices.laiyu_liquid.core.laiyu_liquid_main:LaiYuLiquid - status_types: - current_position: String - current_volume: float - is_connected: bool - is_initialized: bool - status: dict - tip_attached: bool - type: python - config_info: - - default: /dev/cu.usbserial-3130 - description: RS485转USB端口 - name: port - type: string - - default: 1 - description: 设备地址 - name: address - type: integer - - default: 9600 - description: 波特率 - name: baudrate - type: integer - - default: 5.0 - description: 通信超时时间 (秒) - name: timeout - type: number - - default: 340.0 - description: 工作台宽度 (mm) - name: deck_width - type: number - - default: 250.0 - description: 工作台高度 (mm) - name: deck_height - type: number - - default: 160.0 - description: 工作台深度 (mm) - name: deck_depth - type: number - - default: 77000.0 - description: 最大体积 (μL) - name: max_volume - type: number - - default: 0.1 - description: 最小体积 (μL) - name: min_volume - type: number - - default: 100.0 - description: 最大速度 (mm/s) - name: max_speed - type: number - - default: 50.0 - description: 加速度 (mm/s²) - name: acceleration - type: number - - default: 50.0 - description: 安全高度 (mm) - name: safe_height - type: number - - default: 10.0 - description: 吸头拾取深度 (mm) - name: tip_pickup_depth - type: number - - default: true - description: 液面检测功能 - name: liquid_detection - type: boolean - - default: 10.0 - description: X轴最小安全边距 (mm) - name: safety_margin_x_min - type: number - - default: 10.0 - description: X轴最大安全边距 (mm) - name: safety_margin_x_max - type: number - - default: 10.0 - description: Y轴最小安全边距 (mm) - name: safety_margin_y_min - type: number - - default: 10.0 - description: Y轴最大安全边距 (mm) - name: safety_margin_y_max - type: number - - default: 20.0 - description: Z轴安全间隙 (mm) - name: safety_margin_z_clearance - type: number - description: LaiYu液体处理工作站，基于RS485通信协议的自动化液体处理设备。集成XYZ三轴运动平台和SOPA气动式移液器，支持精确的液体分配和转移操作。具备完整的硬件控制、资源管理和标准化接口，适用于实验室自动化液体处理、样品制备、试剂分配等应用场景。设备通过RS485总线控制步进电机和移液器，提供高精度的位置控制和液体处理能力。 - handles: [] - icon: '' - init_param_schema: - config: - properties: - config: - type: string - required: [] - type: object - data: - properties: - current_position: - items: - type: number - type: array - current_volume: - type: number - is_connected: - type: boolean - is_initialized: - type: boolean - status: - type: object - tip_attached: - type: boolean - required: - - current_position - - current_volume - - is_connected - - is_initialized - - tip_attached - - status - type: object - model: - mesh: laiyu_liquid_handler - type: device - version: 1.0.0 diff --git a/unilabos/registry/devices/laiyu_liquid_test.yaml b/unilabos/registry/devices/laiyu_liquid_test.yaml index bbc0e87..dcaa981 100644 --- a/unilabos/registry/devices/laiyu_liquid_test.yaml +++ b/unilabos/registry/devices/laiyu_liquid_test.yaml @@ -3,11 +3,11 @@ xyz_stepper_controller: - laiyu_liquid_test class: action_value_mappings: - auto-define_current_as_zero: + auto-degrees_to_steps: feedback: {} goal: {} goal_default: - save_path: work_origin.json + degrees: null handles: {} placeholder_keys: {} result: {} @@ -17,23 +17,22 @@ xyz_stepper_controller: feedback: {} goal: properties: - save_path: - default: work_origin.json - type: string - required: [] + degrees: + type: number + required: + - degrees type: object result: {} required: - goal - title: define_current_as_zero参数 + title: degrees_to_steps参数 type: object type: UniLabJsonCommand - auto-enable: + auto-emergency_stop: feedback: {} goal: {} goal_default: axis: null - state: null handles: {} placeholder_keys: {} result: {} @@ -44,27 +43,415 @@ xyz_stepper_controller: goal: properties: axis: - type: string - state: - type: boolean + type: object required: - axis - - state type: object result: {} required: - goal - title: enable参数 + title: emergency_stop参数 type: object type: UniLabJsonCommand - auto-move_to: + auto-enable_all_axes: + feedback: {} + goal: {} + goal_default: + enable: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + enable: + default: true + type: boolean + required: [] + type: object + result: {} + required: + - goal + title: enable_all_axes参数 + type: object + type: UniLabJsonCommand + auto-enable_motor: feedback: {} goal: {} goal_default: - acc: 500 axis: null - precision: 50 - speed: 2000 + enable: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + axis: + type: object + enable: + default: true + type: boolean + required: + - axis + type: object + result: {} + required: + - goal + title: enable_motor参数 + type: object + type: UniLabJsonCommand + auto-home_all_axes: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: home_all_axes参数 + type: object + type: UniLabJsonCommand + auto-home_axis: + feedback: {} + goal: {} + goal_default: + axis: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + axis: + type: object + required: + - axis + type: object + result: {} + required: + - goal + title: home_axis参数 + type: object + type: UniLabJsonCommand + auto-move_to_position: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + position: null + precision: 100 + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + position: + type: integer + precision: + default: 100 + type: integer + speed: + default: 5000 + type: integer + required: + - axis + - position + type: object + result: {} + required: + - goal + title: move_to_position参数 + type: object + type: UniLabJsonCommand + auto-move_to_position_degrees: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + degrees: null + precision: 100 + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + degrees: + type: number + precision: + default: 100 + type: integer + speed: + default: 5000 + type: integer + required: + - axis + - degrees + type: object + result: {} + required: + - goal + title: move_to_position_degrees参数 + type: object + type: UniLabJsonCommand + auto-move_to_position_revolutions: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + precision: 100 + revolutions: null + speed: 5000 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + precision: + default: 100 + type: integer + revolutions: + type: number + speed: + default: 5000 + type: integer + required: + - axis + - revolutions + type: object + result: {} + required: + - goal + title: move_to_position_revolutions参数 + type: object + type: UniLabJsonCommand + auto-move_xyz: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x: null + y: null + z: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x: + type: string + y: + type: string + z: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz参数 + type: object + type: UniLabJsonCommand + auto-move_xyz_degrees: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x_deg: null + y_deg: null + z_deg: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x_deg: + type: string + y_deg: + type: string + z_deg: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz_degrees参数 + type: object + type: UniLabJsonCommand + auto-move_xyz_revolutions: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + speed: 5000 + x_rev: null + y_rev: null + z_rev: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + speed: + default: 5000 + type: integer + x_rev: + type: string + y_rev: + type: string + z_rev: + type: string + required: [] + type: object + result: {} + required: + - goal + title: move_xyz_revolutions参数 + type: object + type: UniLabJsonCommand + auto-revolutions_to_steps: + feedback: {} + goal: {} + goal_default: + revolutions: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + revolutions: + type: number + required: + - revolutions + type: object + result: {} + required: + - goal + title: revolutions_to_steps参数 + type: object + type: UniLabJsonCommand + auto-set_speed_mode: + feedback: {} + goal: {} + goal_default: + acceleration: 1000 + axis: null + speed: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + acceleration: + default: 1000 + type: integer + axis: + type: object + speed: + type: integer + required: + - axis + - speed + type: object + result: {} + required: + - goal + title: set_speed_mode参数 + type: object + type: UniLabJsonCommand + auto-steps_to_degrees: + feedback: {} + goal: {} + goal_default: steps: null handles: {} placeholder_keys: {} @@ -75,38 +462,22 @@ xyz_stepper_controller: feedback: {} goal: properties: - acc: - default: 500 - type: integer - axis: - type: string - precision: - default: 50 - type: integer - speed: - default: 2000 - type: integer steps: type: integer required: - - axis - steps type: object result: {} required: - goal - title: move_to参数 + title: steps_to_degrees参数 type: object type: UniLabJsonCommand - auto-move_xyz_work: + auto-steps_to_revolutions: feedback: {} goal: {} goal_default: - acc: 1500 - speed: 100 - x: 0.0 - y: 0.0 - z: 0.0 + steps: null handles: {} placeholder_keys: {} result: {} @@ -116,35 +487,21 @@ xyz_stepper_controller: feedback: {} goal: properties: - acc: - default: 1500 + steps: type: integer - speed: - default: 100 - type: integer - x: - default: 0.0 - type: number - y: - default: 0.0 - type: number - z: - default: 0.0 - type: number - required: [] + required: + - steps type: object result: {} required: - goal - title: move_xyz_work参数 + title: steps_to_revolutions参数 type: object type: UniLabJsonCommand - auto-return_to_work_origin: + auto-stop_all_axes: feedback: {} goal: {} - goal_default: - acc: 800 - speed: 200 + goal_default: {} handles: {} placeholder_keys: {} result: {} @@ -153,22 +510,16 @@ xyz_stepper_controller: properties: feedback: {} goal: - properties: - acc: - default: 800 - type: integer - speed: - default: 200 - type: integer + properties: {} required: [] type: object result: {} required: - goal - title: return_to_work_origin参数 + title: stop_all_axes参数 type: object type: UniLabJsonCommand - auto-wait_complete: + auto-wait_for_completion: feedback: {} goal: {} goal_default: @@ -184,22 +535,23 @@ xyz_stepper_controller: goal: properties: axis: - type: string + type: object timeout: default: 30.0 - type: string + type: number required: - axis type: object result: {} required: - goal - title: wait_complete参数 + title: wait_for_completion参数 type: object type: UniLabJsonCommand - module: unilabos.devices.laiyu_liquid_test.xyz_stepper_driver:XYZStepperController + module: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:XYZStepperController status_types: - status: list + all_positions: dict + motor_status: unilabos.devices.liquid_handling.laiyu.drivers.xyz_stepper_driver:MotorPosition type: python config_info: [] description: 新XYZ控制器 @@ -210,23 +562,24 @@ xyz_stepper_controller: properties: baudrate: default: 115200 - type: string - client: - type: string - origin_path: - default: unilabos/devices/laiyu_liquid_test/work_origin.json - type: string + type: integer port: - default: /dev/ttyUSB0 type: string - required: [] + timeout: + default: 1.0 + type: number + required: + - port type: object data: properties: - status: - type: array + all_positions: + type: object + motor_status: + type: object required: - - status + - motor_status + - all_positions type: object registry_type: device version: 1.0.0 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index d38c43a..8c475d7 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -4497,6 +4497,9 @@ liquid_handler: simulator: default: false type: boolean + total_height: + default: 310 + type: number required: - backend - deck @@ -7547,6 +7550,35 @@ liquid_handler.prcxi: title: custom_delay参数 type: object type: UniLabJsonCommandAsync + auto-heater_action: + feedback: {} + goal: {} + goal_default: + temperature: null + time: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + temperature: + type: number + time: + type: integer + required: + - temperature + - time + type: object + result: {} + required: + - goal + title: heater_action参数 + type: object + type: UniLabJsonCommandAsync auto-iter_tips: feedback: {} goal: {} @@ -7688,6 +7720,43 @@ liquid_handler.prcxi: title: set_group参数 type: object type: UniLabJsonCommand + auto-shaker_action: + feedback: {} + goal: {} + goal_default: + amplitude: null + is_wait: null + module_no: null + time: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + amplitude: + type: integer + is_wait: + type: boolean + module_no: + type: integer + time: + type: integer + required: + - time + - module_no + - amplitude + - is_wait + type: object + result: {} + required: + - goal + title: shaker_action参数 + type: object + type: UniLabJsonCommandAsync auto-touch_tip: feedback: {} goal: {} @@ -8347,6 +8416,341 @@ liquid_handler.prcxi: title: LiquidHandlerMix type: object type: LiquidHandlerMix + move_plate: + feedback: {} + goal: + destination_offset: destination_offset + drop_direction: drop_direction + get_direction: get_direction + intermediate_locations: intermediate_locations + pickup_direction: pickup_direction + pickup_offset: pickup_offset + plate: plate + put_direction: put_direction + resource_offset: resource_offset + to: to + goal_default: + destination_offset: + x: 0.0 + y: 0.0 + z: 0.0 + drop_direction: '' + get_direction: '' + intermediate_locations: + - x: 0.0 + y: 0.0 + z: 0.0 + pickup_direction: '' + pickup_distance_from_top: 0.0 + pickup_offset: + x: 0.0 + y: 0.0 + z: 0.0 + plate: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + put_direction: '' + resource_offset: + x: 0.0 + y: 0.0 + z: 0.0 + to: + category: '' + children: [] + config: '' + data: '' + id: '' + name: '' + parent: '' + pose: + orientation: + w: 1.0 + x: 0.0 + y: 0.0 + z: 0.0 + position: + x: 0.0 + y: 0.0 + z: 0.0 + sample_id: '' + type: '' + handles: {} + placeholder_keys: + plate: unilabos_resources + to: unilabos_resources + result: + name: name + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: LiquidHandlerMovePlate_Feedback + type: object + goal: + properties: + destination_offset: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: destination_offset + type: object + drop_direction: + type: string + get_direction: + type: string + intermediate_locations: + items: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: intermediate_locations + type: object + type: array + pickup_direction: + type: string + pickup_distance_from_top: + type: number + pickup_offset: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: pickup_offset + type: object + plate: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: plate + type: object + put_direction: + type: string + resource_offset: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: resource_offset + type: object + to: + properties: + category: + type: string + children: + items: + type: string + type: array + config: + type: string + data: + type: string + id: + type: string + name: + type: string + parent: + type: string + pose: + properties: + orientation: + properties: + w: + type: number + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + - w + title: orientation + type: object + position: + properties: + x: + type: number + y: + type: number + z: + type: number + required: + - x + - y + - z + title: position + type: object + required: + - position + - orientation + title: pose + type: object + sample_id: + type: string + type: + type: string + required: + - id + - name + - sample_id + - children + - parent + - type + - category + - pose + - config + - data + title: to + type: object + required: + - plate + - to + - intermediate_locations + - resource_offset + - pickup_offset + - destination_offset + - pickup_direction + - drop_direction + - get_direction + - put_direction + - pickup_distance_from_top + title: LiquidHandlerMovePlate_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: LiquidHandlerMovePlate_Result + type: object + required: + - goal + title: LiquidHandlerMovePlate + type: object + type: LiquidHandlerMovePlate pick_up_tips: feedback: {} goal: diff --git a/unilabos/registry/devices/neware_battery_test_system.yaml b/unilabos/registry/devices/neware_battery_test_system.yaml index bfcbc43..ea6bedc 100644 --- a/unilabos/registry/devices/neware_battery_test_system.yaml +++ b/unilabos/registry/devices/neware_battery_test_system.yaml @@ -1,6 +1,8 @@ neware_battery_test_system: category: - neware_battery_test_system + - neware + - battery_test class: action_value_mappings: auto-post_init: @@ -70,6 +72,38 @@ neware_battery_test_system: title: test_connection参数 type: object type: UniLabJsonCommand + debug_resource_names: + feedback: {} + goal: {} + goal_default: {} + handles: {} + result: + return_info: return_info + success: success + schema: + description: 调试方法：显示所有资源的实际名称 + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: + properties: + return_info: + description: 资源调试信息 + type: string + success: + description: 是否成功 + type: boolean + required: + - return_info + - success + type: object + required: + - goal + type: object + type: UniLabJsonCommand export_status_json: feedback: {} goal: @@ -145,29 +179,32 @@ neware_battery_test_system: goal: plate_num: plate_num goal_default: - plate_num: 1 + plate_num: null handles: {} result: + plate_data: plate_data return_info: return_info success: success schema: - description: 获取指定盘(1或2)的电池状态信息 + description: 获取指定盘或所有盘的状态信息 properties: feedback: {} goal: properties: plate_num: - description: 盘号 (1 或 2) + description: 盘号 (1 或 2)，如果为null则返回所有盘的状态 maximum: 2 minimum: 1 type: integer - required: - - plate_num + required: [] type: object result: properties: + plate_data: + description: 盘状态数据（单盘或所有盘） + type: object return_info: - description: 盘状态信息JSON格式 + description: 操作结果信息 type: string success: description: 查询是否成功 @@ -175,6 +212,7 @@ neware_battery_test_system: required: - return_info - success + - plate_data type: object required: - goal @@ -219,7 +257,9 @@ neware_battery_test_system: goal_default: string: '' handles: {} - result: {} + result: + return_info: return_info + success: success schema: description: '' properties: @@ -252,6 +292,56 @@ neware_battery_test_system: title: StrSingleInput type: object type: StrSingleInput + submit_from_csv: + feedback: {} + goal: + csv_path: string + output_dir: string + goal_default: + csv_path: '' + output_dir: . + handles: {} + result: + return_info: return_info + submitted_count: submitted_count + success: success + schema: + description: 从CSV文件批量提交Neware测试任务 + properties: + feedback: {} + goal: + properties: + csv_path: + description: 输入CSV文件的绝对路径 + type: string + output_dir: + description: 输出目录（用于存储XML和备份文件），默认当前目录 + type: string + required: + - csv_path + type: object + result: + properties: + return_info: + description: 执行结果详细信息 + type: string + submitted_count: + description: 成功提交的任务数量 + type: integer + success: + description: 是否成功 + type: boolean + total_count: + description: CSV文件中的总行数 + type: integer + required: + - return_info + - success + type: object + required: + - goal + type: object + type: UniLabJsonCommand test_connection_action: feedback: {} goal: {} @@ -284,7 +374,103 @@ neware_battery_test_system: - goal type: object type: UniLabJsonCommand - module: unilabos.devices.battery.neware_battery_test_system:NewareBatteryTestSystem + upload_backup_to_oss: + feedback: {} + goal: + backup_dir: backup_dir + file_pattern: file_pattern + oss_prefix: oss_prefix + goal_default: + backup_dir: null + file_pattern: '*' + oss_prefix: null + handles: + output: + - data_key: uploaded_files + data_source: executor + data_type: array + handler_key: uploaded_files + io_type: sink + label: Uploaded Files (with standard flow info) + result: + failed_files: failed_files + return_info: return_info + success: success + total_count: total_count + uploaded_count: uploaded_count + schema: + description: 上传备份文件到阿里云OSS + properties: + feedback: {} + goal: + properties: + backup_dir: + description: 备份目录路径（默认使用最近一次submit_from_csv的backup_dir） + type: string + file_pattern: + default: '*' + description: 文件通配符模式，例如 *.csv 或 Battery_*.nda + type: string + oss_prefix: + description: OSS对象路径前缀（默认使用self.oss_prefix） + type: string + required: [] + type: object + result: + properties: + failed_files: + description: 上传失败的文件名列表 + items: + type: string + type: array + return_info: + description: 上传操作结果信息 + type: string + success: + description: 上传是否成功 + type: boolean + total_count: + description: 总文件数 + type: integer + uploaded_count: + description: 成功上传的文件数 + type: integer + uploaded_files: + description: 成功上传的文件详情列表 + items: + properties: + Battery_Code: + description: 电池编码 + type: string + Electrolyte_Code: + description: 电解液编码 + type: string + filename: + description: 文件名 + type: string + url: + description: OSS下载链接 + type: string + required: + - filename + - url + - Battery_Code + - Electrolyte_Code + type: object + type: array + required: + - return_info + - success + - uploaded_count + - total_count + - failed_files + - uploaded_files + type: object + required: + - goal + type: object + type: UniLabJsonCommand + module: unilabos.devices.neware_battery_test_system.neware_battery_test_system:NewareBatteryTestSystem status_types: channel_status: dict connection_info: dict @@ -294,7 +480,7 @@ neware_battery_test_system: total_channels: int type: python config_info: [] - description: 新威电池测试系统驱动，支持720个通道的电池测试状态监控和数据导出。通过TCP通信实现远程控制，包含完整的物料管理系统，支持2盘电池的状态映射和监控。 + description: 新威电池测试系统驱动，提供720个通道的电池测试状态监控、物料管理和CSV批量提交功能。支持TCP通信实现远程控制，包含完整的物料管理系统（2盘电池状态映射），以及从CSV文件批量提交测试任务的能力。 handles: [] icon: '' init_param_schema: @@ -307,16 +493,22 @@ neware_battery_test_system: machine_id: default: 1 type: integer + oss_prefix: + default: neware_backup + type: string + oss_upload_enabled: + default: false + type: boolean port: type: integer size_x: - default: 500.0 + default: 50 type: number size_y: - default: 500.0 + default: 50 type: number size_z: - default: 2000.0 + default: 20 type: number timeout: type: integer diff --git a/unilabos/registry/devices/opcua_example.yaml b/unilabos/registry/devices/opcua_example.yaml index a7e6b4e..0f500cf 100644 --- a/unilabos/registry/devices/opcua_example.yaml +++ b/unilabos/registry/devices/opcua_example.yaml @@ -49,7 +49,32 @@ opcua_example: title: load_config参数 type: object type: UniLabJsonCommand - auto-refresh_node_values: + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: string + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + auto-print_cache_stats: feedback: {} goal: {} goal_default: {} @@ -67,7 +92,32 @@ opcua_example: result: {} required: - goal - title: refresh_node_values参数 + title: print_cache_stats参数 + type: object + type: UniLabJsonCommand + auto-read_node: + feedback: {} + goal: {} + goal_default: + node_name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + node_name: + type: string + required: + - node_name + type: object + result: {} + required: + - goal + title: read_node参数 type: object type: UniLabJsonCommand auto-set_node_value: @@ -99,50 +149,9 @@ opcua_example: title: set_node_value参数 type: object type: UniLabJsonCommand - auto-start_node_refresh: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: start_node_refresh参数 - type: object - type: UniLabJsonCommand - auto-stop_node_refresh: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: stop_node_refresh参数 - type: object - type: UniLabJsonCommand module: unilabos.device_comms.opcua_client.client:OpcUaClient status_types: + cache_stats: dict node_value: String type: python config_info: [] @@ -152,15 +161,23 @@ opcua_example: init_param_schema: config: properties: + cache_timeout: + default: 5.0 + type: number config_path: type: string + deck: + type: string password: type: string - refresh_interval: - default: 1.0 - type: number + subscription_interval: + default: 500 + type: integer url: type: string + use_subscription: + default: true + type: boolean username: type: string required: @@ -168,9 +185,12 @@ opcua_example: type: object data: properties: + cache_stats: + type: object node_value: type: string required: - node_value + - cache_stats type: object version: 1.0.0 diff --git a/unilabos/registry/devices/post_process_station.yaml b/unilabos/registry/devices/post_process_station.yaml new file mode 100644 index 0000000..be42bad --- /dev/null +++ b/unilabos/registry/devices/post_process_station.yaml @@ -0,0 +1,747 @@ +post_process_station: + category: + - post_process_station + class: + action_value_mappings: + auto-load_config: + feedback: {} + goal: {} + goal_default: + config_path: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + config_path: + type: string + required: + - config_path + type: object + result: {} + required: + - goal + title: load_config参数 + type: object + type: UniLabJsonCommand + auto-post_init: + feedback: {} + goal: {} + goal_default: + ros_node: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ros_node: + type: string + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + auto-print_cache_stats: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: print_cache_stats参数 + type: object + type: UniLabJsonCommand + auto-set_node_value: + feedback: {} + goal: {} + goal_default: + name: null + value: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + name: + type: string + value: + type: string + required: + - name + - value + type: object + result: {} + required: + - goal + title: set_node_value参数 + type: object + type: UniLabJsonCommand + disconnect: + feedback: {} + goal: + command: {} + goal_default: + command: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: SendCmd_Feedback + type: object + goal: + properties: + command: + type: string + required: + - command + title: SendCmd_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: SendCmd_Result + type: object + required: + - goal + title: SendCmd + type: object + type: SendCmd + read_node: + feedback: + result: result + goal: + command: node_name + goal_default: + command: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: SendCmd_Feedback + type: object + goal: + properties: + command: + type: string + required: + - command + title: SendCmd_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: SendCmd_Result + type: object + required: + - goal + title: SendCmd + type: object + type: SendCmd + trigger_cleaning_action: + feedback: {} + goal: + acetone_inner_wall_cleaning_count: acetone_inner_wall_cleaning_count + acetone_inner_wall_cleaning_injection: acetone_inner_wall_cleaning_injection + acetone_inner_wall_cleaning_waste_time: acetone_inner_wall_cleaning_waste_time + acetone_outer_wall_cleaning_count: acetone_outer_wall_cleaning_count + acetone_outer_wall_cleaning_injection: acetone_outer_wall_cleaning_injection + acetone_outer_wall_cleaning_wait_time: acetone_outer_wall_cleaning_wait_time + acetone_outer_wall_cleaning_waste_time: acetone_outer_wall_cleaning_waste_time + acetone_pump_cleaning_suction_count: acetone_pump_cleaning_suction_count + acetone_stirrer_cleaning_count: acetone_stirrer_cleaning_count + acetone_stirrer_cleaning_injection: acetone_stirrer_cleaning_injection + acetone_stirrer_cleaning_wait_time: acetone_stirrer_cleaning_wait_time + acetone_stirrer_cleaning_waste_time: acetone_stirrer_cleaning_waste_time + filtration_liquid_selection: filtration_liquid_selection + injection_pump_forward_empty_suction_count: injection_pump_forward_empty_suction_count + injection_pump_reverse_empty_suction_count: injection_pump_reverse_empty_suction_count + nmp_inner_wall_cleaning_count: nmp_inner_wall_cleaning_count + nmp_inner_wall_cleaning_injection: nmp_inner_wall_cleaning_injection + nmp_inner_wall_cleaning_waste_time: nmp_inner_wall_cleaning_waste_time + nmp_outer_wall_cleaning_count: nmp_outer_wall_cleaning_count + nmp_outer_wall_cleaning_injection: nmp_outer_wall_cleaning_injection + nmp_outer_wall_cleaning_wait_time: nmp_outer_wall_cleaning_wait_time + nmp_outer_wall_cleaning_waste_time: nmp_outer_wall_cleaning_waste_time + nmp_pump_cleaning_suction_count: nmp_pump_cleaning_suction_count + nmp_stirrer_cleaning_count: nmp_stirrer_cleaning_count + nmp_stirrer_cleaning_injection: nmp_stirrer_cleaning_injection + nmp_stirrer_cleaning_wait_time: nmp_stirrer_cleaning_wait_time + nmp_stirrer_cleaning_waste_time: nmp_stirrer_cleaning_waste_time + pipe_blowing_time: pipe_blowing_time + water_inner_wall_cleaning_count: water_inner_wall_cleaning_count + water_inner_wall_cleaning_injection: water_inner_wall_cleaning_injection + water_inner_wall_cleaning_waste_time: water_inner_wall_cleaning_waste_time + water_outer_wall_cleaning_count: water_outer_wall_cleaning_count + water_outer_wall_cleaning_injection: water_outer_wall_cleaning_injection + water_outer_wall_cleaning_wait_time: water_outer_wall_cleaning_wait_time + water_outer_wall_cleaning_waste_time: water_outer_wall_cleaning_waste_time + water_pump_cleaning_suction_count: water_pump_cleaning_suction_count + water_stirrer_cleaning_count: water_stirrer_cleaning_count + water_stirrer_cleaning_injection: water_stirrer_cleaning_injection + water_stirrer_cleaning_wait_time: water_stirrer_cleaning_wait_time + water_stirrer_cleaning_waste_time: water_stirrer_cleaning_waste_time + goal_default: + acetone_inner_wall_cleaning_count: 0 + acetone_inner_wall_cleaning_injection: 0.0 + acetone_inner_wall_cleaning_waste_time: 0 + acetone_outer_wall_cleaning_count: 0 + acetone_outer_wall_cleaning_injection: 0.0 + acetone_outer_wall_cleaning_wait_time: 0 + acetone_outer_wall_cleaning_waste_time: 0 + acetone_pump_cleaning_suction_count: 0 + acetone_stirrer_cleaning_count: 0 + acetone_stirrer_cleaning_injection: 0.0 + acetone_stirrer_cleaning_wait_time: 0 + acetone_stirrer_cleaning_waste_time: 0 + filtration_liquid_selection: 0 + injection_pump_forward_empty_suction_count: 0 + injection_pump_reverse_empty_suction_count: 0 + nmp_inner_wall_cleaning_count: 0 + nmp_inner_wall_cleaning_injection: 0.0 + nmp_inner_wall_cleaning_waste_time: 0 + nmp_outer_wall_cleaning_count: 0 + nmp_outer_wall_cleaning_injection: 0.0 + nmp_outer_wall_cleaning_wait_time: 0 + nmp_outer_wall_cleaning_waste_time: 0 + nmp_pump_cleaning_suction_count: 0 + nmp_stirrer_cleaning_count: 0 + nmp_stirrer_cleaning_injection: 0.0 + nmp_stirrer_cleaning_wait_time: 0 + nmp_stirrer_cleaning_waste_time: 0 + pipe_blowing_time: 0 + water_inner_wall_cleaning_count: 0 + water_inner_wall_cleaning_injection: 0.0 + water_inner_wall_cleaning_waste_time: 0 + water_outer_wall_cleaning_count: 0 + water_outer_wall_cleaning_injection: 0.0 + water_outer_wall_cleaning_wait_time: 0 + water_outer_wall_cleaning_waste_time: 0 + water_pump_cleaning_suction_count: 0 + water_stirrer_cleaning_count: 0 + water_stirrer_cleaning_injection: 0.0 + water_stirrer_cleaning_wait_time: 0 + water_stirrer_cleaning_waste_time: 0 + handles: {} + result: + return_info: return_info + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: PostProcessTriggerClean_Feedback + type: object + goal: + properties: + acetone_inner_wall_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + acetone_inner_wall_cleaning_injection: + type: number + acetone_inner_wall_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + acetone_outer_wall_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + acetone_outer_wall_cleaning_injection: + type: number + acetone_outer_wall_cleaning_wait_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + acetone_outer_wall_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + acetone_pump_cleaning_suction_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + acetone_stirrer_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + acetone_stirrer_cleaning_injection: + type: number + acetone_stirrer_cleaning_wait_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + acetone_stirrer_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + filtration_liquid_selection: + maximum: 2147483647 + minimum: -2147483648 + type: integer + injection_pump_forward_empty_suction_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + injection_pump_reverse_empty_suction_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_inner_wall_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_inner_wall_cleaning_injection: + type: number + nmp_inner_wall_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_outer_wall_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_outer_wall_cleaning_injection: + type: number + nmp_outer_wall_cleaning_wait_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_outer_wall_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_pump_cleaning_suction_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_stirrer_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_stirrer_cleaning_injection: + type: number + nmp_stirrer_cleaning_wait_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + nmp_stirrer_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + pipe_blowing_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_inner_wall_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_inner_wall_cleaning_injection: + type: number + water_inner_wall_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_outer_wall_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_outer_wall_cleaning_injection: + type: number + water_outer_wall_cleaning_wait_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_outer_wall_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_pump_cleaning_suction_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_stirrer_cleaning_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_stirrer_cleaning_injection: + type: number + water_stirrer_cleaning_wait_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + water_stirrer_cleaning_waste_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - nmp_outer_wall_cleaning_injection + - nmp_outer_wall_cleaning_count + - nmp_outer_wall_cleaning_wait_time + - nmp_outer_wall_cleaning_waste_time + - nmp_inner_wall_cleaning_injection + - nmp_inner_wall_cleaning_count + - nmp_pump_cleaning_suction_count + - nmp_inner_wall_cleaning_waste_time + - nmp_stirrer_cleaning_injection + - nmp_stirrer_cleaning_count + - nmp_stirrer_cleaning_wait_time + - nmp_stirrer_cleaning_waste_time + - water_outer_wall_cleaning_injection + - water_outer_wall_cleaning_count + - water_outer_wall_cleaning_wait_time + - water_outer_wall_cleaning_waste_time + - water_inner_wall_cleaning_injection + - water_inner_wall_cleaning_count + - water_pump_cleaning_suction_count + - water_inner_wall_cleaning_waste_time + - water_stirrer_cleaning_injection + - water_stirrer_cleaning_count + - water_stirrer_cleaning_wait_time + - water_stirrer_cleaning_waste_time + - acetone_outer_wall_cleaning_injection + - acetone_outer_wall_cleaning_count + - acetone_outer_wall_cleaning_wait_time + - acetone_outer_wall_cleaning_waste_time + - acetone_inner_wall_cleaning_injection + - acetone_inner_wall_cleaning_count + - acetone_pump_cleaning_suction_count + - acetone_inner_wall_cleaning_waste_time + - acetone_stirrer_cleaning_injection + - acetone_stirrer_cleaning_count + - acetone_stirrer_cleaning_wait_time + - acetone_stirrer_cleaning_waste_time + - pipe_blowing_time + - injection_pump_forward_empty_suction_count + - injection_pump_reverse_empty_suction_count + - filtration_liquid_selection + title: PostProcessTriggerClean_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: PostProcessTriggerClean_Result + type: object + required: + - goal + title: PostProcessTriggerClean + type: object + type: PostProcessTriggerClean + trigger_grab_action: + feedback: {} + goal: + raw_tank_number: raw_tank_number + reaction_tank_number: reaction_tank_number + goal_default: + raw_tank_number: 0 + reaction_tank_number: 0 + handles: {} + result: + return_info: return_info + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: PostProcessGrab_Feedback + type: object + goal: + properties: + raw_tank_number: + maximum: 2147483647 + minimum: -2147483648 + type: integer + reaction_tank_number: + maximum: 2147483647 + minimum: -2147483648 + type: integer + required: + - reaction_tank_number + - raw_tank_number + title: PostProcessGrab_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: PostProcessGrab_Result + type: object + required: + - goal + title: PostProcessGrab + type: object + type: PostProcessGrab + trigger_post_processing: + feedback: {} + goal: + atomization_fast_speed: atomization_fast_speed + atomization_pressure_kpa: atomization_pressure_kpa + first_powder_mixing_tim: first_powder_mixing_tim + first_powder_wash_count: first_powder_wash_count + first_wash_water_amount: first_wash_water_amount + initial_water_amount: initial_water_amount + injection_pump_push_speed: injection_pump_push_speed + injection_pump_suction_speed: injection_pump_suction_speed + pre_filtration_mixing_time: pre_filtration_mixing_time + raw_liquid_suction_count: raw_liquid_suction_count + second_powder_mixing_time: second_powder_mixing_time + second_powder_wash_count: second_powder_wash_count + second_wash_water_amount: second_wash_water_amount + wash_slow_speed: wash_slow_speed + goal_default: + atomization_fast_speed: 0.0 + atomization_pressure_kpa: 0 + first_powder_mixing_tim: 0 + first_powder_wash_count: 0 + first_wash_water_amount: 0.0 + initial_water_amount: 0.0 + injection_pump_push_speed: 0 + injection_pump_suction_speed: 0 + pre_filtration_mixing_time: 0 + raw_liquid_suction_count: 0 + second_powder_mixing_time: 0 + second_powder_wash_count: 0 + second_wash_water_amount: 0.0 + wash_slow_speed: 0.0 + handles: {} + result: + return_info: return_info + schema: + description: '' + properties: + feedback: + properties: {} + required: [] + title: PostProcessTriggerPostPro_Feedback + type: object + goal: + properties: + atomization_fast_speed: + type: number + atomization_pressure_kpa: + maximum: 2147483647 + minimum: -2147483648 + type: integer + first_powder_mixing_tim: + maximum: 2147483647 + minimum: -2147483648 + type: integer + first_powder_wash_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + first_wash_water_amount: + type: number + initial_water_amount: + type: number + injection_pump_push_speed: + maximum: 2147483647 + minimum: -2147483648 + type: integer + injection_pump_suction_speed: + maximum: 2147483647 + minimum: -2147483648 + type: integer + pre_filtration_mixing_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + raw_liquid_suction_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + second_powder_mixing_time: + maximum: 2147483647 + minimum: -2147483648 + type: integer + second_powder_wash_count: + maximum: 2147483647 + minimum: -2147483648 + type: integer + second_wash_water_amount: + type: number + wash_slow_speed: + type: number + required: + - atomization_fast_speed + - wash_slow_speed + - injection_pump_suction_speed + - injection_pump_push_speed + - raw_liquid_suction_count + - first_wash_water_amount + - second_wash_water_amount + - first_powder_mixing_tim + - second_powder_mixing_time + - first_powder_wash_count + - second_powder_wash_count + - initial_water_amount + - pre_filtration_mixing_time + - atomization_pressure_kpa + title: PostProcessTriggerPostPro_Goal + type: object + result: + properties: + return_info: + type: string + required: + - return_info + title: PostProcessTriggerPostPro_Result + type: object + required: + - goal + title: PostProcessTriggerPostPro + type: object + type: PostProcessTriggerPostPro + write_node: + feedback: + result: result + goal: + command: json_input + goal_default: + command: '' + handles: {} + result: + success: success + schema: + description: '' + properties: + feedback: + properties: + status: + type: string + required: + - status + title: SendCmd_Feedback + type: object + goal: + properties: + command: + type: string + required: + - command + title: SendCmd_Goal + type: object + result: + properties: + return_info: + type: string + success: + type: boolean + required: + - return_info + - success + title: SendCmd_Result + type: object + required: + - goal + title: SendCmd + type: object + type: SendCmd + module: unilabos.devices.workstation.post_process.post_process:OpcUaClient + status_types: + cache_stats: dict + node_value: String + type: python + config_info: [] + description: 后处理站 + handles: [] + icon: post_process_station.webp + init_param_schema: + config: + properties: + cache_timeout: + default: 5.0 + type: number + config_path: + type: string + deck: + type: string + password: + type: string + subscription_interval: + default: 500 + type: integer + url: + type: string + use_subscription: + default: true + type: boolean + username: + type: string + required: + - url + type: object + data: + properties: + cache_stats: + type: object + node_value: + type: string + required: + - node_value + - cache_stats + type: object + version: 1.0.0 diff --git a/unilabos/registry/registry.py b/unilabos/registry/registry.py index 98ea7d7..a9a10f8 100644 --- a/unilabos/registry/registry.py +++ b/unilabos/registry/registry.py @@ -237,6 +237,8 @@ class Registry: resource_info["category"] = [file.stem] elif file.stem not in resource_info["category"]: resource_info["category"].append(file.stem) + elif not isinstance(resource_info.get("category"), list): + resource_info["category"] = [resource_info["category"]] if "config_info" not in resource_info: resource_info["config_info"] = [] if "icon" not in resource_info: diff --git a/unilabos/registry/resources/post_process/bottle_carriers.yaml b/unilabos/registry/resources/post_process/bottle_carriers.yaml new file mode 100644 index 0000000..ea30cb7 --- /dev/null +++ b/unilabos/registry/resources/post_process/bottle_carriers.yaml @@ -0,0 +1,24 @@ +POST_PROCESS_Raw_1BottleCarrier: + category: + - bottle_carriers + class: + module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Raw_1BottleCarrier + type: pylabrobot + description: POST_PROCESS_Raw_1BottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +POST_PROCESS_Reaction_1BottleCarrier: + category: + - bottle_carriers + class: + module: unilabos.devices.workstation.post_process.bottle_carriers:POST_PROCESS_Reaction_1BottleCarrier + type: pylabrobot + description: POST_PROCESS_Reaction_1BottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/post_process/bottles.yaml b/unilabos/registry/resources/post_process/bottles.yaml new file mode 100644 index 0000000..25fc397 --- /dev/null +++ b/unilabos/registry/resources/post_process/bottles.yaml @@ -0,0 +1,10 @@ +POST_PROCESS_PolymerStation_Reagent_Bottle: + category: + - bottles + class: + module: unilabos.devices.workstation.post_process.bottles:POST_PROCESS_PolymerStation_Reagent_Bottle + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 diff --git a/unilabos/registry/resources/post_process/deck.yaml b/unilabos/registry/resources/post_process/deck.yaml new file mode 100644 index 0000000..621cafc --- /dev/null +++ b/unilabos/registry/resources/post_process/deck.yaml @@ -0,0 +1,13 @@ +post_process_deck: + category: + - post_process_deck + - deck + class: + module: unilabos.devices.workstation.post_process.decks:post_process_deck + type: pylabrobot + description: post_process_deck + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/prcxi/plate_adapters.yaml b/unilabos/registry/resources/prcxi/plate_adapters.yaml new file mode 100644 index 0000000..a769fee --- /dev/null +++ b/unilabos/registry/resources/prcxi/plate_adapters.yaml @@ -0,0 +1,117 @@ +PRCXI_30mm_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_30mm_Adapter + type: pylabrobot + description: '30mm适配器 (Code: ZX-58-30)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Adapter + type: pylabrobot + description: '适配器 (Code: Fhh478)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_Deep10_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep10_Adapter + type: pylabrobot + description: '10ul专用深孔板适配器 (Code: ZX-002-10)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_Deep300_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Deep300_Adapter + type: pylabrobot + description: '300ul深孔板适配器 (Code: ZX-002-300)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_PCR_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Adapter + type: pylabrobot + description: '全裙边 PCR适配器 (Code: ZX-58-0001)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_Reservoir_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Reservoir_Adapter + type: pylabrobot + description: '储液槽 适配器 (Code: ZX-ADP-001)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_Tip10_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip10_Adapter + type: pylabrobot + description: '吸头10ul 适配器 (Code: ZX-58-10)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_Tip1250_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip1250_Adapter + type: pylabrobot + description: 'Tip头适配器 1250uL (Code: ZX-58-1250)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_Tip300_Adapter: + category: + - prcxi + - plate_adapters + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_Tip300_Adapter + type: pylabrobot + description: 'ZHONGXI 适配器 300uL (Code: ZX-58-300)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/prcxi/plates.yaml b/unilabos/registry/resources/prcxi/plates.yaml index d07ee87..81e2ae9 100644 --- a/unilabos/registry/resources/prcxi/plates.yaml +++ b/unilabos/registry/resources/prcxi/plates.yaml @@ -1,10 +1,141 @@ -prcxi_96_wellplate_360ul_flat: +PRCXI_48_DeepWell: category: + - prcxi - plates class: - module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_96_wellplate_360ul_flat + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_48_DeepWell type: pylabrobot - description: prcxi_96_wellplate_360ul_flat + description: '48孔深孔板 (Code: 22)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_96_DeepWell: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_96_DeepWell + type: pylabrobot + description: '96深孔板 (Code: q2)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_AGenBio_4_troughplate: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_AGenBio_4_troughplate + type: pylabrobot + description: '4道储液槽 (Code: sdfrth654)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_BioER_96_wellplate: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioER_96_wellplate + type: pylabrobot + description: '2.2ml 深孔板 (Code: ZX-019-2.2)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_BioRad_384_wellplate: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_BioRad_384_wellplate + type: pylabrobot + description: '384板 (Code: q3)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_CellTreat_96_wellplate: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_CellTreat_96_wellplate + type: pylabrobot + description: '细菌培养皿 (Code: ZX-78-096)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_PCR_Plate_200uL_nonskirted: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_nonskirted + type: pylabrobot + description: '0.2ml PCR 板 (Code: ZX-023-0.2)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_PCR_Plate_200uL_semiskirted: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_semiskirted + type: pylabrobot + description: '0.2ml PCR 板 (Code: ZX-023-0.2)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_PCR_Plate_200uL_skirted: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_PCR_Plate_200uL_skirted + type: pylabrobot + description: '0.2ml PCR 板 (Code: ZX-023-0.2)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_nest_12_troughplate: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_12_troughplate + type: pylabrobot + description: '12道储液槽 (Code: 12道储液槽)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_nest_1_troughplate: + category: + - prcxi + - plates + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_nest_1_troughplate + type: pylabrobot + description: '储液槽 (Code: ZX-58-10000)' handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/registry/resources/prcxi/tip_racks.yaml b/unilabos/registry/resources/prcxi/tip_racks.yaml index f97a3d0..56a16db 100644 --- a/unilabos/registry/resources/prcxi/tip_racks.yaml +++ b/unilabos/registry/resources/prcxi/tip_racks.yaml @@ -1,23 +1,76 @@ -prcxi_opentrons_96_tiprack_10ul: - category: - - tip_racks - class: - module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_opentrons_96_tiprack_10ul - type: pylabrobot - description: prcxi_opentrons_96_tiprack_10ul - handles: [] - icon: '' - init_param_schema: {} - registry_type: resource - version: 1.0.0 -tip_adaptor_1250ul_2: +PRCXI_1000uL_Tips: category: - prcxi - tip_racks class: - module: unilabos.devices.liquid_handling.prcxi.prcxi_materials:tip_adaptor_1250ul + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1000uL_Tips type: pylabrobot - description: Tip头适配器 1250uL + description: '1000μL Tip头 (Code: ZX-001-1000)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_10uL_Tips: + category: + - prcxi + - tip_racks + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10uL_Tips + type: pylabrobot + description: '10μL Tip头 (Code: ZX-001-10)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_10ul_eTips: + category: + - prcxi + - tip_racks + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_10ul_eTips + type: pylabrobot + description: '10μL加长 Tip头 (Code: ZX-001-10+)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_1250uL_Tips: + category: + - prcxi + - tip_racks + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_1250uL_Tips + type: pylabrobot + description: '1250μL Tip头 (Code: ZX-001-1250)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_200uL_Tips: + category: + - prcxi + - tip_racks + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_200uL_Tips + type: pylabrobot + description: '200μL Tip头 (Code: ZX-001-200)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +PRCXI_300ul_Tips: + category: + - prcxi + - tip_racks + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_300ul_Tips + type: pylabrobot + description: '300μL Tip头 (Code: ZX-001-300)' handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/registry/resources/prcxi/trash.yaml b/unilabos/registry/resources/prcxi/trash.yaml index ca627c8..f87a762 100644 --- a/unilabos/registry/resources/prcxi/trash.yaml +++ b/unilabos/registry/resources/prcxi/trash.yaml @@ -1,10 +1,11 @@ -prcxi_trash: +PRCXI_trash: category: + - prcxi - trash class: - module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_trash + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_trash type: pylabrobot - description: prcxi_trash + description: '废弃槽 (Code: q1)' handles: [] icon: '' init_param_schema: {} diff --git a/unilabos/registry/resources/prcxi/tube_racks.yaml b/unilabos/registry/resources/prcxi/tube_racks.yaml new file mode 100644 index 0000000..0b1e07c --- /dev/null +++ b/unilabos/registry/resources/prcxi/tube_racks.yaml @@ -0,0 +1,13 @@ +PRCXI_EP_Adapter: + category: + - prcxi + - tube_racks + class: + module: unilabos.devices.liquid_handling.prcxi.prcxi_labware:PRCXI_EP_Adapter + type: pylabrobot + description: 'ep适配器 (Code: 1)' + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/plr_additional_res_reg.py b/unilabos/resources/plr_additional_res_reg.py index a1e4831..1c019de 100644 --- a/unilabos/resources/plr_additional_res_reg.py +++ b/unilabos/resources/plr_additional_res_reg.py @@ -4,7 +4,11 @@ def register(): # noinspection PyUnresolvedReferences from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck # noinspection PyUnresolvedReferences - from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container + from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Plate + from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300PlateAdapter + from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TipRack + from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Trash + from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300TubeRack # noinspection PyUnresolvedReferences from unilabos.devices.workstation.workstation_base import WorkStationContainer diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 6952320..16aba6d 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -21,6 +21,7 @@ from rclpy.callback_groups import ReentrantCallbackGroup from rclpy.service import Service from unilabos_msgs.action import SendCmd from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response +from unilabos.utils.decorator import get_topic_config, get_all_subscriptions from unilabos.resources.container import RegularContainer from unilabos.resources.graphio import ( @@ -48,7 +49,8 @@ from unilabos_msgs.msg import Resource # type: ignore from unilabos.ros.nodes.resource_tracker import ( DeviceNodeResourceTracker, ResourceTreeSet, - ResourceTreeInstance, ResourceDictInstance, + ResourceTreeInstance, + ResourceDictInstance, ) from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator @@ -168,6 +170,7 @@ class PropertyPublisher: msg_type, initial_period: float = 5.0, print_publish=True, + qos: int = 10, ): self.node = node self.name = name @@ -175,10 +178,11 @@ class PropertyPublisher: self.get_method = get_method self.timer_period = initial_period self.print_publish = print_publish + self.qos = qos self._value = None try: - self.publisher_ = node.create_publisher(msg_type, f"{name}", 10) + self.publisher_ = node.create_publisher(msg_type, f"{name}", qos) except AttributeError as ex: self.node.lab_logger().error( f"创建发布者 {name} 失败，可能由于注册表有误，类型: {msg_type}，错误: {ex}\n{traceback.format_exc()}" @@ -186,7 +190,7 @@ class PropertyPublisher: self.timer = node.create_timer(self.timer_period, self.publish_property) self.__loop = get_event_loop() str_msg_type = str(msg_type)[8:-2] - self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒") + self.node.lab_logger().trace(f"发布属性: {name}, 类型: {str_msg_type}, 周期: {initial_period}秒, QoS: {qos}") def get_property(self): if asyncio.iscoroutinefunction(self.get_method): @@ -326,6 +330,10 @@ class BaseROS2DeviceNode(Node, Generic[T]): continue self.create_ros_action_server(action_name, action_value_mapping) + # 创建订阅者（通过 @subscribe 装饰器） + self._topic_subscribers: Dict[str, Any] = {} + self._setup_decorated_subscribers() + # 创建线程池执行器 self._executor = ThreadPoolExecutor( max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}" @@ -1043,6 +1051,29 @@ class BaseROS2DeviceNode(Node, Generic[T]): def create_ros_publisher(self, attr_name, msg_type, initial_period=5.0): """创建ROS发布者""" + # 检测装饰器配置（支持 get_{attr_name} 方法和 @property） + topic_config = {} + + # 优先检测 get_{attr_name} 方法 + if hasattr(self.driver_instance, f"get_{attr_name}"): + getter_method = getattr(self.driver_instance, f"get_{attr_name}") + topic_config = get_topic_config(getter_method) + + # 如果没有配置，检测 @property 装饰的属性 + if not topic_config: + driver_class = type(self.driver_instance) + if hasattr(driver_class, attr_name): + class_attr = getattr(driver_class, attr_name) + if isinstance(class_attr, property) and class_attr.fget is not None: + topic_config = get_topic_config(class_attr.fget) + + # 使用装饰器配置或默认值 + cfg_period = topic_config.get("period") + cfg_print = topic_config.get("print_publish") + cfg_qos = topic_config.get("qos") + period: float = cfg_period if cfg_period is not None else initial_period + print_publish: bool = cfg_print if cfg_print is not None else self._print_publish + qos: int = cfg_qos if cfg_qos is not None else 10 # 获取属性值的方法 def get_device_attr(): @@ -1063,7 +1094,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().error(traceback.format_exc()) self._property_publishers[attr_name] = PropertyPublisher( - self, attr_name, get_device_attr, msg_type, initial_period, self._print_publish + self, attr_name, get_device_attr, msg_type, period, print_publish, qos ) def create_ros_action_server(self, action_name, action_value_mapping): @@ -1081,6 +1112,76 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}") + def _setup_decorated_subscribers(self): + """扫描 driver_instance 中带有 @subscribe 装饰器的方法并创建订阅者""" + subscriptions = get_all_subscriptions(self.driver_instance) + + for method_name, method, config in subscriptions: + topic_template = config.get("topic") + msg_type = config.get("msg_type") + qos = config.get("qos", 10) + + if not topic_template: + self.lab_logger().warning(f"订阅方法 {method_name} 缺少 topic 配置，跳过") + continue + + # 如果没有指定 msg_type，尝试从类型注解推断 + if msg_type is None: + try: + hints = get_type_hints(method) + # 第一个参数是 self，第二个是 msg + param_names = list(hints.keys()) + if param_names: + msg_type = hints[param_names[0]] + except Exception: + pass + + if msg_type is None: + self.lab_logger().warning(f"订阅方法 {method_name} 缺少 msg_type 配置且无法从类型注解推断，跳过") + continue + + # 替换 topic 模板中的占位符 + topic = self._resolve_topic_template(topic_template) + + self.create_ros_subscriber(topic, msg_type, method, qos) + + def _resolve_topic_template(self, topic_template: str) -> str: + """ + 解析 topic 模板，替换占位符 + + 支持的占位符: + - {device_id}: 设备ID + - {namespace}: 完整命名空间 + """ + return topic_template.format( + device_id=self.device_id, + namespace=self.namespace, + ) + + def create_ros_subscriber(self, topic: str, msg_type, callback, qos: int = 10): + """ + 创建ROS订阅者 + + Args: + topic: Topic 名称 + msg_type: ROS 消息类型 + callback: 回调方法（会自动绑定到 driver_instance） + qos: QoS 深度配置 + """ + try: + subscription = self.create_subscription( + msg_type, + topic, + callback, + qos, + callback_group=self.callback_group, + ) + self._topic_subscribers[topic] = subscription + str_msg_type = str(msg_type)[8:-2] if str(msg_type).startswith(" Dict[str, Any]: @@ -436,7 +448,7 @@ class ResourceTreeSet(object): from pylabrobot.utils.object_parsing import find_subclass # 类型映射 - TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"} + TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer", "tip_spot": "TipSpot"} def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict, name_to_extra: dict): """一次遍历收集 name_to_uuid, all_states 和 name_to_extra""" diff --git a/unilabos/test/experiments/chinwe.json b/unilabos/test/experiments/chinwe.json new file mode 100644 index 0000000..26950c7 --- /dev/null +++ b/unilabos/test/experiments/chinwe.json @@ -0,0 +1,34 @@ +{ + "nodes": [ + { + "id": "ChinWeStation", + "name": "分液工作站", + "children": [], + "parent": null, + "type": "device", + "class": "separator.chinwe", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "port": "192.168.31.13:8899", + "baudrate": 9600, + "pump_ids": [ + 1, + 2, + 3 + ], + "motor_ids": [ + 4, + 5 + ], + "sensor_id": 6, + "sensor_threshold": 300 + }, + "data": {} + } + ], + "links": [] +} diff --git a/unilabos/test/experiments/prcxi_9300.json b/unilabos/test/experiments/deprecated/prcxi_9300.json similarity index 99% rename from unilabos/test/experiments/prcxi_9300.json rename to unilabos/test/experiments/deprecated/prcxi_9300.json index 4901c5d..f856db1 100644 --- a/unilabos/test/experiments/prcxi_9300.json +++ b/unilabos/test/experiments/deprecated/prcxi_9300.json @@ -178,7 +178,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300TipRack", "size_x": 50, "size_y": 40, "size_z": 30, @@ -4248,7 +4248,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 40, "size_z": 30, @@ -9415,7 +9415,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 40, "size_z": 30, @@ -13389,7 +13389,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 40, "size_z": 30, @@ -17363,7 +17363,7 @@ "z": 0 }, "config": { - "type": "PRCXI9300Container", + "type": "PRCXI9300Plate", "size_x": 50, "size_y": 40, "size_z": 30, diff --git a/unilabos/test/experiments/prcxi_9320.json b/unilabos/test/experiments/deprecated/prcxi_9320.json similarity index 100% rename from unilabos/test/experiments/prcxi_9320.json rename to unilabos/test/experiments/deprecated/prcxi_9320.json diff --git a/unilabos/test/experiments/deprecated/prcxi_9320_with_res.json b/unilabos/test/experiments/deprecated/prcxi_9320_with_res.json new file mode 100644 index 0000000..3bb8eea --- /dev/null +++ b/unilabos/test/experiments/deprecated/prcxi_9320_with_res.json @@ -0,0 +1,40429 @@ +{ + "nodes": [ + { + "id": "PRCXI", + "name": "PRCXI", + "type": "device", + "class": "liquid_handler.prcxi", + "parent": "", + "pose": { + "size": { + "width": 562, + "height": 394, + "depth": 0 + } + }, + "config": { + "axis": "Left", + "deck": { + "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck", + "_resource_child_name": "PRCXI_Deck" + }, + "host": "10.20.30.184", + "port": 9999, + "debug": false, + "setup": true, + "is_9320": true, + "timeout": 10, + "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", + "simulator": false, + "channel_num": 2 + }, + "data": { + "reset_ok": true + }, + "schema": {}, + "description": "", + "model": null, + "position": { + "x": 0, + "y": 240, + "z": 0 + } + }, + { + "id": "PRCXI_Deck", + "name": "PRCXI_Deck", + + "children": [], + "parent": "PRCXI", + "type": "deck", + "class": "", + "position": { + "x": 10, + "y": 10, + "z": 0 + }, + "config": { + "type": "PRCXI9300Deck", + "size_x": 542, + "size_y": 374, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "barcode": null, + "sites": [ + { + "label": "1", + "visible": true, + "position": { "x": 0, "y": 0, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "2", + "visible": true, + "position": { "x": 138, "y": 0, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "3", + "visible": true, + "position": { "x": 276, "y": 0, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "4", + "visible": true, + "position": { "x": 414, "y": 0, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "5", + "visible": true, + "position": { "x": 0, "y": 96, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "6", + "visible": true, + "position": { "x": 138, "y": 96, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "7", + "visible": true, + "position": { "x": 276, "y": 96, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "8", + "visible": true, + "position": { "x": 414, "y": 96, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "9", + "visible": true, + "position": { "x": 0, "y": 192, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "10", + "visible": true, + "position": { "x": 138, "y": 192, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "11", + "visible": true, + "position": { "x": 276, "y": 192, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "12", + "visible": true, + "position": { "x": 414, "y": 192, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "13", + "visible": true, + "position": { "x": 0, "y": 288, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "14", + "visible": true, + "position": { "x": 138, "y": 288, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "15", + "visible": true, + "position": { "x": 276, "y": 288, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + }, + { + "label": "16", + "visible": true, + "position": { "x": 414, "y": 288, "z": 0 }, + "size": { "width": 128.0, "height": 86, "depth": 0 }, + "content_type": [ + "plate", + "tip_rack", + "plates", + "tip_racks", + "tube_rack" + ] + } + ] + }, + "data": {} + }, + { + "id": "RackT1", + "name": "RackT1", + + "children": [ + "RackT1_A1", + "RackT1_B1", + "RackT1_C1", + "RackT1_D1", + "RackT1_E1", + "RackT1_F1", + "RackT1_G1", + "RackT1_H1", + "RackT1_A2", + "RackT1_B2", + "RackT1_C2", + "RackT1_D2", + "RackT1_E2", + "RackT1_F2", + "RackT1_G2", + "RackT1_H2", + "RackT1_A3", + "RackT1_B3", + "RackT1_C3", + "RackT1_D3", + "RackT1_E3", + "RackT1_F3", + "RackT1_G3", + "RackT1_H3", + "RackT1_A4", + "RackT1_B4", + "RackT1_C4", + "RackT1_D4", + "RackT1_E4", + "RackT1_F4", + "RackT1_G4", + "RackT1_H4", + "RackT1_A5", + "RackT1_B5", + "RackT1_C5", + "RackT1_D5", + "RackT1_E5", + "RackT1_F5", + "RackT1_G5", + "RackT1_H5", + "RackT1_A6", + "RackT1_B6", + "RackT1_C6", + "RackT1_D6", + "RackT1_E6", + "RackT1_F6", + "RackT1_G6", + "RackT1_H6", + "RackT1_A7", + "RackT1_B7", + "RackT1_C7", + "RackT1_D7", + "RackT1_E7", + "RackT1_F7", + "RackT1_G7", + "RackT1_H7", + "RackT1_A8", + "RackT1_B8", + "RackT1_C8", + "RackT1_D8", + "RackT1_E8", + "RackT1_F8", + "RackT1_G8", + "RackT1_H8", + "RackT1_A9", + "RackT1_B9", + "RackT1_C9", + "RackT1_D9", + "RackT1_E9", + "RackT1_F9", + "RackT1_G9", + "RackT1_H9", + "RackT1_A10", + "RackT1_B10", + "RackT1_C10", + "RackT1_D10", + "RackT1_E10", + "RackT1_F10", + "RackT1_G10", + "RackT1_H10", + "RackT1_A11", + "RackT1_B11", + "RackT1_C11", + "RackT1_D11", + "RackT1_E11", + "RackT1_F11", + "RackT1_G11", + "RackT1_H11", + "RackT1_A12", + "RackT1_B12", + "RackT1_C12", + "RackT1_D12", + "RackT1_E12", + "RackT1_F12", + "RackT1_G12", + "RackT1_H12" + ], + "parent": "PRCXI_Deck", + "type": "tip_rack", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Container", + "size_x": 127, + "size_y": 85.5, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_rack", + "model": null, + "barcode": null, + "ordering": { + "A1": "tip_A1", + "B1": "tip_B1", + "C1": "tip_C1", + "D1": "tip_D1", + "E1": "tip_E1", + "F1": "tip_F1", + "G1": "tip_G1", + "H1": "tip_H1", + "A2": "tip_A2", + "B2": "tip_B2", + "C2": "tip_C2", + "D2": "tip_D2", + "E2": "tip_E2", + "F2": "tip_F2", + "G2": "tip_G2", + "H2": "tip_H2", + "A3": "tip_A3", + "B3": "tip_B3", + "C3": "tip_C3", + "D3": "tip_D3", + "E3": "tip_E3", + "F3": "tip_F3", + "G3": "tip_G3", + "H3": "tip_H3", + "A4": "tip_A4", + "B4": "tip_B4", + "C4": "tip_C4", + "D4": "tip_D4", + "E4": "tip_E4", + "F4": "tip_F4", + "G4": "tip_G4", + "H4": "tip_H4", + "A5": "tip_A5", + "B5": "tip_B5", + "C5": "tip_C5", + "D5": "tip_D5", + "E5": "tip_E5", + "F5": "tip_F5", + "G5": "tip_G5", + "H5": "tip_H5", + "A6": "tip_A6", + "B6": "tip_B6", + "C6": "tip_C6", + "D6": "tip_D6", + "E6": "tip_E6", + "F6": "tip_F6", + "G6": "tip_G6", + "H6": "tip_H6", + "A7": "tip_A7", + "B7": "tip_B7", + "C7": "tip_C7", + "D7": "tip_D7", + "E7": "tip_E7", + "F7": "tip_F7", + "G7": "tip_G7", + "H7": "tip_H7", + "A8": "tip_A8", + "B8": "tip_B8", + "C8": "tip_C8", + "D8": "tip_D8", + "E8": "tip_E8", + "F8": "tip_F8", + "G8": "tip_G8", + "H8": "tip_H8", + "A9": "tip_A9", + "B9": "tip_B9", + "C9": "tip_C9", + "D9": "tip_D9", + "E9": "tip_E9", + "F9": "tip_F9", + "G9": "tip_G9", + "H9": "tip_H9", + "A10": "tip_A10", + "B10": "tip_B10", + "C10": "tip_C10", + "D10": "tip_D10", + "E10": "tip_E10", + "F10": "tip_F10", + "G10": "tip_G10", + "H10": "tip_H10", + "A11": "tip_A11", + "B11": "tip_B11", + "C11": "tip_C11", + "D11": "tip_D11", + "E11": "tip_E11", + "F11": "tip_F11", + "G11": "tip_G11", + "H11": "tip_H11", + "A12": "tip_A12", + "B12": "tip_B12", + "C12": "tip_C12", + "D12": "tip_D12", + "E12": "tip_E12", + "F12": "tip_F12", + "G12": "tip_G12", + "H12": "tip_H12" + } + }, + "data": { + "Material": { + "uuid": "068b3815e36b4a72a59bae017011b29f", + "Code": "ZX-001-10+", + "Name": "10μL加长 Tip头" + } + } + }, + { + "id": "RackT1_A1", + "name": "RackT1_A1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 73.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + } + } + }, + { + "id": "RackT1_B1", + "name": "RackT1_B1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 64.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + } + } + }, + { + "id": "RackT1_C1", + "name": "RackT1_C1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 55.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + "pending_tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + } + } + }, + { + "id": "RackT1_D1", + "name": "RackT1_D1", + + "children": [], + "parent": "RackT1", + "type": "tip_spot", + "class": "", + "position": { + "x": 13.224, + "y": 46.084, + "z": 25.49 + }, + "config": { + "type": "TipSpot", + "size_x": 4.312, + "size_y": 4.312, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_spot", + "model": null, + "barcode": null, + "prototype_tip": { + "type": "Tip", + "total_tip_length": 39.2, + "has_filter": false, + "maximal_volume": 10.0, + "fitting_depth": 3.29 + } + }, + "data": { + "tip": { + "type": "Tip", + "total_tip_length": 88, + "has_filter": true, + "maximal_volume": 1000.0, + "fitting_depth": 3.95 + }, + "tip_state": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + }, + 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"Rotation" + }, + "category": "well", + "model": null, + "barcode": null, + "max_volume": 360, + "material_z_thickness": null, + "compute_volume_from_height": null, + "compute_height_from_volume": null, + "bottom_type": "unknown", + "cross_section_type": "circle" + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [] + } + }, + { + "id": "trash", + "name": "trash", + + "children": [], + "parent": "T16", + "type": "plate", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Trash", + "size_x": 127, + "size_y": 85.5, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "trash", + "model": null, + "barcode": null, + "max_volume": "Infinity", + "material_z_thickness": 0, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [], + "Material": { + "uuid": "730067cf07ae43849ddf4034299030e9" + } + } + } + ], + "edges": [] +} diff --git a/unilabos/test/registry/example_devices.py b/unilabos/test/registry/example_devices.py index d41c7b4..69d3630 100644 --- a/unilabos/test/registry/example_devices.py +++ b/unilabos/test/registry/example_devices.py @@ -7,49 +7,18 @@ from typing import Dict, Any, List from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode -class SmartPumpController: - """ - 智能泵控制器 +class AnyDevice: + @property + def status(self) -> str: + return "Idle" - 支持多种泵送模式，具有高精度流量控制和自动校准功能。 - 适用于实验室自动化系统中的液体处理任务。 - """ - - _ros_node: BaseROS2DeviceNode - - def __init__(self, device_id: str = "smart_pump_01", port: str = "/dev/ttyUSB0"): - """ - 初始化智能泵控制器 - - Args: - device_id: 设备唯一标识符 - port: 通信端口 - """ - self.device_id = device_id - self.port = port - self.is_connected = False - self.current_flow_rate = 0.0 - self.total_volume_pumped = 0.0 - self.calibration_factor = 1.0 - self.pump_mode = "continuous" # continuous, volume, rate - - def post_init(self, ros_node: BaseROS2DeviceNode): - self._ros_node = ros_node - - def connect_device(self, timeout: int = 10) -> bool: - """ - 连接到泵设备 - - Args: - timeout: 连接超时时间（秒） - - Returns: - bool: 连接是否成功 - """ - # 模拟连接过程 - self.is_connected = True + async def action(self, addr: str) -> bool: return True + + + + def disconnect_device(self) -> bool: """ 断开设备连接 diff --git a/unilabos/utils/decorator.py b/unilabos/utils/decorator.py index 77e473c..667f353 100644 --- a/unilabos/utils/decorator.py +++ b/unilabos/utils/decorator.py @@ -1,3 +1,9 @@ +from functools import wraps +from typing import Any, Callable, Optional, TypeVar + +F = TypeVar("F", bound=Callable[..., Any]) + + def singleton(cls): """ 单例装饰器 @@ -12,3 +18,167 @@ def singleton(cls): return get_instance + +def topic_config( + period: Optional[float] = None, + print_publish: Optional[bool] = None, + qos: Optional[int] = None, +) -> Callable[[F], F]: + """ + Topic发布配置装饰器 + + 用于装饰 get_{attr_name} 方法或 @property，控制对应属性的ROS topic发布行为。 + + Args: + period: 发布周期（秒）。None 表示使用默认值 5.0 + print_publish: 是否打印发布日志。None 表示使用节点默认配置 + qos: QoS深度配置。None 表示使用默认值 10 + + Example: + class MyDriver: + # 方式1: 装饰 get_{attr_name} 方法 + @topic_config(period=1.0, print_publish=False, qos=5) + def get_temperature(self): + return self._temperature + + # 方式2: 与 @property 连用（topic_config 放在下面） + @property + @topic_config(period=0.1) + def position(self): + return self._position + + Note: + 与 @property 连用时，@topic_config 必须放在 @property 下面， + 这样装饰器执行顺序为：先 topic_config 添加配置，再 property 包装。 + """ + + def decorator(func: F) -> F: + @wraps(func) + def wrapper(*args, **kwargs): + return func(*args, **kwargs) + + # 在函数上附加配置属性 (type: ignore 用于动态属性) + wrapper._topic_period = period # type: ignore[attr-defined] + wrapper._topic_print_publish = print_publish # type: ignore[attr-defined] + wrapper._topic_qos = qos # type: ignore[attr-defined] + wrapper._has_topic_config = True # type: ignore[attr-defined] + + return wrapper # type: ignore[return-value] + + return decorator + + +def get_topic_config(func) -> dict: + """ + 获取函数上的topic配置 + + Args: + func: 被装饰的函数 + + Returns: + 包含 period, print_publish, qos 的配置字典 + """ + if hasattr(func, "_has_topic_config") and getattr(func, "_has_topic_config", False): + return { + "period": getattr(func, "_topic_period", None), + "print_publish": getattr(func, "_topic_print_publish", None), + "qos": getattr(func, "_topic_qos", None), + } + return {} + + +def subscribe( + topic: str, + msg_type: Optional[type] = None, + qos: int = 10, +) -> Callable[[F], F]: + """ + Topic订阅装饰器 + + 用于装饰 driver 类中的方法，使其成为 ROS topic 的订阅回调。 + 当 ROS2DeviceNode 初始化时，会自动扫描并创建对应的订阅者。 + + Args: + topic: Topic 名称模板，支持以下占位符： + - {device_id}: 设备ID (如 "pump_1") + - {namespace}: 完整命名空间 (如 "/devices/pump_1") + msg_type: ROS 消息类型。如果为 None，需要在回调函数的类型注解中指定 + qos: QoS 深度配置，默认为 10 + + Example: + from std_msgs.msg import String, Float64 + + class MyDriver: + @subscribe(topic="/devices/{device_id}/set_speed", msg_type=Float64) + def on_speed_update(self, msg: Float64): + self._speed = msg.data + print(f"Speed updated to: {self._speed}") + + @subscribe(topic="{namespace}/command") + def on_command(self, msg: String): + # msg_type 可从类型注解推断 + self.execute_command(msg.data) + + Note: + - 回调方法的第一个参数是 self，第二个参数是收到的 ROS 消息 + - topic 中的占位符会在创建订阅时被实际值替换 + """ + + def decorator(func: F) -> F: + @wraps(func) + def wrapper(*args, **kwargs): + return func(*args, **kwargs) + + # 在函数上附加订阅配置 + wrapper._subscribe_topic = topic # type: ignore[attr-defined] + wrapper._subscribe_msg_type = msg_type # type: ignore[attr-defined] + wrapper._subscribe_qos = qos # type: ignore[attr-defined] + wrapper._has_subscribe = True # type: ignore[attr-defined] + + return wrapper # type: ignore[return-value] + + return decorator + + +def get_subscribe_config(func) -> dict: + """ + 获取函数上的订阅配置 + + Args: + func: 被装饰的函数 + + Returns: + 包含 topic, msg_type, qos 的配置字典 + """ + if hasattr(func, "_has_subscribe") and getattr(func, "_has_subscribe", False): + return { + "topic": getattr(func, "_subscribe_topic", None), + "msg_type": getattr(func, "_subscribe_msg_type", None), + "qos": getattr(func, "_subscribe_qos", 10), + } + return {} + + +def get_all_subscriptions(instance) -> list: + """ + 扫描实例的所有方法，获取带有 @subscribe 装饰器的方法及其配置 + + Args: + instance: 要扫描的实例 + + Returns: + 包含 (method_name, method, config) 元组的列表 + """ + subscriptions = [] + for attr_name in dir(instance): + if attr_name.startswith("_"): + continue + try: + attr = getattr(instance, attr_name) + if callable(attr): + config = get_subscribe_config(attr) + if config: + subscriptions.append((attr_name, attr, config)) + except Exception: + pass + return subscriptions diff --git a/unilabos/utils/type_check.py b/unilabos/utils/type_check.py index cffb446..64001e5 100644 --- a/unilabos/utils/type_check.py +++ b/unilabos/utils/type_check.py @@ -78,7 +78,11 @@ def get_result_info_str(error: str, suc: bool, return_value=None) -> str: Returns: JSON字符串格式的结果信息 """ - result_info = {"error": error, "suc": suc, "return_value": return_value} + samples = None + if isinstance(return_value, dict): + if "samples" in return_value: + samples = return_value.pop("samples") + result_info = {"error": error, "suc": suc, "return_value": return_value, "samples": samples} return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder) diff --git a/unilabos/workflow/wf_utils.py b/unilabos/workflow/wf_utils.py new file mode 100644 index 0000000..4645128 --- /dev/null +++ b/unilabos/workflow/wf_utils.py @@ -0,0 +1,138 @@ +""" +工作流工具模块 + +提供工作流上传等功能 +""" + +import json +import os +import uuid +from typing import Any, Dict, List, Optional + +from unilabos.utils.banner_print import print_status + + +def _is_node_link_format(data: Dict[str, Any]) -> bool: + """检查数据是否为 node-link 格式""" + return "nodes" in data and "edges" in data + + +def _convert_to_node_link(workflow_file: str, workflow_data: Dict[str, Any]) -> Dict[str, Any]: + """ + 将非 node-link 格式的工作流数据转换为 node-link 格式 + + Args: + workflow_file: 工作流文件路径（用于日志） + workflow_data: 原始工作流数据 + + Returns: + node-link 格式的工作流数据 + """ + from unilabos.workflow.convert_from_json import convert_json_to_node_link + + print_status(f"检测到非 node-link 格式，正在转换...", "info") + node_link_data = convert_json_to_node_link(workflow_data) + print_status(f"转换完成", "success") + return node_link_data + + +def upload_workflow( + workflow_file: str, + workflow_name: Optional[str] = None, + tags: Optional[List[str]] = None, + published: bool = False, +) -> Dict[str, Any]: + """ + 上传工作流到服务器 + + 支持的输入格式： + 1. node-link 格式: {"nodes": [...], "edges": [...]} + 2. workflow/reagent 格式: {"workflow": [...], "reagent": {...}} + 3. steps_info/labware_info 格式: {"steps_info": [...], "labware_info": [...]} + 4. steps/labware 格式: {"steps": [...], "labware": [...]} + + Args: + workflow_file: 工作流文件路径（JSON格式） + workflow_name: 工作流名称，如果不提供则从文件中读取或使用文件名 + tags: 工作流标签列表，默认为空列表 + published: 是否发布工作流，默认为False + + Returns: + Dict: API响应数据 + """ + # 延迟导入，避免在配置文件加载之前初始化 http_client + from unilabos.app.web import http_client + + if not os.path.exists(workflow_file): + print_status(f"工作流文件不存在: {workflow_file}", "error") + return {"code": -1, "message": f"文件不存在: {workflow_file}"} + + # 读取工作流文件 + try: + with open(workflow_file, "r", encoding="utf-8") as f: + workflow_data = json.load(f) + except json.JSONDecodeError as e: + print_status(f"工作流文件JSON解析失败: {e}", "error") + return {"code": -1, "message": f"JSON解析失败: {e}"} + + # 自动检测并转换格式 + if not _is_node_link_format(workflow_data): + try: + workflow_data = _convert_to_node_link(workflow_file, workflow_data) + except Exception as e: + print_status(f"工作流格式转换失败: {e}", "error") + return {"code": -1, "message": f"格式转换失败: {e}"} + + # 提取工作流数据 + nodes = workflow_data.get("nodes", []) + edges = workflow_data.get("edges", []) + workflow_uuid_val = workflow_data.get("workflow_uuid", str(uuid.uuid4())) + wf_name_from_file = workflow_data.get("workflow_name", os.path.basename(workflow_file).replace(".json", "")) + + # 确定工作流名称 + final_name = workflow_name or wf_name_from_file + + print_status(f"正在上传工作流: {final_name}", "info") + print_status(f" - 节点数量: {len(nodes)}", "info") + print_status(f" - 边数量: {len(edges)}", "info") + print_status(f" - 标签: {tags or []}", "info") + print_status(f" - 发布状态: {published}", "info") + + # 调用 http_client 上传 + result = http_client.workflow_import( + name=final_name, + workflow_uuid=workflow_uuid_val, + workflow_name=final_name, + nodes=nodes, + edges=edges, + tags=tags, + published=published, + ) + + if result.get("code") == 0: + data = result.get("data", {}) + print_status(f"工作流上传成功！{data}", "success") + print_status(f" - UUID: {data.get('uuid', 'N/A')}", "info") + print_status(f" - 名称: {data.get('name', 'N/A')}", "info") + else: + print_status(f"工作流上传失败: {result.get('message', '未知错误')}", "error") + + return result + + +def handle_workflow_upload_command(args_dict: Dict[str, Any]) -> None: + """ + 处理 workflow_upload 子命令 + + Args: + args_dict: 命令行参数字典 + """ + workflow_file = args_dict.get("workflow_file") + workflow_name = args_dict.get("workflow_name") + tags = args_dict.get("tags", []) + published = args_dict.get("published", False) + + if workflow_file: + upload_workflow(workflow_file, workflow_name, tags, published) + else: + print_status("未指定工作流文件路径，请使用 -f/--workflow_file 参数", "error") diff --git a/unilabos_msgs/package.xml b/unilabos_msgs/package.xml index dbb2038..325fc13 100644 --- a/unilabos_msgs/package.xml +++ b/unilabos_msgs/package.xml @@ -2,7 +2,7 @@ unilabos_msgs - 0.10.12 + 0.10.13 ROS2 Messages package for unilabos devices Junhan Chang Xuwznln