diff --git a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py b/unilabos/devices/workstation/bioyond_studio/dispensing_station.py index df24cd6e..5bfd0f43 100644 --- a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py +++ b/unilabos/devices/workstation/bioyond_studio/dispensing_station.py @@ -1085,6 +1085,235 @@ class BioyondDispensingStation(BioyondWorkstation): self.hardware_interface._logger.error(f"处理任务完成报送失败: {e}") return {"processed": False, "error": str(e)} + def transfer_materials_to_reaction_station( + self, + target_device_id: str, + transfer_groups: list + ) -> dict: + """ + 将配液站完成的物料转移到指定反应站的堆栈库位 + 支持多组转移任务,每组包含物料名称、目标堆栈和目标库位 + + Args: + target_device_id: 目标反应站设备ID(所有转移组使用同一个设备) + transfer_groups: 转移任务组列表,每组包含: + - materials: 物料名称(字符串,将通过RPC查询) + - target_stack: 目标堆栈名称(如"堆栈1左") + - target_sites: 目标库位(如"A01") + + Returns: + dict: 转移结果 + { + "success": bool, + "total_groups": int, + "successful_groups": int, + "failed_groups": int, + "target_device_id": str, + "details": [...] + } + """ + try: + # 验证参数 + if not target_device_id: + raise ValueError("目标设备ID不能为空") + + if not transfer_groups: + raise ValueError("转移任务组列表不能为空") + + if not isinstance(transfer_groups, list): + raise ValueError("transfer_groups必须是列表类型") + + # 标准化设备ID格式: 确保以 /devices/ 开头 + if not target_device_id.startswith("/devices/"): + if target_device_id.startswith("/"): + target_device_id = f"/devices{target_device_id}" + else: + target_device_id = f"/devices/{target_device_id}" + + self.hardware_interface._logger.info( + f"目标设备ID标准化为: {target_device_id}" + ) + + self.hardware_interface._logger.info( + f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}" + ) + + from .config import WAREHOUSE_MAPPING + results = [] + successful_count = 0 + failed_count = 0 + + for idx, group in enumerate(transfer_groups, 1): + try: + # 提取参数 + material_name = group.get("materials", "") + target_stack = group.get("target_stack", "") + target_sites = group.get("target_sites", "") + + # 验证必填参数 + if not material_name: + raise ValueError(f"第{idx}组: 物料名称不能为空") + if not target_stack: + raise ValueError(f"第{idx}组: 目标堆栈不能为空") + if not target_sites: + raise ValueError(f"第{idx}组: 目标库位不能为空") + + self.hardware_interface._logger.info( + f"处理第{idx}组转移: {material_name} -> " + f"{target_device_id}/{target_stack}/{target_sites}" + ) + + # 通过物料名称从deck获取ResourcePLR对象 + try: + material_resource = self.deck.get_resource(material_name) + if not material_resource: + raise ValueError(f"在deck中未找到物料: {material_name}") + + self.hardware_interface._logger.info( + f"从deck获取到物料 {material_name}: {material_resource}" + ) + except Exception as e: + raise ValueError( + f"获取物料 {material_name} 失败: {str(e)}，请确认物料已正确加载到deck中" + ) + + # 验证目标堆栈是否存在 + if target_stack not in WAREHOUSE_MAPPING: + raise ValueError( + f"未知的堆栈名称: {target_stack}，" + f"可选值: {list(WAREHOUSE_MAPPING.keys())}" + ) + + # 验证库位是否有效 + stack_sites = WAREHOUSE_MAPPING[target_stack].get("site_uuids", {}) + if target_sites not in stack_sites: + raise ValueError( + f"库位 {target_sites} 不存在于堆栈 {target_stack} 中，" + f"可选库位: {list(stack_sites.keys())}" + ) + + # 调用父类的 transfer_resource_to_another 方法 + # 传入ResourcePLR对象 + self.transfer_resource_to_another( + resource=[material_resource], + mount_resource=[], + sites=[target_sites], + mount_device_id=target_device_id + ) + + # 等待异步任务完成(临时方案) + import time + time.sleep(5) + + self.hardware_interface._logger.info( + f"第{idx}组转移成功: {material_name} -> " + f"{target_device_id}/{target_stack}/{target_sites}" + ) + + successful_count += 1 + results.append({ + "group_index": idx, + "success": True, + "material_name": material_name, + "target_stack": target_stack, + "target_site": target_sites, + "message": "转移成功" + }) + + except Exception as e: + error_msg = f"第{idx}组转移失败: {str(e)}" + self.hardware_interface._logger.error(error_msg) + failed_count += 1 + results.append({ + "group_index": idx, + "success": False, + "material_name": group.get("materials", ""), + "error": str(e) + }) + + # 返回汇总结果 + return { + "success": failed_count == 0, + "total_groups": len(transfer_groups), + "successful_groups": successful_count, + "failed_groups": failed_count, + "target_device_id": target_device_id, + "details": results, + "message": f"完成 {len(transfer_groups)} 组转移任务到 {target_device_id}: " + f"{successful_count} 成功, {failed_count} 失败" + } + + except Exception as e: + error_msg = f"批量转移物料失败: {str(e)}" + self.hardware_interface._logger.error(error_msg) + return { + "success": False, + "total_groups": len(transfer_groups) if transfer_groups else 0, + "successful_groups": 0, + "failed_groups": len(transfer_groups) if transfer_groups else 0, + "target_device_id": target_device_id if target_device_id else "", + "error": error_msg + } + + def query_resource_by_name(self, material_name: str): + """ + 通过物料名称查询资源对象(适用于Bioyond系统) + + Args: + material_name: 物料名称 + + Returns: + 物料ID或None + """ + try: + # Bioyond系统使用material_cache存储物料信息 + if not hasattr(self.hardware_interface, 'material_cache'): + self.hardware_interface._logger.error( + "hardware_interface没有material_cache属性" + ) + return None + + material_cache = self.hardware_interface.material_cache + + self.hardware_interface._logger.info( + f"查询物料 '{material_name}', 缓存中共有 {len(material_cache)} 个物料" + ) + + # 调试: 打印前几个物料信息 + if material_cache: + cache_items = list(material_cache.items())[:5] + for name, material_id in cache_items: + self.hardware_interface._logger.debug( + f"缓存物料: name={name}, id={material_id}" + ) + + # 直接从缓存中查找 + if material_name in material_cache: + material_id = material_cache[material_name] + self.hardware_interface._logger.info( + f"找到物料: {material_name} -> ID: {material_id}" + ) + return material_id + + self.hardware_interface._logger.warning( + f"未找到物料: {material_name} (缓存中无此物料)" + ) + + # 打印所有可用物料名称供参考 + available_materials = list(material_cache.keys()) + if available_materials: + self.hardware_interface._logger.info( + f"可用物料列表(前10个): {available_materials[:10]}" + ) + + return None + + except Exception as e: + self.hardware_interface._logger.error( + f"查询物料失败 {material_name}: {str(e)}" + ) + return None + if __name__ == "__main__": bioyond = BioyondDispensingStation(config={ diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml index c98983c5..db12e47b 100644 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ b/unilabos/registry/devices/bioyond_dispensing_station.yaml @@ -426,6 +426,56 @@ bioyond_dispensing_station: title: DispenStationSolnPrep type: object type: DispenStationSolnPrep + transfer_materials_to_reaction_station: + feedback: {} + goal: + target_device_id: target_device_id + transfer_groups: transfer_groups + goal_default: + target_device_id: '' + transfer_groups: '' + handles: {} + placeholder_keys: + target_device_id: unilabos_devices + result: {} + schema: + description: 将配液站完成的物料（溶液、样品等）转移到指定反应站的堆栈库位。支持配置多组转移任务，每组包含物料名称、目标堆栈和目标库位。 + properties: + feedback: {} + goal: + properties: + target_device_id: + description: 目标反应站设备ID（从设备列表中选择，所有转移组都使用同一个目标设备） + type: string + transfer_groups: + description: 转移任务组列表，每组包含物料名称、目标堆栈和目标库位，可以添加多组 + items: + properties: + materials: + description: 物料名称（手动输入，系统将通过RPC查询验证） + type: string + target_sites: + description: 目标库位（手动输入，如"A01"） + type: string + target_stack: + description: 目标堆栈名称（手动输入，如"堆栈1左"） + type: string + required: + - materials + - target_stack + - target_sites + type: object + 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 wait_for_multiple_orders_and_get_reports: feedback: {} goal: