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refactor and add BIOYOND resources tests

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This commit is contained in:
Junhan Chang
2025-09-25 08:14:48 +08:00
parent a8419dc0c3
commit 63ab1af45d
11 changed files with 606 additions and 108 deletions
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51
unilabos/resources/graphio.py
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@@ -480,7 +480,43 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
return r
def initialize_resource(resource_config: dict) -> list[dict]:
def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, location_id_mapping: dict = None) -> list[dict]:
"""
将 bioyond 物料格式转换为 ulab 物料格式
Args:
bioyond_materials: bioyond 系统的物料查询结果列表
type_mapping: 物料类型映射字典，格式 {bioyond_type: plr_class_name}
location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}
Returns:
pylabrobot 格式的物料列表
"""
plr_materials = []
for material in bioyond_materials:
className = type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
plr_material: ResourcePLR = initialize_resource({"name": material["name"], "class": className}, resource_type=ResourcePLR)
plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
# 处理子物料（detail）
if material.get("detail") and len(material["detail"]) > 0:
child_ids = []
for detail in material["detail"]:
number = (detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y + \
(detail.get("x", 0) - 1) * plr_material.num_items_x + \
(detail.get("y", 0) - 1)
bottle = plr_material[number].resource
bottle.code = detail.get("code", "")
bottle.tracker.liquids = [(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)]
plr_materials.append(plr_material)
return plr_materials
def initialize_resource(resource_config: dict, resource_type: Any = None) -> Union[list[dict], ResourcePLR]:
"""Initializes a resource based on its configuration.
If the config is detailed, then do nothing;
@@ -512,11 +548,14 @@ def initialize_resource(resource_config: dict) -> list[dict]:
if resource_class_config["type"] == "pylabrobot":
resource_plr = RESOURCE(name=resource_config["name"])
r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
# r = resource_plr_to_ulab(resource_plr=resource_plr)
if resource_config.get("position") is not None:
r["position"] = resource_config["position"]
r = tree_to_list([r])
if resource_type != ResourcePLR:
r = resource_plr_to_ulab(resource_plr=resource_plr, parent_name=resource_config.get("parent", None))
# r = resource_plr_to_ulab(resource_plr=resource_plr)
if resource_config.get("position") is not None:
r["position"] = resource_config["position"]
r = tree_to_list([r])
else:
r = resource_plr
elif resource_class_config["type"] == "unilabos":
res_instance: RegularContainer = RESOURCE(id=resource_config["name"])
res_instance.ulr_resource = convert_to_ros_msg(Resource, {k:v for k,v in resource_config.items() if k != "class"})