diff --git a/bioyond_yihua_YB.json b/bioyond_yihua_YB.json index 1cd7f00f..c38179d9 100644 --- a/bioyond_yihua_YB.json +++ b/bioyond_yihua_YB.json @@ -17,29 +17,16 @@ { "id": "BatteryStation", "name": "扣电组装工作站", - "children": [ - "coin_cell_deck" - ], + "children": [], "parent": null, "type": "device", "class": "bettery_station_registry", - "position": { - "x": 600, - "y": 400, - "z": 0 - }, "config": { - "debug_mode": true, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定", + "debug_mode": false, + "protocol_type": [], - "deck": { - "data": { - "_resource_child_name": "coin_cell_deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", + "deck": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck", + "address": "172.21.32.20", "port": 502 }, "data": {} diff --git a/button_battery_station_resources_unilab.json 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+ + +class SimpleGraph: + """简单的有向图实现，用于构建工作流图""" + + def __init__(self): + self.nodes = {} + self.edges = [] + + def add_node(self, node_id, **attrs): + """添加节点""" + self.nodes[node_id] = attrs + + def add_edge(self, source, target, **attrs): + """添加边""" + edge = {"source": source, "target": target, **attrs} + self.edges.append(edge) + + def to_dict(self): + """转换为工作流图格式""" + nodes_list = [] + for node_id, attrs in self.nodes.items(): + node_attrs = attrs.copy() + params = node_attrs.pop("parameters", {}) or {} + node_attrs.update(params) + nodes_list.append({"id": node_id, **node_attrs}) + + return { + "directed": True, + "multigraph": False, + "graph": {}, + "nodes": nodes_list, + "links": self.edges, + } + + +def extract_json_from_markdown(text: str) -> str: + """从markdown代码块中提取JSON""" + text = text.strip() + if text.startswith("```json\n"): + text = text[8:] + if text.startswith("```\n"): + text = text[4:] + if text.endswith("\n```"): + text = text[:-4] + return text + + +def convert_to_type(val: str) -> Any: + """将字符串值转换为适当的数据类型""" + if val == "True": + return True + if val == "False": + return False + if val == "?": + return None + if val.endswith(" g"): + return float(val.split(" ")[0]) + if val.endswith("mg"): + return float(val.split("mg")[0]) + elif val.endswith("mmol"): + return float(val.split("mmol")[0]) / 1000 + elif val.endswith("mol"): + return float(val.split("mol")[0]) + elif val.endswith("ml"): + return float(val.split("ml")[0]) + elif val.endswith("RPM"): + return float(val.split("RPM")[0]) + elif val.endswith(" °C"): + return float(val.split(" ")[0]) + elif val.endswith(" %"): + return float(val.split(" ")[0]) + return val + + +def refactor_data(data: List[Dict[str, Any]]) -> List[Dict[str, Any]]: + """统一的数据重构函数，根据操作类型自动选择模板""" + refactored_data = [] + + # 定义操作映射，包含生物实验和有机化学的所有操作 + OPERATION_MAPPING = { + # 生物实验操作 + "transfer_liquid": "SynBioFactory-liquid_handler.prcxi-transfer_liquid", + "transfer": "SynBioFactory-liquid_handler.biomek-transfer", + "incubation": "SynBioFactory-liquid_handler.biomek-incubation", + "move_labware": "SynBioFactory-liquid_handler.biomek-move_labware", + "oscillation": "SynBioFactory-liquid_handler.biomek-oscillation", + # 有机化学操作 + "HeatChillToTemp": "SynBioFactory-workstation-HeatChillProtocol", + "StopHeatChill": "SynBioFactory-workstation-HeatChillStopProtocol", + "StartHeatChill": "SynBioFactory-workstation-HeatChillStartProtocol", + "HeatChill": "SynBioFactory-workstation-HeatChillProtocol", + "Dissolve": "SynBioFactory-workstation-DissolveProtocol", + "Transfer": "SynBioFactory-workstation-TransferProtocol", + "Evaporate": "SynBioFactory-workstation-EvaporateProtocol", + "Recrystallize": "SynBioFactory-workstation-RecrystallizeProtocol", + "Filter": "SynBioFactory-workstation-FilterProtocol", + "Dry": "SynBioFactory-workstation-DryProtocol", + "Add": "SynBioFactory-workstation-AddProtocol", + } + + UNSUPPORTED_OPERATIONS = ["Purge", "Wait", "Stir", "ResetHandling"] + + for step in data: + operation = step.get("action") + if not operation or operation in UNSUPPORTED_OPERATIONS: + continue + + # 处理重复操作 + if operation == "Repeat": + times = step.get("times", step.get("parameters", {}).get("times", 1)) + sub_steps = step.get("steps", step.get("parameters", {}).get("steps", [])) + for i in range(int(times)): + sub_data = refactor_data(sub_steps) + refactored_data.extend(sub_data) + continue + + # 获取模板名称 + template = OPERATION_MAPPING.get(operation) + if not template: + # 自动推断模板类型 + if operation.lower() in ["transfer", "incubation", "move_labware", "oscillation"]: + template = f"SynBioFactory-liquid_handler.biomek-{operation}" + else: + template = f"SynBioFactory-workstation-{operation}Protocol" + + # 创建步骤数据 + step_data = { + "template": template, + "description": step.get("description", step.get("purpose", f"{operation} operation")), + "lab_node_type": "Device", + "parameters": step.get("parameters", step.get("action_args", {})), + } + refactored_data.append(step_data) + + return refactored_data + + +def build_protocol_graph( + labware_info: List[Dict[str, Any]], protocol_steps: List[Dict[str, Any]], workstation_name: str +) -> SimpleGraph: + """统一的协议图构建函数，根据设备类型自动选择构建逻辑""" + G = SimpleGraph() + resource_last_writer = {} + LAB_NAME = "SynBioFactory" + + protocol_steps = refactor_data(protocol_steps) + + # 检查协议步骤中的模板来判断协议类型 + has_biomek_template = any( + ("biomek" in step.get("template", "")) or ("prcxi" in step.get("template", "")) + for step in protocol_steps + ) + + if has_biomek_template: + # 生物实验协议图构建 + for labware_id, labware in labware_info.items(): + node_id = str(uuid.uuid4()) + + labware_attrs = labware.copy() + labware_id = labware_attrs.pop("id", labware_attrs.get("name", f"labware_{uuid.uuid4()}")) + labware_attrs["description"] = labware_id + labware_attrs["lab_node_type"] = ( + "Reagent" if "Plate" in str(labware_id) else "Labware" if "Rack" in str(labware_id) else "Sample" + ) + labware_attrs["device_id"] = workstation_name + + G.add_node(node_id, template=f"{LAB_NAME}-host_node-create_resource", **labware_attrs) + resource_last_writer[labware_id] = f"{node_id}:labware" + + # 处理协议步骤 + prev_node = None + for i, step in enumerate(protocol_steps): + node_id = str(uuid.uuid4()) + G.add_node(node_id, **step) + + # 添加控制流边 + if prev_node is not None: + G.add_edge(prev_node, node_id, source_port="ready", target_port="ready") + prev_node = node_id + + # 处理物料流 + params = step.get("parameters", {}) + if "sources" in params and params["sources"] in resource_last_writer: + source_node, source_port = resource_last_writer[params["sources"]].split(":") + G.add_edge(source_node, node_id, source_port=source_port, target_port="labware") + + if "targets" in params: + resource_last_writer[params["targets"]] = f"{node_id}:labware" + + # 添加协议结束节点 + end_id = str(uuid.uuid4()) + G.add_node(end_id, template=f"{LAB_NAME}-liquid_handler.biomek-run_protocol") + if prev_node is not None: + G.add_edge(prev_node, end_id, source_port="ready", target_port="ready") + + else: + # 有机化学协议图构建 + WORKSTATION_ID = workstation_name + + # 为所有labware创建资源节点 + for item_id, item in labware_info.items(): + # item_id = item.get("id") or item.get("name", f"item_{uuid.uuid4()}") + node_id = str(uuid.uuid4()) + + # 判断节点类型 + if item.get("type") == "hardware" or "reactor" in str(item_id).lower(): + if "reactor" not in str(item_id).lower(): + continue + lab_node_type = "Sample" + description = f"Prepare Reactor: {item_id}" + liquid_type = [] + liquid_volume = [] + else: + lab_node_type = "Reagent" + description = f"Add Reagent to Flask: {item_id}" + liquid_type = [item_id] + liquid_volume = [1e5] + + G.add_node( + node_id, + template=f"{LAB_NAME}-host_node-create_resource", + description=description, + lab_node_type=lab_node_type, + res_id=item_id, + device_id=WORKSTATION_ID, + class_name="container", + parent=WORKSTATION_ID, + bind_locations={"x": 0.0, "y": 0.0, "z": 0.0}, + liquid_input_slot=[-1], + liquid_type=liquid_type, + liquid_volume=liquid_volume, + slot_on_deck="", + role=item.get("role", ""), + ) + resource_last_writer[item_id] = f"{node_id}:labware" + + last_control_node_id = None + + # 处理协议步骤 + for step in protocol_steps: + node_id = str(uuid.uuid4()) + G.add_node(node_id, **step) + + # 控制流 + if last_control_node_id is not None: + G.add_edge(last_control_node_id, node_id, source_port="ready", target_port="ready") + last_control_node_id = node_id + + # 物料流 + params = step.get("parameters", {}) + input_resources = { + "Vessel": params.get("vessel"), + "ToVessel": params.get("to_vessel"), + "FromVessel": params.get("from_vessel"), + "reagent": params.get("reagent"), + "solvent": params.get("solvent"), + "compound": params.get("compound"), + "sources": params.get("sources"), + "targets": params.get("targets"), + } + + for target_port, resource_name in input_resources.items(): + if resource_name and resource_name in resource_last_writer: + source_node, source_port = resource_last_writer[resource_name].split(":") + G.add_edge(source_node, node_id, source_port=source_port, target_port=target_port) + + output_resources = { + "VesselOut": params.get("vessel"), + "FromVesselOut": params.get("from_vessel"), + "ToVesselOut": params.get("to_vessel"), + "FiltrateOut": params.get("filtrate_vessel"), + "reagent": params.get("reagent"), + "solvent": params.get("solvent"), + "compound": params.get("compound"), + "sources_out": params.get("sources"), + "targets_out": params.get("targets"), + } + + for source_port, resource_name in output_resources.items(): + if resource_name: + resource_last_writer[resource_name] = f"{node_id}:{source_port}" + + return G + + +def draw_protocol_graph(protocol_graph: SimpleGraph, output_path: str): + """ + (辅助功能) 使用 networkx 和 matplotlib 绘制协议工作流图，用于可视化。 + """ + if not protocol_graph: + print("Cannot draw graph: Graph object is empty.") + return + + G = nx.DiGraph() + + for node_id, attrs in protocol_graph.nodes.items(): + label = attrs.get("description", attrs.get("template", node_id[:8])) + G.add_node(node_id, label=label, **attrs) + + for edge in protocol_graph.edges: + G.add_edge(edge["source"], edge["target"]) + + plt.figure(figsize=(20, 15)) + try: + pos = nx.nx_agraph.graphviz_layout(G, prog="dot") + except Exception: + pos = nx.shell_layout(G) # Fallback layout + + node_labels = {node: data["label"] for node, data in G.nodes(data=True)} + nx.draw( + G, + pos, + with_labels=False, + node_size=2500, + node_color="skyblue", + node_shape="o", + edge_color="gray", + width=1.5, + arrowsize=15, + ) + nx.draw_networkx_labels(G, pos, labels=node_labels, font_size=8, font_weight="bold") + + plt.title("Chemical Protocol Workflow Graph", size=15) + plt.savefig(output_path, dpi=300, bbox_inches="tight") + plt.close() + print(f" - Visualization saved to '{output_path}'") + + +from networkx.drawing.nx_agraph import to_agraph +import re + +COMPASS = {"n","e","s","w","ne","nw","se","sw","c"} + +def _is_compass(port: str) -> bool: + return isinstance(port, str) and port.lower() in COMPASS + +def draw_protocol_graph_with_ports(protocol_graph, output_path: str, rankdir: str = "LR"): + """ + 使用 Graphviz 端口语法绘制协议工作流图。 + - 若边上的 source_port/target_port 是 compass（n/e/s/w/...），直接用 compass。 + - 否则自动为节点创建 record 形状并定义命名端口 。 + 最终由 PyGraphviz 渲染并输出到 output_path（后缀决定格式，如 .png/.svg/.pdf）。 + """ + if not protocol_graph: + print("Cannot draw graph: Graph object is empty.") + return + + # 1) 先用 networkx 搭建有向图，保留端口属性 + G = nx.DiGraph() + for node_id, attrs in protocol_graph.nodes.items(): + label = attrs.get("description", attrs.get("template", node_id[:8])) + # 保留一个干净的“中心标签”，用于放在 record 的中间槽 + G.add_node(node_id, _core_label=str(label), **{k:v for k,v in attrs.items() if k not in ("label",)}) + + edges_data = [] + in_ports_by_node = {} # 收集命名输入端口 + out_ports_by_node = {} # 收集命名输出端口 + + for edge in protocol_graph.edges: + u = edge["source"] + v = edge["target"] + sp = edge.get("source_port") + tp = edge.get("target_port") + + # 记录到图里（保留原始端口信息） + G.add_edge(u, v, source_port=sp, target_port=tp) + edges_data.append((u, v, sp, tp)) + + # 如果不是 compass，就按“命名端口”先归类，等会儿给节点造 record + if sp and not _is_compass(sp): + out_ports_by_node.setdefault(u, set()).add(str(sp)) + if tp and not _is_compass(tp): + in_ports_by_node.setdefault(v, set()).add(str(tp)) + + # 2) 转为 AGraph，使用 Graphviz 渲染 + A = to_agraph(G) + A.graph_attr.update(rankdir=rankdir, splines="true", concentrate="false", fontsize="10") + A.node_attr.update(shape="box", style="rounded,filled", fillcolor="lightyellow", color="#999999", fontname="Helvetica") + A.edge_attr.update(arrowsize="0.8", color="#666666") + + # 3) 为需要命名端口的节点设置 record 形状与 label + # 左列 = 输入端口；中间 = 核心标签；右列 = 输出端口 + for n in A.nodes(): + node = A.get_node(n) + core = G.nodes[n].get("_core_label", n) + + in_ports = sorted(in_ports_by_node.get(n, [])) + out_ports = sorted(out_ports_by_node.get(n, [])) + + # 如果该节点涉及命名端口，则用 record；否则保留原 box + if in_ports or out_ports: + def port_fields(ports): + if not ports: + return " " # 必须留一个空槽占位 + # 每个端口一个小格子，

name + return "|".join(f"<{re.sub(r'[^A-Za-z0-9_:.|-]', '_', p)}> {p}" for p in ports) + + left = port_fields(in_ports) + right = port_fields(out_ports) + + # 三栏：左(入) | 中(节点名) | 右(出) + record_label = f"{{ {left} | {core} | {right} }}" + node.attr.update(shape="record", label=record_label) + else: + # 没有命名端口：普通盒子，显示核心标签 + node.attr.update(label=str(core)) + + # 4) 给边设置 headport / tailport + # - 若端口为 compass：直接用 compass（e.g., headport="e"） + # - 若端口为命名端口：使用在 record 中定义的 名（同名即可） + for (u, v, sp, tp) in edges_data: + e = A.get_edge(u, v) + + # Graphviz 属性：tail 是源，head 是目标 + if sp: + if _is_compass(sp): + e.attr["tailport"] = sp.lower() + else: + # 与 record label 中 名一致；特殊字符已在 label 中做了清洗 + e.attr["tailport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(sp)) + + if tp: + if _is_compass(tp): + e.attr["headport"] = tp.lower() + else: + e.attr["headport"] = re.sub(r'[^A-Za-z0-9_:.|-]', '_', str(tp)) + + # 可选：若想让边更贴边缘，可设置 constraint/spline 等 + # e.attr["arrowhead"] = "vee" + + # 5) 输出 + A.draw(output_path, prog="dot") + print(f" - Port-aware workflow rendered to '{output_path}'") + + +def flatten_xdl_procedure(procedure_elem: ET.Element) -> List[ET.Element]: + """展平嵌套的XDL程序结构""" + flattened_operations = [] + TEMP_UNSUPPORTED_PROTOCOL = ["Purge", "Wait", "Stir", "ResetHandling"] + + def extract_operations(element: ET.Element): + if element.tag not in ["Prep", "Reaction", "Workup", "Purification", "Procedure"]: + if element.tag not in TEMP_UNSUPPORTED_PROTOCOL: + flattened_operations.append(element) + + for child in element: + extract_operations(child) + + for child in procedure_elem: + extract_operations(child) + + return flattened_operations + + +def parse_xdl_content(xdl_content: str) -> tuple: + """解析XDL内容""" + try: + xdl_content_cleaned = "".join(c for c in xdl_content if c.isprintable()) + root = ET.fromstring(xdl_content_cleaned) + + synthesis_elem = root.find("Synthesis") + if synthesis_elem is None: + return None, None, None + + # 解析硬件组件 + hardware_elem = synthesis_elem.find("Hardware") + hardware = [] + if hardware_elem is not None: + hardware = [{"id": c.get("id"), "type": c.get("type")} for c in hardware_elem.findall("Component")] + + # 解析试剂 + reagents_elem = synthesis_elem.find("Reagents") + reagents = [] + if reagents_elem is not None: + reagents = [{"name": r.get("name"), "role": r.get("role", "")} for r in reagents_elem.findall("Reagent")] + + # 解析程序 + procedure_elem = synthesis_elem.find("Procedure") + if procedure_elem is None: + return None, None, None + + flattened_operations = flatten_xdl_procedure(procedure_elem) + return hardware, reagents, flattened_operations + + except ET.ParseError as e: + raise ValueError(f"Invalid XDL format: {e}") + + +def convert_xdl_to_dict(xdl_content: str) -> Dict[str, Any]: + """ + 将XDL XML格式转换为标准的字典格式 + + Args: + xdl_content: XDL XML内容 + + Returns: + 转换结果，包含步骤和器材信息 + """ + try: + hardware, reagents, flattened_operations = parse_xdl_content(xdl_content) + if hardware is None: + return {"error": "Failed to parse XDL content", "success": False} + + # 将XDL元素转换为字典格式 + steps_data = [] + for elem in flattened_operations: + # 转换参数类型 + parameters = {} + for key, val in elem.attrib.items(): + converted_val = convert_to_type(val) + if converted_val is not None: + parameters[key] = converted_val + + step_dict = { + "operation": elem.tag, + "parameters": parameters, + "description": elem.get("purpose", f"Operation: {elem.tag}"), + } + steps_data.append(step_dict) + + # 合并硬件和试剂为统一的labware_info格式 + labware_data = [] + labware_data.extend({"id": hw["id"], "type": "hardware", **hw} for hw in hardware) + labware_data.extend({"name": reagent["name"], "type": "reagent", **reagent} for reagent in reagents) + + return { + "success": True, + "steps": steps_data, + "labware": labware_data, + "message": f"Successfully converted XDL to dict format. Found {len(steps_data)} steps and {len(labware_data)} labware items.", + } + + except Exception as e: + error_msg = f"XDL conversion failed: {str(e)}" + logger.error(error_msg) + return {"error": error_msg, "success": False} + + +def create_workflow( + steps_info: str, + labware_info: str, + workflow_name: str = "Generated Workflow", + workstation_name: str = "workstation", + workflow_description: str = "Auto-generated workflow from protocol", +) -> Dict[str, Any]: + """ + 创建工作流，输入数据已经是统一的字典格式 + + Args: + steps_info: 步骤信息 (JSON字符串，已经是list of dict格式) + labware_info: 实验器材和试剂信息 (JSON字符串，已经是list of dict格式) + workflow_name: 工作流名称 + workflow_description: 工作流描述 + + Returns: + 创建结果，包含工作流UUID和详细信息 + """ + try: + # 直接解析JSON数据 + steps_info_clean = extract_json_from_markdown(steps_info) + labware_info_clean = extract_json_from_markdown(labware_info) + + steps_data = json.loads(steps_info_clean) + labware_data = json.loads(labware_info_clean) + + # 统一处理所有数据 + protocol_graph = build_protocol_graph(labware_data, steps_data, workstation_name=workstation_name) + + # 检测协议类型（用于标签） + protocol_type = "bio" if any("biomek" in step.get("template", "") for step in refactored_steps) else "organic" + + # 转换为工作流格式 + data = protocol_graph.to_dict() + + # 转换节点格式 + for i, node in enumerate(data["nodes"]): + description = node.get("description", "") + onode = { + "template": node.pop("template"), + "id": node["id"], + "lab_node_type": node.get("lab_node_type", "Device"), + "name": description or f"Node {i + 1}", + "params": {"default": node}, + "handles": {}, + } + + # 处理边连接 + for edge in data["links"]: + if edge["source"] == node["id"]: + source_port = edge.get("source_port", "output") + if source_port not in onode["handles"]: + onode["handles"][source_port] = {"type": "source"} + + if edge["target"] == node["id"]: + target_port = edge.get("target_port", "input") + if target_port not in onode["handles"]: + onode["handles"][target_port] = {"type": "target"} + + data["nodes"][i] = onode + + # 发送到API创建工作流 + api_secret = configs.Lab.Key + if not api_secret: + return {"error": "API SecretKey is not configured", "success": False} + + # Step 1: 创建工作流 + workflow_url = f"{configs.Lab.Api}/api/v1/workflow/" + headers = { + "Content-Type": "application/json", + } + params = {"secret_key": api_secret} + + graph_data = {"name": workflow_name, **data} + + logger.info(f"Creating workflow: {workflow_name}") + response = requests.post( + workflow_url, params=params, json=graph_data, headers=headers, timeout=configs.Lab.Timeout + ) + response.raise_for_status() + + workflow_info = response.json() + + if workflow_info.get("code") != 0: + error_msg = f"API returned an error: {workflow_info.get('msg', 'Unknown Error')}" + logger.error(error_msg) + return {"error": error_msg, "success": False} + + workflow_uuid = workflow_info.get("data", {}).get("uuid") + if not workflow_uuid: + return {"error": "Failed to get workflow UUID from response", "success": False} + + # Step 2: 添加到模板库（可选） + try: + library_url = f"{configs.Lab.Api}/api/flociety/vs/workflows/library/" + lib_payload = { + "workflow_uuid": workflow_uuid, + "title": workflow_name, + "description": workflow_description, + "labels": [protocol_type.title(), "Auto-generated"], + } + + library_response = requests.post( + library_url, params=params, json=lib_payload, headers=headers, timeout=configs.Lab.Timeout + ) + library_response.raise_for_status() + + library_info = library_response.json() + logger.info(f"Workflow added to library: {library_info}") + + return { + "success": True, + "workflow_uuid": workflow_uuid, + "workflow_info": workflow_info.get("data"), + "library_info": library_info.get("data"), + "protocol_type": protocol_type, + "message": f"Workflow '{workflow_name}' created successfully", + } + + except Exception as e: + # 即使添加到库失败，工作流创建仍然成功 + logger.warning(f"Failed to add workflow to library: {str(e)}") + return { + "success": True, + "workflow_uuid": workflow_uuid, + "workflow_info": workflow_info.get("data"), + "protocol_type": protocol_type, + "message": f"Workflow '{workflow_name}' created successfully (library addition failed)", + } + + except requests.exceptions.RequestException as e: + error_msg = f"Network error when calling API: {str(e)}" + logger.error(error_msg) + return {"error": error_msg, "success": False} + except json.JSONDecodeError as e: + error_msg = f"JSON parsing error: {str(e)}" + logger.error(error_msg) + return {"error": error_msg, "success": False} + except Exception as e: + error_msg = f"An unexpected error occurred: {str(e)}" + logger.error(error_msg) + logger.error(traceback.format_exc()) + return {"error": error_msg, "success": False} diff --git a/test/experiments/dispensing_station_bioyond.json b/test/experiments/dispensing_station_bioyond.json index 745e1289..751eac09 100644 --- a/test/experiments/dispensing_station_bioyond.json +++ b/test/experiments/dispensing_station_bioyond.json @@ -8,7 +8,7 @@ ], "parent": null, "type": "device", - "class": "workstation.bioyond_dispensing_station", + "class": "bioyond_dispensing_station", "config": { "config": { "api_key": "DE9BDDA0", diff --git a/test/workflow/example_bio.json b/test/workflow/example_bio.json new file mode 100644 index 00000000..d0f0d7a3 --- /dev/null +++ b/test/workflow/example_bio.json @@ -0,0 +1,186 @@ +{ + "workflow": [ + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_1", + "targets": "Liquid_2", + "asp_vol": 66.0, + "dis_vol": 66.0, + "asp_flow_rate": 94.0, + "dis_flow_rate": 94.0 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_2", + "targets": "Liquid_3", + "asp_vol": 58.0, + "dis_vol": 96.0, + "asp_flow_rate": 94.0, + "dis_flow_rate": 94.0 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_4", + "targets": "Liquid_2", + "asp_vol": 85.0, + "dis_vol": 170.0, + "asp_flow_rate": 94.0, + "dis_flow_rate": 94.0 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_4", + "targets": "Liquid_2", + "asp_vol": 63.333333333333336, + "dis_vol": 170.0, + "asp_flow_rate": 94.0, + "dis_flow_rate": 94.0 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_2", + "targets": "Liquid_3", + "asp_vol": 72.0, + "dis_vol": 150.0, + "asp_flow_rate": 94.0, + "dis_flow_rate": 94.0 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_4", + "targets": "Liquid_2", + "asp_vol": 85.0, + "dis_vol": 170.0, + "asp_flow_rate": 94.0, + "dis_flow_rate": 94.0 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_4", + "targets": "Liquid_2", + "asp_vol": 63.333333333333336, + "dis_vol": 170.0, + "asp_flow_rate": 94.0, + "dis_flow_rate": 94.0 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_2", + "targets": "Liquid_3", + "asp_vol": 72.0, + "dis_vol": 150.0, + "asp_flow_rate": 94.0, + "dis_flow_rate": 94.0 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_2", + "targets": "Liquid_3", + "asp_vol": 20.0, + "dis_vol": 20.0, + "asp_flow_rate": 7.6, + "dis_flow_rate": 7.6 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_5", + "targets": "Liquid_2", + "asp_vol": 6.0, + "dis_vol": 12.0, + "asp_flow_rate": 7.6, + "dis_flow_rate": 7.6 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_5", + "targets": "Liquid_2", + "asp_vol": 10.666666666666666, + "dis_vol": 12.0, + "asp_flow_rate": 7.599999999999999, + "dis_flow_rate": 7.6 + } + }, + { + "action": "transfer_liquid", + "action_args": { + "sources": "Liquid_2", + "targets": "Liquid_6", + "asp_vol": 12.0, + "dis_vol": 10.0, + "asp_flow_rate": 7.6, + "dis_flow_rate": 7.6 + } + } + ], + "reagent": { + "Liquid_6": { + "slot": 1, + "well": [ + "A2" + ], + "labware": "elution plate" + }, + "Liquid_1": { + "slot": 2, + "well": [ + "A1", + "A2", + "A4" + ], + "labware": "reagent reservoir" + }, + "Liquid_4": { + "slot": 2, + "well": [ + "A1", + "A2", + "A4" + ], + "labware": "reagent reservoir" + }, + "Liquid_5": { + "slot": 2, + "well": [ + "A1", + "A2", + "A4" + ], + "labware": "reagent reservoir" + }, + "Liquid_2": { + "slot": 4, + "well": [ + "A2" + ], + "labware": "TAG1 plate on Magnetic Module GEN2" + }, + "Liquid_3": { + "slot": 12, + "well": [ + "A1" + ], + "labware": "Opentrons Fixed Trash" + } + } +} \ No newline at end of file diff --git a/test/workflow/example_bio_graph.png b/test/workflow/example_bio_graph.png new file mode 100644 index 00000000..351cceb8 Binary files /dev/null and b/test/workflow/example_bio_graph.png differ diff --git a/test/workflow/example_prcxi.json b/test/workflow/example_prcxi.json new file mode 100644 index 00000000..d9abd3d8 --- /dev/null +++ b/test/workflow/example_prcxi.json @@ -0,0 +1,63 @@ +{ + "steps_info": [ + { + "step_number": 1, + "action": "transfer_liquid", + "parameters": { + "source": "sample supernatant", + "target": "antibody-coated well", + "volume": 100 + } + }, + { + "step_number": 2, + "action": "transfer_liquid", + "parameters": { + "source": "washing buffer", + "target": "antibody-coated well", + "volume": 200 + } + }, + { + "step_number": 3, + "action": "transfer_liquid", + "parameters": { + "source": "washing buffer", + "target": "antibody-coated well", + "volume": 200 + } + }, + { + "step_number": 4, + "action": "transfer_liquid", + "parameters": { + "source": "washing buffer", + "target": "antibody-coated well", + "volume": 200 + } + }, + { + "step_number": 5, + "action": "transfer_liquid", + "parameters": { + "source": "TMB substrate", + "target": "antibody-coated well", + "volume": 100 + } + } + ], + "labware_info": [ + {"reagent_name": "sample supernatant", "material_name": "96深孔板", "positions": 1}, + {"reagent_name": "washing buffer", "material_name": "储液槽", "positions": 2}, + {"reagent_name": "TMB substrate", "material_name": "储液槽", "positions": 3}, + {"reagent_name": "antibody-coated well", "material_name": "96 细胞培养皿", "positions": 4}, + {"reagent_name": "", "material_name": "300μL Tip头", "positions": 5}, + {"reagent_name": "", "material_name": "300μL Tip头", "positions": 6}, + {"reagent_name": "", "material_name": "300μL Tip头", "positions": 7}, + {"reagent_name": "", "material_name": "300μL Tip头", "positions": 8}, + {"reagent_name": "", "material_name": "300μL Tip头", "positions": 9}, + {"reagent_name": "", "material_name": "300μL Tip头", "positions": 10}, + {"reagent_name": "", "material_name": "300μL Tip头", "positions": 11}, + {"reagent_name": "", "material_name": "300μL Tip头", "positions": 13} + ] +} \ No newline at end of file diff --git a/test/workflow/example_prcxi_graph.png b/test/workflow/example_prcxi_graph.png new file mode 100644 index 00000000..96cecdb5 Binary files /dev/null and b/test/workflow/example_prcxi_graph.png differ diff --git a/test/workflow/example_prcxi_graph_20251022_1359.png b/test/workflow/example_prcxi_graph_20251022_1359.png new file mode 100644 index 00000000..7cf4f7e7 Binary files /dev/null and b/test/workflow/example_prcxi_graph_20251022_1359.png differ diff --git a/test/workflow/merge_workflow.py b/test/workflow/merge_workflow.py new file mode 100644 index 00000000..fb409769 --- /dev/null +++ b/test/workflow/merge_workflow.py @@ -0,0 +1,94 @@ +import json +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 scripts.workflow import build_protocol_graph, draw_protocol_graph, draw_protocol_graph_with_ports + + +ROOT_DIR = Path(__file__).resolve().parents[2] +if str(ROOT_DIR) not in sys.path: + sys.path.insert(0, str(ROOT_DIR)) + + +def _normalize_steps(data): + normalized = [] + for step in data: + action = step.get("action") or step.get("operation") + if not action: + continue + raw_params = step.get("parameters") or step.get("action_args") or {} + params = dict(raw_params) + + if "source" in raw_params and "sources" not in raw_params: + params["sources"] = raw_params["source"] + if "target" in raw_params and "targets" not in raw_params: + params["targets"] = raw_params["target"] + + description = step.get("description") or step.get("purpose") + step_dict = {"action": action, "parameters": params} + if description: + step_dict["description"] = description + normalized.append(step_dict) + return normalized + + +def _normalize_labware(data): + labware = {} + for item in data: + reagent_name = item.get("reagent_name") + key = reagent_name or item.get("material_name") or item.get("name") + if not key: + continue + key = str(key) + idx = 1 + original_key = key + while key in labware: + idx += 1 + key = f"{original_key}_{idx}" + + labware[key] = { + "slot": item.get("positions") or item.get("slot"), + "labware": item.get("material_name") or item.get("labware"), + "well": item.get("well", []), + "type": item.get("type", "reagent"), + "role": item.get("role", ""), + "name": key, + } + return labware + + +@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") + with data_path.open("r", encoding="utf-8") as fp: + d = json.load(fp) + + if "workflow" in d and "reagent" in d: + protocol_steps = d["workflow"] + labware_info = d["reagent"] + elif "steps_info" in d and "labware_info" in d: + protocol_steps = _normalize_steps(d["steps_info"]) + labware_info = _normalize_labware(d["labware_info"]) + else: + raise ValueError("Unsupported protocol format") + + graph = build_protocol_graph( + labware_info=labware_info, + protocol_steps=protocol_steps, + 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) \ No newline at end of file diff --git a/unilabos/app/web/client.py b/unilabos/app/web/client.py index b8c8bea3..72c079a1 100644 --- a/unilabos/app/web/client.py +++ b/unilabos/app/web/client.py @@ -6,6 +6,8 @@ HTTP客户端模块 import json import os +import time +from threading import Thread from typing import List, Dict, Any, Optional import requests @@ -84,14 +86,14 @@ class HTTPClient: f"{self.remote_addr}/edge/material", json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, headers={"Authorization": f"Lab {self.auth}"}, - timeout=100, + timeout=60, ) else: response = requests.put( f"{self.remote_addr}/edge/material", json={"nodes": [x for xs in resources.dump() for x in xs], "mount_uuid": mount_uuid}, headers={"Authorization": f"Lab {self.auth}"}, - timeout=100, + timeout=10, ) with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_add.json"), "w", encoding="utf-8") as f: @@ -126,12 +128,16 @@ class HTTPClient: Returns: Dict[str, str]: 旧UUID到新UUID的映射关系 {old_uuid: new_uuid} """ + with open(os.path.join(BasicConfig.working_dir, "req_resource_tree_get.json"), "w", encoding="utf-8") as f: + f.write(json.dumps({"uuids": uuid_list, "with_children": with_children}, indent=4)) response = requests.post( f"{self.remote_addr}/edge/material/query", json={"uuids": uuid_list, "with_children": with_children}, headers={"Authorization": f"Lab {self.auth}"}, timeout=100, ) + with open(os.path.join(BasicConfig.working_dir, "res_resource_tree_get.json"), "w", encoding="utf-8") as f: + f.write(f"{response.status_code}" + "\n" + response.text) if response.status_code == 200: res = response.json() if "code" in res and res["code"] != 0: @@ -187,12 +193,16 @@ class HTTPClient: Returns: Dict: 返回的资源数据 """ + with open(os.path.join(BasicConfig.working_dir, "req_resource_get.json"), "w", encoding="utf-8") as f: + f.write(json.dumps({"id": id, "with_children": with_children}, indent=4)) response = requests.get( f"{self.remote_addr}/lab/material", params={"id": id, "with_children": with_children}, headers={"Authorization": f"Lab {self.auth}"}, timeout=20, ) + with open(os.path.join(BasicConfig.working_dir, "res_resource_get.json"), "w", encoding="utf-8") as f: + f.write(f"{response.status_code}" + "\n" + response.text) return response.json() def resource_del(self, id: str) -> requests.Response: diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx index 3ce894f1..d1e9d2f3 100644 Binary files a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py index ff29574d..5ce49e00 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_cell_workstation.py @@ -253,7 +253,7 @@ class BioyondCellWorkstation(BioyondWorkstation): def auto_feeding4to3( self, # ★ 修改点：默认模板路径 - xlsx_path: Optional[str] = "unilabos\\devices\\workstation\\bioyond_studio\\bioyond_cell\\样品导入模板.xlsx", + xlsx_path: Optional[str] = "/Users/calvincao/Desktop/work/uni-lab-all/Uni-Lab-OS/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx", # ---------------- WH4 - 加样头面 (Z=1, 12个点位) ---------------- WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0, WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0, diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx new file mode 100644 index 00000000..844fc84d Binary files /dev/null and b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/material_template.xlsx differ diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx b/unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx deleted file mode 100644 index e6addeb9..00000000 Binary files a/unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx and /dev/null differ diff --git a/unilabos/devices/workstation/bioyond_studio/config.py b/unilabos/devices/workstation/bioyond_studio/config.py index c6f8b117..504cf459 100644 --- a/unilabos/devices/workstation/bioyond_studio/config.py +++ b/unilabos/devices/workstation/bioyond_studio/config.py @@ -16,7 +16,7 @@ API_CONFIG = { "report_token": os.getenv("BIOYOND_REPORT_TOKEN", "CHANGE_ME_TOKEN"), # HTTP 服务配置 - "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.91"), # HTTP服务监听地址，监听计算机飞连ip地址 + "HTTP_host": os.getenv("BIOYOND_HTTP_HOST", "172.21.32.210"), # HTTP服务监听地址，监听计算机飞连ip地址 "HTTP_port": int(os.getenv("BIOYOND_HTTP_PORT", "8080")), "debug_mode": False,# 调试模式 } @@ -151,10 +151,22 @@ WAREHOUSE_MAPPING = { # 物料类型配置 MATERIAL_TYPE_MAPPINGS = { - - "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "100ml液体": ("YB_1Bottle100mlCarrier", "d37166b3-ecaa-481e-bd84-3032b795ba07"), "液": ("YB_1BottleCarrier", "3a190ca1-2add-2b23-f8e1-bbd348b7f790"), - # YB信息 + "高粘液": ("YB_1GaoNianYeBottleCarrier", "abe8df30-563d-43d2-85e0-cabec59ddc16"), + "加样头(大)": ("YB_jia_yang_tou_da_1X1_carrier", "3a190ca0-b2f6-9aeb-8067-547e72c11469"), + "加样头(大)板": ("YB_jia_yang_tou_da_1X1_carrier", "a8e714ae-2a4e-4eb9-9614-e4c140ec3f16"), + "5ml分液瓶板": ("YB_6x5ml_DispensingVialCarrier", "3a192fa4-007d-ec7b-456e-2a8be7a13f23"), + "5ml分液瓶": ("YB_6x5ml_DispensingVialCarrier", "3a192c2a-ebb7-58a1-480d-8b3863bf74f4"), + "20ml分液瓶板": ("YB_6x20ml_DispensingVialCarrier", "3a192fa4-47db-3449-162a-eaf8aba57e27"), + "20ml分液瓶": ("YB_6x20ml_DispensingVialCarrier", "3a192c2b-19e8-f0a3-035e-041ca8ca1035"), + "配液瓶(小)板": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8b-3284-af78-d29f-9a69463ad047"), + "配液瓶(小)": ("YB_6x_SmallSolutionBottleCarrier", "3a190c8c-fe8f-bf48-0dc3-97afc7f508eb"), + "配液瓶(大)板": ("YB_4x_LargeSolutionBottleCarrier", "53e50377-32dc-4781-b3c0-5ce45bc7dc27"), + "配液瓶(大)": ("YB_4x_LargeSolutionBottleCarrier", "19c52ad1-51c5-494f-8854-576f4ca9c6ca"), + "适配器块": ("YB_AdapterBlock", "efc3bb32-d504-4890-91c0-b64ed3ac80cf"), + "枪头盒": ("YB_TipBox", "3a192c2e-20f3-a44a-0334-c8301839d0b3"), + "枪头": ("YB_TipBox", "b6196971-1050-46da-9927-333e8dea062d"), } SOLID_LIQUID_MAPPINGS = { diff --git a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py b/unilabos/devices/workstation/bioyond_studio/dispensing_station.py index 11b011cc..8617a13f 100644 --- a/unilabos/devices/workstation/bioyond_studio/dispensing_station.py +++ b/unilabos/devices/workstation/bioyond_studio/dispensing_station.py @@ -7,7 +7,7 @@ from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstati class BioyondDispensingStation(BioyondWorkstation): def __init__( - self, + self, config, # 桌子 deck, @@ -77,7 +77,7 @@ class BioyondDispensingStation(BioyondWorkstation): - hold_m_name: 库位名称，如"C01"，用于查找对应的holdMId 返回: 任务创建结果 - + 异常: - BioyondException: 各种错误情况下的统一异常 """ @@ -85,7 +85,7 @@ class BioyondDispensingStation(BioyondWorkstation): # 1. 参数验证 if not hold_m_name: raise BioyondException("hold_m_name 是必填参数") - + # 检查90%物料参数的完整性 # 90%_1物料：如果有物料名称或目标重量，就必须有全部参数 if percent_90_1_assign_material_name or percent_90_1_target_weigh: @@ -93,21 +93,21 @@ class BioyondDispensingStation(BioyondWorkstation): raise BioyondException("90%_1物料：如果提供了目标重量，必须同时提供物料名称") if not percent_90_1_target_weigh: raise BioyondException("90%_1物料：如果提供了物料名称，必须同时提供目标重量") - + # 90%_2物料：如果有物料名称或目标重量，就必须有全部参数 if percent_90_2_assign_material_name or percent_90_2_target_weigh: if not percent_90_2_assign_material_name: raise BioyondException("90%_2物料：如果提供了目标重量，必须同时提供物料名称") if not percent_90_2_target_weigh: raise BioyondException("90%_2物料：如果提供了物料名称，必须同时提供目标重量") - + # 90%_3物料：如果有物料名称或目标重量，就必须有全部参数 if percent_90_3_assign_material_name or percent_90_3_target_weigh: if not percent_90_3_assign_material_name: raise BioyondException("90%_3物料：如果提供了目标重量，必须同时提供物料名称") if not percent_90_3_target_weigh: raise BioyondException("90%_3物料：如果提供了物料名称，必须同时提供目标重量") - + # 检查10%物料参数的完整性 # 10%_1物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数 if any([percent_10_1_assign_material_name, percent_10_1_target_weigh, percent_10_1_volume, percent_10_1_liquid_material_name]): @@ -119,7 +119,7 @@ class BioyondDispensingStation(BioyondWorkstation): raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体体积") if not percent_10_1_liquid_material_name: raise BioyondException("10%_1物料：如果提供了其他参数，必须同时提供液体物料名称") - + # 10%_2物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数 if any([percent_10_2_assign_material_name, percent_10_2_target_weigh, percent_10_2_volume, percent_10_2_liquid_material_name]): if not percent_10_2_assign_material_name: @@ -130,7 +130,7 @@ class BioyondDispensingStation(BioyondWorkstation): raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体体积") if not percent_10_2_liquid_material_name: raise BioyondException("10%_2物料：如果提供了其他参数，必须同时提供液体物料名称") - + # 10%_3物料：如果有物料名称、目标重量、体积或液体物料名称中的任何一个，就必须有全部参数 if any([percent_10_3_assign_material_name, percent_10_3_target_weigh, percent_10_3_volume, percent_10_3_liquid_material_name]): if not percent_10_3_assign_material_name: @@ -141,7 +141,7 @@ class BioyondDispensingStation(BioyondWorkstation): raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体体积") if not percent_10_3_liquid_material_name: raise BioyondException("10%_3物料：如果提供了其他参数，必须同时提供液体物料名称") - + # 2. 生成任务编码和设置默认值 order_code = "task_vial_" + str(int(datetime.now().timestamp())) if order_name is None: @@ -152,7 +152,7 @@ class BioyondDispensingStation(BioyondWorkstation): temperature = "40" if delay_time is None: delay_time = "600" - + # 3. 工作流ID workflow_id = "3a19310d-16b9-9d81-b109-0748e953694b" @@ -160,22 +160,22 @@ class BioyondDispensingStation(BioyondWorkstation): material_info = self.hardware_interface.material_id_query(workflow_id) if not material_info: raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息") - + # 获取locations列表 locations = material_info.get("locations", []) if isinstance(material_info, dict) else [] if not locations: raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息") - + # 查找指定名称的库位 hold_mid = None for location in locations: if location.get("holdMName") == hold_m_name: hold_mid = location.get("holdMId") break - + if not hold_mid: raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确") - + extend_properties = f"{{\"{ hold_mid }\": {{}}}}" self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}") @@ -271,7 +271,7 @@ class BioyondDispensingStation(BioyondWorkstation): result = self.hardware_interface.create_order(json_str) self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务结果: {result}") return json.dumps({"suc": True}) - + except BioyondException: # 重新抛出BioyondException raise @@ -307,7 +307,7 @@ class BioyondDispensingStation(BioyondWorkstation): - hold_m_name: 库位名称，如"ODA-1"，用于查找对应的holdMId 返回: 任务创建结果 - + 异常: - BioyondException: 各种错误情况下的统一异常 """ @@ -321,8 +321,8 @@ class BioyondDispensingStation(BioyondWorkstation): raise BioyondException("volume 是必填参数") if not hold_m_name: raise BioyondException("hold_m_name 是必填参数") - - + + # 2. 生成任务编码和设置默认值 order_code = "task_oda_" + str(int(datetime.now().timestamp())) if order_name is None: @@ -333,30 +333,30 @@ class BioyondDispensingStation(BioyondWorkstation): temperature = "20" if delay_time is None: delay_time = "600" - + # 3. 工作流ID - 二胺溶液配置工作流 workflow_id = "3a15d4a1-3bbe-76f9-a458-292896a338f5" - + # 4. 查询工作流对应的holdMID - material_info = self.material_id_query(workflow_id) + material_info = self.hardware_interface.material_id_query(workflow_id) if not material_info: raise BioyondException(f"无法查询工作流 {workflow_id} 的物料信息") - + # 获取locations列表 locations = material_info.get("locations", []) if isinstance(material_info, dict) else [] if not locations: raise BioyondException(f"工作流 {workflow_id} 没有找到库位信息") - + # 查找指定名称的库位 hold_mid = None for location in locations: if location.get("holdMName") == hold_m_name: hold_mid = location.get("holdMId") break - + if not hold_mid: raise BioyondException(f"未找到库位名称为 {hold_m_name} 的库位，请检查名称是否正确") - + extend_properties = f"{{\"{ hold_mid }\": {{}}}}" self.hardware_interface._logger.info(f"找到库位 {hold_m_name} 对应的holdMId: {hold_mid}") @@ -397,9 +397,9 @@ class BioyondDispensingStation(BioyondWorkstation): # 7. 调用create_order方法创建任务 result = self.hardware_interface.create_order(json_str) self.hardware_interface._logger.info(f"创建二胺溶液配置任务结果: {result}") - + return json.dumps({"suc": True}) - + except BioyondException: # 重新抛出BioyondException raise @@ -409,17 +409,278 @@ class BioyondDispensingStation(BioyondWorkstation): self.hardware_interface._logger.error(error_msg) raise BioyondException(error_msg) + # 批量创建二胺溶液配置任务 + def batch_create_diamine_solution_tasks(self, + solutions, + liquid_material_name: str = "NMP", + speed: str = None, + temperature: str = None, + delay_time: str = None) -> str: + """ + 批量创建二胺溶液配置任务 + + 参数说明: + - solutions: 溶液列表（数组）或JSON字符串，格式如下: + [ + { + "name": "MDA", + "order": 0, + "solid_mass": 5.0, + "solvent_volume": 20, + ... + }, + ... + ] + - liquid_material_name: 液体物料名称，默认为"NMP" + - speed: 搅拌速度，如果为None则使用默认值400 + - temperature: 温度，如果为None则使用默认值20 + - delay_time: 延迟时间，如果为None则使用默认值600 + + 返回: JSON字符串格式的任务创建结果 + + 异常: + - BioyondException: 各种错误情况下的统一异常 + """ + try: + # 参数类型转换：如果是字符串则解析为列表 + if isinstance(solutions, str): + try: + solutions = json.loads(solutions) + except json.JSONDecodeError as e: + raise BioyondException(f"solutions JSON解析失败: {str(e)}") + + # 参数验证 + if not isinstance(solutions, list): + raise BioyondException("solutions 必须是列表类型或有效的JSON数组字符串") + + if not solutions: + raise BioyondException("solutions 列表不能为空") + + # 批量创建任务 + results = [] + success_count = 0 + failed_count = 0 + + for idx, solution in enumerate(solutions): + try: + # 提取参数 + name = solution.get("name") + solid_mass = solution.get("solid_mass") + solvent_volume = solution.get("solvent_volume") + order = solution.get("order") + + if not all([name, solid_mass is not None, solvent_volume is not None]): + self.hardware_interface._logger.warning( + f"跳过第 {idx + 1} 个溶液：缺少必要参数" + ) + results.append({ + "index": idx + 1, + "name": name, + "success": False, + "error": "缺少必要参数" + }) + failed_count += 1 + continue + + # 生成库位名称（直接使用物料名称） + # 如果需要其他命名规则，可以在这里调整 + hold_m_name = name + + # 调用单个任务创建方法 + result = self.create_diamine_solution_task( + order_name=f"二胺溶液配置-{name}", + material_name=name, + target_weigh=str(solid_mass), + volume=str(solvent_volume), + liquid_material_name=liquid_material_name, + speed=speed, + temperature=temperature, + delay_time=delay_time, + hold_m_name=hold_m_name + ) + + results.append({ + "index": idx + 1, + "name": name, + "success": True, + "hold_m_name": hold_m_name + }) + success_count += 1 + self.hardware_interface._logger.info( + f"成功创建二胺溶液配置任务: {name}" + ) + + except BioyondException as e: + results.append({ + "index": idx + 1, + "name": solution.get("name", "unknown"), + "success": False, + "error": str(e) + }) + failed_count += 1 + self.hardware_interface._logger.error( + f"创建第 {idx + 1} 个任务失败: {str(e)}" + ) + except Exception as e: + results.append({ + "index": idx + 1, + "name": solution.get("name", "unknown"), + "success": False, + "error": f"未知错误: {str(e)}" + }) + failed_count += 1 + self.hardware_interface._logger.error( + f"创建第 {idx + 1} 个任务时发生未知错误: {str(e)}" + ) + + # 返回汇总结果 + summary = { + "total": len(solutions), + "success": success_count, + "failed": failed_count, + "details": results + } + + self.hardware_interface._logger.info( + f"批量创建二胺溶液配置任务完成: 总数={len(solutions)}, " + f"成功={success_count}, 失败={failed_count}" + ) + + # 返回JSON字符串格式 + return json.dumps(summary, ensure_ascii=False) + + except BioyondException: + raise + except Exception as e: + error_msg = f"批量创建二胺溶液配置任务时发生未预期的错误: {str(e)}" + self.hardware_interface._logger.error(error_msg) + raise BioyondException(error_msg) + + # 批量创建90%10%小瓶投料任务 + def batch_create_90_10_vial_feeding_tasks(self, + titration, + hold_m_name: str = None, + speed: str = None, + temperature: str = None, + delay_time: str = None, + liquid_material_name: str = "NMP") -> str: + """ + 批量创建90%10%小瓶投料任务（仅创建1个任务，但包含所有90%和10%物料） + + 参数说明: + - titration: 滴定信息的字典或JSON字符串，格式如下: + { + "name": "BTDA", + "main_portion": 1.9152351915461294, # 主称固体质量(g) -> 90%物料 + "titration_portion": 0.05923407808905555, # 滴定固体质量(g) -> 10%物料固体 + "titration_solvent": 3.050555021586361 # 滴定溶液体积(mL) -> 10%物料液体 + } + - hold_m_name: 库位名称，如"C01"。必填参数 + - speed: 搅拌速度，如果为None则使用默认值400 + - temperature: 温度，如果为None则使用默认值40 + - delay_time: 延迟时间，如果为None则使用默认值600 + - liquid_material_name: 10%物料的液体物料名称，默认为"NMP" + + 返回: JSON字符串格式的任务创建结果 + + 异常: + - BioyondException: 各种错误情况下的统一异常 + """ + try: + # 参数类型转换：如果是字符串则解析为字典 + if isinstance(titration, str): + try: + titration = json.loads(titration) + except json.JSONDecodeError as e: + raise BioyondException(f"titration参数JSON解析失败: {str(e)}") + + # 参数验证 + if not isinstance(titration, dict): + raise BioyondException("titration 必须是字典类型或有效的JSON字符串") + + if not hold_m_name: + raise BioyondException("hold_m_name 是必填参数") + + if not titration: + raise BioyondException("titration 参数不能为空") + + # 提取滴定数据 + name = titration.get("name") + main_portion = titration.get("main_portion") # 主称固体质量 + titration_portion = titration.get("titration_portion") # 滴定固体质量 + titration_solvent = titration.get("titration_solvent") # 滴定溶液体积 + + if not all([name, main_portion is not None, titration_portion is not None, titration_solvent is not None]): + raise BioyondException("titration 数据缺少必要参数") + + # 将main_portion平均分成3份作为90%物料（3个小瓶） + portion_90 = main_portion / 3 + + # 调用单个任务创建方法 + result = self.create_90_10_vial_feeding_task( + order_name=f"90%10%小瓶投料-{name}", + speed=speed, + temperature=temperature, + delay_time=delay_time, + # 90%物料 - 主称固体平均分成3份 + percent_90_1_assign_material_name=name, + percent_90_1_target_weigh=str(round(portion_90, 6)), + percent_90_2_assign_material_name=name, + percent_90_2_target_weigh=str(round(portion_90, 6)), + percent_90_3_assign_material_name=name, + percent_90_3_target_weigh=str(round(portion_90, 6)), + # 10%物料 - 滴定固体 + 滴定溶剂（只使用第1个10%小瓶） + percent_10_1_assign_material_name=name, + percent_10_1_target_weigh=str(round(titration_portion, 6)), + percent_10_1_volume=str(round(titration_solvent, 6)), + percent_10_1_liquid_material_name=liquid_material_name, + hold_m_name=hold_m_name + ) + + summary = { + "success": True, + "hold_m_name": hold_m_name, + "material_name": name, + "90_vials": { + "count": 3, + "weight_per_vial": round(portion_90, 6), + "total_weight": round(main_portion, 6) + }, + "10_vials": { + "count": 1, + "solid_weight": round(titration_portion, 6), + "liquid_volume": round(titration_solvent, 6) + } + } + + self.hardware_interface._logger.info( + f"成功创建90%10%小瓶投料任务: {hold_m_name}, " + f"90%物料={portion_90:.6f}g×3, 10%物料={titration_portion:.6f}g+{titration_solvent:.6f}mL" + ) + + # 返回JSON字符串格式 + return json.dumps(summary, ensure_ascii=False) + + except BioyondException: + raise + except Exception as e: + error_msg = f"批量创建90%10%小瓶投料任务时发生未预期的错误: {str(e)}" + self.hardware_interface._logger.error(error_msg) + raise BioyondException(error_msg) + if __name__ == "__main__": bioyond = BioyondDispensingStation(config={ "api_key": "DE9BDDA0", "api_host": "http://192.168.1.200:44388" }) - + + # ============ 原有示例代码 ============ + # 示例1：使用material_id_query查询工作流对应的holdMID workflow_id_1 = "3a15d4a1-3bbe-76f9-a458-292896a338f5" # 二胺溶液配置工作流ID workflow_id_2 = "3a19310d-16b9-9d81-b109-0748e953694b" # 90%10%小瓶投料工作流ID - + #示例2：创建二胺溶液配置任务 - ODA，指定库位名称 # bioyond.create_diamine_solution_task( # order_code="task_oda_" + str(int(datetime.now().timestamp())), @@ -433,7 +694,7 @@ if __name__ == "__main__": # delay_time="600", # hold_m_name="烧杯ODA" # ) - + # bioyond.create_diamine_solution_task( # order_code="task_pda_" + str(int(datetime.now().timestamp())), # order_name="二胺溶液配置-PDA", @@ -446,7 +707,7 @@ if __name__ == "__main__": # delay_time="600", # hold_m_name="烧杯PDA-2" # ) - + # bioyond.create_diamine_solution_task( # order_code="task_mpda_" + str(int(datetime.now().timestamp())), # order_name="二胺溶液配置-MPDA", @@ -462,8 +723,8 @@ if __name__ == "__main__": bioyond.material_id_query("3a19310d-16b9-9d81-b109-0748e953694b") bioyond.material_id_query("3a15d4a1-3bbe-76f9-a458-292896a338f5") - - + + #示例4：创建90%10%小瓶投料任务 # vial_result = bioyond.create_90_10_vial_feeding_task( # order_code="task_vial_" + str(int(datetime.now().timestamp())), @@ -487,7 +748,7 @@ if __name__ == "__main__": # delay_time="1200", # hold_m_name="8.4分装板-1" # ) - + # vial_result = bioyond.create_90_10_vial_feeding_task( # order_code="task_vial_" + str(int(datetime.now().timestamp())), # order_name="90%10%小瓶投料-2", @@ -510,7 +771,7 @@ if __name__ == "__main__": # delay_time="1200", # hold_m_name="8.4分装板-2" # ) - + #启动调度器 #bioyond.scheduler_start() @@ -529,7 +790,7 @@ if __name__ == "__main__": material_data_yp = { "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9", #"code": "物料编码001", - #"barCode": "物料条码001", + #"barCode": "物料条码001", "name": "8.4样品板", "unit": "个", "quantity": 1, @@ -540,7 +801,7 @@ if __name__ == "__main__": "name": "BTDA-1", "quantity": 20, "x": 1, - "y": 1, + "y": 1, #"unit": "单位" "molecular": 1, "Parameters":"{\"molecular\": 1}" @@ -585,7 +846,7 @@ if __name__ == "__main__": material_data_yp = { "typeId": "3a14196e-b7a0-a5da-1931-35f3000281e9", #"code": "物料编码001", - #"barCode": "物料条码001", + #"barCode": "物料条码001", "name": "8.7样品板", "unit": "个", "quantity": 1, @@ -596,7 +857,7 @@ if __name__ == "__main__": "name": "mianfen", "quantity": 13, "x": 1, - "y": 1, + "y": 1, #"unit": "单位" "molecular": 1, "Parameters":"{\"molecular\": 1}" @@ -620,7 +881,7 @@ if __name__ == "__main__": material_data_fzb_1 = { "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4", #"code": "物料编码001", - #"barCode": "物料条码001", + #"barCode": "物料条码001", "name": "8.7分装板", "unit": "个", "quantity": 1, @@ -631,7 +892,7 @@ if __name__ == "__main__": "name": "10%小瓶1", "quantity": 1, "x": 1, - "y": 1, + "y": 1, #"unit": "单位" "molecular": 1, "Parameters":"{\"molecular\": 1}" @@ -642,7 +903,7 @@ if __name__ == "__main__": "name": "10%小瓶2", "quantity": 1, "x": 1, - "y": 2, + "y": 2, #"unit": "单位" "molecular": 1, "Parameters":"{\"molecular\": 1}" @@ -653,7 +914,7 @@ if __name__ == "__main__": "name": "10%小瓶3", "quantity": 1, "x": 1, - "y": 3, + "y": 3, #"unit": "单位" "molecular": 1, "Parameters":"{\"molecular\": 1}" @@ -697,7 +958,7 @@ if __name__ == "__main__": material_data_fzb_2 = { "typeId": "3a14196e-5dfe-6e21-0c79-fe2036d052c4", #"code": "物料编码001", - #"barCode": "物料条码001", + #"barCode": "物料条码001", "name": "8.4分装板-2", "unit": "个", "quantity": 1, @@ -708,7 +969,7 @@ if __name__ == "__main__": "name": "10%小瓶1", "quantity": 1, "x": 1, - "y": 1, + "y": 1, #"unit": "单位" "molecular": 1, "Parameters":"{\"molecular\": 1}" @@ -719,7 +980,7 @@ if __name__ == "__main__": "name": "10%小瓶2", "quantity": 1, "x": 1, - "y": 2, + "y": 2, #"unit": "单位" "molecular": 1, "Parameters":"{\"molecular\": 1}" @@ -730,7 +991,7 @@ if __name__ == "__main__": "name": "10%小瓶3", "quantity": 1, "x": 1, - "y": 3, + "y": 3, #"unit": "单位" "molecular": 1, "Parameters":"{\"molecular\": 1}" @@ -775,7 +1036,7 @@ if __name__ == "__main__": material_data_sb_oda = { "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a", #"code": "物料编码001", - #"barCode": "物料条码001", + #"barCode": "物料条码001", "name": "mianfen1", "unit": "个", "quantity": 1, @@ -785,7 +1046,7 @@ if __name__ == "__main__": material_data_sb_pda_2 = { "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a", #"code": "物料编码001", - #"barCode": "物料条码001", + #"barCode": "物料条码001", "name": "mianfen2", "unit": "个", "quantity": 1, @@ -795,7 +1056,7 @@ if __name__ == "__main__": # material_data_sb_mpda = { # "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a", # #"code": "物料编码001", - # #"barCode": "物料条码001", + # #"barCode": "物料条码001", # "name": "烧杯MPDA", # "unit": "个", # "quantity": 1, diff --git a/unilabos/devices/workstation/bioyond_studio/reaction_station.py b/unilabos/devices/workstation/bioyond_studio/reaction_station.py index 2e2255d8..d35427d2 100644 --- a/unilabos/devices/workstation/bioyond_studio/reaction_station.py +++ b/unilabos/devices/workstation/bioyond_studio/reaction_station.py @@ -58,8 +58,8 @@ class BioyondReactionStation(BioyondWorkstation): Args: assign_material_name: 物料名称（不能为空） - cutoff: 截止值/通量配置（需为有效数字字符串，默认 "900000"） - temperature: 温度上限（°C，范围：-50.00 至 100.00） + cutoff: 粘度上限（需为有效数字字符串，默认 "900000"） + temperature: 温度设定（°C，范围：-50.00 至 100.00） Returns: str: JSON 字符串，格式为 {"suc": True} @@ -113,11 +113,11 @@ class BioyondReactionStation(BioyondWorkstation): """固体进料小瓶 Args: - material_id: 粉末类型ID + material_id: 粉末类型ID，1=盐（21分钟），2=面粉（27分钟），3=BTDA（38分钟） time: 观察时间(分钟) - torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是) + torque_variation: 是否观察(int类型, 1=否, 2=是) assign_material_name: 物料名称(用于获取试剂瓶位ID) - temperature: 温度上限(°C) + temperature: 温度设定(°C) """ self.append_to_workflow_sequence('{"web_workflow_name": "Solid_feeding_vials"}') material_id_m = self.hardware_interface._get_material_id_by_name(assign_material_name) if assign_material_name else None @@ -165,9 +165,9 @@ class BioyondReactionStation(BioyondWorkstation): Args: volume_formula: 分液公式(μL) assign_material_name: 物料名称 - titration_type: 是否滴定(1=滴定, 其他=非滴定) + titration_type: 是否滴定(1=否, 2=是) time: 观察时间(分钟) - torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是) + torque_variation: 是否观察(int类型, 1=否, 2=是) temperature: 温度(°C) """ self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_vials(non-titration)"}') @@ -208,7 +208,8 @@ class BioyondReactionStation(BioyondWorkstation): def liquid_feeding_solvents( self, assign_material_name: str, - volume: str, + volume: str = None, + solvents = None, titration_type: str = "1", time: str = "360", torque_variation: int = 2, @@ -218,12 +219,41 @@ class BioyondReactionStation(BioyondWorkstation): Args: assign_material_name: 物料名称 - volume: 分液量(μL) - titration_type: 是否滴定 + volume: 分液量(μL),直接指定体积(可选,如果提供solvents则自动计算) + solvents: 溶剂信息的字典或JSON字符串(可选),格式如下: + { + "additional_solvent": 33.55092503597727, # 溶剂体积(mL) + "total_liquid_volume": 48.00916988195499 + } + 如果提供solvents,则从中提取additional_solvent并转换为μL + titration_type: 是否滴定(1=否, 2=是) time: 观察时间(分钟) - torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是) - temperature: 温度上限(°C) + torque_variation: 是否观察(int类型, 1=否, 2=是) + temperature: 温度设定(°C) """ + # 处理 volume 参数:优先使用直接传入的 volume,否则从 solvents 中提取 + if volume is None and solvents is not None: + # 参数类型转换:如果是字符串则解析为字典 + if isinstance(solvents, str): + try: + solvents = json.loads(solvents) + except json.JSONDecodeError as e: + raise ValueError(f"solvents参数JSON解析失败: {str(e)}") + + # 参数验证 + if not isinstance(solvents, dict): + raise ValueError("solvents 必须是字典类型或有效的JSON字符串") + + # 提取 additional_solvent 值 + additional_solvent = solvents.get("additional_solvent") + if additional_solvent is None: + raise ValueError("solvents 中没有找到 additional_solvent 字段") + + # 转换为微升(μL) - 从毫升(mL)转换 + volume = str(float(additional_solvent) * 1000) + elif volume is None: + raise ValueError("必须提供 volume 或 solvents 参数之一") + self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding_solvents"}') material_id = self.hardware_interface._get_material_id_by_name(assign_material_name) if material_id is None: @@ -273,9 +303,9 @@ class BioyondReactionStation(BioyondWorkstation): Args: volume_formula: 分液公式(μL) assign_material_name: 物料名称 - titration_type: 是否滴定 + titration_type: 是否滴定(1=否, 2=是) time: 观察时间(分钟) - torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是) + torque_variation: 是否观察(int类型, 1=否, 2=是) temperature: 温度(°C) """ self.append_to_workflow_sequence('{"web_workflow_name": "Liquid_feeding(titration)"}') @@ -328,9 +358,9 @@ class BioyondReactionStation(BioyondWorkstation): volume: 分液量(μL) assign_material_name: 物料名称(试剂瓶位) time: 观察时间(分钟) - torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是) - titration_type: 是否滴定 - temperature: 温度上限(°C) + torque_variation: 是否观察(int类型, 1=否, 2=是) + titration_type: 是否滴定(1=否, 2=是) + temperature: 温度设定(°C) """ self.append_to_workflow_sequence('{"web_workflow_name": "liquid_feeding_beaker"}') material_id = self.hardware_interface._get_material_id_by_name(assign_material_name) @@ -381,9 +411,9 @@ class BioyondReactionStation(BioyondWorkstation): Args: assign_material_name: 物料名称(液体种类) volume: 分液量(μL) - titration_type: 是否滴定 + titration_type: 是否滴定(1=否, 2=是) time: 观察时间(分钟) - torque_variation: 是否观察扭矩变化(int类型, 1=否, 2=是) + torque_variation: 是否观察(int类型, 1=否, 2=是) temperature: 温度(°C) """ self.append_to_workflow_sequence('{"web_workflow_name": "drip_back"}') @@ -605,7 +635,8 @@ class BioyondReactionStation(BioyondWorkstation): total_params += 1 step_parameters[step_id][action_name].append({ "Key": param_key, - "DisplayValue": param_value + "DisplayValue": param_value, + "Value": param_value }) successful_params += 1 # print(f" ✓ {param_key} = {param_value}") diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index 3e3e0b3b..e2f4da88 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -4,6 +4,7 @@ Bioyond Workstation Implementation 集成Bioyond物料管理的工作站示例 """ +import time import traceback from datetime import datetime from typing import Dict, Any, List, Optional, Union diff --git a/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py new file mode 100644 index 00000000..6232fb8c --- /dev/null +++ b/unilabos/devices/workstation/coin_cell_assembly/YB_YH_materials.py @@ -0,0 +1,976 @@ +""" +纽扣电池组装工作站物料类定义 +Button Battery Assembly Station Resource Classes +""" + +from __future__ import annotations + +from collections import OrderedDict +from typing import Any, Dict, List, Optional, TypedDict, Union, cast + +from pylabrobot.resources.coordinate import Coordinate +from pylabrobot.resources.container import Container +from pylabrobot.resources.deck import Deck +from pylabrobot.resources.itemized_resource import ItemizedResource +from pylabrobot.resources.resource import Resource +from pylabrobot.resources.resource_stack import ResourceStack +from pylabrobot.resources.tip_rack import TipRack, TipSpot +from pylabrobot.resources.trash import Trash +from pylabrobot.resources.utils import create_ordered_items_2d + + +class ElectrodeSheetState(TypedDict): + diameter: float # 直径 (mm) + thickness: float # 厚度 (mm) + mass: float # 质量 (g) + material_type: str # 材料类型（正极、负极、隔膜、弹片、垫片、铝箔等） + height: float + electrolyte_name: str + data_electrolyte_code: str + open_circuit_voltage: float + assembly_pressure: float + electrolyte_volume: float + + info: Optional[str] # 附加信息 + +class ElectrodeSheet(Resource): + """极片类 - 包含正负极片、隔膜、弹片、垫片、铝箔等所有片状材料""" + + def __init__( + self, + name: str = "极片", + size_x=10, + size_y=10, + size_z=10, + category: str = "electrode_sheet", + model: Optional[str] = None, + ): + """初始化极片 + + Args: + name: 极片名称 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: ElectrodeSheetState = ElectrodeSheetState( + diameter=14, + thickness=0.1, + mass=0.5, + material_type="copper", + info=None + ) + + # TODO: 这个还要不要？给self._unilabos_state赋值的？ + def load_state(self, state: Dict[str, Any]) -> None: + """格式不变""" + super().load_state(state) + self._unilabos_state = state + #序列化 + def serialize_state(self) -> Dict[str, Dict[str, Any]]: + """格式不变""" + data = super().serialize_state() + data.update(self._unilabos_state) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# TODO: 这个应该只能放一个极片 +class MaterialHoleState(TypedDict): + diameter: int + depth: int + max_sheets: int + info: Optional[str] # 附加信息 + +class MaterialHole(Resource): + """料板洞位类""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "material_hole", + **kwargs + ): + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + ) + self._unilabos_state: MaterialHoleState = MaterialHoleState( + diameter=20, + depth=10, + max_sheets=1, + info=None + ) + + def get_all_sheet_info(self): + info_list = [] + for sheet in self.children: + info_list.append(sheet._unilabos_state["info"]) + return info_list + + #这个函数函数好像没用，一般不会集中赋值质量 + def set_all_sheet_mass(self): + for sheet in self.children: + sheet._unilabos_state["mass"] = 0.5 # 示例：设置质量为0.5g + + 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) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + #移动极片前先取出对象 + def get_sheet_with_name(self, name: str) -> Optional[ElectrodeSheet]: + for sheet in self.children: + if sheet.name == name: + return sheet + return None + + def has_electrode_sheet(self) -> bool: + """检查洞位是否有极片""" + return len(self.children) > 0 + + def assign_child_resource( + self, + resource: ElectrodeSheet, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 这里要改，diameter找不到，加入._unilabos_state后应该没问题 + #if resource._unilabos_state["diameter"] > self._unilabos_state["diameter"]: + # raise ValueError(f"极片直径 {resource._unilabos_state['diameter']} 超过洞位直径 {self._unilabos_state['diameter']}") + #if len(self.children) >= self._unilabos_state["max_sheets"]: + # raise ValueError(f"洞位已满，无法放置更多极片") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_electrode_sheet_info(self, index: int) -> ElectrodeSheet: + return self.children[index] + + + +class MaterialPlateState(TypedDict): + hole_spacing_x: float + hole_spacing_y: float + hole_diameter: float + info: Optional[str] # 附加信息 + +class MaterialPlate(ItemizedResource[MaterialHole]): + """料板类 - 4x4个洞位，每个洞位放1个极片""" + + children: List[MaterialHole] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + ordered_items: Optional[Dict[str, MaterialHole]] = None, + ordering: Optional[OrderedDict[str, str]] = None, + category: str = "material_plate", + model: Optional[str] = None, + fill: bool = False + ): + """初始化料板 + + Args: + name: 料板名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing_x: X方向洞位间距 (mm) + hole_spacing_y: Y方向洞位间距 (mm) + number: 编号 + category: 类别 + model: 型号 + """ + self._unilabos_state: MaterialPlateState = MaterialPlateState( + hole_spacing_x=24.0, + hole_spacing_y=24.0, + hole_diameter=20.0, + info="", + ) + # 创建4x4的洞位 + # TODO: 这里要改，对应不同形状 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(size_x - 4 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(size_y - 4 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 16, + size_y = 16, + size_z = 16, + ) + if fill: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + else: + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=ordered_items, + ordering=ordering, + category=category, + model=model, + ) + + def update_locations(self): + # TODO:调多次相加 + holes = create_ordered_items_2d( + klass=MaterialHole, + num_items_x=4, + num_items_y=4, + dx=(self._size_x - 3 * self._unilabos_state["hole_spacing_x"]) / 2, # 居中 + dy=(self._size_y - 3 * self._unilabos_state["hole_spacing_y"]) / 2, # 居中 + dz=self._size_z, + item_dx=self._unilabos_state["hole_spacing_x"], + item_dy=self._unilabos_state["hole_spacing_y"], + size_x = 1, + size_y = 1, + size_z = 1, + ) + for item, original_item in zip(holes.items(), self.children): + original_item.location = item[1].location + + +class PlateSlot(ResourceStack): + """板槽位类 - 1个槽上能堆放8个板，移板只能操作最上方的板""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + max_plates: int = 8, + category: str = "plate_slot", + model: Optional[str] = None + ): + """初始化板槽位 + + Args: + name: 槽位名称 + max_plates: 最大板数量 + category: 类别 + """ + super().__init__( + name=name, + direction="z", # Z方向堆叠 + resources=[], + ) + self.max_plates = max_plates + self.category = category + + def can_add_plate(self) -> bool: + """检查是否可以添加板""" + return len(self.children) < self.max_plates + + def add_plate(self, plate: MaterialPlate) -> None: + """添加料板""" + if not self.can_add_plate(): + raise ValueError(f"槽位 {self.name} 已满，无法添加更多板") + self.assign_child_resource(plate) + + def get_top_plate(self) -> MaterialPlate: + """获取最上方的板""" + if len(self.children) == 0: + raise ValueError(f"槽位 {self.name} 为空") + return cast(MaterialPlate, self.get_top_item()) + + def take_top_plate(self) -> MaterialPlate: + """取出最上方的板""" + top_plate = self.get_top_plate() + self.unassign_child_resource(top_plate) + return top_plate + + def can_access_for_picking(self) -> bool: + """检查是否可以进行取料操作（只有最上方的板能进行取料操作）""" + return len(self.children) > 0 + + def serialize(self) -> dict: + return { + **super().serialize(), + "max_plates": self.max_plates, + } + + +class ClipMagazineHole(Container): + """子弹夹洞位类""" + + def __init__( + self, + name: str, + diameter: float, + depth: float, + max_sheets: int = 100, + category: str = "clip_magazine_hole", + ): + """初始化子弹夹洞位 + + Args: + name: 洞位名称 + diameter: 洞直径 (mm) + depth: 洞深度 (mm) + max_sheets: 最大极片数量 + category: 类别 + """ + super().__init__( + name=name, + size_x=diameter, + size_y=diameter, + size_z=depth, + category=category, + ) + self.diameter = diameter + self.depth = depth + self.max_sheets = max_sheets + self._sheets: List[ElectrodeSheet] = [] + + def can_add_sheet(self, sheet: ElectrodeSheet) -> bool: + """检查是否可以添加极片""" + return (len(self._sheets) < self.max_sheets and + sheet.diameter <= self.diameter) + + def add_sheet(self, sheet: ElectrodeSheet) -> None: + """添加极片""" + if not self.can_add_sheet(sheet): + raise ValueError(f"无法向洞位 {self.name} 添加极片") + self._sheets.append(sheet) + + def take_sheet(self) -> ElectrodeSheet: + """取出极片""" + if len(self._sheets) == 0: + raise ValueError(f"洞位 {self.name} 没有极片") + return self._sheets.pop() + + def get_sheet_count(self) -> int: + """获取极片数量""" + return len(self._sheets) + + def serialize_state(self) -> Dict[str, Any]: + return { + "sheet_count": len(self._sheets), + "sheets": [sheet.serialize() for sheet in self._sheets], + } + +# TODO: 这个要改 +class ClipMagazine(Resource): + """子弹夹类 - 有6个洞位，每个洞位放多个极片""" + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + hole_diameter: float = 20.0, + hole_depth: float = 50.0, + hole_spacing: float = 25.0, + max_sheets_per_hole: int = 100, + category: str = "clip_magazine", + model: Optional[str] = None, + ): + """初始化子弹夹 + + Args: + name: 子弹夹名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + hole_diameter: 洞直径 (mm) + hole_depth: 洞深度 (mm) + hole_spacing: 洞位间距 (mm) + max_sheets_per_hole: 每个洞位最大极片数量 + category: 类别 + model: 型号 + """ + # 创建6个洞位，排成2x3布局 + holes = create_ordered_items_2d( + klass=ClipMagazineHole, + num_items_x=3, + num_items_y=2, + dx=(size_x - 2 * hole_spacing) / 2, # 居中 + dy=(size_y - hole_spacing) / 2, # 居中 + dz=size_z - 0, + item_dx=hole_spacing, + item_dy=hole_spacing, + diameter=hole_diameter, + depth=hole_depth, + ) + + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=holes, + category=category, + model=model, + ) + + self.hole_diameter = hole_diameter + self.hole_depth = hole_depth + self.max_sheets_per_hole = max_sheets_per_hole + + def serialize(self) -> dict: + return { + **super().serialize(), + "hole_diameter": self.hole_diameter, + "hole_depth": self.hole_depth, + "max_sheets_per_hole": self.max_sheets_per_hole, + } +#是一种类型注解，不用self +class BatteryState(TypedDict): + """电池状态字典""" + diameter: float + height: float + assembly_pressure: float + electrolyte_volume: float + electrolyte_name: str + +class Battery(Resource): + """电池类 - 可容纳极片""" + children: List[ElectrodeSheet] = [] + + def __init__( + self, + name: str, + size_x=1, + size_y=1, + size_z=1, + category: str = "battery", + ): + """初始化电池 + + Args: + name: 电池名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大容量 (μL) + barcode: 二维码编号 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BatteryState = BatteryState( + diameter = 1.0, + height = 1.0, + assembly_pressure = 1.0, + electrolyte_volume = 1.0, + electrolyte_name = "DP001" + ) + + def add_electrolyte_with_bottle(self, bottle: Bottle) -> bool: + to_add_name = bottle._unilabos_state["electrolyte_name"] + if bottle.aspirate_electrolyte(10): + if self.add_electrolyte(to_add_name, 10): + pass + else: + bottle._unilabos_state["electrolyte_volume"] += 10 + + def set_electrolyte(self, name: str, volume: float) -> None: + """设置电解液信息""" + self._unilabos_state["electrolyte_name"] = name + self._unilabos_state["electrolyte_volume"] = volume + #这个应该没用，不会有加了后再加的事情 + def add_electrolyte(self, name: str, volume: float) -> bool: + """添加电解液信息""" + if name != self._unilabos_state["electrolyte_name"]: + return False + self._unilabos_state["electrolyte_volume"] += volume + + 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) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +# 电解液作为属性放进去 + +class BatteryPressSlotState(TypedDict): + """电池状态字典""" + diameter: float =20.0 + depth: float = 4.0 + +class BatteryPressSlot(Resource): + """电池压制槽类 - 设备，可容纳一个电池""" + children: List[Battery] = [] + + def __init__( + self, + name: str = "BatteryPressSlot", + category: str = "battery_press_slot", + ): + """初始化电池压制槽 + + Args: + name: 压制槽名称 + diameter: 直径 (mm) + depth: 深度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=10, + size_y=12, + size_z=13, + category=category, + ) + self._unilabos_state: BatteryPressSlotState = BatteryPressSlotState() + + def has_battery(self) -> bool: + """检查是否有电池""" + return len(self.children) > 0 + + 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) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + def assign_child_resource( + self, + resource: Battery, + location: Optional[Coordinate], + reassign: bool = True, + ): + """放置极片""" + # TODO: 让高京看下槽位只有一个电池时是否这么写。 + if self.has_battery(): + raise ValueError(f"槽位已含有一个电池，无法再放置其他电池") + super().assign_child_resource(resource, location, reassign) + + # 根据children的编号取物料对象。 + def get_battery_info(self, index: int) -> Battery: + return self.children[0] + +# TODO:这个移液枪架子看一下从哪继承 +class TipBox64State(TypedDict): + """电池状态字典""" + tip_diameter: float = 5.0 + tip_length: float = 50.0 + with_tips: bool = True + +class TipBox64(TipRack): + """64孔枪头盒类""" + + children: List[TipSpot] = [] + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "tip_box_64", + model: Optional[str] = None, + ): + """初始化64孔枪头盒 + + Args: + name: 枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + tip_diameter: 枪头直径 (mm) + tip_length: 枪头长度 (mm) + category: 类别 + model: 型号 + with_tips: 是否带枪头 + """ + from pylabrobot.resources.tip import Tip + + # 创建8x8=64个枪头位 + def make_tip(): + return Tip( + has_filter=False, + total_tip_length=20.0, + maximal_volume=1000, # 1mL + fitting_depth=8.0, + ) + + tip_spots = create_ordered_items_2d( + klass=TipSpot, + num_items_x=8, + num_items_y=8, + dx=8.0, + dy=8.0, + dz=0.0, + item_dx=9.0, + item_dy=9.0, + size_x=10, + size_y=10, + size_z=0.0, + make_tip=make_tip, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + ordered_items=tip_spots, + category=category, + model=model, + with_tips=True, + ) + + + +class WasteTipBoxstate(TypedDict): + """"废枪头盒状态字典""" + max_tips: int = 100 + tip_count: int = 0 + +#枪头不是一次性的（同一溶液则反复使用），根据寄存器判断 +class WasteTipBox(Trash): + """废枪头盒类 - 100个枪头容量""" + + def __init__( + self, + name: str, + size_x: float = 127.8, + size_y: float = 85.5, + size_z: float = 60.0, + category: str = "waste_tip_box", + model: Optional[str] = None, + ): + """初始化废枪头盒 + + Args: + name: 废枪头盒名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + max_tips: 最大枪头容量 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + self._unilabos_state: WasteTipBoxstate = WasteTipBoxstate() + + def add_tip(self) -> None: + """添加废枪头""" + if self._unilabos_state["tip_count"] >= self._unilabos_state["max_tips"]: + raise ValueError(f"废枪头盒 {self.name} 已满") + self._unilabos_state["tip_count"] += 1 + + def get_tip_count(self) -> int: + """获取枪头数量""" + return self._unilabos_state["tip_count"] + + def empty(self) -> None: + """清空废枪头盒""" + self._unilabos_state["tip_count"] = 0 + + + 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) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + +class BottleRackState(TypedDict): + """ bottle_diameter: 瓶子直径 (mm) + bottle_height: 瓶子高度 (mm) + position_spacing: 位置间距 (mm)""" + bottle_diameter: float + bottle_height: float + name_to_index: dict + + + +class BottleRack(Resource): + """瓶架类 - 12个待配位置+12个已配位置""" + children: List[Bottle] = [] + + def __init__( + self, + name: str, + size_x: float, + size_y: float, + size_z: float, + category: str = "bottle_rack", + model: Optional[str] = None, + ): + """初始化瓶架 + + Args: + name: 瓶架名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category=category, + model=model, + ) + # TODO: 添加瓶位坐标映射 + self.index_to_pos = { + 0: Coordinate.zero(), + 1: Coordinate(x=1, y=2, z=3) # 添加 + } + self.name_to_index = {} + self.name_to_pos = {} + + 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) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + + # TODO: 这里有些问题要重新写一下 + def assign_child_resource(self, resource: Bottle, location=Coordinate.zero(), reassign = True): + assert len(self.children) <= 12, "瓶架已满，无法添加更多瓶子" + index = len(self.children) + location = Coordinate(x=20 + (index % 4) * 15, y=20 + (index // 4) * 15, z=0) + self.name_to_pos[resource.name] = location + self.name_to_index[resource.name] = index + return super().assign_child_resource(resource, location, reassign) + + def assign_child_resource_by_index(self, resource: Bottle, index: int): + assert 0 <= index < 12, "无效的瓶子索引" + self.name_to_index[resource.name] = index + location = self.index_to_pos[index] + return super().assign_child_resource(resource, location) + + def unassign_child_resource(self, resource: Bottle): + super().unassign_child_resource(resource) + self.index_to_pos.pop(self.name_to_index.pop(resource.name, None), None) + + # def serialize(self): + # self.children.sort(key=lambda x: self.name_to_index.get(x.name, 0)) + # return super().serialize() + + +class BottleState(TypedDict): + diameter: float + height: float + electrolyte_name: str + electrolyte_volume: float + max_volume: float + +class Bottle(Resource): + """瓶子类 - 容纳电解液""" + + def __init__( + self, + name: str, + category: str = "bottle", + ): + """初始化瓶子 + + Args: + name: 瓶子名称 + diameter: 直径 (mm) + height: 高度 (mm) + max_volume: 最大体积 (μL) + barcode: 二维码 + category: 类别 + model: 型号 + """ + super().__init__( + name=name, + size_x=1, + size_y=1, + size_z=1, + category=category, + ) + self._unilabos_state: BottleState = BottleState() + + def aspirate_electrolyte(self, volume: float) -> bool: + current_volume = self._unilabos_state["electrolyte_volume"] + assert current_volume > volume, f"Cannot aspirate {volume}μL, only {current_volume}μL available." + self._unilabos_state["electrolyte_volume"] -= volume + return True + + 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) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） + return data + +class CoincellDeck(Deck): + """纽扣电池组装工作站台面类""" + + def __init__( + self, + name: str = "coin_cell_deck", + size_x: float = 1000.0, # 1m + size_y: float = 1000.0, # 1m + size_z: float = 900.0, # 0.9m + origin: Coordinate = Coordinate(0, 0, 0), + category: str = "coin_cell_deck", + setup: bool = False, # 是否自动执行 setup + ): + """初始化纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) - 1m + size_y: 宽度 (mm) - 1m + size_z: 高度 (mm) - 0.9m + origin: 原点坐标 + category: 类别 + setup: 是否自动执行 setup 配置标准布局 + """ + super().__init__( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + origin=origin, + category=category, + ) + if setup: + self.setup() + + def setup(self) -> None: + """设置工作站的标准布局 - 包含3个料盘""" + # 步骤 1: 创建所有料盘 + self.plates = { + "liaopan1": MaterialPlate( + name="liaopan1", + size_x=120.8, + size_y=120.5, + size_z=10.0, + fill=True + ), + "liaopan2": MaterialPlate( + name="liaopan2", + size_x=120.8, + size_y=120.5, + size_z=10.0, + fill=True + ), + "电池料盘": MaterialPlate( + name="电池料盘", + size_x=120.8, + size_y=160.5, + size_z=10.0, + fill=True + ), + } + + # 步骤 2: 定义料盘在 deck 上的位置 + # Deck 尺寸: 1000×1000mm，料盘尺寸: 120.8×120.5mm 或 120.8×160.5mm + self.plate_locations = { + "liaopan1": Coordinate(x=50, y=50, z=0), # 左上角，留 50mm 边距 + "liaopan2": Coordinate(x=250, y=50, z=0), # 中间，liaopan1 右侧 + "电池料盘": Coordinate(x=450, y=50, z=0), # 右侧 + } + + # 步骤 3: 将料盘分配到 deck 上 + for plate_name, plate in self.plates.items(): + self.assign_child_resource( + plate, + location=self.plate_locations[plate_name] + ) + + # 步骤 4: 为 liaopan1 添加初始极片 + for i in range(16): + jipian = ElectrodeSheet( + name=f"jipian1_{i}", + size_x=12, + size_y=12, + size_z=0.1 + ) + self.plates["liaopan1"].children[i].assign_child_resource( + jipian, + location=None + ) + + +def create_coin_cell_deck(name: str = "coin_cell_deck", size_x: float = 1000.0, size_y: float = 1000.0, size_z: float = 900.0) -> CoincellDeck: + """创建并配置标准的纽扣电池组装工作站台面 + + Args: + name: 台面名称 + size_x: 长度 (mm) + size_y: 宽度 (mm) + size_z: 高度 (mm) + + Returns: + 已配置好的 CoincellDeck 对象 + """ + deck = CoincellDeck(name=name, size_x=size_x, size_y=size_y, size_z=size_z) + deck.setup() + return deck diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index 488717d6..d8bb5975 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -1,33 +1,133 @@ + import csv +import inspect import json import os import threading import time +import types from datetime import datetime from typing import Any, Dict, Optional -from pylabrobot.resources import Resource as PLRResource +from functools import wraps +from pylabrobot.resources import Deck, Resource as PLRResource from unilabos_msgs.msg import Resource from unilabos.device_comms.modbus_plc.client import ModbusTcpClient from unilabos.devices.workstation.workstation_base import WorkstationBase from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import * from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import CoincellDeck +from unilabos.devices.workstation.coin_cell_assembly.YB_YH_materials import CoincellDeck +from unilabos.resources.graphio import convert_resources_to_type +from unilabos.utils.log import logger + + +def _ensure_modbus_slave_kw_alias(modbus_client): + if modbus_client is None: + return + + method_names = [ + "read_coils", + "write_coils", + "write_coil", + "read_discrete_inputs", + "read_holding_registers", + "write_register", + "write_registers", + ] + + def _wrap(func): + signature = inspect.signature(func) + has_var_kwargs = any(param.kind == param.VAR_KEYWORD for param in signature.parameters.values()) + accepts_unit = has_var_kwargs or "unit" in signature.parameters + accepts_slave = has_var_kwargs or "slave" in signature.parameters + + @wraps(func) + def _wrapped(self, *args, **kwargs): + if "slave" in kwargs and not accepts_slave: + slave_value = kwargs.pop("slave") + if accepts_unit and "unit" not in kwargs: + kwargs["unit"] = slave_value + if "unit" in kwargs and not accepts_unit: + unit_value = kwargs.pop("unit") + if accepts_slave and "slave" not in kwargs: + kwargs["slave"] = unit_value + return func(self, *args, **kwargs) + + _wrapped._has_slave_alias = True + return _wrapped + + for name in method_names: + if not hasattr(modbus_client, name): + continue + bound_method = getattr(modbus_client, name) + func = getattr(bound_method, "__func__", None) + if func is None: + continue + if getattr(func, "_has_slave_alias", False): + continue + wrapped = _wrap(func) + setattr(modbus_client, name, types.MethodType(wrapped, modbus_client)) + + +def _coerce_deck_input(deck: Any) -> Optional[Deck]: + if deck is None: + return None + + if isinstance(deck, Deck): + return deck + + if isinstance(deck, PLRResource): + return deck if isinstance(deck, Deck) else None + + candidates = None + if isinstance(deck, dict): + if "nodes" in deck and isinstance(deck["nodes"], list): + candidates = deck["nodes"] + else: + candidates = [deck] + elif isinstance(deck, list): + candidates = deck + + if candidates is None: + return None + + try: + converted = convert_resources_to_type(resources_list=candidates, resource_type=Deck) + if isinstance(converted, Deck): + return converted + if isinstance(converted, list): + for item in converted: + if isinstance(item, Deck): + return item + except Exception as exc: + logger.warning(f"deck 转换 Deck 失败: {exc}") + return None + #构建物料系统 class CoinCellAssemblyWorkstation(WorkstationBase): def __init__( self, - deck: CoincellDeck, - address: str = "192.168.1.20", + deck: Deck=None, + address: str = "172.21.32.111", port: str = "502", - debug_mode: bool = True, + debug_mode: bool = False, *args, **kwargs, ): + if deck is None and "deck" in kwargs: + deck = kwargs.pop("deck") + else: + kwargs.pop("deck", None) + + normalized_deck = _coerce_deck_input(deck) + + if deck is None and isinstance(normalized_deck, Deck): + deck = normalized_deck + super().__init__( #桌子 deck=deck, @@ -35,10 +135,22 @@ class CoinCellAssemblyWorkstation(WorkstationBase): **kwargs, ) self.debug_mode = debug_mode - self.deck = deck + + # 如果没有传入 deck，则创建标准配置的 deck + if self.deck is None: + self.deck = CoincellDeck(size_x=1000, size_y=1000, size_z=900, setup=True) + else: + # 如果传入了 deck 但还没有 setup，可以选择是否 setup + if self.deck is not None and len(self.deck.children) == 0: + # deck 为空，执行 setup + self.deck.setup() + # 否则使用传入的 deck（可能已经配置好了） + self.deck = self.deck + """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) print("modbus_client", modbus_client) + _ensure_modbus_slave_kw_alias(modbus_client.client) if not debug_mode: modbus_client.client.connect() count = 100 @@ -62,8 +174,6 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.csv_export_file = None self.coin_num_N = 0 #已组装电池数量 #创建一个物料台面，包含两个极片板 - #self.deck = create_a_coin_cell_deck() - #self._ros_node.update_resource(self.deck) #ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ @@ -708,7 +818,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): print("data_electrolyte_code", data_electrolyte_code) print("data_coin_cell_code", data_coin_cell_code) #接收完信息后，读取完毕标志位置True - liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") #把物料解绑后放到另一盘上 battery = ElectrodeSheet(name=f"battery_{self.coin_num_N}", size_x=14, size_y=14, size_z=2) battery._unilabos_state = { @@ -721,7 +831,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): liaopan3.children[self.coin_num_N].assign_child_resource(battery, location=None) #print(jipian2.parent) ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] + "resources": [self.deck] }) @@ -782,7 +892,19 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self.success = True return self.success - + def qiming_coin_cell_code(self, fujipian_panshu:int, fujipian_juzhendianwei:int=0, gemopanshu:int=0, gemo_juzhendianwei:int=0, lvbodian:bool=True, battery_pressure_mode:bool=True, battery_pressure:int=4000, battery_clean_ignore:bool=False) -> bool: + self.success = False + self.client.use_node('REG_MSG_NE_PLATE_NUM').write(fujipian_panshu) + self.client.use_node('REG_MSG_NE_PLATE_MATRIX').write(fujipian_juzhendianwei) + self.client.use_node('REG_MSG_SEPARATOR_PLATE_NUM').write(gemopanshu) + self.client.use_node('REG_MSG_SEPARATOR_PLATE_MATRIX').write(gemo_juzhendianwei) + self.client.use_node('COIL_ALUMINUM_FOIL').write(not lvbodian) + self.client.use_node('REG_MSG_PRESS_MODE').write(not battery_pressure_mode) + # self.client.use_node('REG_MSG_ASSEMBLY_PRESSURE').write(battery_pressure) + self.client.use_node('REG_MSG_BATTERY_CLEAN_IGNORE').write(battery_clean_ignore) + self.success = True + + return self.success def func_allpack_cmd(self, elec_num, elec_use_num, elec_vol:int=50, assembly_type:int=7, assembly_pressure:int=4200, file_path: str="D:\\coin_cell_data") -> bool: elec_num, elec_use_num, elec_vol, assembly_type, assembly_pressure = int(elec_num), int(elec_use_num), int(elec_vol), int(assembly_type), int(assembly_pressure) @@ -892,7 +1014,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def fun_wuliao_test(self) -> bool: #找到data_init中构建的2个物料盘 - liaopan3 = self.station_resource.get_resource("\u7535\u6c60\u6599\u76d8") + liaopan3 = self.deck.get_resource("\u7535\u6c60\u6599\u76d8") for i in range(16): battery = ElectrodeSheet(name=f"battery_{i}", size_x=16, size_y=16, size_z=2) battery._unilabos_state = { @@ -905,9 +1027,12 @@ class CoinCellAssemblyWorkstation(WorkstationBase): liaopan3.children[i].assign_child_resource(battery, location=None) ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] + "resources": [self.deck] }) - time.sleep(4) + # for i in range(40): + # print(f"fun_wuliao_test 运行结束{i}") + # time.sleep(1) + # time.sleep(40) # 数据读取与输出 def func_read_data_and_output(self, file_path: str="D:\\coin_cell_data"): # 检查CSV导出是否正在运行，已运行则跳出，防止同时启动两个while循环 @@ -1104,69 +1229,10 @@ class CoinCellAssemblyWorkstation(WorkstationBase): ''' + if __name__ == "__main__": - from pylabrobot.resources import Resource - Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) - #Coin_Cell.func_pack_device_init() - #Coin_Cell.func_pack_device_auto() - #Coin_Cell.func_pack_device_start() - #Coin_Cell.func_pack_send_bottle_num(2) - #Coin_Cell.func_pack_send_msg_cmd(2) - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_get_msg_cmd() - #Coin_Cell.func_pack_send_finished_cmd() -# - #Coin_Cell.func_allpack_cmd(3, 2) - #print(Coin_Cell.data_stack_vision_code) - #print("success") - #创建一个物料台面 - - deck = create_a_coin_cell_deck() - #deck = create_a_full_coin_cell_deck() - - - ##在台面上找到料盘和极片 - #liaopan1 = deck.get_resource("liaopan1") - #liaopan2 = deck.get_resource("liaopan2") - #jipian1 = liaopan1.children[1].children[0] -## - #print(jipian1) - ##把物料解绑后放到另一盘上 - #jipian1.parent.unassign_child_resource(jipian1) - #liaopan2.children[1].assign_child_resource(jipian1, location=None) - ##print(jipian2.parent) - - liaopan1 = deck.get_resource("liaopan1") - liaopan2 = deck.get_resource("liaopan2") - for i in range(16): - #找到liaopan1上每一个jipian - jipian_linshi = liaopan1.children[i].children[0] - #把物料解绑后放到另一盘上 - print("极片:", jipian_linshi) - jipian_linshi.parent.unassign_child_resource(jipian_linshi) - liaopan2.children[i].assign_child_resource(jipian_linshi, location=None) - - - from unilabos.resources.graphio import resource_ulab_to_plr, convert_resources_to_type - #with open("./button_battery_station_resources_unilab.json", "r", encoding="utf-8") as f: - # bioyond_resources_unilab = json.load(f) - #print(f"成功读取 JSON 文件，包含 {len(bioyond_resources_unilab)} 个资源") - #ulab_resources = convert_resources_to_type(bioyond_resources_unilab, List[PLRResource]) - #print(f"转换结果类型: {type(ulab_resources)}") - #print(ulab_resources) - - - - from unilabos.resources.graphio import convert_resources_from_type - from unilabos.config.config import BasicConfig - BasicConfig.ak = "beb0c15f-2279-46a1-aba5-00eaf89aef55" - BasicConfig.sk = "15d4f25e-3512-4f9c-9bfb-43ab85e7b561" - from unilabos.app.web.client import http_client - - resources = convert_resources_from_type([deck], [Resource]) - json.dump({"nodes": resources, "links": []}, open("button_battery_station_resources_unilab.json", "w"), indent=2) - - #print(resources) - http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - - http_client.resource_add(resources) \ No newline at end of file + # 简单测试 + workstation = CoinCellAssemblyWorkstation() + workstation.qiming_coin_cell_code(fujipian_panshu=1, fujipian_juzhendianwei=2, gemopanshu=3, gemo_juzhendianwei=4, lvbodian=False, battery_pressure_mode=False, battery_pressure=4200, battery_clean_ignore=False) + print(f"工作站创建成功: {workstation.deck.name}") + print(f"料盘数量: {len(workstation.deck.children)}") diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv index 836fb712..98f90383 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -43,21 +43,22 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 -COIL_ALUMINUM_FOIL,BOOL,,ʹ,,coil,8340, -REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, -REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, -REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, -REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, -REG_MSG_SEPARATOR_PLATE_NUM,INT16,,Ĥ,,hold_register,453, -REG_MSG_PRESS_MODE,BOOL,,ѹģʽfalse:ѹģʽTrue:ģʽ,,coil,8360,ѹģʽ +COIL_ALUMINUM_FOIL,BOOL,,使用铝箔垫,,coil,8340, +REG_MSG_NE_PLATE_MATRIX,INT16,,负极片矩阵点位,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,隔膜矩阵点位,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,移液枪头矩阵点位,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,负极片盘数,,hold_register,443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,隔膜盘数,,hold_register,453, +REG_MSG_PRESS_MODE,BOOL,,压制模式（false:压力检测模式，True:距离模式）,,coil,8360,电池压制模式 ,,,,,,, -,BOOL,,Ӿλfalse:ʹãtrue:ԣ,,coil,8300,Ӿλ -,BOOL,,죨false:ʹãtrue:ԣ,,coil,8310,Ӿ -,BOOL,,_֣false:ʹãtrue:ԣ,,coil,8320, -,BOOL,,_Ҳ֣false:ʹãtrue:ԣ,,coil,8420,Ҳ -,BOOL,,ռ֪false:ʹãtrue:ԣ,,coil,8350,ռ֪ -,BOOL,,Һģʽfalse:εҺtrue:εҺ,,coil,8370,Һģʽ -,BOOL,,Ƭأfalse:ʹãtrue:ԣ,,coil,8380,Ƭ -,BOOL,,Ƭװʽfalse:װtrue:װ,,coil,8390,װ -,BOOL,,ѹࣨfalse:ʹãtrue:ԣ,,coil,8400,ѹ -,BOOL,,̷̰ʽfalse:ˮƽ̣true:ѵ̣,,coil,8410,Ƭ̷ʽ +,BOOL,,视觉对位（false:使用，true:忽略）,,coil,8300,视觉对位 +,BOOL,,复检（false:使用，true:忽略）,,coil,8310,视觉复检 +,BOOL,,手套箱_左仓（false:使用，true:忽略）,,coil,8320,手套箱左仓 +,BOOL,,手套箱_右仓（false:使用，true:忽略）,,coil,8420,手套箱右仓 +,BOOL,,真空检知（false:使用，true:忽略）,,coil,8350,真空检知 +,BOOL,,电解液添加模式（false:单次滴液，true:二次滴液）,,coil,8370,滴液模式 +,BOOL,,正极片称重（false:使用，true:忽略）,,coil,8380,正极片称重 +,BOOL,,正负极片组装方式（false:正装，true:倒装）,,coil,8390,正负极反装 +,BOOL,,压制清洁（false:使用，true:忽略）,,coil,8400,压制清洁 +,BOOL,,物料盘摆盘方式（false:水平摆盘，true:堆叠摆盘）,,coil,8410,负极片摆盘方式 +REG_MSG_BATTERY_CLEAN_IGNORE,BOOL,,忽略电池清洁（false:使用，true:忽略）,,coil,8460, \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json index 630faa58..36190858 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json +++ b/unilabos/devices/workstation/coin_cell_assembly/new_cellconfig3c.json @@ -1,6 +1,20 @@ { "nodes": [ { + "id": "bioyond_cell_workstation", + "name": "配液分液工站", + "children": [ + ], + "parent": null, + "type": "device", + "class": "bioyond_cell", + "config": { + "protocol_type": [], + "station_resource": {} + }, + "data": {} + }, + { "id": "BatteryStation", "name": "扣电工作站", "children": [ @@ -8,7 +22,7 @@ ], "parent": null, "type": "device", - "class": "bettery_station_registry", + "class": "coincellassemblyworkstation_device", "position": { "x": 600, "y": 400, @@ -16,674 +30,7 @@ }, "config": { "debug_mode": false, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，station_resource写法也固定", - "protocol_type": [], - "station_resource": { - "data": { - "_resource_child_name": "coin_cell_deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", - "port": 502 - }, - "data": {} - }, - { - "id": "coin_cell_deck", - "name": "coin_cell_deck", - "sample_id": null, - "children": [ - "\u7535\u6c60\u6599\u76d8" - ], - "parent": null, - "type": "container", - "class": "", - "position": { - "x": 0, - "y": 0, - "z": 0 - }, - "config": { - "type": "CoincellDeck", - "size_x": 1000, - "size_y": 1000, - "size_z": 900, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "coin_cell_deck", - "barcode": null - }, - "data": {} - }, - { - "id": "\u7535\u6c60\u6599\u76d8", - "name": "\u7535\u6c60\u6599\u76d8", - "sample_id": null, - "children": [ - "\u7535\u6c60\u6599\u76d8_materialhole_0_0", - "\u7535\u6c60\u6599\u76d8_materialhole_0_1", - "\u7535\u6c60\u6599\u76d8_materialhole_0_2", - "\u7535\u6c60\u6599\u76d8_materialhole_0_3", - "\u7535\u6c60\u6599\u76d8_materialhole_1_0", - "\u7535\u6c60\u6599\u76d8_materialhole_1_1", - "\u7535\u6c60\u6599\u76d8_materialhole_1_2", - "\u7535\u6c60\u6599\u76d8_materialhole_1_3", - "\u7535\u6c60\u6599\u76d8_materialhole_2_0", - "\u7535\u6c60\u6599\u76d8_materialhole_2_1", - "\u7535\u6c60\u6599\u76d8_materialhole_2_2", - "\u7535\u6c60\u6599\u76d8_materialhole_2_3", - "\u7535\u6c60\u6599\u76d8_materialhole_3_0", - "\u7535\u6c60\u6599\u76d8_materialhole_3_1", - "\u7535\u6c60\u6599\u76d8_materialhole_3_2", - "\u7535\u6c60\u6599\u76d8_materialhole_3_3" - ], - "parent": "coin_cell_deck", - "type": "container", - "class": "", - "position": { - "x": 100, - "y": 100, - "z": 0 - }, - "config": { - "type": "MaterialPlate", - "size_x": 120.8, - "size_y": 160.5, - "size_z": 10.0, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_plate", - "model": null, - "barcode": null, - "ordering": { - "A1": "\u7535\u6c60\u6599\u76d8_materialhole_0_0", - "B1": "\u7535\u6c60\u6599\u76d8_materialhole_0_1", - "C1": "\u7535\u6c60\u6599\u76d8_materialhole_0_2", - "D1": "\u7535\u6c60\u6599\u76d8_materialhole_0_3", - "A2": "\u7535\u6c60\u6599\u76d8_materialhole_1_0", - "B2": "\u7535\u6c60\u6599\u76d8_materialhole_1_1", - "C2": "\u7535\u6c60\u6599\u76d8_materialhole_1_2", - "D2": "\u7535\u6c60\u6599\u76d8_materialhole_1_3", - "A3": "\u7535\u6c60\u6599\u76d8_materialhole_2_0", - "B3": "\u7535\u6c60\u6599\u76d8_materialhole_2_1", - "C3": "\u7535\u6c60\u6599\u76d8_materialhole_2_2", - "D3": "\u7535\u6c60\u6599\u76d8_materialhole_2_3", - "A4": "\u7535\u6c60\u6599\u76d8_materialhole_3_0", - "B4": "\u7535\u6c60\u6599\u76d8_materialhole_3_1", - "C4": "\u7535\u6c60\u6599\u76d8_materialhole_3_2", - "D4": "\u7535\u6c60\u6599\u76d8_materialhole_3_3" - } - }, - "data": {} - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_0", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_0", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 104.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_1", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_1", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 80.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_2", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_2", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 56.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_0_3", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_0_3", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 12.4, - "y": 32.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_0", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_0", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 104.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_1", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_1", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 80.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_2", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_2", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 56.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_1_3", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_1_3", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 36.4, - "y": 32.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_0", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_0", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 60.4, - "y": 104.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_1", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_1", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 60.4, - "y": 80.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_2", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_2", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 60.4, - "y": 56.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_2_3", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_2_3", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 60.4, - "y": 32.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_0", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_0", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 84.4, - "y": 104.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_1", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_1", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 84.4, - "y": 80.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_2", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_2", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 84.4, - "y": 56.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null - } - }, - { - "id": "\u7535\u6c60\u6599\u76d8_materialhole_3_3", - "name": "\u7535\u6c60\u6599\u76d8_materialhole_3_3", - "sample_id": null, - "children": [], - "parent": "\u7535\u6c60\u6599\u76d8", - "type": "container", - "class": "", - "position": { - "x": 84.4, - "y": 32.25, - "z": 10.0 - }, - "config": { - "type": "MaterialHole", - "size_x": 16, - "size_y": 16, - "size_z": 16, - "rotation": { - "x": 0, - "y": 0, - "z": 0, - "type": "Rotation" - }, - "category": "material_hole", - "model": null, - "barcode": null - }, - "data": { - "diameter": 20, - "depth": 10, - "max_sheets": 1, - "info": null + "protocol_type": [] } } ], diff --git a/unilabos/registry/devices/bioyond.yaml b/unilabos/registry/devices/bioyond.yaml deleted file mode 100644 index fe6f0907..00000000 --- a/unilabos/registry/devices/bioyond.yaml +++ /dev/null @@ -1,255 +0,0 @@ -workstation.bioyond_dispensing_station: - category: - - workstation - - bioyond - class: - action_value_mappings: - create_90_10_vial_feeding_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - order_name: order_name - percent_10_1_assign_material_name: percent_10_1_assign_material_name - percent_10_1_liquid_material_name: percent_10_1_liquid_material_name - percent_10_1_target_weigh: percent_10_1_target_weigh - percent_10_1_volume: percent_10_1_volume - percent_10_2_assign_material_name: percent_10_2_assign_material_name - percent_10_2_liquid_material_name: percent_10_2_liquid_material_name - percent_10_2_target_weigh: percent_10_2_target_weigh - percent_10_2_volume: percent_10_2_volume - percent_10_3_assign_material_name: percent_10_3_assign_material_name - percent_10_3_liquid_material_name: percent_10_3_liquid_material_name - percent_10_3_target_weigh: percent_10_3_target_weigh - percent_10_3_volume: percent_10_3_volume - percent_90_1_assign_material_name: percent_90_1_assign_material_name - percent_90_1_target_weigh: percent_90_1_target_weigh - percent_90_2_assign_material_name: percent_90_2_assign_material_name - percent_90_2_target_weigh: percent_90_2_target_weigh - percent_90_3_assign_material_name: percent_90_3_assign_material_name - percent_90_3_target_weigh: percent_90_3_target_weigh - speed: speed - temperature: temperature - goal_default: - delay_time: '' - hold_m_name: '' - order_name: '' - percent_10_1_assign_material_name: '' - percent_10_1_liquid_material_name: '' - percent_10_1_target_weigh: '' - percent_10_1_volume: '' - percent_10_2_assign_material_name: '' - percent_10_2_liquid_material_name: '' - percent_10_2_target_weigh: '' - percent_10_2_volume: '' - percent_10_3_assign_material_name: '' - percent_10_3_liquid_material_name: '' - percent_10_3_target_weigh: '' - percent_10_3_volume: '' - percent_90_1_assign_material_name: '' - percent_90_1_target_weigh: '' - percent_90_2_assign_material_name: '' - percent_90_2_target_weigh: '' - percent_90_3_assign_material_name: '' - percent_90_3_target_weigh: '' - speed: '' - temperature: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationVialFeed_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - order_name: - type: string - percent_10_1_assign_material_name: - type: string - percent_10_1_liquid_material_name: - type: string - percent_10_1_target_weigh: - type: string - percent_10_1_volume: - type: string - percent_10_2_assign_material_name: - type: string - percent_10_2_liquid_material_name: - type: string - percent_10_2_target_weigh: - type: string - percent_10_2_volume: - type: string - percent_10_3_assign_material_name: - type: string - percent_10_3_liquid_material_name: - type: string - percent_10_3_target_weigh: - type: string - percent_10_3_volume: - type: string - percent_90_1_assign_material_name: - type: string - percent_90_1_target_weigh: - type: string - percent_90_2_assign_material_name: - type: string - percent_90_2_target_weigh: - type: string - percent_90_3_assign_material_name: - type: string - percent_90_3_target_weigh: - type: string - speed: - type: string - temperature: - type: string - required: - - order_name - - percent_90_1_assign_material_name - - percent_90_1_target_weigh - - percent_90_2_assign_material_name - - percent_90_2_target_weigh - - percent_90_3_assign_material_name - - percent_90_3_target_weigh - - percent_10_1_assign_material_name - - percent_10_1_target_weigh - - percent_10_1_volume - - percent_10_1_liquid_material_name - - percent_10_2_assign_material_name - - percent_10_2_target_weigh - - percent_10_2_volume - - percent_10_2_liquid_material_name - - percent_10_3_assign_material_name - - percent_10_3_target_weigh - - percent_10_3_volume - - percent_10_3_liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationVialFeed_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationVialFeed_Result - type: object - required: - - goal - title: DispenStationVialFeed - type: object - type: DispenStationVialFeed - create_diamine_solution_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - material_name: material_name - order_name: order_name - speed: speed - target_weigh: target_weigh - temperature: temperature - volume: volume - goal_default: - delay_time: '' - hold_m_name: '' - liquid_material_name: '' - material_name: '' - order_name: '' - speed: '' - target_weigh: '' - temperature: '' - volume: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationSolnPrep_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - liquid_material_name: - type: string - material_name: - type: string - order_name: - type: string - speed: - type: string - target_weigh: - type: string - temperature: - type: string - volume: - type: string - required: - - order_name - - material_name - - target_weigh - - volume - - liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationSolnPrep_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationSolnPrep_Result - type: object - required: - - goal - title: DispenStationSolnPrep - type: object - type: DispenStationSolnPrep - module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - config: - type: string - deck: - type: string - required: - - config - - deck - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/bioyond_cell.yaml b/unilabos/registry/devices/bioyond_cell.yaml index c50a1a80..a54e7021 100644 --- a/unilabos/registry/devices/bioyond_cell.yaml +++ b/unilabos/registry/devices/bioyond_cell.yaml @@ -137,7 +137,7 @@ bioyond_cell: WH4_x5_y1_z1_5_quantity: 0.0 WH4_x5_y2_z1_10_materialName: '' WH4_x5_y2_z1_10_quantity: 0.0 - xlsx_path: unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx + xlsx_path: unilabos\devices\workstation\bioyond_studio\bioyond_cell\样品导入模板.xlsx handles: {} placeholder_keys: {} result: {} @@ -463,7 +463,7 @@ bioyond_cell: default: 0.0 type: number xlsx_path: - default: unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx + default: unilabos\devices\workstation\bioyond_studio\bioyond_cell\样品导入模板.xlsx type: string required: [] type: object @@ -498,6 +498,63 @@ bioyond_cell: title: auto_feeding4to3_from_xlsx参数 type: object type: UniLabJsonCommand + auto-create_and_inbound_materials: + feedback: {} + goal: {} + goal_default: + material_names: null + type_id: 3a190ca0-b2f6-9aeb-8067-547e72c11469 + warehouse_name: 粉末加样头堆栈 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + material_names: + type: string + type_id: + default: 3a190ca0-b2f6-9aeb-8067-547e72c11469 + type: string + warehouse_name: + default: 粉末加样头堆栈 + type: string + required: [] + type: object + result: {} + required: + - goal + title: create_and_inbound_materials参数 + type: object + type: UniLabJsonCommand + auto-create_materials: + feedback: {} + goal: {} + goal_default: + mappings: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + mappings: + type: object + required: + - mappings + type: object + result: {} + required: + - goal + title: create_materials参数 + type: object + type: UniLabJsonCommand auto-create_orders: feedback: {} goal: {} @@ -576,6 +633,84 @@ bioyond_cell: title: order_list_v2参数 type: object type: UniLabJsonCommand + auto-process_order_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + used_materials: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + used_materials: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_order_finish_report参数 + type: object + type: UniLabJsonCommand + auto-process_sample_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_sample_finish_report参数 + type: object + type: UniLabJsonCommand + auto-process_step_finish_report: + feedback: {} + goal: {} + goal_default: + report_request: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + report_request: + type: string + required: + - report_request + type: object + result: {} + required: + - goal + title: process_step_finish_report参数 + type: object + type: UniLabJsonCommand auto-report_material_change: feedback: {} goal: {} @@ -622,6 +757,27 @@ bioyond_cell: title: scheduler_continue参数 type: object type: UniLabJsonCommand + auto-scheduler_reset: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: scheduler_reset参数 + type: object + type: UniLabJsonCommand auto-scheduler_start: feedback: {} goal: {} @@ -778,6 +934,62 @@ bioyond_cell: title: transfer_3_to_2_to_1参数 type: object type: UniLabJsonCommand + auto-update_push_ip: + feedback: {} + goal: {} + goal_default: + ip: null + port: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + ip: + type: string + port: + type: string + required: [] + type: object + result: {} + required: + - goal + title: update_push_ip参数 + type: object + type: UniLabJsonCommand + auto-wait_for_order_finish: + feedback: {} + goal: {} + goal_default: + order_code: null + timeout: 1800 + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + order_code: + type: string + timeout: + default: 1800 + type: integer + required: + - order_code + type: object + result: {} + required: + - goal + title: wait_for_order_finish参数 + type: object + type: UniLabJsonCommand auto-wait_for_transfer_task: feedback: {} goal: {} diff --git a/unilabos/registry/devices/coin_cell_workstation.yaml b/unilabos/registry/devices/coin_cell_workstation.yaml new file mode 100644 index 00000000..4738946b --- /dev/null +++ b/unilabos/registry/devices/coin_cell_workstation.yaml @@ -0,0 +1,584 @@ +coincellassemblyworkstation_device: + category: + - coin_cell_workstation + class: + action_value_mappings: + auto-change_hole_sheet_to_2: + feedback: {} + goal: {} + goal_default: + hole: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + hole: + type: object + required: + - hole + type: object + result: {} + required: + - goal + title: change_hole_sheet_to_2参数 + type: object + type: UniLabJsonCommandAsync + auto-fill_plate: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fill_plate参数 + type: object + type: UniLabJsonCommandAsync + auto-fun_wuliao_test: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: fun_wuliao_test参数 + type: object + type: UniLabJsonCommand + auto-func_allpack_cmd: + feedback: {} + goal: {} + goal_default: + assembly_pressure: 4200 + assembly_type: 7 + elec_num: null + elec_use_num: null + elec_vol: 50 + file_path: D:\coin_cell_data + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_pressure: + default: 4200 + type: integer + assembly_type: + default: 7 + type: integer + elec_num: + type: string + elec_use_num: + type: string + elec_vol: + default: 50 + type: integer + file_path: + default: D:\coin_cell_data + type: string + required: + - elec_num + - elec_use_num + type: object + result: {} + required: + - goal + title: func_allpack_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_get_csv_export_status: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_get_csv_export_status参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_auto: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_auto参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_init: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_init参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_start: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_start参数 + type: object + type: UniLabJsonCommand + auto-func_pack_device_stop: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_device_stop参数 + type: object + type: UniLabJsonCommand + auto-func_pack_get_msg_cmd: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_pack_get_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_bottle_num: + feedback: {} + goal: {} + goal_default: + bottle_num: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + bottle_num: + type: string + required: + - bottle_num + type: object + result: {} + required: + - goal + title: func_pack_send_bottle_num参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_finished_cmd: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_pack_send_finished_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_pack_send_msg_cmd: + feedback: {} + goal: {} + goal_default: + assembly_pressure: null + assembly_type: null + elec_use_num: null + elec_vol: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + assembly_pressure: + type: string + assembly_type: + type: string + elec_use_num: + type: string + elec_vol: + type: string + required: + - elec_use_num + - elec_vol + - assembly_type + - assembly_pressure + type: object + result: {} + required: + - goal + title: func_pack_send_msg_cmd参数 + type: object + type: UniLabJsonCommand + auto-func_read_data_and_output: + feedback: {} + goal: {} + goal_default: + file_path: D:\coin_cell_data + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + file_path: + default: D:\coin_cell_data + type: string + required: [] + type: object + result: {} + required: + - goal + title: func_read_data_and_output参数 + type: object + type: UniLabJsonCommand + auto-func_stop_read_data: + feedback: {} + goal: {} + goal_default: {} + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: {} + required: [] + type: object + result: {} + required: + - goal + title: func_stop_read_data参数 + type: object + type: UniLabJsonCommand + auto-modify_deck_name: + feedback: {} + goal: {} + goal_default: + resource_name: null + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + resource_name: + type: string + required: + - resource_name + type: object + result: {} + required: + - goal + title: modify_deck_name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: object + required: + - ros_node + type: object + result: {} + required: + - goal + title: post_init参数 + type: object + type: UniLabJsonCommand + auto-qiming_coin_cell_code: + feedback: {} + goal: {} + goal_default: + battery_clean_ignore: false + battery_pressure: 4000 + battery_pressure_mode: true + fujipian_juzhendianwei: 0 + fujipian_panshu: null + gemo_juzhendianwei: 0 + gemopanshu: 0 + lvbodian: true + handles: {} + placeholder_keys: {} + result: {} + schema: + description: '' + properties: + feedback: {} + goal: + properties: + battery_clean_ignore: + default: false + type: boolean + battery_pressure: + default: 4000 + type: integer + battery_pressure_mode: + default: true + type: boolean + fujipian_juzhendianwei: + default: 0 + type: integer + fujipian_panshu: + type: integer + gemo_juzhendianwei: + default: 0 + type: integer + gemopanshu: + default: 0 + type: integer + lvbodian: + default: true + type: boolean + required: + - fujipian_panshu + type: object + result: {} + required: + - goal + title: qiming_coin_cell_code参数 + type: object + type: UniLabJsonCommand + module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation + status_types: + data_assembly_coin_cell_num: int + data_assembly_pressure: int + data_assembly_time: float + data_axis_x_pos: float + data_axis_y_pos: float + data_axis_z_pos: float + data_coin_cell_code: str + data_coin_num: int + data_electrolyte_code: str + data_electrolyte_volume: int + data_glove_box_o2_content: float + data_glove_box_pressure: float + data_glove_box_water_content: float + data_open_circuit_voltage: float + data_pole_weight: float + request_rec_msg_status: bool + request_send_msg_status: bool + sys_mode: str + sys_status: str + type: python + config_info: [] + description: '' + handles: [] + icon: '' + init_param_schema: + config: + properties: + address: + default: 172.21.32.111 + type: string + debug_mode: + default: false + type: boolean + deck: + type: object + port: + default: '502' + type: string + required: [] + type: object + data: + properties: + data_assembly_coin_cell_num: + type: integer + data_assembly_pressure: + type: integer + data_assembly_time: + type: number + data_axis_x_pos: + type: number + data_axis_y_pos: + type: number + data_axis_z_pos: + type: number + data_coin_cell_code: + type: string + data_coin_num: + type: integer + data_electrolyte_code: + type: string + data_electrolyte_volume: + type: integer + data_glove_box_o2_content: + type: number + data_glove_box_pressure: + type: number + data_glove_box_water_content: + type: number + data_open_circuit_voltage: + type: number + data_pole_weight: + type: number + request_rec_msg_status: + type: boolean + request_send_msg_status: + type: boolean + sys_mode: + type: string + sys_status: + type: string + required: + - sys_status + - sys_mode + - request_rec_msg_status + - request_send_msg_status + - data_assembly_coin_cell_num + - data_assembly_time + - data_open_circuit_voltage + - data_axis_x_pos + - data_axis_y_pos + - data_axis_z_pos + - data_pole_weight + - data_assembly_pressure + - data_electrolyte_volume + - data_coin_num + - data_coin_cell_code + - data_electrolyte_code + - data_glove_box_pressure + - data_glove_box_o2_content + - data_glove_box_water_content + type: object + registry_type: device + version: 1.0.0 diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml index 64c0c182..98201a7d 100644 --- a/unilabos/registry/devices/laiyu_liquid.yaml +++ b/unilabos/registry/devices/laiyu_liquid.yaml @@ -1361,7 +1361,8 @@ laiyu_liquid: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -1491,9 +1492,11 @@ laiyu_liquid: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/liquid_handler.yaml b/unilabos/registry/devices/liquid_handler.yaml index 99c92333..b21ccd7e 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -3994,7 +3994,8 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -4150,9 +4151,11 @@ liquid_handler: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -5012,7 +5015,8 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -5155,9 +5159,11 @@ liquid_handler.biomek: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 @@ -7801,7 +7807,8 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -7930,9 +7937,11 @@ liquid_handler.prcxi: mix_stage: type: string mix_times: - maximum: 2147483647 - minimum: -2147483648 - type: integer + items: + maximum: 2147483647 + minimum: -2147483648 + type: integer + type: array mix_vol: maximum: 2147483647 minimum: -2147483648 diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index 875de078..0967ef42 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -1,739 +1 @@ -reaction_station.bioyond: - category: - - work_station - - reaction_station_bioyond - class: - action_value_mappings: - auto-append_to_workflow_sequence: - feedback: {} - goal: {} - goal_default: - web_workflow_name: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - web_workflow_name: - type: string - required: - - web_workflow_name - type: object - result: {} - required: - - goal - title: append_to_workflow_sequence参数 - type: object - type: UniLabJsonCommand - auto-clear_workflows: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: clear_workflows参数 - type: object - type: UniLabJsonCommand - auto-load_bioyond_data_from_file: - feedback: {} - goal: {} - goal_default: - file_path: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - type: string - required: - - file_path - type: object - result: {} - required: - - goal - title: load_bioyond_data_from_file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: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - auto-process_web_workflows: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: process_web_workflows参数 - type: object - type: UniLabJsonCommand - auto-reset_workstation: - feedback: {} - goal: {} - goal_default: {} - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: reset_workstation参数 - type: object - type: UniLabJsonCommand - auto-resource_tree_add: - feedback: {} - goal: {} - goal_default: - resources: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - resources: - items: - type: object - type: array - required: - - resources - type: object - result: {} - required: - - goal - title: resource_tree_add参数 - type: object - type: UniLabJsonCommand - auto-set_workflow_sequence: - feedback: {} - goal: {} - goal_default: - json_str: null - handles: {} - placeholder_keys: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - json_str: - type: string - required: - - json_str - type: object - result: {} - required: - - goal - title: set_workflow_sequence参数 - type: object - type: UniLabJsonCommand - auto-transfer_resource_to_another: - feedback: {} - goal: {} - goal_default: - mount_device_id: null - mount_resource: null - resource: null - sites: null - handles: {} - placeholder_keys: - mount_device_id: unilabos_devices - mount_resource: unilabos_resources - resource: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - mount_device_id: - type: object - mount_resource: - 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: mount_resource - type: object - type: array - resource: - 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: resource - type: object - type: array - sites: - items: - type: string - type: array - required: - - resource - - mount_resource - - sites - - mount_device_id - type: object - result: {} - required: - - goal - title: transfer_resource_to_another参数 - type: object - type: UniLabJsonCommand - bioyond_sync: - feedback: {} - goal: - force_sync: force_sync - sync_type: sync_type - goal_default: - force_sync: false - sync_type: full - handles: {} - result: {} - schema: - description: 从Bioyond系统同步物料 - properties: - feedback: {} - goal: - properties: - force_sync: - description: 是否强制同步 - type: boolean - sync_type: - description: 同步类型 - enum: - - full - - incremental - type: string - required: - - sync_type - type: object - result: {} - required: - - goal - title: bioyond_sync参数 - type: object - type: UniLabJsonCommand - bioyond_update: - feedback: {} - goal: - material_ids: material_ids - sync_all: sync_all - goal_default: - material_ids: [] - sync_all: true - handles: {} - result: {} - schema: - description: 将本地物料变更同步到Bioyond - properties: - feedback: {} - goal: - properties: - material_ids: - description: 要同步的物料ID列表 - items: - type: string - type: array - sync_all: - description: 是否同步所有物料 - type: boolean - required: - - sync_all - type: object - result: {} - required: - - goal - title: bioyond_update参数 - type: object - type: UniLabJsonCommand - reaction_station_drip_back: - feedback: {} - goal: - assign_material_name: assign_material_name - time: time - torque_variation: torque_variation - volume: volume - goal_default: - assign_material_name: '' - time: '' - torque_variation: '' - volume: '' - handles: {} - result: {} - schema: - description: 反应站滴回操作 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 溶剂名称 - type: string - time: - description: 观察时间（单位min） - type: string - torque_variation: - description: 是否观察1否2是 - type: string - volume: - description: 投料体积 - type: string - required: - - volume - - assign_material_name - - time - - torque_variation - type: object - result: {} - required: - - goal - title: reaction_station_drip_back参数 - type: object - type: UniLabJsonCommand - reaction_station_liquid_feed: - feedback: {} - goal: - assign_material_name: assign_material_name - time: time - titration_type: titration_type - torque_variation: torque_variation - volume: volume - goal_default: - assign_material_name: '' - time: '' - titration_type: '' - torque_variation: '' - volume: '' - handles: {} - result: {} - schema: - description: 反应站液体进料操作 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 溶剂名称 - type: string - time: - description: 观察时间（单位min） - type: string - titration_type: - description: 滴定类型1否2是 - type: string - torque_variation: - description: 是否观察1否2是 - type: string - volume: - description: 投料体积 - type: string - required: - - titration_type - - volume - - assign_material_name - - time - - torque_variation - type: object - result: {} - required: - - goal - title: reaction_station_liquid_feed参数 - type: object - type: UniLabJsonCommand - reaction_station_process_execute: - feedback: {} - goal: - task_name: task_name - workflow_name: workflow_name - goal_default: - task_name: '' - workflow_name: '' - handles: {} - result: {} - schema: - description: 反应站流程执行 - properties: - feedback: {} - goal: - properties: - task_name: - description: 任务名称 - type: string - workflow_name: - description: 工作流名称 - type: string - required: - - workflow_name - - task_name - type: object - result: {} - required: - - goal - title: reaction_station_process_execute参数 - type: object - type: UniLabJsonCommand - reaction_station_reactor_taken_out: - feedback: {} - goal: - order_id: order_id - preintake_id: preintake_id - goal_default: - order_id: '' - preintake_id: '' - handles: {} - result: {} - schema: - description: 反应站反应器取出操作 - 通过订单ID和预取样ID进行精确控制 - properties: - feedback: {} - goal: - properties: - order_id: - description: 订单ID，用于标识要取出的订单 - type: string - preintake_id: - description: 预取样ID，用于标识具体的取样任务 - type: string - required: [] - type: object - result: - properties: - code: - description: 操作结果代码（1表示成功，0表示失败） - type: integer - return_info: - description: 操作结果详细信息 - type: string - type: object - required: - - goal - title: reaction_station_reactor_taken_out参数 - type: object - type: UniLabJsonCommand - reaction_station_solid_feed_vial: - feedback: {} - goal: - assign_material_name: assign_material_name - material_id: material_id - time: time - torque_variation: torque_variation - goal_default: - assign_material_name: '' - material_id: '' - time: '' - torque_variation: '' - handles: {} - result: {} - schema: - description: 反应站固体进料操作 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 固体名称_粉末加样模块-投料 - type: string - material_id: - description: 固体投料类型_粉末加样模块-投料 - type: string - time: - description: 观察时间_反应模块-观察搅拌结果 - type: string - torque_variation: - description: 是否观察1否2是_反应模块-观察搅拌结果 - type: string - required: - - assign_material_name - - material_id - - time - - torque_variation - type: object - result: {} - required: - - goal - title: reaction_station_solid_feed_vial参数 - type: object - type: UniLabJsonCommand - reaction_station_take_in: - feedback: {} - goal: - assign_material_name: assign_material_name - cutoff: cutoff - temperature: temperature - goal_default: - assign_material_name: '' - cutoff: '' - temperature: '' - handles: {} - result: {} - schema: - description: 反应站取入操作 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称 - type: string - cutoff: - description: 截止参数 - type: string - temperature: - description: 温度 - type: string - required: - - cutoff - - temperature - - assign_material_name - type: object - result: {} - required: - - goal - title: reaction_station_take_in参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.bioyond_studio.station:BioyondWorkstation - protocol_type: [] - status_types: - all_workflows: dict - bioyond_status: dict - station_info: dict - workstation_status: dict - type: python - config_info: [] - description: Bioyond反应站 - 专门用于化学反应操作的工作站 - handles: [] - icon: 反应站.webp - init_param_schema: - config: - properties: - bioyond_config: - type: string - deck: - type: string - required: [] - type: object - data: - properties: - all_workflows: - type: object - bioyond_status: - type: object - station_info: - type: object - workstation_status: - type: object - required: - - bioyond_status - - all_workflows - - station_info - - workstation_status - type: object - version: 1.0.0 +{} diff --git a/unilabos/registry/devices/work_station.yaml b/unilabos/registry/devices/work_station.yaml deleted file mode 100644 index ba076917..00000000 --- a/unilabos/registry/devices/work_station.yaml +++ /dev/null @@ -1,6698 +0,0 @@ -bettery_station_registry: - category: - - work_station - class: - action_value_mappings: - auto-change_hole_sheet_to_2: - feedback: {} - goal: {} - goal_default: - hole: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - hole: - type: object - required: - - hole - type: object - result: {} - required: - - goal - title: change_hole_sheet_to_2参数 - type: object - type: UniLabJsonCommandAsync - auto-fill_plate: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: fill_plate参数 - type: object - type: UniLabJsonCommandAsync - auto-fun_wuliao_test: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: fun_wuliao_test参数 - type: object - type: UniLabJsonCommand - auto-func_allpack_cmd: - feedback: {} - goal: {} - goal_default: - assembly_pressure: 4200 - assembly_type: 7 - elec_num: null - elec_use_num: null - elec_vol: 50 - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - assembly_pressure: - default: 4200 - type: integer - assembly_type: - default: 7 - type: integer - elec_num: - type: string - elec_use_num: - type: string - elec_vol: - default: 50 - type: integer - file_path: - default: D:\coin_cell_data - type: string - required: - - elec_num - - elec_use_num - type: object - result: {} - required: - - goal - title: func_allpack_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_get_csv_export_status: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_get_csv_export_status参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_auto: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_auto参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_init: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_init参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_start: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_start参数 - type: object - type: UniLabJsonCommand - auto-func_pack_device_stop: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_device_stop参数 - type: object - type: UniLabJsonCommand - auto-func_pack_get_msg_cmd: - feedback: {} - goal: {} - goal_default: - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - default: D:\coin_cell_data - type: string - required: [] - type: object - result: {} - required: - - goal - title: func_pack_get_msg_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_bottle_num: - feedback: {} - goal: {} - goal_default: - bottle_num: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - bottle_num: - type: string - required: - - bottle_num - type: object - result: {} - required: - - goal - title: func_pack_send_bottle_num参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_finished_cmd: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_pack_send_finished_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_pack_send_msg_cmd: - feedback: {} - goal: {} - goal_default: - assembly_pressure: null - assembly_type: null - elec_use_num: null - elec_vol: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - assembly_pressure: - type: string - assembly_type: - type: string - elec_use_num: - type: string - elec_vol: - type: string - required: - - elec_use_num - - elec_vol - - assembly_type - - assembly_pressure - type: object - result: {} - required: - - goal - title: func_pack_send_msg_cmd参数 - type: object - type: UniLabJsonCommand - auto-func_read_data_and_output: - feedback: {} - goal: {} - goal_default: - file_path: D:\coin_cell_data - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - file_path: - default: D:\coin_cell_data - type: string - required: [] - type: object - result: {} - required: - - goal - title: func_read_data_and_output参数 - type: object - type: UniLabJsonCommand - auto-func_stop_read_data: - feedback: {} - goal: {} - goal_default: {} - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: {} - required: [] - type: object - result: {} - required: - - goal - title: func_stop_read_data参数 - type: object - type: UniLabJsonCommand - auto-modify_deck_name: - feedback: {} - goal: {} - goal_default: - resource_name: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - resource_name: - type: string - required: - - resource_name - type: object - result: {} - required: - - goal - title: modify_deck_name参数 - type: object - type: UniLabJsonCommand - auto-post_init: - feedback: {} - goal: {} - goal_default: - ros_node: null - handles: {} - result: {} - schema: - description: '' - properties: - feedback: {} - goal: - properties: - ros_node: - type: object - required: - - ros_node - type: object - result: {} - required: - - goal - title: post_init参数 - type: object - type: UniLabJsonCommand - module: unilabos.devices.workstation.coin_cell_assembly.coin_cell_assembly:CoinCellAssemblyWorkstation - status_types: - data_assembly_coin_cell_num: int - data_assembly_pressure: int - data_assembly_time: float - data_axis_x_pos: float - data_axis_y_pos: float - data_axis_z_pos: float - data_coin_cell_code: str - data_coin_num: int - data_electrolyte_code: str - data_electrolyte_volume: int - data_glove_box_o2_content: float - data_glove_box_pressure: float - data_glove_box_water_content: float - data_open_circuit_voltage: float - data_pole_weight: float - request_rec_msg_status: bool - request_send_msg_status: bool - sys_mode: str - sys_status: str - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - address: - default: 192.168.1.20 - type: string - debug_mode: - default: true - type: boolean - port: - default: '502' - type: string - station_resource: - type: object - required: - - station_resource - type: object - data: - properties: - data_assembly_coin_cell_num: - type: integer - data_assembly_pressure: - type: integer - data_assembly_time: - type: number - data_axis_x_pos: - type: number - data_axis_y_pos: - type: number - data_axis_z_pos: - type: number - data_coin_cell_code: - type: string - data_coin_num: - type: integer - data_electrolyte_code: - type: string - data_electrolyte_volume: - type: integer - data_glove_box_o2_content: - type: number - data_glove_box_pressure: - type: number - data_glove_box_water_content: - type: number - data_open_circuit_voltage: - type: number - data_pole_weight: - type: number - request_rec_msg_status: - type: boolean - request_send_msg_status: - type: boolean - sys_mode: - type: string - sys_status: - type: string - required: - - sys_status - - sys_mode - - request_rec_msg_status - - request_send_msg_status - - data_assembly_coin_cell_num - - data_assembly_time - - data_open_circuit_voltage - - data_axis_x_pos - - data_axis_y_pos - - data_axis_z_pos - - data_pole_weight - - data_assembly_pressure - - data_electrolyte_volume - - data_coin_num - - data_coin_cell_code - - data_electrolyte_code - - data_glove_box_pressure - - data_glove_box_o2_content - - data_glove_box_water_content - type: object - version: 1.0.0 -workstation: - category: - - work_station - class: - action_value_mappings: - AGVTransferProtocol: - feedback: {} - goal: - from_repo: from_repo - from_repo_position: from_repo_position - to_repo: to_repo - to_repo_position: to_repo_position - goal_default: - from_repo: - 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: '' - from_repo_position: '' - to_repo: - 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: '' - to_repo_position: '' - handles: {} - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: AGVTransfer_Feedback - type: object - goal: - properties: - from_repo: - 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: from_repo - type: object - from_repo_position: - type: string - to_repo: - 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_repo - type: object - to_repo_position: - type: string - required: - - from_repo - - from_repo_position - - to_repo - - to_repo_position - title: AGVTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: AGVTransfer_Result - type: object - required: - - goal - title: AGVTransfer - type: object - type: AGVTransfer - AddProtocol: - feedback: {} - goal: - amount: amount - equiv: equiv - event: event - mass: mass - mol: mol - purpose: purpose - rate_spec: rate_spec - ratio: ratio - reagent: reagent - stir: stir - stir_speed: stir_speed - time: time - vessel: vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - equiv: '' - event: '' - mass: '' - mol: '' - purpose: '' - rate_spec: '' - ratio: '' - reagent: '' - stir: false - stir_speed: 0.0 - time: '' - vessel: - 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: '' - viscous: false - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: Add_Feedback - type: object - goal: - properties: - amount: - type: string - equiv: - type: string - event: - type: string - mass: - type: string - mol: - type: string - purpose: - type: string - rate_spec: - type: string - ratio: - type: string - reagent: - type: string - stir: - type: boolean - stir_speed: - type: number - time: - type: string - vessel: - 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: vessel - type: object - viscous: - type: boolean - volume: - type: string - required: - - vessel - - reagent - - volume - - mass - - amount - - time - - stir - - stir_speed - - viscous - - purpose - - event - - mol - - rate_spec - - equiv - - ratio - title: Add_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Add_Result - type: object - required: - - goal - title: Add - type: object - type: Add - AdjustPHProtocol: - feedback: {} - goal: - ph_value: ph_value - reagent: reagent - settling_time: settling_time - stir: stir - stir_speed: stir_speed - stir_time: stir_time - vessel: vessel - volume: volume - goal_default: - ph_value: 0.0 - reagent: '' - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: AdjustPH_Feedback - type: object - goal: - properties: - ph_value: - type: number - reagent: - type: string - vessel: - 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: vessel - type: object - required: - - vessel - - ph_value - - reagent - title: AdjustPH_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: AdjustPH_Result - type: object - required: - - goal - title: AdjustPH - type: object - type: AdjustPH - CentrifugeProtocol: - feedback: {} - goal: - speed: speed - temp: temp - time: time - vessel: vessel - goal_default: - speed: 0.0 - temp: 0.0 - time: 0.0 - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - current_temp: - type: number - progress: - type: number - required: - - progress - - current_speed - - current_temp - - current_status - title: Centrifuge_Feedback - type: object - goal: - properties: - speed: - type: number - temp: - type: number - time: - type: number - vessel: - 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: vessel - type: object - required: - - vessel - - speed - - time - - temp - title: Centrifuge_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Centrifuge_Result - type: object - required: - - goal - title: Centrifuge - type: object - type: Centrifuge - CleanProtocol: - feedback: {} - goal: - repeats: repeats - solvent: solvent - temp: temp - vessel: vessel - volume: volume - goal_default: - repeats: 0 - solvent: '' - temp: 0.0 - vessel: - 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: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Clean_Feedback - type: object - goal: - properties: - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - solvent: - type: string - temp: - type: number - vessel: - 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: vessel - type: object - volume: - type: number - required: - - vessel - - solvent - - volume - - temp - - repeats - title: Clean_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Clean_Result - type: object - required: - - goal - title: Clean - type: object - type: Clean - CleanVesselProtocol: - feedback: {} - goal: - repeats: repeats - solvent: solvent - temp: temp - vessel: vessel - volume: volume - goal_default: - repeats: 0 - solvent: '' - temp: 0.0 - vessel: - 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: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: CleanVessel_Feedback - type: object - goal: - properties: - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - solvent: - type: string - temp: - type: number - vessel: - 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: vessel - type: object - volume: - type: number - required: - - vessel - - solvent - - volume - - temp - - repeats - title: CleanVessel_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: CleanVessel_Result - type: object - required: - - goal - title: CleanVessel - type: object - type: CleanVessel - DissolveProtocol: - feedback: {} - goal: - amount: amount - event: event - mass: mass - mol: mol - reagent: reagent - solvent: solvent - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - volume: volume - goal_default: - amount: '' - event: '' - mass: '' - mol: '' - reagent: '' - solvent: '' - stir_speed: 0.0 - temp: '' - time: '' - vessel: - 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: '' - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - - data_key: reagent - data_source: handle - data_type: resource - handler_key: reagent - label: Reagent - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Dissolve_Feedback - type: object - goal: - properties: - amount: - type: string - event: - type: string - mass: - type: string - mol: - type: string - reagent: - type: string - solvent: - type: string - stir_speed: - type: number - temp: - type: string - time: - type: string - vessel: - 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: vessel - type: object - volume: - type: string - required: - - vessel - - solvent - - volume - - amount - - temp - - time - - stir_speed - - mass - - mol - - reagent - - event - title: Dissolve_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dissolve_Result - type: object - required: - - goal - title: Dissolve - type: object - type: Dissolve - DryProtocol: - feedback: {} - goal: - compound: compound - vessel: vessel - goal_default: - compound: '' - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Dry_Feedback - type: object - goal: - properties: - compound: - type: string - vessel: - 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: vessel - type: object - required: - - compound - - vessel - title: Dry_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Dry_Result - type: object - required: - - goal - title: Dry - type: object - type: Dry - EvacuateAndRefillProtocol: - feedback: {} - goal: - gas: gas - vessel: vessel - goal_default: - gas: '' - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: EvacuateAndRefill_Feedback - type: object - goal: - properties: - gas: - type: string - vessel: - 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: vessel - type: object - required: - - vessel - - gas - title: EvacuateAndRefill_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: EvacuateAndRefill_Result - type: object - required: - - goal - title: EvacuateAndRefill - type: object - type: EvacuateAndRefill - EvaporateProtocol: - feedback: {} - goal: - pressure: pressure - solvent: solvent - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - goal_default: - pressure: 0.0 - solvent: '' - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Evaporation Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Eluting Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: VesselOut - label: Evaporation Vessel - placeholder_keys: - vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: Evaporate_Feedback - type: object - goal: - properties: - pressure: - type: number - solvent: - type: string - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - 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: vessel - type: object - required: - - vessel - - pressure - - temp - - time - - stir_speed - - solvent - title: Evaporate_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: Evaporate_Result - type: object - required: - - goal - title: Evaporate - type: object - type: Evaporate - FilterProtocol: - feedback: {} - goal: - continue_heatchill: continue_heatchill - filtrate_vessel: filtrate_vessel - stir: stir - stir_speed: stir_speed - temp: temp - vessel: vessel - volume: volume - goal_default: - continue_heatchill: false - filtrate_vessel: - 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: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - vessel: - 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: '' - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: filtrate_vessel - data_source: handle - data_type: resource - handler_key: FiltrateVessel - label: Filtrate Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - - data_key: filtrate_vessel - data_source: executor - data_type: resource - handler_key: FiltrateOut - label: Filtrate Vessel - placeholder_keys: - filtrate_vessel: unilabos_resources - vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - current_temp: - type: number - filtered_volume: - type: number - progress: - type: number - required: - - progress - - current_temp - - filtered_volume - - current_status - title: Filter_Feedback - type: object - goal: - properties: - continue_heatchill: - type: boolean - filtrate_vessel: - 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: filtrate_vessel - type: object - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - vessel: - 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: vessel - type: object - volume: - type: number - required: - - vessel - - filtrate_vessel - - stir - - stir_speed - - temp - - continue_heatchill - - volume - title: Filter_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Filter_Result - type: object - required: - - goal - title: Filter - type: object - type: Filter - FilterThroughProtocol: - feedback: {} - goal: - eluting_repeats: eluting_repeats - eluting_solvent: eluting_solvent - eluting_volume: eluting_volume - filter_through: filter_through - from_vessel: from_vessel - residence_time: residence_time - to_vessel: to_vessel - goal_default: - eluting_repeats: 0 - eluting_solvent: '' - eluting_volume: 0.0 - filter_through: - 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: '' - from_vessel: - 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: '' - residence_time: 0.0 - to_vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Eluting Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_resources - to_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: FilterThrough_Feedback - type: object - goal: - properties: - eluting_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - eluting_solvent: - type: string - eluting_volume: - type: number - filter_through: - 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: filter_through - type: object - from_vessel: - 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: from_vessel - type: object - residence_time: - type: number - to_vessel: - 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_vessel - type: object - required: - - from_vessel - - to_vessel - - filter_through - - eluting_solvent - - eluting_volume - - eluting_repeats - - residence_time - title: FilterThrough_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: FilterThrough_Result - type: object - required: - - goal - title: FilterThrough - type: object - type: FilterThrough - HeatChillProtocol: - feedback: {} - goal: - pressure: pressure - purpose: purpose - reflux_solvent: reflux_solvent - stir: stir - stir_speed: stir_speed - temp: temp - temp_spec: temp_spec - time: time - time_spec: time_spec - vessel: vessel - goal_default: - pressure: '' - purpose: '' - reflux_solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - temp_spec: '' - time: '' - time_spec: '' - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChill_Feedback - type: object - goal: - properties: - pressure: - type: string - purpose: - type: string - reflux_solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - temp_spec: - type: string - time: - type: string - time_spec: - type: string - vessel: - 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: vessel - type: object - required: - - vessel - - temp - - time - - temp_spec - - time_spec - - pressure - - reflux_solvent - - stir - - stir_speed - - purpose - title: HeatChill_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: HeatChill_Result - type: object - required: - - goal - title: HeatChill - type: object - type: HeatChill - HeatChillStartProtocol: - feedback: {} - goal: - purpose: purpose - temp: temp - vessel: vessel - goal_default: - purpose: '' - temp: 0.0 - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStart_Feedback - type: object - goal: - properties: - purpose: - type: string - temp: - type: number - vessel: - 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: vessel - type: object - required: - - vessel - - temp - - purpose - title: HeatChillStart_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStart_Result - type: object - required: - - goal - title: HeatChillStart - type: object - type: HeatChillStart - HeatChillStopProtocol: - feedback: {} - goal: - vessel: vessel - goal_default: - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: HeatChillStop_Feedback - type: object - goal: - properties: - vessel: - 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: vessel - type: object - required: - - vessel - title: HeatChillStop_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: HeatChillStop_Result - type: object - required: - - goal - title: HeatChillStop - type: object - type: HeatChillStop - HydrogenateProtocol: - feedback: {} - goal: - temp: temp - time: time - vessel: vessel - goal_default: - temp: '' - time: '' - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Hydrogenate_Feedback - type: object - goal: - properties: - temp: - type: string - time: - type: string - vessel: - 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: vessel - type: object - required: - - temp - - time - - vessel - title: Hydrogenate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Hydrogenate_Result - type: object - required: - - goal - title: Hydrogenate - type: object - type: Hydrogenate - PumpTransferProtocol: - feedback: {} - goal: - amount: amount - event: event - flowrate: flowrate - from_vessel: from_vessel - rate_spec: rate_spec - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - through: through - time: time - to_vessel: to_vessel - transfer_flowrate: transfer_flowrate - viscous: viscous - volume: volume - goal_default: - amount: '' - event: '' - flowrate: 0.0 - from_vessel: - 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: '' - rate_spec: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - through: '' - time: 0.0 - to_vessel: - 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: '' - transfer_flowrate: 0.0 - viscous: false - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Rinsing Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_nodes - to_vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_device: - type: string - status: - type: string - time_remaining: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_remaining - type: object - time_spent: - properties: - nanosec: - maximum: 4294967295 - minimum: 0 - type: integer - sec: - maximum: 2147483647 - minimum: -2147483648 - type: integer - required: - - sec - - nanosec - title: time_spent - type: object - required: - - status - - current_device - - time_spent - - time_remaining - title: PumpTransfer_Feedback - type: object - goal: - properties: - amount: - type: string - event: - type: string - flowrate: - type: number - from_vessel: - 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: from_vessel - type: object - rate_spec: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - through: - type: string - time: - type: number - to_vessel: - 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_vessel - type: object - transfer_flowrate: - type: number - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - - flowrate - - transfer_flowrate - - rate_spec - - event - - through - title: PumpTransfer_Goal - type: object - result: - properties: - return_info: - type: string - success: - type: boolean - required: - - return_info - - success - title: PumpTransfer_Result - type: object - required: - - goal - title: PumpTransfer - type: object - type: PumpTransfer - RecrystallizeProtocol: - feedback: {} - goal: - ratio: ratio - solvent1: solvent1 - solvent2: solvent2 - vessel: vessel - volume: volume - goal_default: - ratio: '' - solvent1: '' - solvent2: '' - vessel: - 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: '' - volume: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent1 - data_source: handle - data_type: resource - handler_key: solvent1 - label: Solvent 1 - - data_key: solvent2 - data_source: handle - data_type: resource - handler_key: solvent2 - label: Solvent 2 - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Recrystallize_Feedback - type: object - goal: - properties: - ratio: - type: string - solvent1: - type: string - solvent2: - type: string - vessel: - 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: vessel - type: object - volume: - type: string - required: - - ratio - - solvent1 - - solvent2 - - vessel - - volume - title: Recrystallize_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Recrystallize_Result - type: object - required: - - goal - title: Recrystallize - type: object - type: Recrystallize - ResetHandlingProtocol: - feedback: {} - goal: - solvent: solvent - goal_default: - solvent: '' - vessel: - 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: - input: - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: [] - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: ResetHandling_Feedback - type: object - goal: - properties: - solvent: - type: string - vessel: - 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: vessel - type: object - required: - - solvent - - vessel - title: ResetHandling_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: ResetHandling_Result - type: object - required: - - goal - title: ResetHandling - type: object - type: ResetHandling - RunColumnProtocol: - feedback: {} - goal: - column: column - from_vessel: from_vessel - to_vessel: to_vessel - goal_default: - column: '' - from_vessel: - 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: '' - pct1: '' - pct2: '' - ratio: '' - rf: '' - solvent1: '' - solvent2: '' - to_vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - column: unilabos_devices - from_vessel: unilabos_resources - to_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: RunColumn_Feedback - type: object - goal: - properties: - column: - type: string - from_vessel: - 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: from_vessel - type: object - pct1: - type: string - pct2: - type: string - ratio: - type: string - rf: - type: string - solvent1: - type: string - solvent2: - type: string - to_vessel: - 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_vessel - type: object - required: - - from_vessel - - to_vessel - - column - - rf - - pct1 - - pct2 - - solvent1 - - solvent2 - - ratio - title: RunColumn_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: RunColumn_Result - type: object - required: - - goal - title: RunColumn - type: object - type: RunColumn - SeparateProtocol: - feedback: {} - goal: - from_vessel: from_vessel - product_phase: product_phase - purpose: purpose - repeats: repeats - separation_vessel: separation_vessel - settling_time: settling_time - solvent: solvent - solvent_volume: solvent_volume - stir_speed: stir_speed - stir_time: stir_time - through: through - to_vessel: to_vessel - waste_phase_to_vessel: waste_phase_to_vessel - goal_default: - from_vessel: - 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: '' - product_phase: '' - product_vessel: - 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: '' - purpose: '' - repeats: 0 - separation_vessel: - 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: '' - settling_time: 0.0 - solvent: '' - solvent_volume: '' - stir_speed: 0.0 - stir_time: 0.0 - through: '' - to_vessel: - 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: '' - vessel: - 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: '' - volume: '' - waste_phase_to_vessel: - 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: '' - waste_vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_resources - to_vessel: unilabos_resources - waste_phase_to_vessel: unilabos_resources - waste_vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: Separate_Feedback - type: object - goal: - properties: - from_vessel: - 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: from_vessel - type: object - product_phase: - type: string - product_vessel: - 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: product_vessel - type: object - purpose: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - separation_vessel: - 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: separation_vessel - type: object - settling_time: - type: number - solvent: - type: string - solvent_volume: - type: string - stir_speed: - type: number - stir_time: - type: number - through: - type: string - to_vessel: - 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_vessel - type: object - vessel: - 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: vessel - type: object - volume: - type: string - waste_phase_to_vessel: - 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: waste_phase_to_vessel - type: object - waste_vessel: - 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: waste_vessel - type: object - required: - - vessel - - purpose - - product_phase - - from_vessel - - separation_vessel - - to_vessel - - waste_phase_to_vessel - - product_vessel - - waste_vessel - - solvent - - solvent_volume - - volume - - through - - repeats - - stir_time - - stir_speed - - settling_time - title: Separate_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Separate_Result - type: object - required: - - goal - title: Separate - type: object - type: Separate - StartStirProtocol: - feedback: {} - goal: - purpose: purpose - stir_speed: stir_speed - vessel: vessel - goal_default: - purpose: '' - stir_speed: 0.0 - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_speed: - type: number - current_status: - type: string - progress: - type: number - required: - - progress - - current_speed - - current_status - title: StartStir_Feedback - type: object - goal: - properties: - purpose: - type: string - stir_speed: - type: number - vessel: - 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: vessel - type: object - required: - - vessel - - stir_speed - - purpose - title: StartStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StartStir_Result - type: object - required: - - goal - title: StartStir - type: object - type: StartStir - StirProtocol: - feedback: {} - goal: - event: event - settling_time: settling_time - stir_speed: stir_speed - stir_time: stir_time - time: time - time_spec: time_spec - vessel: vessel - goal_default: - event: '' - settling_time: '' - stir_speed: 0.0 - stir_time: 0.0 - time: '' - time_spec: '' - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - status: - type: string - required: - - status - title: Stir_Feedback - type: object - goal: - properties: - event: - type: string - settling_time: - type: string - stir_speed: - type: number - stir_time: - type: number - time: - type: string - time_spec: - type: string - vessel: - 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: vessel - type: object - required: - - vessel - - time - - event - - time_spec - - stir_time - - stir_speed - - settling_time - title: Stir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Stir_Result - type: object - required: - - goal - title: Stir - type: object - type: Stir - StopStirProtocol: - feedback: {} - goal: - vessel: vessel - goal_default: - vessel: - 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: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - output: - - data_key: vessel - data_source: executor - data_type: resource - handler_key: VesselOut - label: Vessel - placeholder_keys: - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - required: - - progress - - current_status - title: StopStir_Feedback - type: object - goal: - properties: - vessel: - 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: vessel - type: object - required: - - vessel - title: StopStir_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: StopStir_Result - type: object - required: - - goal - title: StopStir - type: object - type: StopStir - TransferProtocol: - feedback: {} - goal: - amount: amount - from_vessel: from_vessel - rinsing_repeats: rinsing_repeats - rinsing_solvent: rinsing_solvent - rinsing_volume: rinsing_volume - solid: solid - time: time - to_vessel: to_vessel - viscous: viscous - volume: volume - goal_default: - amount: '' - from_vessel: '' - rinsing_repeats: 0 - rinsing_solvent: '' - rinsing_volume: 0.0 - solid: false - time: 0.0 - to_vessel: '' - viscous: false - volume: 0.0 - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVessel - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVessel - label: To Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Rinsing Solvent - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: FromVesselOut - label: From Vessel - - data_key: vessel - data_source: executor - data_type: resource - handler_key: ToVesselOut - label: To Vessel - placeholder_keys: - from_vessel: unilabos_nodes - to_vessel: unilabos_nodes - result: {} - schema: - description: '' - properties: - feedback: - properties: - current_status: - type: string - progress: - type: number - transferred_volume: - type: number - required: - - progress - - transferred_volume - - current_status - title: Transfer_Feedback - type: object - goal: - properties: - amount: - type: string - from_vessel: - type: string - rinsing_repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - rinsing_solvent: - type: string - rinsing_volume: - type: number - solid: - type: boolean - time: - type: number - to_vessel: - type: string - viscous: - type: boolean - volume: - type: number - required: - - from_vessel - - to_vessel - - volume - - amount - - time - - viscous - - rinsing_solvent - - rinsing_volume - - rinsing_repeats - - solid - title: Transfer_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: Transfer_Result - type: object - required: - - goal - title: Transfer - type: object - type: Transfer - WashSolidProtocol: - feedback: {} - goal: - filtrate_vessel: filtrate_vessel - repeats: repeats - solvent: solvent - stir: stir - stir_speed: stir_speed - temp: temp - time: time - vessel: vessel - volume: volume - goal_default: - event: '' - filtrate_vessel: - 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: '' - mass: '' - repeats: 0 - repeats_spec: '' - solvent: '' - stir: false - stir_speed: 0.0 - temp: 0.0 - time: '' - vessel: - 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: '' - volume: '' - volume_spec: '' - handles: - input: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: Vessel - label: Vessel - - data_key: solvent - data_source: handle - data_type: resource - handler_key: solvent - label: Solvent - - data_key: filtrate_vessel - data_source: handle - data_type: resource - handler_key: filtrate_vessel - label: Filtrate Vessel - output: - - data_key: vessel - data_source: handle - data_type: resource - handler_key: VesselOut - label: Vessel Out - - data_key: filtrate_vessel - data_source: executor - data_type: resource - handler_key: filtrate_vessel_out - label: Filtrate Vessel - placeholder_keys: - filtrate_vessel: unilabos_resources - vessel: unilabos_resources - result: {} - schema: - description: '' - properties: - feedback: - properties: - progress: - type: number - status: - type: string - required: - - status - - progress - title: WashSolid_Feedback - type: object - goal: - properties: - event: - type: string - filtrate_vessel: - 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: filtrate_vessel - type: object - mass: - type: string - repeats: - maximum: 2147483647 - minimum: -2147483648 - type: integer - repeats_spec: - type: string - solvent: - type: string - stir: - type: boolean - stir_speed: - type: number - temp: - type: number - time: - type: string - vessel: - 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: vessel - type: object - volume: - type: string - volume_spec: - type: string - required: - - vessel - - solvent - - volume - - filtrate_vessel - - temp - - stir - - stir_speed - - time - - repeats - - volume_spec - - repeats_spec - - mass - - event - title: WashSolid_Goal - type: object - result: - properties: - message: - type: string - return_info: - type: string - success: - type: boolean - required: - - success - - message - - return_info - title: WashSolid_Result - type: object - required: - - goal - title: WashSolid - type: object - type: WashSolid - auto-create_ros_action_server: - feedback: {} - goal: {} - goal_default: - action_name: null - action_value_mapping: null - handles: {} - result: {} - schema: - description: create_ros_action_server的参数schema - properties: - feedback: {} - goal: - properties: - action_name: - type: string - action_value_mapping: - type: string - required: - - action_name - - action_value_mapping - type: object - result: {} - required: - - goal - title: create_ros_action_server参数 - type: object - type: UniLabJsonCommand - auto-execute_single_action: - feedback: {} - goal: {} - goal_default: - action_kwargs: null - action_name: null - device_id: null - handles: {} - result: {} - schema: - description: execute_single_action的参数schema - properties: - feedback: {} - goal: - properties: - action_kwargs: - type: string - action_name: - type: string - device_id: - type: string - required: - - device_id - - action_name - - action_kwargs - type: object - result: {} - required: - - goal - title: execute_single_action参数 - type: object - type: UniLabJsonCommandAsync - auto-initialize_device: - feedback: {} - goal: {} - goal_default: - device_config: null - device_id: null - handles: {} - result: {} - schema: - description: initialize_device的参数schema - properties: - feedback: {} - goal: - properties: - device_config: - type: string - device_id: - type: string - required: - - device_id - - device_config - type: object - result: {} - required: - - goal - title: initialize_device参数 - type: object - type: UniLabJsonCommand - module: unilabos.ros.nodes.presets.workstation:ROS2WorkstationNode - status_types: {} - type: ros2 - config_info: [] - description: Workstation - handles: [] - icon: '' - init_param_schema: - config: - properties: - action_value_mappings: - type: object - children: - type: object - device_id: - type: string - driver_instance: - type: string - hardware_interface: - type: object - print_publish: - default: true - type: string - protocol_type: - items: - type: string - type: array - resource_tracker: - type: string - status_types: - type: object - required: - - protocol_type - - children - - driver_instance - - device_id - - status_types - - action_value_mappings - - hardware_interface - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 -workstation.example: - category: - - work_station - class: - action_value_mappings: {} - module: unilabos.devices.workstation.workstation_base:WorkstationExample - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - station_resource: - type: object - required: - - station_resource - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/YB_bottle.yaml b/unilabos/registry/resources/bioyond/YB_bottle.yaml new file mode 100644 index 00000000..6d8a380d --- /dev/null +++ b/unilabos/registry/resources/bioyond/YB_bottle.yaml @@ -0,0 +1,65 @@ +YB_Pipette_Tip: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_Pipette_Tip + type: pylabrobot + description: YB_Pipette_Tip + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_fen_ye_20ml_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_20ml_Bottle + type: pylabrobot + description: YB_fen_ye_20ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_fen_ye_5ml_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_fen_ye_5ml_Bottle + type: pylabrobot + description: YB_fen_ye_5ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_pei_ye_da_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_da_Bottle + type: pylabrobot + description: YB_pei_ye_da_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_pei_ye_xiao_Bottle: + category: + - yb3 + - YB_bottle + class: + module: unilabos.resources.bioyond.YB_bottles:YB_pei_ye_xiao_Bottle + type: pylabrobot + description: YB_pei_ye_xiao_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml index 83320c5d..eb2ff6fc 100644 --- a/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml +++ b/unilabos/registry/resources/bioyond/YB_bottle_carriers.yaml @@ -1,19 +1,20 @@ -YB_jia_yang_tou_da_1X1_carrier: +YB_1Bottle100mlCarrier: category: - yb3 + - YB_bottle_carriers class: - module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1Bottle100mlCarrier type: pylabrobot - description: YB_jia_yang_tou_da_1X1_carrier + description: YB_1Bottle100mlCarrier handles: [] icon: '' init_param_schema: {} registry_type: resource version: 1.0.0 - YB_1BottleCarrier: category: - yb3 + - YB_bottle_carriers class: module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1BottleCarrier type: pylabrobot @@ -23,3 +24,185 @@ YB_1BottleCarrier: init_param_schema: {} registry_type: resource version: 1.0.0 +YB_1GaoNianYeBottleCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_1GaoNianYeBottleCarrier + type: pylabrobot + description: YB_1GaoNianYeBottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_4x_LargeSolutionBottleCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_4x_LargeSolutionBottleCarrier + type: pylabrobot + description: YB_4x_LargeSolutionBottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6StockCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6StockCarrier + type: pylabrobot + description: YB_6StockCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6VialCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6VialCarrier + type: pylabrobot + description: YB_6VialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6x20ml_DispensingVialCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x20ml_DispensingVialCarrier + type: pylabrobot + description: YB_6x20ml_DispensingVialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6x5ml_DispensingVialCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x5ml_DispensingVialCarrier + type: pylabrobot + description: YB_6x5ml_DispensingVialCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_6x_SmallSolutionBottleCarrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_6x_SmallSolutionBottleCarrier + type: pylabrobot + description: YB_6x_SmallSolutionBottleCarrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_AdapterBlock: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_AdapterBlock + type: pylabrobot + description: YB_AdapterBlock + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_TipBox: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_TipBox + type: pylabrobot + description: YB_TipBox + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_gao_nian_ye_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_gao_nian_ye_Bottle + type: pylabrobot + description: YB_gao_nian_ye_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_jia_yang_tou_da: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_jia_yang_tou_da + type: pylabrobot + description: YB_jia_yang_tou_da + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_jia_yang_tou_da_1X1_carrier: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottle_carriers:YB_jia_yang_tou_da_1X1_carrier + type: pylabrobot + description: YB_jia_yang_tou_da_1X1_carrier + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_ye_100ml_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_100ml_Bottle + type: pylabrobot + description: YB_ye_100ml_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 +YB_ye_Bottle: + category: + - yb3 + - YB_bottle_carriers + class: + module: unilabos.resources.bioyond.YB_bottles:YB_ye_Bottle + type: pylabrobot + description: YB_ye_Bottle + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/bioyond/YB_bottle_carriers.py b/unilabos/resources/bioyond/YB_bottle_carriers.py index a4a36013..01d64c52 100644 --- a/unilabos/resources/bioyond/YB_bottle_carriers.py +++ b/unilabos/resources/bioyond/YB_bottle_carriers.py @@ -3,7 +3,14 @@ from pylabrobot.resources import create_homogeneous_resources, Coordinate, Resou from unilabos.resources.itemized_carrier import Bottle, BottleCarrier from unilabos.resources.bioyond.YB_bottles import ( YB_jia_yang_tou_da, - YB_ye_Bottle + YB_ye_Bottle, + YB_ye_100ml_Bottle, + YB_gao_nian_ye_Bottle, + YB_fen_ye_5ml_Bottle, + YB_fen_ye_20ml_Bottle, + YB_pei_ye_xiao_Bottle, + YB_pei_ye_da_Bottle, + YB_Pipette_Tip, ) # 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial @@ -53,8 +60,8 @@ def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 3 carrier.num_items_y = 2 carrier.num_items_z = 1 - for i in range(6): - carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}") + # for i in range(6): + # carrier[i] = YB_Solid_Vial(f"{name}_vial_{i+1}") return carrier @@ -91,7 +98,7 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier: carrier.num_items_x = 1 carrier.num_items_y = 1 carrier.num_items_z = 1 - carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1") + # carrier[0] = YB_Solution_Beaker(f"{name}_beaker_1") return carrier @@ -141,8 +148,8 @@ def YB_6StockCarrier(name: str) -> BottleCarrier: carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 - for i in range(6): - carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}") + # for i in range(6): + # carrier[i] = YB_Solid_Stock(f"{name}_vial_{ordering[i]}") return carrier @@ -192,13 +199,13 @@ def YB_6VialCarrier(name: str) -> BottleCarrier: carrier.num_items_y = 2 carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序 - for i in range(3): - carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}") - for i in range(3, 6): - carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") + # for i in range(3): + # carrier[i] = YB_Solid_Vial(f"{name}_solidvial_{ordering[i]}") + # for i in range(3, 6): + # carrier[i] = YB_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}") return carrier -"""1瓶载架 - 单个中央位置""" +# 1瓶载架 - 单个中央位置 def YB_1BottleCarrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) @@ -235,7 +242,80 @@ def YB_1BottleCarrier(name: str) -> BottleCarrier: return carrier -"""5ml分液瓶板 - 4x2布局，8个位置""" +# 高粘液瓶载架 - 单个中央位置 +def YB_1GaoNianYeBottleCarrier(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯尺寸 + 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="1GaoNianYeBottleCarrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_gao_nian_ye_Bottle(f"{name}_flask_1") + return carrier + + +# 100ml液体瓶载架 - 单个中央位置 +def YB_1Bottle100mlCarrier(name: str) -> BottleCarrier: + + # 载架尺寸 (mm) + carrier_size_x = 127.8 + carrier_size_y = 85.5 + carrier_size_z = 20.0 + + # 烧杯尺寸 + 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="1Bottle100mlCarrier", + ) + carrier.num_items_x = 1 + carrier.num_items_y = 1 + carrier.num_items_z = 1 + carrier[0] = YB_ye_100ml_Bottle(f"{name}_flask_1") + return carrier + +# 5ml分液瓶板 - 4x2布局，8个位置 def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: @@ -282,10 +362,10 @@ def YB_6x5ml_DispensingVialCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_5ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_fen_ye_5ml_Bottle(f"{name}_vial_{ordering[i]}") return carrier -"""20ml分液瓶板 - 4x2布局，8个位置""" +# 20ml分液瓶板 - 4x2布局，8个位置 def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: @@ -332,10 +412,10 @@ def YB_6x20ml_DispensingVialCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_20ml_Dispensing_Vial(f"{name}_vial_{ordering[i]}") + carrier[i] = YB_fen_ye_20ml_Bottle(f"{name}_vial_{ordering[i]}") return carrier -"""配液瓶(小)板 - 4x2布局，8个位置""" +# 配液瓶(小)板 - 4x2布局，8个位置 def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: @@ -382,12 +462,12 @@ def YB_6x_SmallSolutionBottleCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "A3", "A4", "B1", "B2", "B3", "B4"] for i in range(8): - carrier[i] = YB_Small_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_pei_ye_xiao_Bottle(f"{name}_bottle_{ordering[i]}") return carrier +# 配液瓶(大)板 - 2x2布局，4个位置 def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: - """配液瓶(大)板 - 2x2布局，4个位置""" # 载架尺寸 (mm) carrier_size_x = 127.8 @@ -432,10 +512,10 @@ def YB_4x_LargeSolutionBottleCarrier(name: str) -> BottleCarrier: carrier.num_items_z = 1 ordering = ["A1", "A2", "B1", "B2"] for i in range(4): - carrier[i] = YB_Large_Solution_Bottle(f"{name}_bottle_{ordering[i]}") + carrier[i] = YB_pei_ye_da_Bottle(f"{name}_bottle_{ordering[i]}") return carrier -"""加样头(大)板 - 1x1布局，1个位置""" +# 加样头(大)板 - 1x1布局，1个位置 def YB_jia_yang_tou_da_1X1_carrier(name: str) -> BottleCarrier: # 载架尺寸 (mm) diff --git a/unilabos/resources/bioyond/YB_bottles.py b/unilabos/resources/bioyond/YB_bottles.py index f38dc360..8ebdb415 100644 --- a/unilabos/resources/bioyond/YB_bottles.py +++ b/unilabos/resources/bioyond/YB_bottles.py @@ -1,6 +1,5 @@ from unilabos.resources.itemized_carrier import Bottle, BottleCarrier # 工厂函数 - """加样头（大）""" def YB_jia_yang_tou_da( name: str, @@ -35,4 +34,130 @@ def YB_ye_Bottle( max_volume=max_volume, barcode=barcode, model="Liquid_Bottle", + ) + +"""100ml液体""" +def YB_ye_100ml_Bottle( + name: str, + diameter: float = 50.0, + height: float = 90.0, + max_volume: float = 100000.0, # 100mL + barcode: str = None, +) -> Bottle: + """创建100ml液体瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Liquid_Bottle_100ml", + ) + +"""高粘液""" +def YB_gao_nian_ye_Bottle( + name: str, + diameter: float = 40.0, + height: float = 70.0, + max_volume: float = 50000.0, # 50mL + barcode: str = None, +) -> Bottle: + """创建高粘液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="High_Viscosity_Liquid", + ) + +"""5ml分液瓶""" +def YB_fen_ye_5ml_Bottle( + name: str, + diameter: float = 20.0, + height: float = 50.0, + max_volume: float = 5000.0, # 5mL + barcode: str = None, +) -> Bottle: + """创建5ml分液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Separation_Bottle_5ml", + ) + +"""20ml分液瓶""" +def YB_fen_ye_20ml_Bottle( + name: str, + diameter: float = 30.0, + height: float = 65.0, + max_volume: float = 20000.0, # 20mL + barcode: str = None, +) -> Bottle: + """创建20ml分液瓶""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Separation_Bottle_20ml", + ) + +"""配液瓶(小)""" +def YB_pei_ye_xiao_Bottle( + name: str, + diameter: float = 35.0, + height: float = 60.0, + max_volume: float = 30000.0, # 30mL + barcode: str = None, +) -> Bottle: + """创建配液瓶(小)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Mixing_Bottle_Small", + ) + +"""配液瓶(大)""" +def YB_pei_ye_da_Bottle( + name: str, + diameter: float = 55.0, + height: float = 100.0, + max_volume: float = 150000.0, # 150mL + barcode: str = None, +) -> Bottle: + """创建配液瓶(大)""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Mixing_Bottle_Large", + ) + +"""枪头""" +def YB_Pipette_Tip( + name: str, + diameter: float = 10.0, + height: float = 50.0, + max_volume: float = 1000.0, # 1mL + barcode: str = None, +) -> Bottle: + """创建枪头""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="Pipette_Tip", ) diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index c546759d..6eb4f26e 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -18,6 +18,7 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse: ) + def bioyond_warehouse_1x4x2(name: str) -> WareHouse: """创建BioYond 4x1x2仓库""" return warehouse_factory( diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index 92fcf1ed..a6c2f30b 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -535,6 +535,7 @@ def resource_ulab_to_plr(resource: dict, plr_model=False) -> "ResourcePLR": def resource_ulab_to_plr_inner(resource: dict): all_states[resource["name"]] = resource["data"] + extra = resource.pop("extra", {}) d = { "name": resource["name"], "type": resource["type"], @@ -575,16 +576,16 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w replace_info = { "plate": "plate", "well": "well", - "tip_spot": "container", - "trash": "container", + "tip_spot": "tip_spot", + "trash": "trash", "deck": "deck", - "tip_rack": "container", + "tip_rack": "tip_rack", } if source in replace_info: return replace_info[source] else: print("转换pylabrobot的时候，出现未知类型", source) - return "container" + return source def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict: r = { diff --git a/unilabos/resources/itemized_carrier.py b/unilabos/resources/itemized_carrier.py index 7607cf4d..fef09e25 100644 --- a/unilabos/resources/itemized_carrier.py +++ b/unilabos/resources/itemized_carrier.py @@ -78,6 +78,7 @@ class ItemizedCarrier(ResourcePLR): sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None, category: Optional[str] = "carrier", model: Optional[str] = None, + invisible_slots: Optional[str] = None, ): super().__init__( name=name, @@ -89,6 +90,7 @@ class ItemizedCarrier(ResourcePLR): ) self.num_items = len(sites) self.num_items_x, self.num_items_y, self.num_items_z = num_items_x, num_items_y, num_items_z + self.invisible_slots = [] if invisible_slots is None else invisible_slots self.layout = "z-y" if self.num_items_z > 1 and self.num_items_x == 1 else "x-z" if self.num_items_z > 1 and self.num_items_y == 1 else "x-y" if isinstance(sites, dict): @@ -410,7 +412,7 @@ class ItemizedCarrier(ResourcePLR): "layout": self.layout, "sites": [{ "label": str(identifier), - "visible": True if self[identifier] is not None else False, + "visible": False if identifier in self.invisible_slots else True, "occupied_by": self[identifier].name if isinstance(self[identifier], ResourcePLR) and not isinstance(self[identifier], ResourceHolder) else self[identifier] if isinstance(self[identifier], str) else None, @@ -433,6 +435,7 @@ class BottleCarrier(ItemizedCarrier): sites: Optional[Dict[Union[int, str], ResourceHolder]] = None, category: str = "bottle_carrier", model: Optional[str] = None, + invisible_slots: List[str] = None, **kwargs, ): super().__init__( @@ -443,4 +446,5 @@ class BottleCarrier(ItemizedCarrier): sites=sites, category=category, model=model, + invisible_slots=invisible_slots, ) diff --git a/unilabos/ros/main_slave_run.py b/unilabos/ros/main_slave_run.py index b57d30b0..d9ad3682 100644 --- a/unilabos/ros/main_slave_run.py +++ b/unilabos/ros/main_slave_run.py @@ -10,7 +10,7 @@ from unilabos.ros.nodes.presets.resource_mesh_manager import ResourceMeshManager from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker, ResourceTreeSet from unilabos.devices.ros_dev.liquid_handler_joint_publisher import LiquidHandlerJointPublisher from unilabos_msgs.srv import SerialCommand # type: ignore -from rclpy.executors import MultiThreadedExecutor +from rclpy.executors import MultiThreadedExecutor, SingleThreadedExecutor from rclpy.node import Node from rclpy.timer import Timer diff --git a/unilabos/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 289fe513..f1063123 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -49,7 +49,7 @@ from unilabos_msgs.msg import Resource # type: ignore from unilabos.ros.nodes.resource_tracker import ( DeviceNodeResourceTracker, - ResourceTreeSet, + ResourceTreeSet, ResourceTreeInstance, ) from unilabos.ros.x.rclpyx import get_event_loop from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator @@ -338,12 +338,12 @@ class BaseROS2DeviceNode(Node, Generic[T]): # 创建资源管理客户端 self._resource_clients: Dict[str, Client] = { - "resource_add": self.create_client(ResourceAdd, "/resources/add"), - "resource_get": self.create_client(SerialCommand, "/resources/get"), - "resource_delete": self.create_client(ResourceDelete, "/resources/delete"), - "resource_update": self.create_client(ResourceUpdate, "/resources/update"), - "resource_list": self.create_client(ResourceList, "/resources/list"), - "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree"), + "resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group), + "resource_get": self.create_client(SerialCommand, "/resources/get", callback_group=self.callback_group), + "resource_delete": self.create_client(ResourceDelete, "/resources/delete", callback_group=self.callback_group), + "resource_update": self.create_client(ResourceUpdate, "/resources/update", callback_group=self.callback_group), + "resource_list": self.create_client(ResourceList, "/resources/list", callback_group=self.callback_group), + "c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree", callback_group=self.callback_group), } def re_register_device(req, res): @@ -573,6 +573,52 @@ class BaseROS2DeviceNode(Node, Generic[T]): self.lab_logger().error(traceback.format_exc()) self.lab_logger().debug(f"资源更新结果: {response}") + def transfer_to_new_resource(self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]): + parent_uuid = tree.root_node.res_content.parent_uuid + if parent_uuid: + parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid) + if parent_resource is None: + self.lab_logger().warning( + f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在" + ) + else: + try: + # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步 + additional_params = {} + extra = getattr(plr_resource, "unilabos_extra", {}) + if len(extra): + self.lab_logger().info(f"发现物料{plr_resource}额外参数: " + str(extra)) + if "update_resource_site" in extra: + additional_add_params["site"] = extra["update_resource_site"] + site = additional_add_params.get("site", None) + spec = inspect.signature(parent_resource.assign_child_resource) + if "spot" in spec.parameters: + ordering_dict: Dict[str, Any] = getattr(parent_resource, "_ordering") + if ordering_dict: + site = list(ordering_dict.keys()).index(site) + additional_params["spot"] = site + old_parent = plr_resource.parent + if old_parent is not None: + # plr并不支持同一个deck的加载和卸载 + self.lab_logger().warning( + f"物料{plr_resource}请求从{old_parent}卸载" + ) + old_parent.unassign_child_resource(plr_resource) + self.lab_logger().warning( + f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}" + ) + parent_resource.assign_child_resource( + plr_resource, location=None, **additional_params + ) + func = getattr(self.driver_instance, "resource_tree_transfer", None) + if callable(func): + # 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了） + func(old_parent, plr_resource, parent_resource) + except Exception as e: + self.lab_logger().warning( + f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}" + ) + async def s2c_resource_tree(self, req: SerialCommand_Request, res: SerialCommand_Response): """ 处理资源树更新请求 @@ -613,28 +659,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): plr_resources = tree_set.to_plr_resources() for plr_resource, tree in zip(plr_resources, tree_set.trees): self.resource_tracker.add_resource(plr_resource) - parent_uuid = tree.root_node.res_content.parent_uuid - if parent_uuid: - parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid) - if parent_resource is None: - self.lab_logger().warning( - f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_uuid}不存在" - ) - else: - try: - # 特殊兼容所有plr的物料的assign方法，和create_resource append_resource后期同步 - additional_params = {} - site = additional_add_params.get("site", None) - spec = inspect.signature(parent_resource.assign_child_resource) - if "spot" in spec.parameters: - additional_params["spot"] = site - parent_resource.assign_child_resource( - plr_resource, location=None, **additional_params - ) - except Exception as e: - self.lab_logger().warning( - f"物料{plr_resource}请求挂载{tree.root_node.res_content.name}的父节点{parent_resource}[{parent_uuid}]失败！\n{traceback.format_exc()}" - ) + self.transfer_to_new_resource(plr_resource, tree, additional_add_params) func = getattr(self.driver_instance, "resource_tree_add", None) if callable(func): func(plr_resources) @@ -647,6 +672,17 @@ class BaseROS2DeviceNode(Node, Generic[T]): original_instance: ResourcePLR = self.resource_tracker.figure_resource( {"uuid": tree.root_node.res_content.uuid}, try_mode=False ) + original_parent_resource = original_instance.parent + original_parent_resource_uuid = getattr(original_parent_resource, "unilabos_uuid", None) + target_parent_resource_uuid = tree.root_node.res_content.uuid_parent + self.lab_logger().info( + f"物料{original_instance} 原始父节点{original_parent_resource_uuid} 目标父节点{target_parent_resource_uuid} 更新" + ) + # todo: 对extra进行update + if getattr(plr_resource, "unilabos_extra", None) is not None: + original_instance.unilabos_extra = getattr(plr_resource, "unilabos_extra") + if original_parent_resource_uuid != target_parent_resource_uuid and original_parent_resource is not None: + self.transfer_to_new_resource(original_instance, tree, additional_add_params) original_instance.load_all_state(states) self.lab_logger().info( f"更新了资源属性 {plr_resource}[{tree.root_node.res_content.uuid}] 及其子节点 {len(original_instance.get_all_children())} 个" @@ -879,7 +915,7 @@ class BaseROS2DeviceNode(Node, Generic[T]): action_type, action_name, execute_callback=self._create_execute_callback(action_name, action_value_mapping), - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ) self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}") @@ -1500,7 +1536,7 @@ class ROS2DeviceNode: asyncio.set_event_loop(loop) loop.run_forever() - ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNode") + ROS2DeviceNode._loop_thread = threading.Thread(target=run_event_loop, daemon=True, name="ROS2DeviceNodeLoop") ROS2DeviceNode._loop_thread.start() logger.info(f"循环线程已启动") diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index f40e0cbb..43d16e8d 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -285,7 +285,7 @@ class HostNode(BaseROS2DeviceNode): # 创建定时器，定期发现设备 self._discovery_timer = self.create_timer( - discovery_interval, self._discovery_devices_callback, callback_group=ReentrantCallbackGroup() + discovery_interval, self._discovery_devices_callback, callback_group=self.callback_group ) # 添加ping-pong相关属性 @@ -494,7 +494,7 @@ class HostNode(BaseROS2DeviceNode): if len(init_new_res) > 1: # 一个物料，多个子节点 init_new_res = [init_new_res] resources: List[Resource] | List[List[Resource]] = init_new_res # initialize_resource已经返回list[dict] - device_ids = [device_id] + device_ids = [device_id.split("/")[-1]] bind_parent_id = [res_creation_input["parent"]] bind_location = [bind_locations] other_calling_param = [ @@ -618,7 +618,7 @@ class HostNode(BaseROS2DeviceNode): topic, lambda msg, d=device_id, p=property_name: self.property_callback(msg, d, p), 1, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ) # 标记为已订阅 self._subscribed_topics.add(topic) @@ -829,37 +829,37 @@ class HostNode(BaseROS2DeviceNode): def _init_host_service(self): self._resource_services: Dict[str, Service] = { "resource_add": self.create_service( - ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=ReentrantCallbackGroup() + ResourceAdd, "/resources/add", self._resource_add_callback, callback_group=self.callback_group ), "resource_get": self.create_service( - SerialCommand, "/resources/get", self._resource_get_callback, callback_group=ReentrantCallbackGroup() + SerialCommand, "/resources/get", self._resource_get_callback, callback_group=self.callback_group ), "resource_delete": self.create_service( ResourceDelete, "/resources/delete", self._resource_delete_callback, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ), "resource_update": self.create_service( ResourceUpdate, "/resources/update", self._resource_update_callback, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ), "resource_list": self.create_service( - ResourceList, "/resources/list", self._resource_list_callback, callback_group=ReentrantCallbackGroup() + ResourceList, "/resources/list", self._resource_list_callback, callback_group=self.callback_group ), "node_info_update": self.create_service( SerialCommand, "/node_info_update", self._node_info_update_callback, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ), "c2s_update_resource_tree": self.create_service( SerialCommand, "/c2s_update_resource_tree", self._resource_tree_update_callback, - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ), } diff --git a/unilabos/ros/nodes/presets/workstation.py b/unilabos/ros/nodes/presets/workstation.py index dc1175d6..af1afab5 100644 --- a/unilabos/ros/nodes/presets/workstation.py +++ b/unilabos/ros/nodes/presets/workstation.py @@ -194,7 +194,7 @@ class ROS2WorkstationNode(BaseROS2DeviceNode): action_type, action_name, execute_callback=self._create_protocol_execute_callback(action_name, protocol_steps_generator), - callback_group=ReentrantCallbackGroup(), + callback_group=self.callback_group, ) self.lab_logger().trace(f"发布动作: {action_name}, 类型: {str_action_type}") return diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index cd533aab..c958fe7b 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -42,7 +42,9 @@ class ResourceDictPosition(BaseModel): rotation: ResourceDictPositionObject = Field( description="Resource rotation", default_factory=ResourceDictPositionObject ) - cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field(description="Cross section type", default="rectangle") + cross_section_type: Literal["rectangle", "circle", "rounded_rectangle"] = Field( + description="Cross section type", default="rectangle" + ) # 统一的资源字典模型，parent 自动序列化为 parent_uuid，children 不序列化 @@ -51,7 +53,9 @@ class ResourceDict(BaseModel): uuid: str = Field(description="Resource UUID") name: str = Field(description="Resource name") description: str = Field(description="Resource description", default="") - resource_schema: Dict[str, Any] = Field(description="Resource schema", default_factory=dict, serialization_alias="schema", validation_alias="schema") + resource_schema: Dict[str, Any] = Field( + description="Resource schema", default_factory=dict, serialization_alias="schema", validation_alias="schema" + ) model: Dict[str, Any] = Field(description="Resource model", default_factory=dict) icon: str = Field(description="Resource icon", default="") parent_uuid: Optional["str"] = Field(description="Parent resource uuid", default=None) # 先设定parent_uuid @@ -62,6 +66,7 @@ class ResourceDict(BaseModel): pose: ResourceDictPosition = Field(description="Resource position", default_factory=ResourceDictPosition) config: Dict[str, Any] = Field(description="Resource configuration") data: Dict[str, Any] = Field(description="Resource data") + extra: Dict[str, Any] = Field(description="Extra data") @field_serializer("parent_uuid") def _serialize_parent(self, parent_uuid: Optional["ResourceDict"]): @@ -138,6 +143,8 @@ class ResourceDictInstance(object): content["config"] = {} if not content.get("data"): content["data"] = {} + if not content.get("extra"): # MagicCode + content["extra"] = {} if "pose" not in content: content["pose"] = content.get("position", {}) return ResourceDictInstance(ResourceDict.model_validate(content)) @@ -311,28 +318,36 @@ class ResourceTreeSet(object): "plate": "plate", "well": "well", "deck": "deck", + "tip_rack": "tip_rack", + "tip_spot": "tip_spot", + "tube": "tube", + "bottle_carrier": "bottle_carrier", } if source in replace_info: return replace_info[source] else: print("转换pylabrobot的时候，出现未知类型", source) - return "container" + return source - def build_uuid_mapping(res: "PLRResource", uuid_list: list): - """递归构建uuid映射字典""" + def build_uuid_mapping(res: "PLRResource", uuid_list: list, parent_uuid: Optional[str] = None): + """递归构建uuid和extra映射字典，返回(current_uuid, parent_uuid, extra)元组列表""" uid = getattr(res, "unilabos_uuid", "") if not uid: uid = str(uuid.uuid4()) res.unilabos_uuid = uid logger.warning(f"{res}没有uuid，请设置后再传入，默认填充{uid}！\n{traceback.format_exc()}") - uuid_list.append(uid) + + # 获取unilabos_extra，默认为空字典 + extra = getattr(res, "unilabos_extra", {}) + + uuid_list.append((uid, parent_uuid, extra)) for child in res.children: - build_uuid_mapping(child, uuid_list) + build_uuid_mapping(child, uuid_list, uid) def resource_plr_inner( d: dict, parent_resource: Optional[ResourceDict], states: dict, uuids: list ) -> ResourceDictInstance: - current_uuid = uuids.pop(0) + current_uuid, parent_uuid, extra = uuids.pop(0) raw_pos = ( {"x": d["location"]["x"], "y": d["location"]["y"], "z": d["location"]["z"]} @@ -355,13 +370,30 @@ class ResourceTreeSet(object): "uuid": current_uuid, "name": d["name"], "parent": parent_resource, # 直接传入 ResourceDict 对象 + "parent_uuid": parent_uuid, # 使用 parent_uuid 而不是 parent 对象 "type": replace_plr_type(d.get("category", "")), "class": d.get("class", ""), "position": pos, "pose": pos, - "config": {k: v for k, v in d.items() if k not in - ["name", "children", "parent_name", "location", "rotation", "size_x", "size_y", "size_z", "cross_section_type", "bottom_type"]}, + "config": { + k: v + for k, v in d.items() + if k + not in [ + "name", + "children", + "parent_name", + "location", + "rotation", + "size_x", + "size_y", + "size_z", + "cross_section_type", + "bottom_type", + ] + }, "data": states[d["name"]], + "extra": extra, } # 先转换为 ResourceDictInstance，获取其中的 ResourceDict @@ -379,7 +411,7 @@ class ResourceTreeSet(object): for resource in resources: # 构建uuid列表 uuid_list = [] - build_uuid_mapping(resource, uuid_list) + build_uuid_mapping(resource, uuid_list, getattr(resource.parent, "unilabos_uuid", None)) serialized_data = resource.serialize() all_states = resource.serialize_all_state() @@ -402,14 +434,15 @@ class ResourceTreeSet(object): import inspect # 类型映射 - TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck"} + TYPE_MAP = {"plate": "Plate", "well": "Well", "deck": "Deck", "container": "RegularContainer"} - def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict): - """一次遍历收集 name_to_uuid 和 all_states""" + 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""" name_to_uuid[node.res_content.name] = node.res_content.uuid all_states[node.res_content.name] = node.res_content.data + name_to_extra[node.res_content.name] = node.res_content.extra for child in node.children: - collect_node_data(child, name_to_uuid, all_states) + collect_node_data(child, name_to_uuid, all_states, name_to_extra) def node_to_plr_dict(node: ResourceDictInstance, has_model: bool): """转换节点为 PLR 字典格式""" @@ -419,6 +452,7 @@ class ResourceTreeSet(object): logger.warning(f"未知类型 {res.type}") d = { + **res.config, "name": res.name, "type": res.config.get("type", plr_type), "size_x": res.config.get("size_x", 0), @@ -434,33 +468,35 @@ class ResourceTreeSet(object): "category": res.config.get("category", plr_type), "children": [node_to_plr_dict(child, has_model) for child in node.children], "parent_name": res.parent_instance_name, - **res.config, } if has_model: d["model"] = res.config.get("model", None) return d plr_resources = [] - trees = [] tracker = DeviceNodeResourceTracker() for tree in self.trees: name_to_uuid: Dict[str, str] = {} all_states: Dict[str, Any] = {} - collect_node_data(tree.root_node, name_to_uuid, all_states) + name_to_extra: Dict[str, dict] = {} + collect_node_data(tree.root_node, name_to_uuid, all_states, name_to_extra) has_model = tree.root_node.res_content.type != "deck" plr_dict = node_to_plr_dict(tree.root_node, has_model) try: sub_cls = find_subclass(plr_dict["type"], PLRResource) if sub_cls is None: - raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}") + raise ValueError( + f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类。原始信息：{tree.root_node.res_content}" + ) spec = inspect.signature(sub_cls) if "category" not in spec.parameters: plr_dict.pop("category", None) plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True) plr_resource.load_all_state(all_states) - # 使用 DeviceNodeResourceTracker 设置 UUID + # 使用 DeviceNodeResourceTracker 设置 UUID 和 Extra tracker.loop_set_uuid(plr_resource, name_to_uuid) + tracker.loop_set_extra(plr_resource, name_to_extra) plr_resources.append(plr_resource) except Exception as e: @@ -802,6 +838,20 @@ class DeviceNodeResourceTracker(object): else: setattr(resource, "unilabos_uuid", new_uuid) + @staticmethod + def set_resource_extra(resource, extra: dict): + """ + 设置资源的 extra，统一处理 dict 和 instance 两种类型 + + Args: + resource: 资源对象（dict或实例） + extra: extra字典值 + """ + if isinstance(resource, dict): + resource["extra"] = extra + else: + setattr(resource, "unilabos_extra", extra) + def _traverse_and_process(self, resource, process_func) -> int: """ 递归遍历资源树，对每个节点执行处理函数 @@ -850,6 +900,29 @@ class DeviceNodeResourceTracker(object): return self._traverse_and_process(resource, process) + def loop_set_extra(self, resource, name_to_extra_map: Dict[str, dict]) -> int: + """ + 递归遍历资源树，根据 name 设置所有节点的 extra + + Args: + resource: 资源对象（可以是dict或实例） + name_to_extra_map: name到extra的映射字典，{name: extra} + + Returns: + 更新的资源数量 + """ + + def process(res): + resource_name = self._get_resource_attr(res, "name") + if resource_name and resource_name in name_to_extra_map: + extra = name_to_extra_map[resource_name] + self.set_resource_extra(res, extra) + logger.debug(f"设置资源Extra: {resource_name} -> {extra}") + return 1 + return 0 + + return self._traverse_and_process(resource, process) + def loop_update_uuid(self, resource, uuid_map: Dict[str, str]) -> int: """ 递归遍历资源树，更新所有节点的uuid @@ -892,7 +965,9 @@ class DeviceNodeResourceTracker(object): if current_uuid: old = self.uuid_to_resources.get(current_uuid) self.uuid_to_resources[current_uuid] = res - logger.debug(f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}") + logger.debug( + f"收集资源UUID映射: {current_uuid} -> {res} {'' if old is None else f'(覆盖旧值: {old})'}" + ) return 0 self._traverse_and_process(resource, process)