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feat(bioyond_studio): 添加项目API接口支持及优化物料管理功能

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添加通用项目API接口方法(_post_project_api, _delete_project_api)用于与LIMS系统交互
实现compute_experiment_design方法用于实验设计计算
新增brief_step_parameters等订单相关接口方法
优化物料转移逻辑，增加异步任务处理
扩展BioyondV1RPC类，添加批量物料操作、订单状态管理等功能
This commit is contained in:
ZiWei
2025-11-18 18:57:47 +08:00
committed by Xuwznln
parent d39662f65f
commit 931614fe64
3 changed files with 1020 additions and 111 deletions
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444
unilabos/devices/workstation/bioyond_studio/dispensing_station.py
View File

@@ -1,11 +1,17 @@
from datetime import datetime
import json
import time
from typing import Optional, Dict, Any
from typing import Optional, Dict, Any, List
import requests
from unilabos.devices.workstation.bioyond_studio.config import API_CONFIG
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
import json
import sys
from pathlib import Path
import importlib
class BioyondDispensingStation(BioyondWorkstation):
def __init__(
@@ -28,6 +34,108 @@ class BioyondDispensingStation(BioyondWorkstation):
# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
self.order_completion_status = {}
def _post_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
"""项目接口通用POST调用
参数:
endpoint: 接口路径（例如 /api/lims/order/brief-step-paramerers）
data: 请求体中的 data 字段内容
返回:
dict: 服务端响应，失败时返回 {code:0,message,...}
"""
request_data = {
"apiKey": API_CONFIG["api_key"],
"requestTime": self.hardware_interface.get_current_time_iso8601(),
"data": data
}
try:
response = requests.post(
f"{self.hardware_interface.host}{endpoint}",
json=request_data,
headers={"Content-Type": "application/json"},
timeout=30
)
result = response.json()
return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
except json.JSONDecodeError:
return {"code": 0, "message": "非JSON响应"}
except requests.exceptions.Timeout:
return {"code": 0, "message": "请求超时"}
except requests.exceptions.RequestException as e:
return {"code": 0, "message": str(e)}
def _delete_project_api(self, endpoint: str, data: Any) -> Dict[str, Any]:
"""项目接口通用DELETE调用
参数:
endpoint: 接口路径（例如 /api/lims/order/workflows）
data: 请求体中的 data 字段内容
返回:
dict: 服务端响应，失败时返回 {code:0,message,...}
"""
request_data = {
"apiKey": API_CONFIG["api_key"],
"requestTime": self.hardware_interface.get_current_time_iso8601(),
"data": data
}
try:
response = requests.delete(
f"{self.hardware_interface.host}{endpoint}",
json=request_data,
headers={"Content-Type": "application/json"},
timeout=30
)
result = response.json()
return result if isinstance(result, dict) else {"code": 0, "message": "非JSON响应"}
except json.JSONDecodeError:
return {"code": 0, "message": "非JSON响应"}
except requests.exceptions.Timeout:
return {"code": 0, "message": "请求超时"}
except requests.exceptions.RequestException as e:
return {"code": 0, "message": str(e)}
def compute_experiment_design(
self,
ratio: dict,
wt_percent: str = "0.25",
m_tot: str = "70",
titration_percent: str = "0.03",
) -> dict:
try:
if isinstance(ratio, str):
try:
ratio = json.loads(ratio)
except Exception:
ratio = {}
root = str(Path(__file__).resolve().parents[3])
if root not in sys.path:
sys.path.append(root)
try:
mod = importlib.import_module("tem.compute")
except Exception as e:
raise BioyondException(f"无法导入计算模块: {e}")
try:
wp = float(wt_percent) if isinstance(wt_percent, str) else wt_percent
mt = float(m_tot) if isinstance(m_tot, str) else m_tot
tp = float(titration_percent) if isinstance(titration_percent, str) else titration_percent
except Exception as e:
raise BioyondException(f"参数解析失败: {e}")
res = mod.generate_experiment_design(ratio=ratio, wt_percent=wp, m_tot=mt, titration_percent=tp)
out = {
"solutions": res.get("solutions", []),
"titration": res.get("titration", {}),
"solvents": res.get("solvents", {}),
"feeding_order": res.get("feeding_order", []),
"return_info": json.dumps(res, ensure_ascii=False)
}
return out
except BioyondException:
raise
except Exception as e:
raise BioyondException(str(e))
# 90%10%小瓶投料任务创建方法
def create_90_10_vial_feeding_task(self,
order_name: str = None,
@@ -649,6 +757,40 @@ class BioyondDispensingStation(BioyondWorkstation):
self.hardware_interface._logger.error(error_msg)
raise BioyondException(error_msg)
def brief_step_parameters(self, data: Dict[str, Any]) -> Dict[str, Any]:
"""获取简要步骤参数（站点项目接口）
参数:
data: 查询参数字典
返回值:
dict: 接口返回数据
"""
return self._post_project_api("/api/lims/order/brief-step-paramerers", data)
def project_order_report(self, order_id: str) -> Dict[str, Any]:
"""查询项目端订单报告（兼容旧路径）
参数:
order_id: 订单ID
返回值:
dict: 报告数据
"""
return self._post_project_api("/api/lims/order/project-order-report", order_id)
def workflow_sample_locations(self, workflow_id: str) -> Dict[str, Any]:
"""查询工作流样品库位（站点项目接口）
参数:
workflow_id: 工作流ID
返回值:
dict: 位置信息数据
"""
return self._post_project_api("/api/lims/storage/workflow-sample-locations", workflow_id)
# 批量创建90%10%小瓶投料任务
def batch_create_90_10_vial_feeding_tasks(self,
titration,
@@ -779,8 +921,38 @@ class BioyondDispensingStation(BioyondWorkstation):
self.hardware_interface._logger.error(error_msg)
raise BioyondException(error_msg)
def _extract_actuals_from_report(self, report) -> Dict[str, Any]:
data = report.get('data') if isinstance(report, dict) else None
actual_target_weigh = None
actual_volume = None
if data:
extra = data.get('extraProperties') or {}
if isinstance(extra, dict):
for v in extra.values():
obj = None
try:
obj = json.loads(v) if isinstance(v, str) else v
except Exception:
obj = None
if isinstance(obj, dict):
tw = obj.get('targetWeigh')
vol = obj.get('volume')
if tw is not None:
try:
actual_target_weigh = float(tw)
except Exception:
pass
if vol is not None:
try:
actual_volume = float(vol)
except Exception:
pass
return {
'actualTargetWeigh': actual_target_weigh,
'actualVolume': actual_volume
}
# 等待多个任务完成并获取实验报告
def wait_for_multiple_orders_and_get_reports(self,
batch_create_result: str = None,
timeout: int = 7200,
@@ -902,6 +1074,7 @@ class BioyondDispensingStation(BioyondWorkstation):
"status": "timeout",
"completion_status": None,
"report": None,
"extracted": None,
"elapsed_time": elapsed_time
})
@@ -921,8 +1094,7 @@ class BioyondDispensingStation(BioyondWorkstation):
# 获取实验报告
try:
report_query = json.dumps({"order_id": order_id})
report = self.hardware_interface.order_report(report_query)
report = self.project_order_report(order_id)
if not report:
self.hardware_interface._logger.warning(
@@ -940,6 +1112,7 @@ class BioyondDispensingStation(BioyondWorkstation):
"status": "completed",
"completion_status": completion_info.get('status'),
"report": report,
"extracted": self._extract_actuals_from_report(report),
"elapsed_time": elapsed_time
})
@@ -959,6 +1132,7 @@ class BioyondDispensingStation(BioyondWorkstation):
"status": "error",
"completion_status": completion_info.get('status'),
"report": None,
"extracted": None,
"error": str(e),
"elapsed_time": elapsed_time
})
@@ -1052,6 +1226,266 @@ class BioyondDispensingStation(BioyondWorkstation):
self.hardware_interface._logger.error(f"处理任务完成报送失败: {e}")
return {"processed": False, "error": str(e)}
def transfer_materials_to_reaction_station(
self,
target_device_id: str,
transfer_groups: list
) -> dict:
"""
将配液站完成的物料转移到指定反应站的堆栈库位
支持多组转移任务,每组包含物料名称、目标堆栈和目标库位
Args:
target_device_id: 目标反应站设备ID(所有转移组使用同一个设备)
transfer_groups: 转移任务组列表,每组包含:
- materials: 物料名称(字符串,将通过RPC查询)
- target_stack: 目标堆栈名称(如"堆栈1左")
- target_sites: 目标库位(如"A01")
Returns:
dict: 转移结果
{
"success": bool,
"total_groups": int,
"successful_groups": int,
"failed_groups": int,
"target_device_id": str,
"details": [...]
}
"""
try:
# 验证参数
if not target_device_id:
raise ValueError("目标设备ID不能为空")
if not transfer_groups:
raise ValueError("转移任务组列表不能为空")
if not isinstance(transfer_groups, list):
raise ValueError("transfer_groups必须是列表类型")
# 标准化设备ID格式: 确保以 /devices/ 开头
if not target_device_id.startswith("/devices/"):
if target_device_id.startswith("/"):
target_device_id = f"/devices{target_device_id}"
else:
target_device_id = f"/devices/{target_device_id}"
self.hardware_interface._logger.info(
f"目标设备ID标准化为: {target_device_id}"
)
self.hardware_interface._logger.info(
f"开始执行批量物料转移: {len(transfer_groups)}组任务 -> {target_device_id}"
)
from .config import WAREHOUSE_MAPPING
results = []
successful_count = 0
failed_count = 0
for idx, group in enumerate(transfer_groups, 1):
try:
# 提取参数
material_name = group.get("materials", "")
target_stack = group.get("target_stack", "")
target_sites = group.get("target_sites", "")
# 验证必填参数
if not material_name:
raise ValueError(f"第{idx}组: 物料名称不能为空")
if not target_stack:
raise ValueError(f"第{idx}组: 目标堆栈不能为空")
if not target_sites:
raise ValueError(f"第{idx}组: 目标库位不能为空")
self.hardware_interface._logger.info(
f"处理第{idx}组转移: {material_name} -> "
f"{target_device_id}/{target_stack}/{target_sites}"
)
# 通过物料名称从deck获取ResourcePLR对象
try:
material_resource = self.deck.get_resource(material_name)
if not material_resource:
raise ValueError(f"在deck中未找到物料: {material_name}")
self.hardware_interface._logger.info(
f"从deck获取到物料 {material_name}: {material_resource}"
)
except Exception as e:
raise ValueError(
f"获取物料 {material_name} 失败: {str(e)}，请确认物料已正确加载到deck中"
)
# 验证目标堆栈是否存在
if target_stack not in WAREHOUSE_MAPPING:
raise ValueError(
f"未知的堆栈名称: {target_stack}，"
f"可选值: {list(WAREHOUSE_MAPPING.keys())}"
)
# 验证库位是否有效
stack_sites = WAREHOUSE_MAPPING[target_stack].get("site_uuids", {})
if target_sites not in stack_sites:
raise ValueError(
f"库位 {target_sites} 不存在于堆栈 {target_stack} 中，"
f"可选库位: {list(stack_sites.keys())}"
)
# 获取目标库位的UUID
target_site_uuid = stack_sites[target_sites]
if not target_site_uuid:
raise ValueError(
f"库位 {target_sites} 的 UUID 未配置，请在 WAREHOUSE_MAPPING 中完善"
)
# 目标位点（包含UUID）
future = ROS2DeviceNode.run_async_func(
self._ros_node.get_resource_with_dir,
True,
**{
"resource_id": f"/reaction_station_bioyond/Bioyond_Deck/{target_stack}",
"with_children": True,
},
)
# 等待异步完成后再获取结果
if not future:
raise ValueError(f"获取目标堆栈资源future无效: {target_stack}")
while not future.done():
time.sleep(0.1)
target_site_resource = future.result()
# 调用父类的 transfer_resource_to_another 方法
# 传入ResourcePLR对象和目标位点资源
future = self.transfer_resource_to_another(
resource=[material_resource],
mount_resource=[target_site_resource],
sites=[target_sites],
mount_device_id=target_device_id
)
# 等待异步任务完成（轮询直到完成，再取结果）
if future:
try:
while not future.done():
time.sleep(0.1)
future.result()
self.hardware_interface._logger.info(
f"异步转移任务已完成: {material_name}"
)
except Exception as e:
raise ValueError(f"转移任务执行失败: {str(e)}")
self.hardware_interface._logger.info(
f"第{idx}组转移成功: {material_name} -> "
f"{target_device_id}/{target_stack}/{target_sites}"
)
successful_count += 1
results.append({
"group_index": idx,
"success": True,
"material_name": material_name,
"target_stack": target_stack,
"target_site": target_sites,
"message": "转移成功"
})
except Exception as e:
error_msg = f"第{idx}组转移失败: {str(e)}"
self.hardware_interface._logger.error(error_msg)
failed_count += 1
results.append({
"group_index": idx,
"success": False,
"material_name": group.get("materials", ""),
"error": str(e)
})
# 返回汇总结果
return {
"success": failed_count == 0,
"total_groups": len(transfer_groups),
"successful_groups": successful_count,
"failed_groups": failed_count,
"target_device_id": target_device_id,
"details": results,
"message": f"完成 {len(transfer_groups)} 组转移任务到 {target_device_id}: "
f"{successful_count} 成功, {failed_count} 失败"
}
except Exception as e:
error_msg = f"批量转移物料失败: {str(e)}"
self.hardware_interface._logger.error(error_msg)
return {
"success": False,
"total_groups": len(transfer_groups) if transfer_groups else 0,
"successful_groups": 0,
"failed_groups": len(transfer_groups) if transfer_groups else 0,
"target_device_id": target_device_id if target_device_id else "",
"error": error_msg
}
def query_resource_by_name(self, material_name: str):
"""
通过物料名称查询资源对象(适用于Bioyond系统)
Args:
material_name: 物料名称
Returns:
物料ID或None
"""
try:
# Bioyond系统使用material_cache存储物料信息
if not hasattr(self.hardware_interface, 'material_cache'):
self.hardware_interface._logger.error(
"hardware_interface没有material_cache属性"
)
return None
material_cache = self.hardware_interface.material_cache
self.hardware_interface._logger.info(
f"查询物料 '{material_name}', 缓存中共有 {len(material_cache)} 个物料"
)
# 调试: 打印前几个物料信息
if material_cache:
cache_items = list(material_cache.items())[:5]
for name, material_id in cache_items:
self.hardware_interface._logger.debug(
f"缓存物料: name={name}, id={material_id}"
)
# 直接从缓存中查找
if material_name in material_cache:
material_id = material_cache[material_name]
self.hardware_interface._logger.info(
f"找到物料: {material_name} -> ID: {material_id}"
)
return material_id
self.hardware_interface._logger.warning(
f"未找到物料: {material_name} (缓存中无此物料)"
)
# 打印所有可用物料名称供参考
available_materials = list(material_cache.keys())
if available_materials:
self.hardware_interface._logger.info(
f"可用物料列表(前10个): {available_materials[:10]}"
)
return None
except Exception as e:
self.hardware_interface._logger.error(
f"查询物料失败 {material_name}: {str(e)}"
)
return None
if __name__ == "__main__":
bioyond = BioyondDispensingStation(config={