修改sample_uuid的返回值

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 --------------------------------------------------
     # ---------------------------------------------------------------

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=(",", ":")

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:
+                  items:
                     maximum: 2147483647
                     minimum: -2147483648
                     type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

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:
+                  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:
+                  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:
+                  items:
                     maximum: 2147483647
                     minimum: -2147483648
                     type: integer
+                  type: array
                 mix_vol:
                   maximum: 2147483647
                   minimum: -2147483648

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 = (
+                            if not is_sequence:
-                                self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
+                                plr = self.resource_tracker.figure_resource({"name": final_resources.name}, try_mode=False)
-                                if not is_sequence
+                                # 保留unilabos_extra
-                                else [
+                                if hasattr(final_resources, "unilabos_extra") and hasattr(plr, "unilabos_extra"):
-                                    self.resource_tracker.figure_resource({"name": res.name}, try_mode=False)
+                                    plr.unilabos_extra = getattr(final_resources, "unilabos_extra", {}).copy()
-                                    for res in queried_resources
+                                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:

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}")

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:
+        if "position" in content:
-            content["pose"] = content.pop("position", {})
+            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]:

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)