create container

unilabos/registry/resources/opentrons/container.yaml

@@ -0,0 +1,5 @@
+container:
+  description: regular organic container
+  class: 
+    module: unilabos.resources.container:RegularContainer
+    type: unilabos

unilabos/resources/container.py

@@ -0,0 +1,61 @@
+import json
+
+from unilabos_msgs.msg import Resource
+
+from unilabos.ros.msgs.message_converter import convert_from_ros_msg
+
+
+class RegularContainer(object):
+    # 第一个参数必须是id传入
+    # noinspection PyShadowingBuiltins
+    def __init__(self, id: str, data: dict = None):
+        self.id = id
+        self.ulr_resource = Resource()
+        self.ulr_resource_data = data
+
+    @property
+    def ulr_resource_data(self):
+        return json.loads(self.ulr_resource.data) if self.ulr_resource.data else {}
+
+    @ulr_resource_data.setter
+    def ulr_resource_data(self, value: dict):
+        self.ulr_resource.data = json.dumps(value)
+
+    @property
+    def liquid_type(self):
+        return self.ulr_resource_data.get("liquid_type", None)
+
+    @liquid_type.setter
+    def liquid_type(self, value: str):
+        if value is not None:
+            self.ulr_resource_data["liquid_type"] = value
+        else:
+            self.ulr_resource_data.pop("liquid_type", None)
+
+    @property
+    def liquid_volume(self):
+        return self.ulr_resource_data.get("liquid_volume", None)
+
+    @liquid_volume.setter
+    def liquid_volume(self, value: float):
+        if value is not None:
+            self.ulr_resource_data["liquid_volume"] = value
+        else:
+            self.ulr_resource_data.pop("liquid_volume", None)
+
+    def get_ulr_resource(self) -> Resource:
+        """
+        获取UlrResource对象
+        :return: UlrResource对象
+        """
+        return self.ulr_resource
+
+    def get_ulr_resource_as_dict(self) -> Resource:
+        """
+        获取UlrResource对象
+        :return: UlrResource对象
+        """
+        return convert_from_ros_msg(self.ulr_resource)
+
+    def __str__(self):
+        return f"{self.id}"

unilabos/resources/graphio.py

@@ -5,6 +5,8 @@ from typing import Union
 import numpy as np
 import networkx as nx
 
+from unilabos.resources.container import RegularContainer
+
 try:
     from pylabrobot.resources.resource import Resource as ResourcePLR
 except ImportError:
@@ -466,6 +468,9 @@ def initialize_resource(resource_config: dict) -> list[dict]:
             if resource_config.get("position") is not None:
                 r["position"] = resource_config["position"]
             r = tree_to_list([r])
+        elif resource_class_config["type"] == "unilabos":
+            res_instance: RegularContainer = RESOURCE(id=resource_config["name"], data=resource_config.get("data", {}))
+            r = [res_instance.get_ulr_resource_as_dict()]
         elif isinstance(RESOURCE, dict):
             r = [RESOURCE.copy()]
 

unilabos/ros/nodes/base_device_node.py

@@ -343,6 +343,8 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             ADD_LIQUID_TYPE = other_calling_param.pop("ADD_LIQUID_TYPE", [])
             LIQUID_VOLUME = other_calling_param.pop("LIQUID_VOLUME", [])
             LIQUID_INPUT_SLOT = other_calling_param.pop("LIQUID_INPUT_SLOT", [])
+            if len(LIQUID_INPUT_SLOT) and LIQUID_INPUT_SLOT[0] == -1:
+                print("create container")
             slot = other_calling_param.pop("slot", "-1")
             if slot != "-1":  # slot为负数的时候采用assign方法
                 other_calling_param["slot"] = slot

unilabos/ros/nodes/presets/host_node.py

@@ -383,18 +383,24 @@ class HostNode(BaseROS2DeviceNode):
         liquid_volume: list[int],
         slot_on_deck: str,
     ):
-        init_new_res = initialize_resource(
-            {
-                "name": res_id,
-                "class": class_name,
-                "parent": parent,
-                "position": {
-                    "x": bind_locations.x,
-                    "y": bind_locations.y,
-                    "z": bind_locations.z,
-                },
-            }
-        )  # flatten的格式
+        res_creation_input = {
+            "name": res_id,
+            "class": class_name,
+            "parent": parent,
+            "position": {
+                "x": bind_locations.x,
+                "y": bind_locations.y,
+                "z": bind_locations.z,
+            },
+        }
+        if len(liquid_input_slot) and liquid_input_slot[0] == -1:  # 目前container只逐个创建
+            res_creation_input.update({
+                "data": {
+                    "liquid_type": liquid_type[0] if liquid_type else None,
+                    "liquid_volume": liquid_volume[0] if liquid_volume else None,
+                }
+            })
+        init_new_res = initialize_resource(res_creation_input)  # flatten的格式
         resources = init_new_res  # initialize_resource已经返回list[dict]
         device_ids = [device_id]
         bind_parent_id = [parent]