mirror of
https://github.com/dptech-corp/Uni-Lab-OS.git
synced 2025-12-18 13:31:20 +00:00
update workstation base
This commit is contained in:
Junhan Chang
@@ -25,6 +25,9 @@ from unilabos.ros.nodes.presets.protocol_node import ROS2ProtocolNode
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from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
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from unilabos.device_comms.workstation_communication import WorkstationCommunicationBase, CommunicationConfig
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from unilabos.device_comms.workstation_material_management import MaterialManagementBase
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from unilabos.device_comms.workstation_http_service import (
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WorkstationHTTPService, WorkstationReportRequest, MaterialUsage
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)
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from unilabos.ros.msgs.message_converter import convert_to_ros_msg, convert_from_ros_msg
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from unilabos.utils.log import logger
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from unilabos.utils.type_check import serialize_result_info
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@@ -114,6 +117,7 @@ class WorkstationBase(ROS2ProtocolNode, ABC):
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communication_config: CommunicationConfig,
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deck_config: Optional[Dict[str, Any]] = None,
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communication_interfaces: Optional[Dict[str, CommunicationInterface]] = None,
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http_service_config: Optional[Dict[str, Any]] = None, # 新增：HTTP服务配置
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*args,
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**kwargs,
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):
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@@ -122,6 +126,18 @@ class WorkstationBase(ROS2ProtocolNode, ABC):
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self.deck_config = deck_config or {"size_x": 1000.0, "size_y": 1000.0, "size_z": 500.0}
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self.communication_interfaces = communication_interfaces or {}
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# HTTP服务配置 - 现在专门用于报送接收
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self.http_service_config = http_service_config or {
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"enabled": True,
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"host": "127.0.0.1",
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"port": 8081 # 默认使用8081端口作为报送接收服务
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}
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# 错误处理和动作追踪
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self.current_action_context = None # 当前正在执行的动作上下文
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self.error_history = [] # 错误历史记录
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self.action_results = {} # 动作结果缓存
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# 工作流状态 - 支持静态和动态工作流
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self.current_workflow_status = WorkflowStatus.IDLE
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self.current_workflow_info = None
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@@ -135,28 +151,27 @@ class WorkstationBase(ROS2ProtocolNode, ABC):
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self.registered_workflows: Dict[str, WorkflowDefinition] = {}
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self._workflow_action_servers: Dict[str, ActionServer] = {}
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# 初始化基类 - ROS2ProtocolNode会处理子设备初始化
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# 初始化基类 - ROS2ProtocolNode会处理所有设备管理
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super().__init__(
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device_id=device_id,
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children=children,
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protocol_type=protocol_type,
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resource_tracker=resource_tracker,
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workstation_config={
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'communication_interfaces': communication_interfaces,
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'deck_config': self.deck_config
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},
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*args,
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**kwargs
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)
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# 工作站特有的设备分类 (基于已初始化的sub_devices)
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self.communication_devices: Dict[str, Any] = {}
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self.logical_devices: Dict[str, Any] = {}
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self._classify_devices()
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# 使用父类的设备分类结果（不再重复分类）
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# self.communication_devices 和 self.logical_devices 由 ROS2ProtocolNode 提供
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# 初始化工作站模块
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self.communication: WorkstationCommunicationBase = self._create_communication_module()
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self.material_management: MaterialManagementBase = self._create_material_management_module()
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# 设置工作站特定的通信接口
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self._setup_workstation_communication_interfaces()
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# 注册支持的工作流
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self._register_supported_workflows()
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@@ -166,62 +181,12 @@ class WorkstationBase(ROS2ProtocolNode, ABC):
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# 启动状态监控
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self._start_status_monitoring()
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# 启动HTTP报送接收服务
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self.http_service = None
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self._start_http_service()
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logger.info(f"增强工作站基类 {device_id} 初始化完成")
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def _classify_devices(self):
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"""基于已初始化的设备进行分类"""
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for device_id, device in self.sub_devices.items():
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device_config = self.children.get(device_id, {})
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device_type = DeviceType(device_config.get("device_type", "logical"))
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if device_type == DeviceType.COMMUNICATION:
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self.communication_devices[device_id] = device
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logger.info(f"通信设备 {device_id} 已分类")
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elif device_type == DeviceType.LOGICAL:
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self.logical_devices[device_id] = device
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logger.info(f"逻辑设备 {device_id} 已分类")
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def _setup_workstation_communication_interfaces(self):
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"""设置工作站特定的通信接口代理"""
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for logical_device_id, logical_device in self.logical_devices.items():
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# 检查是否有配置的通信接口
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interface_config = self.communication_interfaces.get(logical_device_id)
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if not interface_config:
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continue
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comm_device = self.communication_devices.get(interface_config.device_id)
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if not comm_device:
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logger.error(f"通信设备 {interface_config.device_id} 不存在")
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continue
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# 设置工作站级别的通信代理
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self._setup_workstation_hardware_proxy(
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logical_device,
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comm_device,
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interface_config
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)
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def _setup_workstation_hardware_proxy(self, logical_device, comm_device, interface: CommunicationInterface):
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"""为逻辑设备设置工作站级通信代理"""
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try:
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# 获取通信设备的读写方法
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read_func = getattr(comm_device.driver_instance, interface.read_method, None)
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write_func = getattr(comm_device.driver_instance, interface.write_method, None)
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if read_func:
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setattr(logical_device.driver_instance, 'comm_read', read_func)
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if write_func:
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setattr(logical_device.driver_instance, 'comm_write', write_func)
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# 设置通信配置
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setattr(logical_device.driver_instance, 'comm_config', interface.config)
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setattr(logical_device.driver_instance, 'comm_protocol', interface.protocol_type)
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logger.info(f"为逻辑设备 {logical_device.device_id} 设置工作站通信代理 -> {comm_device.device_id}")
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except Exception as e:
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logger.error(f"设置工作站通信代理失败: {e}")
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@abstractmethod
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def _create_communication_module(self) -> WorkstationCommunicationBase:
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"""创建通信模块 - 子类必须实现"""
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@@ -355,6 +320,579 @@ class WorkstationBase(ROS2ProtocolNode, ABC):
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# 目前简化为按需查询
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pass
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def _start_http_service(self):
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"""启动HTTP报送接收服务"""
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try:
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if not self.http_service_config.get("enabled", True):
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logger.info("HTTP报送接收服务已禁用")
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return
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host = self.http_service_config.get("host", "127.0.0.1")
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port = self.http_service_config.get("port", 8081)
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self.http_service = WorkstationHTTPService(
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workstation_instance=self,
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host=host,
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port=port
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)
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self.http_service.start()
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logger.info(f"工作站 {self.device_id} HTTP报送接收服务启动成功: {self.http_service.service_url}")
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except Exception as e:
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logger.error(f"启动HTTP报送接收服务失败: {e}")
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self.http_service = None
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def _stop_http_service(self):
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"""停止HTTP报送接收服务"""
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try:
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if self.http_service:
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self.http_service.stop()
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self.http_service = None
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logger.info("HTTP报送接收服务已停止")
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except Exception as e:
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logger.error(f"停止HTTP报送接收服务失败: {e}")
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# ============ 报送处理方法 ============
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def process_material_change_report(self, report) -> Dict[str, Any]:
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"""处理物料变更报送 - 同步到 ResourceTracker 并发送 ROS2 更新"""
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try:
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logger.info(f"处理物料变更报送: {report.workstation_id} -> {report.resource_id} ({report.change_type})")
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# 增加接收计数
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self._reports_received_count = getattr(self, '_reports_received_count', 0) + 1
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# 准备变更数据
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changes = {
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'workstation_id': report.workstation_id,
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'timestamp': report.timestamp,
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'change_type': report.change_type,
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'resource_id': report.resource_id
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}
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# 添加额外的变更信息
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if hasattr(report, 'new_location'):
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changes['location'] = {
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'x': getattr(report.new_location, 'x', 0),
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'y': getattr(report.new_location, 'y', 0),
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'z': getattr(report.new_location, 'z', 0)
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}
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if hasattr(report, 'quantity'):
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changes['quantity'] = report.quantity
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if hasattr(report, 'status'):
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changes['status'] = report.status
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# 同步到 ResourceTracker
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sync_success = self.resource_tracker.update_material_state(
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report.resource_id,
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changes,
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report.change_type
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)
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result = {
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'processed': True,
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'resource_id': report.resource_id,
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'change_type': report.change_type,
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'next_actions': [],
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'tracker_sync': sync_success
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}
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# 发送 ROS2 ResourceUpdate 请求到 host node
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if sync_success:
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try:
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self._send_resource_update_to_host(report.resource_id, changes)
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result['ros_update_sent'] = True
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result['next_actions'].append('ros_update_completed')
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except Exception as e:
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logger.warning(f"发送ROS2资源更新失败: {e}")
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result['ros_update_sent'] = False
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result['warnings'] = [f"ROS2更新失败: {str(e)}"]
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# 根据变更类型处理
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if report.change_type == 'created':
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result['next_actions'].append('sync_to_global_registry')
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self._handle_material_created(report)
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elif report.change_type == 'updated':
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result['next_actions'].append('update_local_state')
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self._handle_material_updated(report)
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elif report.change_type == 'moved':
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result['next_actions'].append('update_location_tracking')
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self._handle_material_moved(report)
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elif report.change_type == 'consumed':
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result['next_actions'].append('update_inventory')
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self._handle_material_consumed(report)
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elif report.change_type == 'completed':
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result['next_actions'].append('trigger_next_workflow')
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self._handle_material_completed(report)
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# 更新本地物料管理系统（如果存在）
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if hasattr(self, 'material_management'):
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try:
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self.material_management.sync_external_material_change(report)
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except Exception as e:
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logger.warning(f"同步物料变更到本地管理系统失败: {e}")
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return result
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except Exception as e:
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logger.error(f"处理物料变更报送失败: {e}")
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return {
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'processed': False,
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'error': str(e),
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'next_actions': ['retry_processing']
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}
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def process_workflow_status_report(self, workstation_id: str, workflow_id: str,
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status: str, data: Dict[str, Any]) -> Dict[str, Any]:
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"""处理工作流状态报送"""
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try:
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logger.info(f"处理工作流状态报送: {workstation_id} -> {workflow_id} ({status})")
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# 增加接收计数
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self._reports_received_count = getattr(self, '_reports_received_count', 0) + 1
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result = {
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'processed': True,
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'workflow_id': workflow_id,
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'status': status
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}
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# 这里可以添加工作流状态同步逻辑
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# 例如：更新本地工作流状态、触发后续动作等
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return result
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except Exception as e:
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logger.error(f"处理工作流状态报送失败: {e}")
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return {'processed': False, 'error': str(e)}
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# ============ 统一报送处理方法（基于LIMS协议规范） ============
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def process_step_finish_report(self, request: WorkstationReportRequest) -> Dict[str, Any]:
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"""处理步骤完成报送（统一LIMS协议规范）- 同步到 ResourceTracker"""
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try:
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data = request.data
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logger.info(f"处理步骤完成报送: {data['orderCode']} - {data['stepName']} (步骤ID: {data['stepId']})")
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# 增加接收计数
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self._reports_received_count = getattr(self, '_reports_received_count', 0) + 1
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# 同步步骤信息到 ResourceTracker
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step_changes = {
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'order_code': data['orderCode'],
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'order_name': data.get('orderName', ''),
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'step_name': data['stepName'],
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'step_id': data['stepId'],
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'sample_id': data['sampleId'],
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'start_time': data['startTime'],
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'end_time': data['endTime'],
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'execution_status': data.get('executionStatus', 'completed'),
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'status': 'step_completed',
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'last_updated': request.request_time
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}
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# 更新 ResourceTracker 中的样本状态
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sample_sync_success = False
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if data['sampleId']:
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sample_sync_success = self.resource_tracker.update_material_state(
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data['sampleId'],
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{
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'current_step': data['stepName'],
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'step_status': 'completed',
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'last_step_time': data['endTime'],
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'execution_status': data.get('executionStatus', 'completed')
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},
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'step_finished'
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)
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result = {
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'processed': True,
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'order_code': data['orderCode'],
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'step_id': data['stepId'],
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'step_name': data['stepName'],
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'sample_id': data['sampleId'],
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'start_time': data['startTime'],
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'end_time': data['endTime'],
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'execution_status': data.get('executionStatus', 'completed'),
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'next_actions': [],
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'sample_sync': sample_sync_success
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}
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# 发送 ROS2 ResourceUpdate 到 host node
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if sample_sync_success and data['sampleId']:
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try:
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self._send_resource_update_to_host(data['sampleId'], step_changes)
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result['ros_update_sent'] = True
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result['next_actions'].append('ros_step_update_completed')
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except Exception as e:
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logger.warning(f"发送ROS2步骤完成更新失败: {e}")
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result['ros_update_sent'] = False
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result['warnings'] = [f"ROS2更新失败: {str(e)}"]
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# 处理步骤完成逻辑
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try:
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# 更新步骤状态
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result['next_actions'].append('update_step_status')
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# 检查是否触发后续步骤
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result['next_actions'].append('check_next_step')
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# 更新通量进度
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result['next_actions'].append('update_sample_progress')
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# 记录步骤完成事件
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self._record_step_completion(data)
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except Exception as e:
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logger.warning(f"步骤完成处理过程中出现警告: {e}")
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result['warnings'] = result.get('warnings', []) + [str(e)]
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return result
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except Exception as e:
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logger.error(f"处理步骤完成报送失败: {e}")
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return {
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'processed': False,
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'error': str(e),
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'next_actions': ['retry_processing']
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}
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def process_sample_finish_report(self, request: WorkstationReportRequest) -> Dict[str, Any]:
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"""处理通量完成报送（统一LIMS协议规范）"""
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try:
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data = request.data
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logger.info(f"处理通量完成报送: {data['orderCode']} - 通量ID: {data['sampleId']} (状态: {data['Status']})")
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# 增加接收计数
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self._reports_received_count = getattr(self, '_reports_received_count', 0) + 1
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result = {
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'processed': True,
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'order_code': data['orderCode'],
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'sample_id': data['sampleId'],
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'status': data['Status'],
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'start_time': data['startTime'],
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'end_time': data['endTime'],
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'next_actions': []
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}
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# 根据通量状态处理
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status = int(data['Status'])
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if status == 20: # 完成
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result['next_actions'].extend(['update_sample_completed', 'check_order_completion'])
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self._record_sample_completion(data, 'completed')
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elif status == -2: # 异常停止
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result['next_actions'].extend(['log_sample_error', 'trigger_error_handling'])
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self._record_sample_completion(data, 'error')
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elif status == -3: # 人工停止或取消
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result['next_actions'].extend(['log_sample_cancelled', 'update_order_status'])
|
||||
self._record_sample_completion(data, 'cancelled')
|
||||
elif status == 10: # 开始
|
||||
result['next_actions'].append('update_sample_started')
|
||||
self._record_sample_start(data)
|
||||
elif status == 2: # 进样
|
||||
result['next_actions'].append('update_sample_intake')
|
||||
self._record_sample_intake(data)
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理通量完成报送失败: {e}")
|
||||
return {
|
||||
'processed': False,
|
||||
'error': str(e),
|
||||
'next_actions': ['retry_processing']
|
||||
}
|
||||
|
||||
def process_order_finish_report(self, request: WorkstationReportRequest, used_materials: List[MaterialUsage]) -> Dict[str, Any]:
|
||||
"""处理任务完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
data = request.data
|
||||
logger.info(f"处理任务完成报送: {data['orderCode']} - {data['orderName']} (状态: {data['status']})")
|
||||
|
||||
# 增加接收计数
|
||||
self._reports_received_count = getattr(self, '_reports_received_count', 0) + 1
|
||||
|
||||
result = {
|
||||
'processed': True,
|
||||
'order_code': data['orderCode'],
|
||||
'order_name': data['orderName'],
|
||||
'status': data['status'],
|
||||
'start_time': data['startTime'],
|
||||
'end_time': data['endTime'],
|
||||
'used_materials_count': len(used_materials),
|
||||
'next_actions': []
|
||||
}
|
||||
|
||||
# 根据任务状态处理
|
||||
status = int(data['status'])
|
||||
if status == 30: # 完成
|
||||
result['next_actions'].extend([
|
||||
'update_order_completed',
|
||||
'process_material_usage',
|
||||
'generate_completion_report'
|
||||
])
|
||||
self._record_order_completion(data, used_materials, 'completed')
|
||||
elif status == -11: # 异常停止
|
||||
result['next_actions'].extend([
|
||||
'log_order_error',
|
||||
'trigger_error_handling',
|
||||
'process_partial_material_usage'
|
||||
])
|
||||
self._record_order_completion(data, used_materials, 'error')
|
||||
elif status == -12: # 人工停止或取消
|
||||
result['next_actions'].extend([
|
||||
'log_order_cancelled',
|
||||
'revert_material_reservations'
|
||||
])
|
||||
self._record_order_completion(data, used_materials, 'cancelled')
|
||||
|
||||
# 处理物料使用记录
|
||||
if used_materials:
|
||||
material_usage_result = self._process_material_usage(used_materials)
|
||||
result['material_usage'] = material_usage_result
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理任务完成报送失败: {e}")
|
||||
return {
|
||||
'processed': False,
|
||||
'error': str(e),
|
||||
'next_actions': ['retry_processing']
|
||||
}
|
||||
|
||||
# ============ 具体的报送处理方法 ============
|
||||
|
||||
def _handle_material_created(self, report):
|
||||
"""处理物料创建报送"""
|
||||
try:
|
||||
# 已废弃的方法，保留用于兼容性
|
||||
logger.debug(f"处理物料创建: {getattr(report, 'resource_id', 'unknown')}")
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料创建失败: {e}")
|
||||
|
||||
def _handle_material_updated(self, report):
|
||||
"""处理物料更新报送"""
|
||||
try:
|
||||
logger.debug(f"处理物料更新: {getattr(report, 'resource_id', 'unknown')}")
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料更新失败: {e}")
|
||||
|
||||
def _handle_material_moved(self, report):
|
||||
"""处理物料移动报送"""
|
||||
try:
|
||||
logger.debug(f"处理物料移动: {getattr(report, 'resource_id', 'unknown')}")
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料移动失败: {e}")
|
||||
|
||||
def _handle_material_consumed(self, report):
|
||||
"""处理物料消耗报送"""
|
||||
try:
|
||||
logger.debug(f"处理物料消耗: {getattr(report, 'resource_id', 'unknown')}")
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料消耗失败: {e}")
|
||||
|
||||
def _handle_material_completed(self, report):
|
||||
"""处理物料完成报送"""
|
||||
try:
|
||||
logger.debug(f"处理物料完成: {getattr(report, 'resource_id', 'unknown')}")
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料完成失败: {e}")
|
||||
|
||||
# ============ 工作流控制接口 ============
|
||||
def handle_external_error(self, error_request):
|
||||
"""处理外部错误请求"""
|
||||
try:
|
||||
logger.error(f"收到外部错误处理请求: {getattr(error_request, 'error_type', 'unknown')}")
|
||||
return {
|
||||
'success': True,
|
||||
'message': "错误已记录",
|
||||
'error_code': 'OK'
|
||||
}
|
||||
except Exception as e:
|
||||
logger.error(f"处理外部错误失败: {e}")
|
||||
return {
|
||||
'success': False,
|
||||
'message': f"错误处理失败: {str(e)}",
|
||||
'error_code': 'ERROR_HANDLING_FAILED'
|
||||
}
|
||||
|
||||
def _process_error_handling(self, error_request, error_record):
|
||||
"""处理具体的错误类型"""
|
||||
return {'success': True, 'actions_taken': ['已转换为统一报送']}
|
||||
"""处理具体的错误类型"""
|
||||
try:
|
||||
result = {'success': True, 'actions_taken': []}
|
||||
|
||||
# 1. 如果有特定动作ID，标记该动作失败
|
||||
if error_request.action_id:
|
||||
self._mark_action_failed(error_request.action_id, error_request.error_message)
|
||||
result['actions_taken'].append(f"标记动作 {error_request.action_id} 为失败")
|
||||
|
||||
# 2. 如果有工作流ID，停止相关工作流
|
||||
if error_request.workflow_id:
|
||||
self._handle_workflow_error(error_request.workflow_id, error_request.error_message)
|
||||
result['actions_taken'].append(f"处理工作流 {error_request.workflow_id} 错误")
|
||||
|
||||
# 3. 根据错误类型执行特定处理
|
||||
error_type = error_request.error_type.lower()
|
||||
|
||||
if error_type in ['material_error', 'resource_error']:
|
||||
# 物料相关错误
|
||||
material_result = self._handle_material_error(error_request)
|
||||
result['actions_taken'].extend(material_result.get('actions', []))
|
||||
|
||||
elif error_type in ['device_error', 'communication_error']:
|
||||
# 设备通信错误
|
||||
device_result = self._handle_device_error(error_request)
|
||||
result['actions_taken'].extend(device_result.get('actions', []))
|
||||
|
||||
elif error_type in ['workflow_error', 'process_error']:
|
||||
# 工作流程错误
|
||||
workflow_result = self._handle_process_error(error_request)
|
||||
result['actions_taken'].extend(workflow_result.get('actions', []))
|
||||
|
||||
else:
|
||||
# 通用错误处理
|
||||
result['actions_taken'].append("执行通用错误处理")
|
||||
|
||||
# 4. 如果是严重错误，触发紧急停止
|
||||
if error_request.error_type.lower() in ['critical_error', 'safety_error', 'emergency']:
|
||||
self._trigger_emergency_stop(error_request.error_message)
|
||||
result['actions_taken'].append("触发紧急停止")
|
||||
|
||||
result['message'] = "错误处理完成"
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"错误处理过程失败: {e}")
|
||||
return {
|
||||
'success': False,
|
||||
'message': f"错误处理过程失败: {str(e)}",
|
||||
'error_code': 'ERROR_PROCESSING_FAILED'
|
||||
}
|
||||
|
||||
def _mark_action_failed(self, action_id: str, error_message: str):
|
||||
"""标记指定动作为失败"""
|
||||
try:
|
||||
# 创建失败结果
|
||||
failed_result = {
|
||||
'success': False,
|
||||
'error': True,
|
||||
'error_message': error_message,
|
||||
'timestamp': time.time(),
|
||||
'marked_by_external_error': True
|
||||
}
|
||||
|
||||
# 存储到动作结果缓存
|
||||
self.action_results[action_id] = failed_result
|
||||
|
||||
# 如果当前有正在执行的动作，更新其状态
|
||||
if self.current_action_context and self.current_action_context.get('action_id') == action_id:
|
||||
self.current_action_context['failed'] = True
|
||||
self.current_action_context['error_message'] = error_message
|
||||
|
||||
logger.info(f"动作 {action_id} 已标记为失败: {error_message}")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"标记动作失败时出错: {e}")
|
||||
|
||||
def _handle_workflow_error(self, workflow_id: str, error_message: str):
|
||||
"""处理工作流错误"""
|
||||
try:
|
||||
# 如果是当前正在运行的工作流
|
||||
if (self.current_workflow_info and
|
||||
self.current_workflow_info.get('id') == workflow_id):
|
||||
|
||||
# 停止当前工作流
|
||||
self.stop_workflow(emergency=True)
|
||||
logger.info(f"因外部错误停止工作流 {workflow_id}: {error_message}")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理工作流错误失败: {e}")
|
||||
|
||||
def _handle_material_error(self, error_request):
|
||||
"""处理物料相关错误（已废弃，请使用统一报送接口）"""
|
||||
return {'success': True, 'message': '物料错误已记录'}
|
||||
"""处理物料相关错误"""
|
||||
actions = []
|
||||
try:
|
||||
# 可以触发物料重新扫描、位置重置等
|
||||
if error_request.context and 'resource_id' in error_request.context:
|
||||
resource_id = error_request.context['resource_id']
|
||||
# 触发物料状态更新
|
||||
actions.append(f"更新物料 {resource_id} 状态")
|
||||
|
||||
actions.append("执行物料错误恢复流程")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料错误失败: {e}")
|
||||
|
||||
return {'actions': actions}
|
||||
|
||||
def _handle_device_error(self, error_request):
|
||||
"""处理设备相关错误（已废弃，请使用统一报送接口）"""
|
||||
return {'success': True, 'message': '设备错误已记录'}
|
||||
"""处理设备错误"""
|
||||
actions = []
|
||||
try:
|
||||
if error_request.device_id:
|
||||
# 重置设备连接
|
||||
actions.append(f"重置设备 {error_request.device_id} 连接")
|
||||
|
||||
# 如果是通信设备，重新建立连接
|
||||
if error_request.device_id in self.communication_devices:
|
||||
actions.append(f"重新建立通信设备 {error_request.device_id} 连接")
|
||||
|
||||
actions.append("执行设备错误恢复流程")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理设备错误失败: {e}")
|
||||
|
||||
return {'actions': actions}
|
||||
|
||||
def _handle_process_error(self, error_request):
|
||||
"""处理流程相关错误（已废弃，请使用统一报送接口）"""
|
||||
return {'success': True, 'message': '流程错误已记录'}
|
||||
"""处理工作流程错误"""
|
||||
actions = []
|
||||
try:
|
||||
# 暂停当前工作流
|
||||
if self.current_workflow_status not in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]:
|
||||
actions.append("暂停当前工作流")
|
||||
|
||||
actions.append("执行工作流程错误恢复")
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理工作流程错误失败: {e}")
|
||||
|
||||
return {'actions': actions}
|
||||
|
||||
def _trigger_emergency_stop(self, reason: str):
|
||||
"""触发紧急停止"""
|
||||
try:
|
||||
logger.critical(f"触发紧急停止: {reason}")
|
||||
|
||||
# 停止所有工作流
|
||||
self.stop_workflow(emergency=True)
|
||||
|
||||
# 设置错误状态
|
||||
self.current_workflow_status = WorkflowStatus.ERROR
|
||||
|
||||
# 可以在这里添加更多紧急停止逻辑
|
||||
# 例如：断开设备连接、保存当前状态等
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"执行紧急停止失败: {e}")
|
||||
|
||||
# ============ 工作流控制接口 ============
|
||||
|
||||
def _handle_start_workflow(self, request, response):
|
||||
@@ -1298,5 +1836,199 @@ class WorkstationBase(ROS2ProtocolNode, ABC):
|
||||
"active_workflows": self.active_dynamic_workflows,
|
||||
"total_resources": self.workstation_resource_count,
|
||||
"communication_status": self.communication_status,
|
||||
"material_status": self.material_status
|
||||
"material_status": self.material_status,
|
||||
"http_service_running": self.http_service.is_running if self.http_service else False
|
||||
}
|
||||
|
||||
# ============ 增强动作执行 - 支持错误处理和追踪 ============
|
||||
|
||||
async def execute_single_action(self, device_id, action_name, action_kwargs):
|
||||
"""执行单个动作 - 增强版，支持错误处理和动作追踪"""
|
||||
# 构建动作ID
|
||||
if device_id in ["", None, "self"]:
|
||||
action_id = f"/devices/{self.device_id}/{action_name}"
|
||||
else:
|
||||
action_id = f"/devices/{device_id}/{action_name}"
|
||||
|
||||
# 设置动作上下文
|
||||
self.current_action_context = {
|
||||
'action_id': action_id,
|
||||
'device_id': device_id,
|
||||
'action_name': action_name,
|
||||
'action_kwargs': action_kwargs,
|
||||
'start_time': time.time(),
|
||||
'failed': False,
|
||||
'error_message': None
|
||||
}
|
||||
|
||||
try:
|
||||
# 检查是否已被外部标记为失败
|
||||
if action_id in self.action_results:
|
||||
cached_result = self.action_results[action_id]
|
||||
if cached_result.get('marked_by_external_error'):
|
||||
logger.warning(f"动作 {action_id} 已被外部标记为失败")
|
||||
return self._create_failed_result(cached_result['error_message'])
|
||||
|
||||
# 检查动作客户端是否存在
|
||||
if action_id not in self._action_clients:
|
||||
error_msg = f"找不到动作客户端: {action_id}"
|
||||
self.lab_logger().error(error_msg)
|
||||
return self._create_failed_result(error_msg)
|
||||
|
||||
# 发送动作请求
|
||||
action_client = self._action_clients[action_id]
|
||||
goal_msg = convert_to_ros_msg(action_client._action_type.Goal(), action_kwargs)
|
||||
|
||||
self.lab_logger().debug(f"发送动作请求到: {action_id}")
|
||||
action_client.wait_for_server()
|
||||
|
||||
# 等待动作完成
|
||||
request_future = action_client.send_goal_async(goal_msg)
|
||||
handle = await request_future
|
||||
|
||||
if not handle.accepted:
|
||||
error_msg = f"动作请求被拒绝: {action_name}"
|
||||
self.lab_logger().error(error_msg)
|
||||
return self._create_failed_result(error_msg)
|
||||
|
||||
# 在执行过程中检查是否被外部标记为失败
|
||||
result_future = await handle.get_result_async()
|
||||
|
||||
# 再次检查是否在执行过程中被标记为失败
|
||||
if self.current_action_context.get('failed'):
|
||||
error_msg = self.current_action_context.get('error_message', '动作被外部标记为失败')
|
||||
logger.warning(f"动作 {action_id} 在执行过程中被标记为失败: {error_msg}")
|
||||
return self._create_failed_result(error_msg)
|
||||
|
||||
result = result_future.result
|
||||
|
||||
# 存储成功结果
|
||||
self.action_results[action_id] = {
|
||||
'success': True,
|
||||
'result': result,
|
||||
'timestamp': time.time(),
|
||||
'execution_time': time.time() - self.current_action_context['start_time']
|
||||
}
|
||||
|
||||
self.lab_logger().debug(f"动作完成: {action_name}")
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
error_msg = f"动作执行异常: {str(e)}"
|
||||
logger.error(f"执行动作 {action_id} 失败: {e}\n{traceback.format_exc()}")
|
||||
return self._create_failed_result(error_msg)
|
||||
|
||||
finally:
|
||||
# 清理动作上下文
|
||||
self.current_action_context = None
|
||||
|
||||
def _create_failed_result(self, error_message: str):
|
||||
"""创建失败结果对象"""
|
||||
# 这需要根据具体的动作类型来创建相应的结果对象
|
||||
# 这里返回一个通用的失败标识
|
||||
class FailedResult:
|
||||
def __init__(self, error_msg):
|
||||
self.success = False
|
||||
self.return_info = json.dumps({
|
||||
"suc": False,
|
||||
"error": True,
|
||||
"error_message": error_msg,
|
||||
"timestamp": time.time()
|
||||
})
|
||||
|
||||
return FailedResult(error_message)
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数 - 清理HTTP服务"""
|
||||
try:
|
||||
self._stop_http_service()
|
||||
self._stop_reporting_service()
|
||||
except:
|
||||
pass
|
||||
|
||||
# ============ LIMS辅助方法 ============
|
||||
|
||||
def _record_step_completion(self, step_data: Dict[str, Any]):
|
||||
"""记录步骤完成事件"""
|
||||
try:
|
||||
logger.debug(f"记录步骤完成: {step_data['stepName']} - {step_data['stepId']}")
|
||||
# 这里可以添加步骤完成的记录逻辑
|
||||
# 例如：更新数据库、发送通知等
|
||||
except Exception as e:
|
||||
logger.error(f"记录步骤完成失败: {e}")
|
||||
|
||||
def _record_sample_completion(self, sample_data: Dict[str, Any], completion_type: str):
|
||||
"""记录通量完成事件"""
|
||||
try:
|
||||
logger.debug(f"记录通量完成: {sample_data['sampleId']} - {completion_type}")
|
||||
# 这里可以添加通量完成的记录逻辑
|
||||
except Exception as e:
|
||||
logger.error(f"记录通量完成失败: {e}")
|
||||
|
||||
def _record_sample_start(self, sample_data: Dict[str, Any]):
|
||||
"""记录通量开始事件"""
|
||||
try:
|
||||
logger.debug(f"记录通量开始: {sample_data['sampleId']}")
|
||||
# 这里可以添加通量开始的记录逻辑
|
||||
except Exception as e:
|
||||
logger.error(f"记录通量开始失败: {e}")
|
||||
|
||||
def _record_sample_intake(self, sample_data: Dict[str, Any]):
|
||||
"""记录通量进样事件"""
|
||||
try:
|
||||
logger.debug(f"记录通量进样: {sample_data['sampleId']}")
|
||||
# 这里可以添加通量进样的记录逻辑
|
||||
except Exception as e:
|
||||
logger.error(f"记录通量进样失败: {e}")
|
||||
|
||||
def _record_order_completion(self, order_data: Dict[str, Any], used_materials: List, completion_type: str):
|
||||
"""记录任务完成事件"""
|
||||
try:
|
||||
logger.debug(f"记录任务完成: {order_data['orderCode']} - {completion_type}")
|
||||
# 这里可以添加任务完成的记录逻辑
|
||||
# 包括物料使用记录的处理
|
||||
except Exception as e:
|
||||
logger.error(f"记录任务完成失败: {e}")
|
||||
|
||||
def _process_material_usage(self, used_materials: List) -> Dict[str, Any]:
|
||||
"""处理物料使用记录"""
|
||||
try:
|
||||
logger.debug(f"处理物料使用记录: {len(used_materials)} 条")
|
||||
|
||||
processed_materials = []
|
||||
for material in used_materials:
|
||||
material_record = {
|
||||
'material_id': material.materialId,
|
||||
'location_id': material.locationId,
|
||||
'type_mode': material.typeMode,
|
||||
'used_quantity': material.usedQuantity,
|
||||
'processed_time': time.time()
|
||||
}
|
||||
processed_materials.append(material_record)
|
||||
|
||||
# 更新库存
|
||||
self._update_material_inventory(material)
|
||||
|
||||
return {
|
||||
'processed_count': len(processed_materials),
|
||||
'materials': processed_materials,
|
||||
'success': True
|
||||
}
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料使用记录失败: {e}")
|
||||
return {
|
||||
'processed_count': 0,
|
||||
'materials': [],
|
||||
'success': False,
|
||||
'error': str(e)
|
||||
}
|
||||
|
||||
def _update_material_inventory(self, material):
|
||||
"""更新物料库存"""
|
||||
try:
|
||||
# 这里可以添加库存更新逻辑
|
||||
# 例如：调用库存管理系统API、更新本地缓存等
|
||||
logger.debug(f"更新物料库存: {material.materialId} - 使用量: {material.usedQuantity}")
|
||||
except Exception as e:
|
||||
logger.error(f"更新物料库存失败: {e}")
|
||||
|
||||
Reference in New Issue
Block a user