refactor: ProtocolNode→WorkstationNode

2025-12-17 13:01:12 +00:00 · 2025-08-25 22:09:37 +08:00
parent ae3c1100ae
commit 5ec8a57a1f
19 changed files with 1089 additions and 365 deletions
--- a/unilabos/devices/workstation/workflow_executors.py
+++ b/unilabos/devices/workstation/workflow_executors.py
@@ -0,0 +1,649 @@
+"""
+工作流执行器模块
+Workflow Executors Module
+
+基于单一硬件接口的工作流执行器实现
+支持Modbus、HTTP、PyLabRobot和代理模式
+"""
+import time
+import json
+import asyncio
+from typing import Dict, Any, List, Optional, TYPE_CHECKING
+from abc import ABC, abstractmethod
+
+if TYPE_CHECKING:
+    from unilabos.devices.work_station.workstation_base import WorkstationBase
+
+from unilabos.utils.log import logger
+
+
+class WorkflowExecutor(ABC):
+    """工作流执行器基类 - 基于单一硬件接口"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        self.workstation = workstation
+        self.hardware_interface = workstation.hardware_interface
+        self.material_management = workstation.material_management
+    
+    @abstractmethod
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行工作流"""
+        pass
+    
+    @abstractmethod
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        pass
+    
+    def call_device(self, method: str, *args, **kwargs) -> Any:
+        """调用设备方法的统一接口"""
+        return self.workstation.call_device_method(method, *args, **kwargs)
+    
+    def get_device_status(self) -> Dict[str, Any]:
+        """获取设备状态"""
+        return self.workstation.get_device_status()
+
+
+class ModbusWorkflowExecutor(WorkflowExecutor):
+    """Modbus工作流执行器 - 适配 coin_cell_assembly_system"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证Modbus接口
+        if not (hasattr(self.hardware_interface, 'write_register') and 
+                hasattr(self.hardware_interface, 'read_register')):
+            raise RuntimeError("工作站硬件接口不是有效的Modbus客户端")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行Modbus工作流"""
+        if workflow_name == "battery_manufacturing":
+            return self._execute_battery_manufacturing(parameters)
+        elif workflow_name == "material_loading":
+            return self._execute_material_loading(parameters)
+        elif workflow_name == "quality_check":
+            return self._execute_quality_check(parameters)
+        else:
+            logger.warning(f"不支持的Modbus工作流: {workflow_name}")
+            return False
+    
+    def _execute_battery_manufacturing(self, parameters: Dict[str, Any]) -> bool:
+        """执行电池制造工作流"""
+        try:
+            # 1. 物料准备检查
+            available_slot = self._find_available_press_slot()
+            if not available_slot:
+                raise RuntimeError("没有可用的压制槽")
+            
+            logger.info(f"找到可用压制槽: {available_slot}")
+            
+            # 2. 设置工艺参数（直接调用Modbus接口）
+            if "electrolyte_num" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ELECTROLYTE_NUM', parameters["electrolyte_num"])
+                logger.info(f"设置电解液编号: {parameters['electrolyte_num']}")
+            
+            if "electrolyte_volume" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ELECTROLYTE_VOLUME', 
+                                                      parameters["electrolyte_volume"], 
+                                                      data_type="FLOAT32")
+                logger.info(f"设置电解液体积: {parameters['electrolyte_volume']}")
+            
+            if "assembly_pressure" in parameters:
+                self.hardware_interface.write_register('REG_MSG_ASSEMBLY_PRESSURE',
+                                                      parameters["assembly_pressure"],
+                                                      data_type="FLOAT32")
+                logger.info(f"设置装配压力: {parameters['assembly_pressure']}")
+            
+            # 3. 启动制造流程
+            self.hardware_interface.write_register('COIL_SYS_START_CMD', True)
+            logger.info("启动电池制造流程")
+            
+            # 4. 确认启动成功
+            time.sleep(0.5)
+            status = self.hardware_interface.read_register('COIL_SYS_START_STATUS', count=1)
+            success = status[0] if status else False
+            
+            if success:
+                logger.info(f"电池制造工作流启动成功，参数: {parameters}")
+            else:
+                logger.error("电池制造工作流启动失败")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"执行电池制造工作流失败: {e}")
+            return False
+    
+    def _execute_material_loading(self, parameters: Dict[str, Any]) -> bool:
+        """执行物料装载工作流"""
+        try:
+            material_type = parameters.get('material_type', 'cathode')
+            position = parameters.get('position', 'A1')
+            
+            logger.info(f"开始物料装载: {material_type} -> {position}")
+            
+            # 设置物料类型和位置
+            self.hardware_interface.write_register('REG_MATERIAL_TYPE', material_type)
+            self.hardware_interface.write_register('REG_MATERIAL_POSITION', position)
+            
+            # 启动装载
+            self.hardware_interface.write_register('COIL_LOAD_START', True)
+            
+            # 等待装载完成
+            timeout = parameters.get('timeout', 30)
+            start_time = time.time()
+            
+            while time.time() - start_time < timeout:
+                status = self.hardware_interface.read_register('COIL_LOAD_COMPLETE', count=1)
+                if status and status[0]:
+                    logger.info(f"物料装载完成: {material_type} -> {position}")
+                    return True
+                time.sleep(0.5)
+            
+            logger.error(f"物料装载超时: {material_type} -> {position}")
+            return False
+            
+        except Exception as e:
+            logger.error(f"执行物料装载失败: {e}")
+            return False
+    
+    def _execute_quality_check(self, parameters: Dict[str, Any]) -> bool:
+        """执行质量检测工作流"""
+        try:
+            check_type = parameters.get('check_type', 'dimensional')
+            
+            logger.info(f"开始质量检测: {check_type}")
+            
+            # 启动质量检测
+            self.hardware_interface.write_register('REG_QC_TYPE', check_type)
+            self.hardware_interface.write_register('COIL_QC_START', True)
+            
+            # 等待检测完成
+            timeout = parameters.get('timeout', 60)
+            start_time = time.time()
+            
+            while time.time() - start_time < timeout:
+                status = self.hardware_interface.read_register('COIL_QC_COMPLETE', count=1)
+                if status and status[0]:
+                    # 读取检测结果
+                    result = self.hardware_interface.read_register('REG_QC_RESULT', count=1)
+                    passed = result[0] if result else False
+                    
+                    if passed:
+                        logger.info(f"质量检测通过: {check_type}")
+                        return True
+                    else:
+                        logger.warning(f"质量检测失败: {check_type}")
+                        return False
+                        
+                time.sleep(1.0)
+            
+            logger.error(f"质量检测超时: {check_type}")
+            return False
+            
+        except Exception as e:
+            logger.error(f"执行质量检测失败: {e}")
+            return False
+    
+    def _find_available_press_slot(self) -> Optional[str]:
+        """查找可用压制槽"""
+        try:
+            press_slots = self.material_management.find_by_category("battery_press_slot")
+            for slot in press_slots:
+                if hasattr(slot, 'has_battery') and not slot.has_battery():
+                    return slot.name
+            return None
+        except:
+            # 如果物料管理系统不可用，返回默认槽位
+            return "A1"
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                self.hardware_interface.write_register('COIL_SYS_RESET_CMD', True)
+                logger.warning("执行紧急停止")
+            else:
+                self.hardware_interface.write_register('COIL_SYS_STOP_CMD', True)
+                logger.info("执行正常停止")
+            
+            time.sleep(0.5)
+            status = self.hardware_interface.read_register('COIL_SYS_STOP_STATUS', count=1)
+            return status[0] if status else False
+            
+        except Exception as e:
+            logger.error(f"停止Modbus工作流失败: {e}")
+            return False
+
+
+class HttpWorkflowExecutor(WorkflowExecutor):
+    """HTTP工作流执行器 - 适配 reaction_station_bioyong"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证HTTP接口
+        if not (hasattr(self.hardware_interface, 'post') or 
+                hasattr(self.hardware_interface, 'get')):
+            raise RuntimeError("工作站硬件接口不是有效的HTTP客户端")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行HTTP工作流"""
+        try:
+            if workflow_name == "reaction_synthesis":
+                return self._execute_reaction_synthesis(parameters)
+            elif workflow_name == "liquid_feeding":
+                return self._execute_liquid_feeding(parameters)
+            elif workflow_name == "temperature_control":
+                return self._execute_temperature_control(parameters)
+            else:
+                logger.warning(f"不支持的HTTP工作流: {workflow_name}")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行HTTP工作流失败: {e}")
+            return False
+    
+    def _execute_reaction_synthesis(self, parameters: Dict[str, Any]) -> bool:
+        """执行反应合成工作流"""
+        try:
+            # 1. 设置工作流序列
+            sequence = self._build_reaction_sequence(parameters)
+            self._call_rpc_method('set_workflow_sequence', json.dumps(sequence))
+            
+            # 2. 设置反应参数
+            if parameters.get('temperature'):
+                self._call_rpc_method('set_temperature', parameters['temperature'])
+            
+            if parameters.get('pressure'):
+                self._call_rpc_method('set_pressure', parameters['pressure'])
+            
+            if parameters.get('stirring_speed'):
+                self._call_rpc_method('set_stirring_speed', parameters['stirring_speed'])
+            
+            # 3. 执行工作流
+            result = self._call_rpc_method('execute_current_sequence', {
+                "task_name": "reaction_synthesis"
+            })
+            
+            success = result.get('success', False)
+            if success:
+                logger.info("反应合成工作流执行成功")
+            else:
+                logger.error(f"反应合成工作流执行失败: {result.get('error', '未知错误')}")
+            
+            return success
+            
+        except Exception as e:
+            logger.error(f"执行反应合成工作流失败: {e}")
+            return False
+    
+    def _execute_liquid_feeding(self, parameters: Dict[str, Any]) -> bool:
+        """执行液体投料工作流"""
+        try:
+            reagents = parameters.get('reagents', [])
+            volumes = parameters.get('volumes', [])
+            
+            if len(reagents) != len(volumes):
+                raise ValueError("试剂列表和体积列表长度不匹配")
+            
+            # 执行投料序列
+            for reagent, volume in zip(reagents, volumes):
+                result = self._call_rpc_method('feed_liquid', {
+                    'reagent': reagent,
+                    'volume': volume
+                })
+                
+                if not result.get('success', False):
+                    logger.error(f"投料失败: {reagent} {volume}mL")
+                    return False
+                
+                logger.info(f"投料成功: {reagent} {volume}mL")
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"执行液体投料失败: {e}")
+            return False
+    
+    def _execute_temperature_control(self, parameters: Dict[str, Any]) -> bool:
+        """执行温度控制工作流"""
+        try:
+            target_temp = parameters.get('temperature', 25)
+            hold_time = parameters.get('hold_time', 300)  # 秒
+            
+            # 设置目标温度
+            result = self._call_rpc_method('set_temperature', target_temp)
+            if not result.get('success', False):
+                logger.error(f"设置温度失败: {target_temp}°C")
+                return False
+            
+            # 等待温度稳定
+            logger.info(f"等待温度稳定到 {target_temp}°C")
+            
+            # 保持温度指定时间
+            if hold_time > 0:
+                logger.info(f"保持温度 {hold_time} 秒")
+                time.sleep(hold_time)
+            
+            return True
+            
+        except Exception as e:
+            logger.error(f"执行温度控制失败: {e}")
+            return False
+    
+    def _build_reaction_sequence(self, parameters: Dict[str, Any]) -> List[str]:
+        """构建反应合成工作流序列"""
+        sequence = []
+        
+        # 添加预处理步骤
+        if parameters.get('purge_with_inert'):
+            sequence.append("purge_inert_gas")
+        
+        # 添加温度设置
+        if parameters.get('temperature'):
+            sequence.append(f"set_temperature_{parameters['temperature']}")
+        
+        # 添加压力设置
+        if parameters.get('pressure'):
+            sequence.append(f"set_pressure_{parameters['pressure']}")
+        
+        # 添加搅拌设置
+        if parameters.get('stirring_speed'):
+            sequence.append(f"set_stirring_{parameters['stirring_speed']}")
+        
+        # 添加反应步骤
+        sequence.extend([
+            "start_reaction",
+            "monitor_progress", 
+            "complete_reaction"
+        ])
+        
+        # 添加后处理步骤
+        if parameters.get('cooling_required'):
+            sequence.append("cool_down")
+        
+        return sequence
+    
+    def _call_rpc_method(self, method: str, params: Any = None) -> Dict[str, Any]:
+        """调用RPC方法"""
+        try:
+            if hasattr(self.hardware_interface, method):
+                # 直接方法调用
+                if isinstance(params, dict):
+                    params = json.dumps(params)
+                elif params is None:
+                    params = ""
+                return getattr(self.hardware_interface, method)(params)
+            else:
+                # HTTP请求调用
+                if hasattr(self.hardware_interface, 'post'):
+                    response = self.hardware_interface.post(f"/api/{method}", json=params)
+                    return response.json()
+                else:
+                    raise AttributeError(f"HTTP接口不支持方法: {method}")
+        except Exception as e:
+            logger.error(f"调用RPC方法失败 {method}: {e}")
+            return {'success': False, 'error': str(e)}
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                result = self._call_rpc_method('scheduler_reset')
+            else:
+                result = self._call_rpc_method('scheduler_stop')
+            
+            return result.get('success', False)
+            
+        except Exception as e:
+            logger.error(f"停止HTTP工作流失败: {e}")
+            return False
+
+
+class PyLabRobotWorkflowExecutor(WorkflowExecutor):
+    """PyLabRobot工作流执行器 - 适配 prcxi.py"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证PyLabRobot接口
+        if not (hasattr(self.hardware_interface, 'transfer_liquid') or 
+                hasattr(self.hardware_interface, 'pickup_tips')):
+            raise RuntimeError("工作站硬件接口不是有效的PyLabRobot设备")
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行PyLabRobot工作流"""
+        try:
+            if workflow_name == "liquid_transfer":
+                return self._execute_liquid_transfer(parameters)
+            elif workflow_name == "tip_pickup_drop":
+                return self._execute_tip_operations(parameters)
+            elif workflow_name == "plate_handling":
+                return self._execute_plate_handling(parameters)
+            else:
+                logger.warning(f"不支持的PyLabRobot工作流: {workflow_name}")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行PyLabRobot工作流失败: {e}")
+            return False
+    
+    def _execute_liquid_transfer(self, parameters: Dict[str, Any]) -> bool:
+        """执行液体转移工作流"""
+        try:
+            # 1. 解析物料引用
+            sources = self._resolve_containers(parameters.get('sources', []))
+            targets = self._resolve_containers(parameters.get('targets', []))
+            tip_racks = self._resolve_tip_racks(parameters.get('tip_racks', []))
+            
+            if not sources or not targets:
+                raise ValueError("液体转移需要指定源容器和目标容器")
+            
+            if not tip_racks:
+                logger.warning("未指定枪头架，将尝试自动查找")
+                tip_racks = self._find_available_tip_racks()
+            
+            # 2. 执行液体转移
+            volumes = parameters.get('volumes', [])
+            if not volumes:
+                volumes = [100.0] * len(sources)  # 默认体积
+            
+            # 如果是同步接口
+            if hasattr(self.hardware_interface, 'transfer_liquid'):
+                result = self.hardware_interface.transfer_liquid(
+                    sources=sources,
+                    targets=targets,
+                    tip_racks=tip_racks,
+                    asp_vols=volumes,
+                    dis_vols=volumes,
+                    **parameters.get('options', {})
+                )
+            else:
+                # 异步接口需要特殊处理
+                asyncio.run(self._async_liquid_transfer(sources, targets, tip_racks, volumes, parameters))
+                result = True
+            
+            if result:
+                logger.info(f"液体转移工作流完成: {len(sources)}个源 -> {len(targets)}个目标")
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行液体转移失败: {e}")
+            return False
+    
+    async def _async_liquid_transfer(self, sources, targets, tip_racks, volumes, parameters):
+        """异步液体转移"""
+        await self.hardware_interface.transfer_liquid(
+            sources=sources,
+            targets=targets,
+            tip_racks=tip_racks,
+            asp_vols=volumes,
+            dis_vols=volumes,
+            **parameters.get('options', {})
+        )
+    
+    def _execute_tip_operations(self, parameters: Dict[str, Any]) -> bool:
+        """执行枪头操作工作流"""
+        try:
+            operation = parameters.get('operation', 'pickup')
+            tip_racks = self._resolve_tip_racks(parameters.get('tip_racks', []))
+            
+            if not tip_racks:
+                raise ValueError("枪头操作需要指定枪头架")
+            
+            if operation == 'pickup':
+                result = self.hardware_interface.pickup_tips(tip_racks[0])
+                logger.info("枪头拾取完成")
+            elif operation == 'drop':
+                result = self.hardware_interface.drop_tips()
+                logger.info("枪头丢弃完成")
+            else:
+                raise ValueError(f"不支持的枪头操作: {operation}")
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行枪头操作失败: {e}")
+            return False
+    
+    def _execute_plate_handling(self, parameters: Dict[str, Any]) -> bool:
+        """执行板类处理工作流"""
+        try:
+            operation = parameters.get('operation', 'move')
+            source_position = parameters.get('source_position')
+            target_position = parameters.get('target_position')
+            
+            if operation == 'move' and source_position and target_position:
+                # 移动板类
+                result = self.hardware_interface.move_plate(source_position, target_position)
+                logger.info(f"板类移动完成: {source_position} -> {target_position}")
+            else:
+                logger.warning(f"不支持的板类操作或参数不完整: {operation}")
+                return False
+            
+            return bool(result)
+            
+        except Exception as e:
+            logger.error(f"执行板类处理失败: {e}")
+            return False
+    
+    def _resolve_containers(self, container_names: List[str]):
+        """解析容器名称为实际容器对象"""
+        containers = []
+        for name in container_names:
+            try:
+                container = self.material_management.find_material_by_id(name)
+                if container:
+                    containers.append(container)
+                else:
+                    logger.warning(f"未找到容器: {name}")
+            except:
+                logger.warning(f"解析容器失败: {name}")
+        return containers
+    
+    def _resolve_tip_racks(self, tip_rack_names: List[str]):
+        """解析枪头架名称为实际对象"""
+        tip_racks = []
+        for name in tip_rack_names:
+            try:
+                tip_rack = self.material_management.find_by_category("tip_rack")
+                matching_racks = [rack for rack in tip_rack if rack.name == name]
+                if matching_racks:
+                    tip_racks.extend(matching_racks)
+                else:
+                    logger.warning(f"未找到枪头架: {name}")
+            except:
+                logger.warning(f"解析枪头架失败: {name}")
+        return tip_racks
+    
+    def _find_available_tip_racks(self):
+        """查找可用的枪头架"""
+        try:
+            tip_racks = self.material_management.find_by_category("tip_rack")
+            available_racks = [rack for rack in tip_racks if hasattr(rack, 'has_tips') and rack.has_tips()]
+            return available_racks[:1]  # 返回第一个可用的枪头架
+        except:
+            return []
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止工作流"""
+        try:
+            if emergency:
+                if hasattr(self.hardware_interface, 'emergency_stop'):
+                    return self.hardware_interface.emergency_stop()
+                else:
+                    logger.warning("设备不支持紧急停止")
+                    return False
+            else:
+                if hasattr(self.hardware_interface, 'graceful_stop'):
+                    return self.hardware_interface.graceful_stop()
+                elif hasattr(self.hardware_interface, 'stop'):
+                    return self.hardware_interface.stop()
+                else:
+                    logger.warning("设备不支持优雅停止")
+                    return False
+                
+        except Exception as e:
+            logger.error(f"停止PyLabRobot工作流失败: {e}")
+            return False
+
+
+class ProxyWorkflowExecutor(WorkflowExecutor):
+    """代理工作流执行器 - 处理代理模式的工作流"""
+    
+    def __init__(self, workstation: 'WorkstationBase'):
+        super().__init__(workstation)
+        
+        # 验证代理接口
+        if not isinstance(self.hardware_interface, str) or not self.hardware_interface.startswith("proxy:"):
+            raise RuntimeError("工作站硬件接口不是有效的代理字符串")
+        
+        self.device_id = self.hardware_interface[6:]  # 移除 "proxy:" 前缀
+    
+    def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool:
+        """执行代理工作流"""
+        try:
+            # 通过协议节点调用目标设备的工作流
+            if self.workstation._protocol_node:
+                return self.workstation._protocol_node.call_device_method(
+                    self.device_id, 'execute_workflow', workflow_name, parameters
+                )
+            else:
+                logger.error("代理模式需要protocol_node")
+                return False
+                
+        except Exception as e:
+            logger.error(f"执行代理工作流失败: {e}")
+            return False
+    
+    def stop_workflow(self, emergency: bool = False) -> bool:
+        """停止代理工作流"""
+        try:
+            if self.workstation._protocol_node:
+                return self.workstation._protocol_node.call_device_method(
+                    self.device_id, 'stop_workflow', emergency
+                )
+            else:
+                logger.error("代理模式需要protocol_node")
+                return False
+                
+        except Exception as e:
+            logger.error(f"停止代理工作流失败: {e}")
+            return False
+
+
+# 辅助函数
+def get_executor_for_interface(hardware_interface) -> str:
+    """根据硬件接口类型获取执行器类型名称"""
+    if isinstance(hardware_interface, str) and hardware_interface.startswith("proxy:"):
+        return "ProxyWorkflowExecutor"
+    elif hasattr(hardware_interface, 'write_register') and hasattr(hardware_interface, 'read_register'):
+        return "ModbusWorkflowExecutor"
+    elif hasattr(hardware_interface, 'post') or hasattr(hardware_interface, 'get'):
+        return "HttpWorkflowExecutor"
+    elif hasattr(hardware_interface, 'transfer_liquid') or hasattr(hardware_interface, 'pickup_tips'):
+        return "PyLabRobotWorkflowExecutor"
+    else:
+        return "UnknownExecutor"