mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2026-02-05 14:05:12 +00:00
fix sub-resource query in protocol node compiling
This commit is contained in:
Junhan Chang
@@ -237,14 +237,14 @@ def generate_adjust_ph_protocol(
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# 统一处理vessel参数
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if isinstance(vessel, dict):
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vessel_id = vessel.get("id", "")
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vessel_id = list(vessel.values())[0].get("id", "")
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vessel_data = vessel.get("data", {})
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else:
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vessel_id = str(vessel)
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vessel_data = G.nodes[vessel_id].get("data", {}) if vessel_id in G.nodes() else {}
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if not vessel_id:
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debug_print("❌ vessel 参数无效，必须包含id字段或直接提供容器ID")
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debug_print(f"❌ vessel 参数无效，必须包含id字段或直接提供容器ID. vessel: {vessel}")
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raise ValueError("vessel 参数无效，必须包含id字段或直接提供容器ID")
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debug_print("=" * 60)
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@@ -149,7 +149,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
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str: vessel_id
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"""
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if isinstance(vessel, dict):
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vessel_id = vessel.get("id", "")
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vessel_id = list(vessel.values())[0].get("id", "")
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debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
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return vessel_id
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elif isinstance(vessel, str):
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@@ -165,7 +165,7 @@ def extract_vessel_id(vessel: Union[str, dict]) -> str:
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str: vessel_id
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"""
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if isinstance(vessel, dict):
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vessel_id = vessel.get("id", "")
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vessel_id = list(vessel.values())[0].get("id", "")
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debug_print(f"🔧 从vessel字典提取ID: {vessel_id}")
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return vessel_id
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elif isinstance(vessel, str):
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@@ -4548,7 +4548,6 @@ virtual_solid_dispenser:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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@@ -4556,30 +4555,6 @@ virtual_solid_dispenser:
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title: cleanup参数
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type: object
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type: UniLabJsonCommandAsync
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auto-find_solid_reagent_bottle:
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feedback: {}
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goal: {}
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goal_default:
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reagent_name: null
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties:
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reagent_name:
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type: string
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required:
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- reagent_name
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type: object
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result: {}
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required:
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- goal
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title: find_solid_reagent_bottle参数
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type: object
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type: UniLabJsonCommand
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auto-initialize:
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feedback: {}
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goal: {}
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@@ -4592,7 +4567,6 @@ virtual_solid_dispenser:
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feedback: {}
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goal:
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properties: {}
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required: []
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type: object
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result: {}
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required:
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@@ -4600,58 +4574,9 @@ virtual_solid_dispenser:
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title: initialize参数
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type: object
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type: UniLabJsonCommandAsync
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auto-parse_mass_string:
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feedback: {}
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goal: {}
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goal_default:
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mass_str: null
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties:
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mass_str:
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type: string
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required:
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- mass_str
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type: object
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result: {}
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required:
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- goal
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title: parse_mass_string参数
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type: object
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type: UniLabJsonCommand
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auto-parse_mol_string:
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feedback: {}
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goal: {}
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goal_default:
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mol_str: null
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handles: []
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result: {}
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schema:
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description: ''
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properties:
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feedback: {}
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goal:
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properties:
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mol_str:
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type: string
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required:
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- mol_str
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type: object
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result: {}
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required:
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- goal
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title: parse_mol_string参数
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type: object
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type: UniLabJsonCommand
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module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
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status_types:
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current_reagent: str
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device_info: dict
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dispensed_amount: float
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status: str
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total_operations: int
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@@ -4683,14 +4608,18 @@ virtual_solid_dispenser:
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type: object
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device_id:
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type: string
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max_capacity:
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default: 100.0
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type: number
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precision:
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default: 0.001
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type: number
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required: []
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type: object
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data:
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properties:
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current_reagent:
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type: string
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device_info:
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type: object
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dispensed_amount:
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type: number
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status:
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@@ -4702,7 +4631,6 @@ virtual_solid_dispenser:
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- current_reagent
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- dispensed_amount
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- total_operations
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- device_info
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type: object
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version: 0.0.1
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virtual_stirrer:
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@@ -5993,176 +5921,3 @@ virtual_vacuum_pump:
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- status
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type: object
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version: 0.0.1
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virtual_solid_dispenser:
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class:
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action_value_mappings:
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auto-cleanup:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: cleanup的参数schema
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properties:
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feedback: {}
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goal:
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properties: {}
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type: object
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result: {}
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required:
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- goal
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title: cleanup参数
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type: object
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type: UniLabJsonCommandAsync
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auto-initialize:
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feedback: {}
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goal: {}
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goal_default: {}
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handles: []
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result: {}
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schema:
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description: initialize的参数schema
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properties:
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feedback: {}
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goal:
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properties: {}
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type: object
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result: {}
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required:
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- goal
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title: initialize参数
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type: object
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type: UniLabJsonCommandAsync
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add_solid:
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feedback:
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current_status: status
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progress: progress
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goal:
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vessel: vessel
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reagent: reagent
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mass: mass
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mol: mol
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purpose: purpose
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event: event
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rate_spec: rate_spec
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equiv: equiv
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ratio: ratio
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goal_default:
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vessel: ''
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reagent: ''
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mass: ''
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mol: ''
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purpose: ''
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event: ''
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rate_spec: ''
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equiv: ''
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ratio: ''
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handles: []
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result:
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success: success
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message: message
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return_info: return_info
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schema:
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description: ''
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properties:
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feedback:
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properties:
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current_status:
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type: string
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progress:
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type: number
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type: object
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goal:
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properties:
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vessel:
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type: string
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reagent:
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type: string
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mass:
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type: string
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mol:
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type: string
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purpose:
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type: string
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event:
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type: string
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rate_spec:
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type: string
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equiv:
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type: string
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ratio:
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type: string
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type: object
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result:
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properties:
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success:
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type: boolean
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message:
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type: string
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return_info:
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type: string
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type: object
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required:
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- goal
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title: AddSolid
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type: object
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type: Add # 🔧 使用 Add action type
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module: unilabos.devices.virtual.virtual_solid_dispenser:VirtualSolidDispenser
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status_types:
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status: str
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current_reagent: str
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dispensed_amount: float
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total_operations: int
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type: python
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description: Virtual Solid Dispenser for Add Protocol Testing - supports mass and molar additions
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handles:
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- data_key: solid_out
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data_source: executor
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data_type: resource
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description: 固体试剂输出口
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handler_key: SolidOut
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io_type: source
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label: SolidOut
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side: SOUTH
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- data_key: solid_in
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data_source: handle
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data_type: resource
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description: 固体试剂输入口（连接试剂瓶）
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handler_key: SolidIn
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io_type: target
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label: SolidIn
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side: NORTH
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icon: ''
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init_param_schema:
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config:
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properties:
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max_capacity:
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default: 100.0
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type: number
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precision:
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default: 0.001
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type: number
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config:
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type: object
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device_id:
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type: string
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required: []
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type: object
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data:
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properties:
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status:
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type: string
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current_reagent:
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type: string
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dispensed_amount:
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type: number
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total_operations:
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type: integer
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required:
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- status
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- current_reagent
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- dispensed_amount
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- total_operations
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type: object
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version: 0.0.1
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@@ -248,7 +248,7 @@ def dict_to_nested_dict(nodes: dict, devices_only: bool = False) -> dict:
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root_nodes = {
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node["id"]: node
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for node in nodes_list
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if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan]
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if node.get("parent", node.get("parent_name")) in [None, "", "None", np.nan] or len(nodes_list) == 1
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}
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# 如果存在多个根节点，返回所有根节点
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@@ -189,45 +189,26 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
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# # 🔧 完全禁用Host查询，直接使用转换后的数据
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# print(f"🔧 跳过Host查询，直接使用转换后的数据")
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# 🔧 额外验证：确保vessel数据完整
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if 'vessel' in protocol_kwargs:
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vessel_data = protocol_kwargs['vessel']
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#print(f"🔍 验证vessel数据: {vessel_data}")
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# 如果vessel是空字典，尝试重新构建
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if not vessel_data or (isinstance(vessel_data, dict) and not vessel_data):
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# print(f"⚠️ vessel数据为空，尝试从原始goal重新提取...")
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# 直接从原始goal提取vessel
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if hasattr(goal, 'vessel') and goal.vessel:
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# print(f"🔍 原始goal.vessel: {goal.vessel}")
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# 手动转换vessel
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vessel_data = {
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'id': goal.vessel.id,
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'name': goal.vessel.name,
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'type': goal.vessel.type,
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'category': goal.vessel.category,
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'config': goal.vessel.config,
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'data': goal.vessel.data
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}
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protocol_kwargs['vessel'] = vessel_data
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# print(f"✅ 手动重建vessel数据: {vessel_data}")
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else:
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# print(f"❌ 无法从原始goal提取vessel数据")
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# 创建一个基本的vessel
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vessel_data = {'id': 'default_vessel'}
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protocol_kwargs['vessel'] = vessel_data
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# print(f"🔧 创建默认vessel: {vessel_data}")
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# 向Host查询物料当前状态
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for k, v in goal.get_fields_and_field_types().items():
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if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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r = ResourceGet.Request()
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resource_id = (
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protocol_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else protocol_kwargs[k][0]["id"]
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)
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r.id = resource_id
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r.with_children = True
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response = await self._resource_clients["resource_get"].call_async(r)
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protocol_kwargs[k] = list_to_nested_dict(
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[convert_from_ros_msg(rs) for rs in response.resources]
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)
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#print(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
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#print(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
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self.lab_logger().info(f"🔍 最终传递给协议的 protocol_kwargs: {protocol_kwargs}")
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self.lab_logger().info(f"🔍 最终的 vessel: {protocol_kwargs.get('vessel', 'NOT_FOUND')}")
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from unilabos.resources.graphio import physical_setup_graph
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self.lab_logger().info(f"Working on physical setup: {physical_setup_graph}")
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self.lab_logger().info(f"Protocol kwargs: {goal}")
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self.lab_logger().info(f"Protocol kwargs: {action_value_mapping}")
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protocol_steps = protocol_steps_generator(G=physical_setup_graph, **protocol_kwargs)
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self.lab_logger().info(f"Goal received: {protocol_kwargs}, running steps: \n{protocol_steps}")
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@@ -263,14 +244,14 @@ class ROS2ProtocolNode(BaseROS2DeviceNode):
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}
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)
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# # 向Host更新物料当前状态
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# for k, v in goal.get_fields_and_field_types().items():
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# if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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# r = ResourceUpdate.Request()
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# r.resources = [
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# convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
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# ]
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# response = await self._resource_clients["resource_update"].call_async(r)
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# 向Host更新物料当前状态
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for k, v in goal.get_fields_and_field_types().items():
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if v in ["unilabos_msgs/Resource", "sequence<unilabos_msgs/Resource>"]:
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r = ResourceUpdate.Request()
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r.resources = [
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convert_to_ros_msg(Resource, rs) for rs in nested_dict_to_list(protocol_kwargs[k])
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]
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response = await self._resource_clients["resource_update"].call_async(r)
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# 设置成功状态和返回值
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execution_success = True
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Block a user