create container

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()]