diff --git a/unilabos/devices/liquid_handling/liquid_handler_abstract.py b/unilabos/devices/liquid_handling/liquid_handler_abstract.py index 9bc56d4..b168511 100644 --- a/unilabos/devices/liquid_handling/liquid_handler_abstract.py +++ b/unilabos/devices/liquid_handling/liquid_handler_abstract.py @@ -6,6 +6,7 @@ import traceback from collections import Counter from typing import List, Sequence, Optional, Literal, Union, Iterator, Dict, Any, Callable, Set, cast +from typing_extensions import TypedDict from pylabrobot.liquid_handling import LiquidHandler, LiquidHandlerBackend, LiquidHandlerChatterboxBackend, Strictness from unilabos.devices.liquid_handling.rviz_backend import UniLiquidHandlerRvizBackend from unilabos.devices.liquid_handling.laiyu.backend.laiyu_v_backend import UniLiquidHandlerLaiyuBackend @@ -28,7 +29,9 @@ from pylabrobot.resources import ( ) from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode - +class SimpleReturn(TypedDict): + samples: list + volumes: list class LiquidHandlerMiddleware(LiquidHandler): def __init__(self, backend: LiquidHandlerBackend, deck: Deck, simulator: bool = False, channel_num: int = 8, **kwargs): @@ -564,10 +567,16 @@ class LiquidHandlerAbstract(LiquidHandlerMiddleware): self._ros_node = ros_node @classmethod - def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]): + def set_liquid(cls, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: """Set the liquid in a well.""" + res_samples = [] + res_volumes = [] for well, liquid_name, volume in zip(wells, liquid_names, volumes): well.set_liquids([(liquid_name, volume)]) # type: ignore + res_samples.append({"name": well.name, "sample_uuid": well.unilabos_extra.get("sample_uuid", None)}) + res_volumes.append(volume) + + return SimpleReturn(samples=res_samples, volumes=res_volumes) # --------------------------------------------------------------- # REMOVE LIQUID -------------------------------------------------- # --------------------------------------------------------------- diff --git a/unilabos/devices/liquid_handling/prcxi/prcxi.py b/unilabos/devices/liquid_handling/prcxi/prcxi.py index cca11f8..3d99941 100644 --- a/unilabos/devices/liquid_handling/prcxi/prcxi.py +++ b/unilabos/devices/liquid_handling/prcxi/prcxi.py @@ -29,7 +29,7 @@ from pylabrobot.liquid_handling.standard import ( ) from pylabrobot.resources import Tip, Deck, Plate, Well, TipRack, Resource, Container, Coordinate, TipSpot, Trash -from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract +from unilabos.devices.liquid_handling.liquid_handler_abstract import LiquidHandlerAbstract, SimpleReturn from unilabos.ros.nodes.base_device_node import BaseROS2DeviceNode @@ -176,7 +176,7 @@ class PRCXI9300Handler(LiquidHandlerAbstract): super().post_init(ros_node) self._unilabos_backend.post_init(ros_node) - def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]): + def set_liquid(self, wells: list[Well], liquid_names: list[str], volumes: list[float]) -> SimpleReturn: return super().set_liquid(wells, liquid_names, volumes) def set_group(self, group_name: str, wells: List[Well], volumes: List[float]): @@ -505,7 +505,11 @@ class PRCXI9300Backend(LiquidHandlerBackend): print(f"PRCXI9300Backend created solution with ID: {solution_id}") self.api_client.load_solution(solution_id) print(json.dumps(self.steps_todo_list, indent=2)) - return self.api_client.start() + if not self.api_client.start(): + return False + if not self.api_client.wait_for_finish(): + return False + return True @classmethod def check_channels(cls, use_channels: List[int]) -> List[int]: @@ -890,6 +894,26 @@ class PRCXI9300Api: def start(self) -> bool: return self.call("IAutomation", "Start") + def wait_for_finish(self) -> bool: + success = False + start = False + while not success: + status = self.step_state_list() + if status is None: + break + if len(status) == 0: + break + if status[-1]["State"] == 2 and start: + success = True + elif status[-1]["State"] > 2: + break + elif status[-1]["State"] == 0: + start = True + else: + time.sleep(1) + return success + + def call(self, service: str, method: str, params: Optional[list] = None) -> Any: payload = json.dumps( {"ServiceName": service, "MethodName": method, "Paramters": params or []}, separators=(",", ":") diff --git a/unilabos/registry/devices/laiyu_liquid.yaml b/unilabos/registry/devices/laiyu_liquid.yaml index 64c0c18..98201a7 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 d38c43a..a7dbc1d 100644 --- a/unilabos/registry/devices/liquid_handler.yaml +++ b/unilabos/registry/devices/liquid_handler.yaml @@ -4019,7 +4019,8 @@ liquid_handler: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -4175,9 +4176,11 @@ 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 @@ -5037,7 +5040,8 @@ liquid_handler.biomek: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -5180,9 +5184,11 @@ 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 @@ -9261,7 +9267,8 @@ liquid_handler.prcxi: mix_liquid_height: 0.0 mix_rate: 0 mix_stage: '' - mix_times: 0 + mix_times: + - 0 mix_vol: 0 none_keys: - '' @@ -9390,9 +9397,11 @@ 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/ros/nodes/base_device_node.py b/unilabos/ros/nodes/base_device_node.py index 6952320..8e7faef 100644 --- a/unilabos/ros/nodes/base_device_node.py +++ b/unilabos/ros/nodes/base_device_node.py @@ -1142,20 +1142,28 @@ class BaseROS2DeviceNode(Node, Generic[T]): plr_resource = await self.get_resource_with_dir( resource_id=resource_data["id"], with_children=True ) + if "sample_id" in resource_data: + plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"] queried_resources.append(plr_resource) self.lab_logger().debug(f"资源查询结果: 共 {len(queried_resources)} 个资源") # 通过资源跟踪器获取本地实例 final_resources = queried_resources if is_sequence else queried_resources[0] - final_resources = ( - self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) - if not is_sequence - else [ - self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) - for res in queried_resources - ] - ) + if not is_sequence: + plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False) + # 保留unilabos_extra + if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"): + plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy() + final_resources = plr + else: + new_resources = [] + for res in queried_resources: + plr = self.resource_tracker.figure_resource({"name": res.name}, try_mode=False) + if hasattr(res, "unilabos_extra") and hasattr(plr, "unilabos_extra"): + plr.unilabos_extra = getattr(res, "unilabos_extra", {}).copy() + new_resources.append(plr) + final_resources = new_resources action_kwargs[k] = final_resources except Exception as e: diff --git a/unilabos/ros/nodes/presets/host_node.py b/unilabos/ros/nodes/presets/host_node.py index 33f01f9..edbe470 100644 --- a/unilabos/ros/nodes/presets/host_node.py +++ b/unilabos/ros/nodes/presets/host_node.py @@ -706,7 +706,20 @@ class HostNode(BaseROS2DeviceNode): raise ValueError(f"ActionClient {action_id} not found.") action_client: ActionClient = self._action_clients[action_id] + # 遍历action_kwargs下的所有子dict，将"sample_uuid"的值赋给"sample_id" + def assign_sample_id(obj): + if isinstance(obj, dict): + if "sample_uuid" in obj: + obj["sample_id"] = obj["sample_uuid"] + obj.pop("sample_uuid") + for k,v in obj.items(): + if k != "unilabos_extra": + assign_sample_id(v) + elif isinstance(obj, list): + for item in obj: + assign_sample_id(item) + assign_sample_id(action_kwargs) goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs) self.lab_logger().info(f"[Host Node] Sending goal for {action_id}: {goal_msg}") diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index 0eed117..75f559e 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -146,8 +146,20 @@ class ResourceDictInstance(object): content["data"] = {} if not content.get("extra"): # MagicCode content["extra"] = {} - if "pose" not in content: - content["pose"] = content.pop("position", {}) + if "position" in content: + pose = content["config"].get("pose",{}) + if "position" not in pose : + if "position" in content["position"]: + pose["position"] = content["position"]["position"] + else: + pose["position"] = {"x": 0, "y": 0, "z": 0} + if "size" not in pose: + pose["size"] = { + "width": content["config"].get("size_x", 0), + "height": content["config"].get("size_y", 0), + "depth": content["config"].get("size_z", 0) + } + content["pose"] = pose return ResourceDictInstance(ResourceDict.model_validate(content)) def get_plr_nested_dict(self) -> Dict[str, Any]: diff --git a/unilabos/test/experiments/prcxi_9320_with_res.json b/unilabos/test/experiments/prcxi_9320_with_res.json new file mode 100644 index 0000000..cd7a104 --- /dev/null +++ b/unilabos/test/experiments/prcxi_9320_with_res.json @@ -0,0 +1,44220 @@ +{ + "nodes": [ + { + + + "id": "PRCXI", + "name": "PRCXI", + "type": "device", + "class": "liquid_handler.prcxi", + "parent": "", + "pose": { + "size": { + "width": 562, + "height": 394, + "depth": 0 + } + }, + "config": { + "axis": "Left", + "deck": { + "_resource_type": "unilabos.devices.liquid_handling.prcxi.prcxi:PRCXI9300Deck", + "_resource_child_name": "PRCXI_Deck" + }, + "host": "192.168.1.201", + "port": 9999, + "debug": false, + "setup": true, + "is_9320": true, + "timeout": 10, + "matrix_id": "5de524d0-3f95-406c-86dd-f83626ebc7cb", + "simulator": false, + "channel_num": 1 + }, + "data": { + "reset_ok": true + }, + "schema": {}, + "description": "", + "model": null, + "position": { + "x": 0, + "y": 240, + "z": 0 + } + }, + { + "id": "PRCXI_Deck", + "name": "PRCXI_Deck", + + "children": [ + ], + "parent": "PRCXI", + "type": "deck", + "class": "", + "position": { + "x": 10 , + "y": 10, + "z": 0 + }, + "config": { + "type": "PRCXI9300Deck", + "size_x": 542, + "size_y": 374, + "size_z": 0, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "deck", + "barcode": null, + "sites": [ + { + "label": "1", + "visible": true, + "position": {"x": 0, "y": 0, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "2", + "visible": true, + "position": {"x": 138, "y": 0, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "3", + "visible": true, + "position": {"x": 276, "y": 0, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "4", + "visible": true, + "position": {"x": 414, "y": 0, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "5", + "visible": true, + "position": {"x": 0, "y": 96, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "6", + "visible": true, + "position": {"x": 138, "y": 96, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "7", + "visible": true, + "position": {"x": 276, "y": 96, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "8", + "visible": true, + "position": {"x": 414, "y": 96, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "9", + "visible": true, + "position": {"x": 0, "y": 192, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "10", + "visible": true, + "position": {"x": 138, "y": 192, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "11", + "visible": true, + "position": {"x": 276, "y": 192, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "12", + "visible": true, + "position": {"x": 414, "y": 192, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "13", + "visible": true, + "position": {"x": 0, "y": 288, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "14", + "visible": true, + "position": {"x": 138, "y": 288, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "15", + "visible": true, + "position": {"x": 276, "y": 288, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + }, + { + "label": "16", + "visible": true, + "position": {"x": 414, "y": 288, "z": 0}, + "size": {"width": 128.0, "height": 86, "depth":0}, + "content_type": ["plate", "tip_rack", "plates", "tip_racks", "tube_rack"] + } + ] + }, + "data": {} + } + , + { + "id": "RackT1", + "name": "RackT1", + + "children": [ + "RackT1_A1", + "RackT1_B1", + "RackT1_C1", + "RackT1_D1", + "RackT1_E1", + "RackT1_F1", + "RackT1_G1", + "RackT1_H1", + "RackT1_A2", + "RackT1_B2", + "RackT1_C2", + "RackT1_D2", + "RackT1_E2", + "RackT1_F2", + "RackT1_G2", + "RackT1_H2", + "RackT1_A3", + "RackT1_B3", + "RackT1_C3", + "RackT1_D3", + "RackT1_E3", + "RackT1_F3", + "RackT1_G3", + "RackT1_H3", + "RackT1_A4", + "RackT1_B4", + "RackT1_C4", + "RackT1_D4", + "RackT1_E4", + "RackT1_F4", + "RackT1_G4", + "RackT1_H4", + "RackT1_A5", + "RackT1_B5", + "RackT1_C5", + "RackT1_D5", + "RackT1_E5", + "RackT1_F5", + "RackT1_G5", + "RackT1_H5", + "RackT1_A6", + "RackT1_B6", + "RackT1_C6", + "RackT1_D6", + "RackT1_E6", + "RackT1_F6", + "RackT1_G6", + "RackT1_H6", + "RackT1_A7", + "RackT1_B7", + "RackT1_C7", + "RackT1_D7", + "RackT1_E7", + "RackT1_F7", + "RackT1_G7", + "RackT1_H7", + "RackT1_A8", + "RackT1_B8", + "RackT1_C8", + "RackT1_D8", + "RackT1_E8", + "RackT1_F8", + "RackT1_G8", + "RackT1_H8", + "RackT1_A9", + "RackT1_B9", + "RackT1_C9", + "RackT1_D9", + "RackT1_E9", + "RackT1_F9", + "RackT1_G9", + "RackT1_H9", + "RackT1_A10", + "RackT1_B10", + "RackT1_C10", + "RackT1_D10", + "RackT1_E10", + "RackT1_F10", + "RackT1_G10", + "RackT1_H10", + "RackT1_A11", + "RackT1_B11", + "RackT1_C11", + "RackT1_D11", + "RackT1_E11", + "RackT1_F11", + "RackT1_G11", + "RackT1_H11", + "RackT1_A12", + "RackT1_B12", + "RackT1_C12", + "RackT1_D12", + "RackT1_E12", + "RackT1_F12", + "RackT1_G12", + "RackT1_H12" + ], + "parent": "PRCXI_Deck", + "type": "tip_rack", + "class": "", + "position": { + "x": 0, + "y": 0, + "z": 0 + }, + "config": { + "type": "PRCXI9300Container", + "size_x": 127, + "size_y": 85.5, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "tip_rack", + "model": null, + "barcode": null, + "ordering": { + "A1": "tip_A1", + "B1": "tip_B1", + "C1": "tip_C1", + "D1": "tip_D1", + "E1": "tip_E1", + "F1": "tip_F1", + "G1": "tip_G1", + "H1": "tip_H1", + "A2": "tip_A2", + "B2": "tip_B2", + "C2": "tip_C2", + "D2": "tip_D2", + "E2": "tip_E2", + "F2": "tip_F2", + "G2": "tip_G2", + "H2": "tip_H2", + "A3": "tip_A3", + "B3": "tip_B3", + "C3": "tip_C3", + "D3": "tip_D3", + "E3": "tip_E3", + "F3": "tip_F3", + "G3": "tip_G3", + "H3": "tip_H3", + "A4": "tip_A4", + "B4": "tip_B4", + "C4": "tip_C4", + "D4": "tip_D4", + "E4": "tip_E4", + "F4": "tip_F4", + "G4": "tip_G4", + "H4": "tip_H4", + "A5": "tip_A5", + "B5": "tip_B5", + "C5": "tip_C5", + "D5": "tip_D5", + "E5": "tip_E5", + "F5": "tip_F5", + "G5": "tip_G5", + "H5": "tip_H5", + "A6": "tip_A6", + "B6": "tip_B6", + "C6": "tip_C6", + "D6": "tip_D6", + "E6": "tip_E6", + "F6": "tip_F6", + "G6": "tip_G6", + "H6": "tip_H6", + "A7": "tip_A7", + "B7": "tip_B7", + "C7": "tip_C7", + "D7": "tip_D7", + "E7": "tip_E7", + "F7": "tip_F7", + "G7": 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"", + "position": { + "x": 414, + "y": 288, + "z": 0 + }, + "config": { + "type": "PRCXI9300Trash", + "size_x": 127, + "size_y": 85.5, + "size_z": 10, + "rotation": { + "x": 0, + "y": 0, + "z": 0, + "type": "Rotation" + }, + "category": "trash", + "model": null, + "barcode": null, + "max_volume": "Infinity", + "material_z_thickness": 0, + "compute_volume_from_height": null, + "compute_height_from_volume": null + }, + "data": { + "liquids": [], + "pending_liquids": [], + "liquid_history": [], + "Material": { + "uuid": "730067cf07ae43849ddf4034299030e9" + } + } + } + ], + "edges": [] +} \ No newline at end of file diff --git a/unilabos/utils/type_check.py b/unilabos/utils/type_check.py index cffb446..64001e5 100644 --- a/unilabos/utils/type_check.py +++ b/unilabos/utils/type_check.py @@ -78,7 +78,11 @@ def get_result_info_str(error: str, suc: bool, return_value=None) -> str: Returns: JSON字符串格式的结果信息 """ - result_info = {"error": error, "suc": suc, "return_value": return_value} + samples = None + if isinstance(return_value, dict): + if "samples" in return_value: + samples = return_value.pop("samples") + result_info = {"error": error, "suc": suc, "return_value": return_value, "samples": samples} return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)