From 7b426ed5aed27502124229ce9555c9be7cba5274 Mon Sep 17 00:00:00 2001 From: Junhan Chang Date: Tue, 30 Sep 2025 11:57:34 +0800 Subject: [PATCH] create warehouse by factory func --- .../workstation/bioyond_studio/station.py | 34 ++++-- unilabos/registry/resources/bioyond/deck.yaml | 12 ++ unilabos/resources/bioyond/decks.py | 17 ++- unilabos/resources/bioyond/warehouses.py | 8 +- unilabos/resources/itemized_carrier.py | 59 +++++++--- unilabos/resources/warehouse.py | 111 +++++++++++------- 6 files changed, 169 insertions(+), 72 deletions(-) create mode 100644 unilabos/registry/resources/bioyond/deck.yaml diff --git a/unilabos/devices/workstation/bioyond_studio/station.py b/unilabos/devices/workstation/bioyond_studio/station.py index 16ec6302..3685910a 100644 --- a/unilabos/devices/workstation/bioyond_studio/station.py +++ b/unilabos/devices/workstation/bioyond_studio/station.py @@ -4,15 +4,20 @@ Bioyond Workstation Implementation 集成Bioyond物料管理的工作站示例 """ +import traceback from typing import Dict, Any, List, Optional, Union import json from unilabos.devices.workstation.workstation_base import WorkstationBase, ResourceSynchronizer from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondV1RPC +from unilabos.resources.warehouse import WareHouse from unilabos.utils.log import logger from unilabos.resources.graphio import resource_bioyond_to_plr -from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, WORKFLOW_MAPPINGS +from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode +from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode + +from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG, WORKFLOW_MAPPINGS, MATERIAL_TYPE_MAPPINGS class BioyondResourceSynchronizer(ResourceSynchronizer): @@ -26,6 +31,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): self.bioyond_api_client = None self.sync_interval = 60 # 默认60秒同步一次 self.last_sync_time = 0 + self.initialize() def initialize(self) -> bool: """初始化Bioyond资源同步器""" @@ -36,7 +42,7 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): return False # 设置同步间隔 - self.sync_interval = self.workstation.bioyond_config.get("sync_interval", 60) + self.sync_interval = self.workstation.bioyond_config.get("sync_interval", 600) logger.info("Bioyond资源同步器初始化完成") return True @@ -51,18 +57,19 @@ class BioyondResourceSynchronizer(ResourceSynchronizer): logger.error("Bioyond API客户端未初始化") return False - bioyond_data = self.bioyond_api_client.fetch_materials() + bioyond_data = self.bioyond_api_client.stock_material('{"typeMode": 2, "includeDetail": true}') if not bioyond_data: logger.warning("从Bioyond获取的物料数据为空") return False # 转换为UniLab格式 - unilab_resources = resource_bioyond_to_plr(bioyond_data, deck=self.workstation.deck) + unilab_resources = resource_bioyond_to_plr(bioyond_data, type_mapping=self.workstation.bioyond_config["material_type_mappings"], deck=self.workstation.deck) logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源") return True except Exception as e: logger.error(f"从Bioyond同步物料数据失败: {e}") + traceback.print_exc() return False def sync_to_external(self, resource: Any) -> bool: @@ -105,8 +112,6 @@ class BioyondWorkstation(WorkstationBase): *args, **kwargs, ): - self._create_communication_module(bioyond_config) - # 初始化父类 super().__init__( # 桌子 @@ -114,19 +119,34 @@ class BioyondWorkstation(WorkstationBase): *args, **kwargs, ) + self.deck.warehouses = {} + for resource in self.deck.children: + if isinstance(resource, WareHouse): + self.deck.warehouses[resource.name] = resource + + self._create_communication_module(bioyond_config) self.resource_synchronizer = BioyondResourceSynchronizer(self) self.resource_synchronizer.sync_from_external() # TODO: self._ros_node里面拿属性 logger.info(f"Bioyond工作站初始化完成") + + def post_init(self, ros_node: ROS2WorkstationNode): + self._ros_node = ros_node + #self.deck = create_a_coin_cell_deck() + ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ + "resources": [self.deck] + }) def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None: """创建Bioyond通信模块""" self.bioyond_config = config or { **API_CONFIG, - "workflow_mappings": WORKFLOW_MAPPINGS + "workflow_mappings": WORKFLOW_MAPPINGS, + "material_type_mappings": MATERIAL_TYPE_MAPPINGS } self.hardware_interface = BioyondV1RPC(self.bioyond_config) + return None def _register_supported_workflows(self): diff --git a/unilabos/registry/resources/bioyond/deck.yaml b/unilabos/registry/resources/bioyond/deck.yaml new file mode 100644 index 00000000..7026672b --- /dev/null +++ b/unilabos/registry/resources/bioyond/deck.yaml @@ -0,0 +1,12 @@ +BIOYOND_PolymerReactionStation_Deck: + category: + - deck + class: + module: unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck + type: pylabrobot + description: BIOYOND PolymerReactionStation Deck + handles: [] + icon: '' + init_param_schema: {} + registry_type: resource + version: 1.0.0 diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index d9fce97f..432ea171 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,12 +1,21 @@ -from pylabrobot.resources import Deck, Coordinate +from pylabrobot.resources import Deck, Coordinate, Rotation from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling class BIOYOND_PolymerReactionStation_Deck(Deck): - def __init__(self, name: str = "PolymerReactionStation_Deck") -> None: + def __init__( + self, + name: str = "PolymerReactionStation_Deck", + size_x: float = 2700.0, + size_y: float = 1080.0, + size_z: float = 1500.0, + category: str = "deck", + setup: bool = False + ) -> None: super().__init__(name=name, size_x=2700.0, size_y=1080.0, size_z=1500.0) - self.setup() + if setup: + self.setup() def setup(self) -> None: # 添加仓库 @@ -20,7 +29,7 @@ class BIOYOND_PolymerReactionStation_Deck(Deck): "堆栈2": Coordinate(2550.0, 650.0, 0.0), "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0), } - self.warehouses["站内试剂存放堆栈"].rotation = 90.0 + self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90) for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index 9819a657..507b1f2f 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -1,9 +1,9 @@ -from unilabos.resources.warehouse import WareHouse +from unilabos.resources.warehouse import WareHouse, warehouse_factory def bioyond_warehouse_1x4x4(name: str) -> WareHouse: """创建BioYond 4x1x4仓库""" - return WareHouse( + return warehouse_factory( name=name, num_items_x=1, num_items_y=4, @@ -20,7 +20,7 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse: def bioyond_warehouse_1x4x2(name: str) -> WareHouse: """创建BioYond 4x1x2仓库""" - return WareHouse( + return warehouse_factory( name=name, num_items_x=1, num_items_y=4, @@ -38,7 +38,7 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse: def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: """创建BioYond开关盖加液模块台面""" - return WareHouse( + return warehouse_factory( name=name, num_items_x=2, num_items_y=5, diff --git a/unilabos/resources/itemized_carrier.py b/unilabos/resources/itemized_carrier.py index 77191307..61672c35 100644 --- a/unilabos/resources/itemized_carrier.py +++ b/unilabos/resources/itemized_carrier.py @@ -71,6 +71,9 @@ class ItemizedCarrier(ResourcePLR): size_x: float, size_y: float, size_z: float, + num_items_x: int = 0, + num_items_y: int = 0, + num_items_z: int = 0, sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None, category: Optional[str] = "carrier", model: Optional[str] = None, @@ -83,18 +86,27 @@ class ItemizedCarrier(ResourcePLR): category=category, model=model, ) - sites = sites or {} - self.sites: List[Optional[ResourcePLR]] = list(sites.values()) - self._ordering = sites - self.num_items = len(self.sites) - self.child_locations: Dict[str, Coordinate] = {} - for spot, resource in sites.items(): - if resource is not None and getattr(resource, "location", None) is None: - raise ValueError(f"resource {resource} has no location") - if resource is not None: - self.child_locations[spot] = resource.location - else: - self.child_locations[spot] = Coordinate.zero() + 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 + if isinstance(sites, dict): + sites = sites or {} + self.sites: List[Optional[ResourcePLR]] = list(sites.values()) + self._ordering = sites + self.child_locations: Dict[str, Coordinate] = {} + for spot, resource in sites.items(): + if resource is not None and getattr(resource, "location", None) is None: + raise ValueError(f"resource {resource} has no location") + if resource is not None: + self.child_locations[spot] = resource.location + else: + self.child_locations[spot] = Coordinate.zero() + elif isinstance(sites, list): + # deserialize时走这里；还需要根据 self.sites 索引children + self.child_locations = {site["label"]: Coordinate(**site["position"]) for site in sites} + self.sites = [site["occupied_by"] for site in sites] + self._ordering = {site["label"]: site["position"] for site in sites} + else: + print("sites:", sites) @property def capacity(self): @@ -112,7 +124,20 @@ class ItemizedCarrier(ResourcePLR): reassign: bool = True, spot: Optional[int] = None, ): - idx = spot if spot is not None else len(self.sites) + idx = spot + # 如果只给 location，根据坐标和 deserialize 后的 self.sites（持有names）来寻找 resource 该摆放的位置 + if spot is not None: + idx = spot + else: + for i, site in enumerate(self.sites): + site_location = list(self.child_locations.values())[i] + if type(site) == str and site == resource.name: + idx = i + break + if site_location == location: + idx = i + break + if not reassign and self.sites[idx] is not None: raise ValueError(f"a site with index {idx} already exists") super().assign_child_resource(resource, location=location, reassign=reassign) @@ -288,9 +313,15 @@ class ItemizedCarrier(ResourcePLR): def serialize(self): return { **super().serialize(), - "slots": [{ + "num_items_x": self.num_items_x, + "num_items_y": self.num_items_y, + "num_items_z": self.num_items_z, + "sites": [{ "label": str(identifier), "visible": True if self[identifier] is not None else False, + "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, "position": {"x": location.x, "y": location.y, "z": location.z}, "size": {"width": self._size_x, "height": self._size_y, "depth": self._size_z}, "content_type": ["bottle", "container", "tube", "bottle_carrier", "tip_rack"] diff --git a/unilabos/resources/warehouse.py b/unilabos/resources/warehouse.py index 87424b91..775c55aa 100644 --- a/unilabos/resources/warehouse.py +++ b/unilabos/resources/warehouse.py @@ -1,63 +1,88 @@ -from typing import Optional, List +from typing import Dict, Optional, List, Union from pylabrobot.resources import Coordinate from pylabrobot.resources.carrier import ResourceHolder, create_homogeneous_resources -from unilabos.resources.itemized_carrier import ItemizedCarrier +from unilabos.resources.itemized_carrier import ItemizedCarrier, ResourcePLR + + +def warehouse_factory( + name: str, + num_items_x: int = 4, + num_items_y: int = 1, + num_items_z: int = 4, + dx: float = 137.0, + dy: float = 96.0, + dz: float = 120.0, + item_dx: float = 10.0, + item_dy: float = 10.0, + item_dz: float = 10.0, + removed_positions: Optional[List[int]] = None, + empty: bool = False, + category: str = "warehouse", + model: Optional[str] = None, +): + # 创建16个板架位 (4层 x 4位置) + locations = [] + for layer in range(num_items_z): # 4层 + for row in range(num_items_y): # 4行 + for col in range(num_items_x): # 1列 (每层4x1=4个位置) + # 计算位置 + x = dx + col * item_dx + y = dy + (num_items_y - row - 1) * item_dy + z = dz + (num_items_z - layer - 1) * item_dz + locations.append(Coordinate(x, y, z)) + if removed_positions: + locations = [loc for i, loc in enumerate(locations) if i not in removed_positions] + sites = create_homogeneous_resources( + klass=ResourceHolder, + locations=locations, + resource_size_x=127.0, + resource_size_y=86.0, + name_prefix=name, + ) + + return WareHouse( + name=name, + size_x=dx + item_dx * num_items_x, + size_y=dy + item_dy * num_items_y, + size_z=dz + item_dz * num_items_z, + num_items_x = num_items_x, + num_items_y = num_items_y, + num_items_z = num_items_z, + # ordered_items=ordered_items, + # ordering=ordering, + sites=sites, + category=category, + model=model, + ) class WareHouse(ItemizedCarrier): - """4x4x1堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）""" - + """堆栈载体类 - 可容纳16个板位的载体（4层x4行x1列）""" def __init__( self, name: str, - num_items_x: int = 4, - num_items_y: int = 1, - num_items_z: int = 4, - dx: float = 137.0, - dy: float = 96.0, - dz: float = 120.0, - item_dx: float = 10.0, - item_dy: float = 10.0, - item_dz: float = 10.0, - removed_positions: Optional[List[int]] = None, - empty: bool = False, + size_x: float, + size_y: float, + size_z: float, + num_items_x: int, + num_items_y: int, + num_items_z: int, + sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None, category: str = "warehouse", model: Optional[str] = None, ): - self.num_items_x = num_items_x - self.num_items_y = num_items_y - self.num_items_z = num_items_z - # 创建16个板架位 (4层 x 4位置) - locations = [] - - for layer in range(num_items_z): # 4层 - for row in range(num_items_y): # 4行 - for col in range(num_items_x): # 1列 (每层4x1=4个位置) - # 计算位置 - x = dx + col * item_dx - y = dy + (num_items_y - row - 1) * item_dy - z = dz + (num_items_z - layer - 1) * item_dz - - locations.append(Coordinate(x, y, z)) - if removed_positions: - locations = [loc for i, loc in enumerate(locations) if i not in removed_positions] - - sites = create_homogeneous_resources( - klass=ResourceHolder, - locations=locations, - resource_size_x=127.0, - resource_size_y=86.0, - name_prefix=name, - ) super().__init__( name=name, - size_x=dx + item_dx * num_items_x, - size_y=dy + item_dy * num_items_y, - size_z=dz + item_dz * num_items_z, + size_x=size_x, + size_y=size_y, + size_z=size_z, # ordered_items=ordered_items, # ordering=ordering, + num_items_x=num_items_x, + num_items_y=num_items_y, + num_items_z=num_items_z, sites=sites, category=category, model=model,