diff --git a/bioyond_yihua_YB.json b/bioyond_yihua_YB.json index 1cd7f00f..c38179d9 100644 --- a/bioyond_yihua_YB.json +++ b/bioyond_yihua_YB.json @@ -17,29 +17,16 @@ { "id": "BatteryStation", "name": "扣电组装工作站", - "children": [ - "coin_cell_deck" - ], + "children": [], "parent": null, "type": "device", "class": "bettery_station_registry", - "position": { - "x": 600, - "y": 400, - "z": 0 - }, "config": { - "debug_mode": true, - "_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定", + "debug_mode": false, + "protocol_type": [], - "deck": { - "data": { - "_resource_child_name": "coin_cell_deck", - "_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck" - } - }, - - "address": "192.168.1.20", + "deck": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck", + "address": "172.21.32.20", "port": 502 }, "data": {} diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py index a746eb83..51d668ba 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py @@ -8,34 +8,34 @@ from typing import Any, Dict, Optional from pylabrobot.resources import Resource as PLRResource from unilabos_msgs.msg import Resource from unilabos.device_comms.modbus_plc.client import ModbusTcpClient -from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate from unilabos.devices.workstation.workstation_base import WorkstationBase from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import * from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode +from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import CoincellDeck #构建物料系统 class CoinCellAssemblyWorkstation(WorkstationBase): def __init__( self, - station_resource: CoincellDeck, + deck: Deck=None, address: str = "172.21.32.20", port: str = "502", - debug_mode: bool = True, + debug_mode: bool = False, *args, **kwargs, ): super().__init__( #桌子 - station_resource=station_resource, + deck=deck, *args, **kwargs, ) self.debug_mode = debug_mode - self.station_resource = station_resource + self.deck = deck """ 连接初始化 """ modbus_client = TCPClient(addr=address, port=port) print("modbus_client", modbus_client) @@ -75,7 +75,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): self._ros_node = ros_node #self.deck = create_a_coin_cell_deck() ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{ - "resources": [self.station_resource] + "resources": [self.deck] }) # 批量操作在这里写 @@ -85,7 +85,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): async def fill_plate(self): - plate_1: MaterialPlate = self.station_resource.children[0].children[0] + plate_1: MaterialPlate = self.deck.children[0].children[0] #plate_1 return await self._ros_node.update_resource(plate_1) @@ -342,7 +342,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase): def modify_deck_name(self, resource_name: str): # figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name}) # print(f"!!! figure_res: {type(figure_res)}") - self.station_resource.children[1] + self.deck.children[1] return @property @@ -1105,8 +1105,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase): if __name__ == "__main__": - from pylabrobot.resources import Resource - Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True) + # modbus_client = TCPClient(addr="172.21.32.20", port="502") + # # modbus_client.client.connect() + # nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv')) + # client = modbus_client.register_node_list(nodes) + # # print("modbus_client", modbus_client) + # while True: + # time.sleep(1) + # cmd_feedback, read_err = modbus_client.use_node('COIL_SYS_AUTO_CMD').read(1) + # print("modbus_client", cmd_feedback) + Coin_Cell = CoinCellAssemblyWorkstation() + print(Coin_Cell.deck) #Coin_Cell.func_pack_device_init() #Coin_Cell.func_pack_device_auto() #Coin_Cell.func_pack_device_start() @@ -1121,7 +1130,7 @@ if __name__ == "__main__": #print("success") #创建一个物料台面 - deck = create_a_coin_cell_deck() + # deck = create_a_coin_cell_deck() #deck = create_a_full_coin_cell_deck() @@ -1169,4 +1178,6 @@ if __name__ == "__main__": #print(resources) http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1" - http_client.resource_add(resources) \ No newline at end of file + http_client.resource_add(resources) + + \ No newline at end of file diff --git a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv index ebfb9984..836fb712 100644 --- a/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv +++ b/unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly_a.csv @@ -43,3 +43,21 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000, UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730, UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530, REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8 +COIL_ALUMINUM_FOIL,BOOL,,ʹ,,coil,8340, +REG_MSG_NE_PLATE_MATRIX,INT16,,Ƭλ,,hold_register,440, +REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,Ĥλ,,hold_register,450, +REG_MSG_TIP_BOX_MATRIX,INT16,,Һǹͷλ,,hold_register,480, +REG_MSG_NE_PLATE_NUM,INT16,,Ƭ,,hold_register,443, +REG_MSG_SEPARATOR_PLATE_NUM,INT16,,Ĥ,,hold_register,453, +REG_MSG_PRESS_MODE,BOOL,,ѹģʽfalse:ѹģʽTrue:ģʽ,,coil,8360,ѹģʽ +,,,,,,, +,BOOL,,Ӿλfalse:ʹãtrue:ԣ,,coil,8300,Ӿλ +,BOOL,,죨false:ʹãtrue:ԣ,,coil,8310,Ӿ +,BOOL,,_֣false:ʹãtrue:ԣ,,coil,8320, +,BOOL,,_Ҳ֣false:ʹãtrue:ԣ,,coil,8420,Ҳ +,BOOL,,ռ֪false:ʹãtrue:ԣ,,coil,8350,ռ֪ +,BOOL,,Һģʽfalse:εҺtrue:εҺ,,coil,8370,Һģʽ +,BOOL,,Ƭأfalse:ʹãtrue:ԣ,,coil,8380,Ƭ +,BOOL,,Ƭװʽfalse:װtrue:װ,,coil,8390,װ +,BOOL,,ѹࣨfalse:ʹãtrue:ԣ,,coil,8400,ѹ +,BOOL,,̷̰ʽfalse:ˮƽ̣true:ѵ̣,,coil,8410,Ƭ̷ʽ diff --git a/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py b/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py deleted file mode 100644 index 65b34a93..00000000 --- a/unilabos/devices/workstation/coin_cell_assembly/workstation_base.py +++ /dev/null @@ -1,489 +0,0 @@ -""" -工作站基类 -Workstation Base Class - 简化版 - -基于PLR Deck的简化工作站架构 -专注于核心物料系统和工作流管理 -""" - -import collections -import time -from typing import Dict, Any, List, Optional, Union -from abc import ABC, abstractmethod -from dataclasses import dataclass -from enum import Enum -from pylabrobot.resources import Deck, Plate, Resource as PLRResource - -from pylabrobot.resources.coordinate import Coordinate -from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode - -from unilabos.utils.log import logger - - -class WorkflowStatus(Enum): - """工作流状态""" - - IDLE = "idle" - INITIALIZING = "initializing" - RUNNING = "running" - PAUSED = "paused" - STOPPING = "stopping" - STOPPED = "stopped" - ERROR = "error" - COMPLETED = "completed" - - -@dataclass -class WorkflowInfo: - """工作流信息""" - - name: str - description: str - estimated_duration: float # 预估持续时间（秒） - required_materials: List[str] # 所需物料类型 - output_product: str # 输出产品类型 - parameters_schema: Dict[str, Any] # 参数架构 - - -class WorkStationContainer(Plate): - """ - WorkStation 专用 Container 类，继承自 Plate和TipRack - 注意这个物料必须通过plr_additional_res_reg.py注册到edge，才能正常序列化 - """ - - def __init__( - self, - name: str, - size_x: float, - size_y: float, - size_z: float, - category: str, - ordering: collections.OrderedDict, - model: Optional[str] = None, - ): - """ - 这里的初始化入参要和plr的保持一致 - """ - super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model) - self._unilabos_state = {} # 必须有此行，自己的类描述的是物料的 - - def load_state(self, state: Dict[str, Any]) -> None: - """从给定的状态加载工作台信息。""" - super().load_state(state) - self._unilabos_state = state - - def serialize_state(self) -> Dict[str, Dict[str, Any]]: - data = super().serialize_state() - data.update( - self._unilabos_state - ) # Container自身的信息，云端物料将保存这一data，本地也通过这里的data进行读写，当前类用来表示这个物料的长宽高大小的属性，而data（state用来表示物料的内容，细节等） - return data - - -def get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法 - """ - 用于获取一些模板，例如返回一个带有特定信息/子物料的 Plate，这里需要到注册表注册，例如unilabos/registry/resources/organic/workstation.yaml - 可以直接运行该函数或者利用注册表补全机制，来检查是否资源出错 - :param name: 资源名称 - :return: Resource对象 - """ - plate = WorkStationContainer( - name, size_x=50, size_y=50, size_z=10, category="plate", ordering=collections.OrderedDict() - ) - tip_rack = WorkStationContainer( - "tip_rack_inside_plate", - size_x=50, - size_y=50, - size_z=10, - category="tip_rack", - ordering=collections.OrderedDict(), - ) - plate.assign_child_resource(tip_rack, Coordinate.zero()) - return plate - - -class ResourceSynchronizer(ABC): - """资源同步器基类 - - 负责与外部物料系统的同步，并对 self.deck 做修改 - """ - - def __init__(self, workstation: "WorkstationBase"): - self.workstation = workstation - - @abstractmethod - async def sync_from_external(self) -> bool: - """从外部系统同步物料到本地deck""" - pass - - @abstractmethod - async def sync_to_external(self, plr_resource: PLRResource) -> bool: - """将本地物料同步到外部系统""" - pass - - @abstractmethod - async def handle_external_change(self, change_info: Dict[str, Any]) -> bool: - """处理外部系统的变更通知""" - pass - - -class WorkstationBase(ABC): - """工作站基类 - 简化版 - - 核心功能： - 1. 基于 PLR Deck 的物料系统，支持格式转换 - 2. 可选的资源同步器支持外部物料系统 - 3. 简化的工作流管理 - """ - - _ros_node: ROS2WorkstationNode - - @property - def _children(self) -> Dict[str, Any]: # 不要删除这个下划线，不然会自动导入注册表，后面改成装饰器识别 - return self._ros_node.children - - async def update_resource_example(self): - return await self._ros_node.update_resource([get_workstation_plate_resource("test")]) - - def __init__( - self, - station_resource: PLRResource, - *args, - **kwargs, # 必须有kwargs - ): - # 基本配置 - print(station_resource) - self.deck_config = station_resource - - # PLR 物料系统 - self.deck: Optional[Deck] = None - self.plr_resources: Dict[str, PLRResource] = {} - - # 资源同步器（可选） - # self.resource_synchronizer = ResourceSynchronizer(self) # 要在driver中自行初始化，只有workstation用 - - # 硬件接口 - self.hardware_interface: Union[Any, str] = None - - # 工作流状态 - self.current_workflow_status = WorkflowStatus.IDLE - self.current_workflow_info = None - self.workflow_start_time = None - self.workflow_parameters = {} - - # 支持的工作流（静态预定义） - self.supported_workflows: Dict[str, WorkflowInfo] = {} - - # 初始化物料系统 - self._initialize_material_system() - - # 注册支持的工作流 - # self._register_supported_workflows() - - # logger.info(f"工作站 {device_id} 初始化完成（简化版）") - - def _initialize_material_system(self): - """初始化物料系统 - 使用 graphio 转换""" - try: - from unilabos.resources.graphio import resource_ulab_to_plr - - # # 1. 合并 deck_config 和 children 创建完整的资源树 - # complete_resource_config = self._create_complete_resource_config() - - # # 2. 使用 graphio 转换为 PLR 资源 - # self.deck = resource_ulab_to_plr(complete_resource_config, plr_model=True) - - # # 3. 建立资源映射 - # self._build_resource_mappings(self.deck) - - # # 4. 如果有资源同步器，执行初始同步 - # if self.resource_synchronizer: - # # 这里可以异步执行，暂时跳过 - # pass - - # logger.info(f"工作站 {self.device_id} 物料系统初始化成功，创建了 {len(self.plr_resources)} 个资源") - pass - except Exception as e: - # logger.error(f"工作站 {self.device_id} 物料系统初始化失败: {e}") - raise - - def _create_complete_resource_config(self) -> Dict[str, Any]: - """创建完整的资源配置 - 合并 deck_config 和 children""" - # 创建主 deck 配置 - deck_resource = { - "id": f"{self.device_id}_deck", - "name": f"{self.device_id}_deck", - "type": "deck", - "position": {"x": 0, "y": 0, "z": 0}, - "config": { - "size_x": self.deck_config.get("size_x", 1000.0), - "size_y": self.deck_config.get("size_y", 1000.0), - "size_z": self.deck_config.get("size_z", 100.0), - **{k: v for k, v in self.deck_config.items() if k not in ["size_x", "size_y", "size_z"]}, - }, - "data": {}, - "children": [], - "parent": None, - } - - # 添加子资源 - if self._children: - children_list = [] - for child_id, child_config in self._children.items(): - child_resource = self._normalize_child_resource(child_id, child_config, deck_resource["id"]) - children_list.append(child_resource) - deck_resource["children"] = children_list - - return deck_resource - - def _normalize_child_resource(self, resource_id: str, config: Dict[str, Any], parent_id: str) -> Dict[str, Any]: - """标准化子资源配置""" - return { - "id": resource_id, - "name": config.get("name", resource_id), - "type": config.get("type", "container"), - "position": self._normalize_position(config.get("position", {})), - "config": config.get("config", {}), - "data": config.get("data", {}), - "children": [], # 简化版本：只支持一层子资源 - "parent": parent_id, - } - - def _normalize_position(self, position: Any) -> Dict[str, float]: - """标准化位置信息""" - if isinstance(position, dict): - return { - "x": float(position.get("x", 0)), - "y": float(position.get("y", 0)), - "z": float(position.get("z", 0)), - } - elif isinstance(position, (list, tuple)) and len(position) >= 2: - return { - "x": float(position[0]), - "y": float(position[1]), - "z": float(position[2]) if len(position) > 2 else 0.0, - } - else: - return {"x": 0.0, "y": 0.0, "z": 0.0} - - def _build_resource_mappings(self, deck: Deck): - """递归构建资源映射""" - - def add_resource_recursive(resource: PLRResource): - if hasattr(resource, "name"): - self.plr_resources[resource.name] = resource - - if hasattr(resource, "children"): - for child in resource.children: - add_resource_recursive(child) - - add_resource_recursive(deck) - - # ============ 硬件接口管理 ============ - - def set_hardware_interface(self, hardware_interface: Union[Any, str]): - """设置硬件接口""" - self.hardware_interface = hardware_interface - logger.info(f"工作站 {self.device_id} 硬件接口设置: {type(hardware_interface).__name__}") - - def set_workstation_node(self, workstation_node: "ROS2WorkstationNode"): - """设置协议节点引用（用于代理模式）""" - self._ros_node = workstation_node - logger.info(f"工作站 {self.device_id} 关联协议节点") - - # ============ 设备操作接口 ============ - - def call_device_method(self, method: str, *args, **kwargs) -> Any: - """调用设备方法的统一接口""" - # 1. 代理模式：通过协议节点转发 - if isinstance(self.hardware_interface, str) and self.hardware_interface.startswith("proxy:"): - if not self._ros_node: - raise RuntimeError("代理模式需要设置workstation_node") - - device_id = self.hardware_interface[6:] # 移除 "proxy:" 前缀 - return self._ros_node.call_device_method(device_id, method, *args, **kwargs) - - # 2. 直接模式：直接调用硬件接口方法 - elif self.hardware_interface and hasattr(self.hardware_interface, method): - return getattr(self.hardware_interface, method)(*args, **kwargs) - - else: - raise AttributeError(f"硬件接口不支持方法: {method}") - - def get_device_status(self) -> Dict[str, Any]: - """获取设备状态""" - try: - return self.call_device_method("get_status") - except AttributeError: - # 如果设备不支持get_status方法，返回基础状态 - return { - "status": "unknown", - "interface_type": type(self.hardware_interface).__name__, - "timestamp": time.time(), - } - - def is_device_available(self) -> bool: - """检查设备是否可用""" - try: - self.get_device_status() - return True - except: - return False - - # ============ 物料系统接口 ============ - - def get_deck(self) -> Deck: - """获取主 Deck""" - return self.deck - - def get_all_resources(self) -> Dict[str, PLRResource]: - """获取所有 PLR 资源""" - return self.plr_resources.copy() - - def find_resource_by_name(self, name: str) -> Optional[PLRResource]: - """按名称查找资源""" - return self.plr_resources.get(name) - - def find_resources_by_type(self, resource_type: type) -> List[PLRResource]: - """按类型查找资源""" - return [res for res in self.plr_resources.values() if isinstance(res, resource_type)] - - async def sync_with_external_system(self) -> bool: - """与外部物料系统同步""" - if not self.resource_synchronizer: - logger.info(f"工作站 {self.device_id} 没有配置资源同步器") - return True - - try: - success = await self.resource_synchronizer.sync_from_external() - if success: - logger.info(f"工作站 {self.device_id} 外部同步成功") - else: - logger.warning(f"工作站 {self.device_id} 外部同步失败") - return success - except Exception as e: - logger.error(f"工作站 {self.device_id} 外部同步异常: {e}") - return False - - # ============ 简化的工作流控制 ============ - - def execute_workflow(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - """执行工作流""" - try: - # 设置工作流状态 - self.current_workflow_status = WorkflowStatus.INITIALIZING - self.workflow_parameters = parameters - self.workflow_start_time = time.time() - - # 委托给子类实现 - success = self._execute_workflow_impl(workflow_name, parameters) - - if success: - self.current_workflow_status = WorkflowStatus.RUNNING - logger.info(f"工作站 {self.device_id} 工作流 {workflow_name} 启动成功") - else: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 工作流 {workflow_name} 启动失败") - - return success - - except Exception as e: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 执行工作流失败: {e}") - return False - - def stop_workflow(self, emergency: bool = False) -> bool: - """停止工作流""" - try: - if self.current_workflow_status in [WorkflowStatus.IDLE, WorkflowStatus.STOPPED]: - logger.warning(f"工作站 {self.device_id} 没有正在运行的工作流") - return True - - self.current_workflow_status = WorkflowStatus.STOPPING - - # 委托给子类实现 - success = self._stop_workflow_impl(emergency) - - if success: - self.current_workflow_status = WorkflowStatus.STOPPED - logger.info(f"工作站 {self.device_id} 工作流停止成功 (紧急: {emergency})") - else: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 工作流停止失败") - - return success - - except Exception as e: - self.current_workflow_status = WorkflowStatus.ERROR - logger.error(f"工作站 {self.device_id} 停止工作流失败: {e}") - return False - - # ============ 状态属性 ============ - - @property - def workflow_status(self) -> WorkflowStatus: - """获取当前工作流状态""" - return self.current_workflow_status - - @property - def is_busy(self) -> bool: - """检查工作站是否忙碌""" - return self.current_workflow_status in [ - WorkflowStatus.INITIALIZING, - WorkflowStatus.RUNNING, - WorkflowStatus.STOPPING, - ] - - @property - def workflow_runtime(self) -> float: - """获取工作流运行时间（秒）""" - if self.workflow_start_time is None: - return 0.0 - return time.time() - self.workflow_start_time - - # ============ 抽象方法 - 子类必须实现 ============ - - # @abstractmethod - # def _register_supported_workflows(self): - # """注册支持的工作流 - 子类必须实现""" - # pass - - # @abstractmethod - # def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - # """执行工作流的具体实现 - 子类必须实现""" - # pass - - # @abstractmethod - # def _stop_workflow_impl(self, emergency: bool = False) -> bool: - # """停止工作流的具体实现 - 子类必须实现""" - # pass - -class WorkstationExample(WorkstationBase): - """工作站示例实现""" - - def _register_supported_workflows(self): - """注册支持的工作流""" - self.supported_workflows["example_workflow"] = WorkflowInfo( - name="example_workflow", - description="这是一个示例工作流", - estimated_duration=300.0, - required_materials=["sample_plate"], - output_product="processed_plate", - parameters_schema={"param1": "string", "param2": "integer"}, - ) - - def _execute_workflow_impl(self, workflow_name: str, parameters: Dict[str, Any]) -> bool: - """执行工作流的具体实现""" - if workflow_name not in self.supported_workflows: - logger.error(f"工作站 {self.device_id} 不支持工作流: {workflow_name}") - return False - - # 这里添加实际的工作流逻辑 - logger.info(f"工作站 {self.device_id} 正在执行工作流: {workflow_name} with parameters {parameters}") - return True - - def _stop_workflow_impl(self, emergency: bool = False) -> bool: - """停止工作流的具体实现""" - # 这里添加实际的停止逻辑 - logger.info(f"工作站 {self.device_id} 正在停止工作流 (紧急: {emergency})") - return True \ No newline at end of file diff --git a/unilabos/registry/devices/bioyond.yaml b/unilabos/registry/devices/bioyond.yaml deleted file mode 100644 index fe6f0907..00000000 --- a/unilabos/registry/devices/bioyond.yaml +++ /dev/null @@ -1,255 +0,0 @@ -workstation.bioyond_dispensing_station: - category: - - workstation - - bioyond - class: - action_value_mappings: - create_90_10_vial_feeding_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - order_name: order_name - percent_10_1_assign_material_name: percent_10_1_assign_material_name - percent_10_1_liquid_material_name: percent_10_1_liquid_material_name - percent_10_1_target_weigh: percent_10_1_target_weigh - percent_10_1_volume: percent_10_1_volume - percent_10_2_assign_material_name: percent_10_2_assign_material_name - percent_10_2_liquid_material_name: percent_10_2_liquid_material_name - percent_10_2_target_weigh: percent_10_2_target_weigh - percent_10_2_volume: percent_10_2_volume - percent_10_3_assign_material_name: percent_10_3_assign_material_name - percent_10_3_liquid_material_name: percent_10_3_liquid_material_name - percent_10_3_target_weigh: percent_10_3_target_weigh - percent_10_3_volume: percent_10_3_volume - percent_90_1_assign_material_name: percent_90_1_assign_material_name - percent_90_1_target_weigh: percent_90_1_target_weigh - percent_90_2_assign_material_name: percent_90_2_assign_material_name - percent_90_2_target_weigh: percent_90_2_target_weigh - percent_90_3_assign_material_name: percent_90_3_assign_material_name - percent_90_3_target_weigh: percent_90_3_target_weigh - speed: speed - temperature: temperature - goal_default: - delay_time: '' - hold_m_name: '' - order_name: '' - percent_10_1_assign_material_name: '' - percent_10_1_liquid_material_name: '' - percent_10_1_target_weigh: '' - percent_10_1_volume: '' - percent_10_2_assign_material_name: '' - percent_10_2_liquid_material_name: '' - percent_10_2_target_weigh: '' - percent_10_2_volume: '' - percent_10_3_assign_material_name: '' - percent_10_3_liquid_material_name: '' - percent_10_3_target_weigh: '' - percent_10_3_volume: '' - percent_90_1_assign_material_name: '' - percent_90_1_target_weigh: '' - percent_90_2_assign_material_name: '' - percent_90_2_target_weigh: '' - percent_90_3_assign_material_name: '' - percent_90_3_target_weigh: '' - speed: '' - temperature: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationVialFeed_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - order_name: - type: string - percent_10_1_assign_material_name: - type: string - percent_10_1_liquid_material_name: - type: string - percent_10_1_target_weigh: - type: string - percent_10_1_volume: - type: string - percent_10_2_assign_material_name: - type: string - percent_10_2_liquid_material_name: - type: string - percent_10_2_target_weigh: - type: string - percent_10_2_volume: - type: string - percent_10_3_assign_material_name: - type: string - percent_10_3_liquid_material_name: - type: string - percent_10_3_target_weigh: - type: string - percent_10_3_volume: - type: string - percent_90_1_assign_material_name: - type: string - percent_90_1_target_weigh: - type: string - percent_90_2_assign_material_name: - type: string - percent_90_2_target_weigh: - type: string - percent_90_3_assign_material_name: - type: string - percent_90_3_target_weigh: - type: string - speed: - type: string - temperature: - type: string - required: - - order_name - - percent_90_1_assign_material_name - - percent_90_1_target_weigh - - percent_90_2_assign_material_name - - percent_90_2_target_weigh - - percent_90_3_assign_material_name - - percent_90_3_target_weigh - - percent_10_1_assign_material_name - - percent_10_1_target_weigh - - percent_10_1_volume - - percent_10_1_liquid_material_name - - percent_10_2_assign_material_name - - percent_10_2_target_weigh - - percent_10_2_volume - - percent_10_2_liquid_material_name - - percent_10_3_assign_material_name - - percent_10_3_target_weigh - - percent_10_3_volume - - percent_10_3_liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationVialFeed_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationVialFeed_Result - type: object - required: - - goal - title: DispenStationVialFeed - type: object - type: DispenStationVialFeed - create_diamine_solution_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - material_name: material_name - order_name: order_name - speed: speed - target_weigh: target_weigh - temperature: temperature - volume: volume - goal_default: - delay_time: '' - hold_m_name: '' - liquid_material_name: '' - material_name: '' - order_name: '' - speed: '' - target_weigh: '' - temperature: '' - volume: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationSolnPrep_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - liquid_material_name: - type: string - material_name: - type: string - order_name: - type: string - speed: - type: string - target_weigh: - type: string - temperature: - type: string - volume: - type: string - required: - - order_name - - material_name - - target_weigh - - volume - - liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationSolnPrep_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationSolnPrep_Result - type: object - required: - - goal - title: DispenStationSolnPrep - type: object - type: DispenStationSolnPrep - module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: '' - init_param_schema: - config: - properties: - config: - type: string - deck: - type: string - required: - - config - - deck - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/bioyond_dispensing_station.yaml b/unilabos/registry/devices/bioyond_dispensing_station.yaml deleted file mode 100644 index 50a94be9..00000000 --- a/unilabos/registry/devices/bioyond_dispensing_station.yaml +++ /dev/null @@ -1,404 +0,0 @@ -bioyond_dispensing_station: - category: - - workstation - - bioyond - - bioyond_dispensing_station - class: - action_value_mappings: - batch_create_90_10_vial_feeding_tasks: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - speed: speed - temperature: temperature - titration: titration - goal_default: - delay_time: '600' - hold_m_name: '' - liquid_material_name: NMP - speed: '400' - temperature: '40' - titration: '' - handles: - input: - - data_key: titration - data_source: handle - data_type: object - handler_key: titration - io_type: source - label: Titration Data From Calculation Node - result: - return_info: return_info - schema: - description: 批量创建90%10%小瓶投料任务。从计算节点接收titration数据,包含物料名称、主称固体质量、滴定固体质量和滴定溶剂体积。 - properties: - feedback: - properties: {} - required: [] - title: BatchCreate9010VialFeedingTasks_Feedback - type: object - goal: - properties: - delay_time: - default: '600' - description: 延迟时间(秒),默认600 - type: string - hold_m_name: - description: 库位名称,如"C01",必填参数 - type: string - liquid_material_name: - default: NMP - description: 10%物料的液体物料名称,默认为"NMP" - type: string - speed: - default: '400' - description: 搅拌速度,默认400 - type: string - temperature: - default: '40' - description: 温度(℃),默认40 - type: string - titration: - description: '滴定信息对象,包含: name(物料名称), main_portion(主称固体质量g), titration_portion(滴定固体质量g), - titration_solvent(滴定溶液体积mL)' - type: string - required: - - titration - - hold_m_name - title: BatchCreate9010VialFeedingTasks_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: BatchCreate9010VialFeedingTasks_Result - type: object - required: - - goal - title: BatchCreate9010VialFeedingTasks - type: object - type: UniLabJsonCommand - batch_create_diamine_solution_tasks: - feedback: {} - goal: - delay_time: delay_time - liquid_material_name: liquid_material_name - solutions: solutions - speed: speed - temperature: temperature - goal_default: - delay_time: '600' - liquid_material_name: NMP - solutions: '' - speed: '400' - temperature: '20' - handles: - input: - - data_key: solutions - data_source: handle - data_type: array - handler_key: solutions - io_type: source - label: Solution Data From Python - result: - return_info: return_info - schema: - description: 批量创建二胺溶液配置任务。自动为多个二胺样品创建溶液配置任务，每个任务包含固体物料称量、溶剂添加、搅拌混合等步骤。 - properties: - feedback: - properties: {} - required: [] - title: BatchCreateDiamineSolutionTasks_Feedback - type: object - goal: - properties: - delay_time: - default: '600' - description: 溶液配置完成后的延迟时间（秒），用于充分混合和溶解，默认600秒 - type: string - liquid_material_name: - default: NMP - description: 液体溶剂名称，用于溶解固体物料，默认为NMP（N-甲基吡咯烷酮） - type: string - solutions: - description: '溶液列表，JSON数组格式，每个元素包含: name(物料名称), order(序号), solid_mass(固体质量g), - solvent_volume(溶剂体积mL)。示例: [{"name": "MDA", "order": 0, "solid_mass": - 5.0, "solvent_volume": 20}, {"name": "MPDA", "order": 1, "solid_mass": - 4.5, "solvent_volume": 18}]' - type: string - speed: - default: '400' - description: 搅拌速度（rpm），用于混合溶液，默认400转/分钟 - type: string - temperature: - default: '20' - description: 配置温度（℃），溶液配置过程的目标温度，默认20℃（室温） - type: string - required: - - solutions - title: BatchCreateDiamineSolutionTasks_Goal - type: object - result: - properties: - return_info: - description: 批量任务创建结果汇总，JSON格式包含总数、成功数、失败数及每个任务的详细信息 - type: string - required: - - return_info - title: BatchCreateDiamineSolutionTasks_Result - type: object - required: - - goal - title: BatchCreateDiamineSolutionTasks - type: object - type: UniLabJsonCommand - create_90_10_vial_feeding_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - order_name: order_name - percent_10_1_assign_material_name: percent_10_1_assign_material_name - percent_10_1_liquid_material_name: percent_10_1_liquid_material_name - percent_10_1_target_weigh: percent_10_1_target_weigh - percent_10_1_volume: percent_10_1_volume - percent_10_2_assign_material_name: percent_10_2_assign_material_name - percent_10_2_liquid_material_name: percent_10_2_liquid_material_name - percent_10_2_target_weigh: percent_10_2_target_weigh - percent_10_2_volume: percent_10_2_volume - percent_10_3_assign_material_name: percent_10_3_assign_material_name - percent_10_3_liquid_material_name: percent_10_3_liquid_material_name - percent_10_3_target_weigh: percent_10_3_target_weigh - percent_10_3_volume: percent_10_3_volume - percent_90_1_assign_material_name: percent_90_1_assign_material_name - percent_90_1_target_weigh: percent_90_1_target_weigh - percent_90_2_assign_material_name: percent_90_2_assign_material_name - percent_90_2_target_weigh: percent_90_2_target_weigh - percent_90_3_assign_material_name: percent_90_3_assign_material_name - percent_90_3_target_weigh: percent_90_3_target_weigh - speed: speed - temperature: temperature - goal_default: - delay_time: '' - hold_m_name: '' - order_name: '' - percent_10_1_assign_material_name: '' - percent_10_1_liquid_material_name: '' - percent_10_1_target_weigh: '' - percent_10_1_volume: '' - percent_10_2_assign_material_name: '' - percent_10_2_liquid_material_name: '' - percent_10_2_target_weigh: '' - percent_10_2_volume: '' - percent_10_3_assign_material_name: '' - percent_10_3_liquid_material_name: '' - percent_10_3_target_weigh: '' - percent_10_3_volume: '' - percent_90_1_assign_material_name: '' - percent_90_1_target_weigh: '' - percent_90_2_assign_material_name: '' - percent_90_2_target_weigh: '' - percent_90_3_assign_material_name: '' - percent_90_3_target_weigh: '' - speed: '' - temperature: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationVialFeed_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - order_name: - type: string - percent_10_1_assign_material_name: - type: string - percent_10_1_liquid_material_name: - type: string - percent_10_1_target_weigh: - type: string - percent_10_1_volume: - type: string - percent_10_2_assign_material_name: - type: string - percent_10_2_liquid_material_name: - type: string - percent_10_2_target_weigh: - type: string - percent_10_2_volume: - type: string - percent_10_3_assign_material_name: - type: string - percent_10_3_liquid_material_name: - type: string - percent_10_3_target_weigh: - type: string - percent_10_3_volume: - type: string - percent_90_1_assign_material_name: - type: string - percent_90_1_target_weigh: - type: string - percent_90_2_assign_material_name: - type: string - percent_90_2_target_weigh: - type: string - percent_90_3_assign_material_name: - type: string - percent_90_3_target_weigh: - type: string - speed: - type: string - temperature: - type: string - required: - - order_name - - percent_90_1_assign_material_name - - percent_90_1_target_weigh - - percent_90_2_assign_material_name - - percent_90_2_target_weigh - - percent_90_3_assign_material_name - - percent_90_3_target_weigh - - percent_10_1_assign_material_name - - percent_10_1_target_weigh - - percent_10_1_volume - - percent_10_1_liquid_material_name - - percent_10_2_assign_material_name - - percent_10_2_target_weigh - - percent_10_2_volume - - percent_10_2_liquid_material_name - - percent_10_3_assign_material_name - - percent_10_3_target_weigh - - percent_10_3_volume - - percent_10_3_liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationVialFeed_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationVialFeed_Result - type: object - required: - - goal - title: DispenStationVialFeed - type: object - type: DispenStationVialFeed - create_diamine_solution_task: - feedback: {} - goal: - delay_time: delay_time - hold_m_name: hold_m_name - liquid_material_name: liquid_material_name - material_name: material_name - order_name: order_name - speed: speed - target_weigh: target_weigh - temperature: temperature - volume: volume - goal_default: - delay_time: '' - hold_m_name: '' - liquid_material_name: '' - material_name: '' - order_name: '' - speed: '' - target_weigh: '' - temperature: '' - volume: '' - handles: {} - result: - return_info: return_info - schema: - description: '' - properties: - feedback: - properties: {} - required: [] - title: DispenStationSolnPrep_Feedback - type: object - goal: - properties: - delay_time: - type: string - hold_m_name: - type: string - liquid_material_name: - type: string - material_name: - type: string - order_name: - type: string - speed: - type: string - target_weigh: - type: string - temperature: - type: string - volume: - type: string - required: - - order_name - - material_name - - target_weigh - - volume - - liquid_material_name - - speed - - temperature - - delay_time - - hold_m_name - title: DispenStationSolnPrep_Goal - type: object - result: - properties: - return_info: - type: string - required: - - return_info - title: DispenStationSolnPrep_Result - type: object - required: - - goal - title: DispenStationSolnPrep - type: object - type: DispenStationSolnPrep - module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation - status_types: {} - type: python - config_info: [] - description: '' - handles: [] - icon: preparation_station.webp - init_param_schema: - config: - properties: - config: - type: string - required: - - config - type: object - data: - properties: {} - required: [] - type: object - version: 1.0.0 diff --git a/unilabos/registry/devices/reaction_station_bioyond.yaml b/unilabos/registry/devices/reaction_station_bioyond.yaml index c88a47c3..f1a16ec2 100644 --- a/unilabos/registry/devices/reaction_station_bioyond.yaml +++ b/unilabos/registry/devices/reaction_station_bioyond.yaml @@ -4,48 +4,6 @@ reaction_station.bioyond: - reaction_station_bioyond class: action_value_mappings: - drip_back: - feedback: {} - goal: - assign_material_name: assign_material_name - temperature: temperature - time: time - titration_type: titration_type - torque_variation: torque_variation - volume: volume - goal_default: - assign_material_name: '' - temperature: '' - time: '' - titration_type: '' - torque_variation: '' - volume: '' - handles: {} - result: {} - schema: - description: 滴回去 - properties: - feedback: {} - goal: - properties: - assign_material_name: - description: 物料名称（不能为空） - type: string - temperature: - description: 温度设定(°C) - type: string - time: - description: 观察时间(分钟) - type: string - required: - - file_path - type: object - result: {} - required: - - goal - title: load_bioyond_data_from_file参数 - type: object - type: UniLabJsonCommand auto-post_init: feedback: {} goal: {} @@ -104,6 +62,48 @@ reaction_station.bioyond: title: drip_back参数 type: object type: UniLabJsonCommand + drip_back: + feedback: {} + goal: + assign_material_name: assign_material_name + temperature: temperature + time: time + titration_type: titration_type + torque_variation: torque_variation + volume: volume + goal_default: + assign_material_name: '' + temperature: '' + time: '' + titration_type: '' + torque_variation: '' + volume: '' + handles: {} + result: {} + schema: + description: 滴回去 + properties: + feedback: {} + goal: + properties: + assign_material_name: + description: 物料名称（不能为空） + type: string + temperature: + description: 温度设定(°C) + type: string + time: + description: 观察时间(分钟) + type: string + required: + - file_path + type: object + result: {} + required: + - goal + title: load_bioyond_data_from_file参数 + type: object + type: UniLabJsonCommand liquid_feeding_beaker: feedback: {} goal: