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feat(workstation): 移除旧版bioyond设备配置并优化扣电组装工作站- 删除bioyond.yaml和bioyond_dispensing_station.yaml旧设备配置文件- 优化扣电组装工作站配置，移除不必要的子资源引用- 更新Modbus通信地址和端口配置- 简化CoinCellAssemblyWorkstation类的初始化参数- 移除冗余的deck资源创建逻辑
- 更新反应站配置文件中drip_back命令的位置 - 添加新的Modbus寄存器和线圈定义 - 移除workstation_base.py基类文件
This commit is contained in:
calvincao
@@ -17,29 +17,16 @@
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{
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{
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"id": "BatteryStation",
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"id": "BatteryStation",
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"name": "扣电组装工作站",
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"name": "扣电组装工作站",
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"children": [
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"children": [],
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"coin_cell_deck"
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],
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"parent": null,
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"parent": null,
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"type": "device",
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"type": "device",
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"class": "bettery_station_registry",
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"class": "bettery_station_registry",
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"position": {
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"x": 600,
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"y": 400,
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"z": 0
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},
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"config": {
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"config": {
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"debug_mode": true,
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"debug_mode": false,
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"_comment": "protocol_type接外部工站固定写法字段，一般为空，deck写法也固定",
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"protocol_type": [],
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"protocol_type": [],
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"deck": {
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"deck": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck",
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"data": {
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"address": "172.21.32.20",
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"_resource_child_name": "coin_cell_deck",
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"_resource_type": "unilabos.devices.workstation.coin_cell_assembly.button_battery_station:CoincellDeck"
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}
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},
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"address": "192.168.1.20",
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"port": 502
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"port": 502
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},
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},
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"data": {}
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"data": {}
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@@ -8,34 +8,34 @@ from typing import Any, Dict, Optional
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from pylabrobot.resources import Resource as PLRResource
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from pylabrobot.resources import Resource as PLRResource
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from unilabos_msgs.msg import Resource
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from unilabos_msgs.msg import Resource
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from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
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from unilabos.device_comms.modbus_plc.client import ModbusTcpClient
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from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import MaterialHole, MaterialPlate
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from unilabos.devices.workstation.workstation_base import WorkstationBase
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from unilabos.devices.workstation.workstation_base import WorkstationBase
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from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient
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from unilabos.device_comms.modbus_plc.client import TCPClient, ModbusNode, PLCWorkflow, ModbusWorkflow, WorkflowAction, BaseClient
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from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder
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from unilabos.device_comms.modbus_plc.modbus import DeviceType, Base as ModbusNodeBase, DataType, WorderOrder
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from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import *
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from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import *
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from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
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from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
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from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
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from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
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from unilabos.devices.workstation.coin_cell_assembly.button_battery_station import CoincellDeck
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#构建物料系统
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#构建物料系统
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class CoinCellAssemblyWorkstation(WorkstationBase):
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class CoinCellAssemblyWorkstation(WorkstationBase):
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def __init__(
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def __init__(
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self,
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self,
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station_resource: CoincellDeck,
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deck: Deck=None,
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address: str = "172.21.32.20",
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address: str = "172.21.32.20",
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port: str = "502",
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port: str = "502",
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debug_mode: bool = True,
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debug_mode: bool = False,
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*args,
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*args,
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**kwargs,
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**kwargs,
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):
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):
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super().__init__(
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super().__init__(
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#桌子
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#桌子
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station_resource=station_resource,
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deck=deck,
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*args,
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*args,
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**kwargs,
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**kwargs,
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)
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)
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self.debug_mode = debug_mode
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self.debug_mode = debug_mode
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self.station_resource = station_resource
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self.deck = deck
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""" 连接初始化 """
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""" 连接初始化 """
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modbus_client = TCPClient(addr=address, port=port)
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modbus_client = TCPClient(addr=address, port=port)
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print("modbus_client", modbus_client)
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print("modbus_client", modbus_client)
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@@ -75,7 +75,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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self._ros_node = ros_node
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self._ros_node = ros_node
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#self.deck = create_a_coin_cell_deck()
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#self.deck = create_a_coin_cell_deck()
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ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
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ROS2DeviceNode.run_async_func(self._ros_node.update_resource, True, **{
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"resources": [self.station_resource]
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"resources": [self.deck]
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})
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})
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# 批量操作在这里写
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# 批量操作在这里写
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@@ -85,7 +85,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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async def fill_plate(self):
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async def fill_plate(self):
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plate_1: MaterialPlate = self.station_resource.children[0].children[0]
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plate_1: MaterialPlate = self.deck.children[0].children[0]
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#plate_1
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#plate_1
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return await self._ros_node.update_resource(plate_1)
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return await self._ros_node.update_resource(plate_1)
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@@ -342,7 +342,7 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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def modify_deck_name(self, resource_name: str):
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def modify_deck_name(self, resource_name: str):
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# figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name})
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# figure_res = self._ros_node.resource_tracker.figure_resource({"name": resource_name})
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# print(f"!!! figure_res: {type(figure_res)}")
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# print(f"!!! figure_res: {type(figure_res)}")
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self.station_resource.children[1]
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self.deck.children[1]
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return
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return
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@property
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@property
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@@ -1105,8 +1105,17 @@ class CoinCellAssemblyWorkstation(WorkstationBase):
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if __name__ == "__main__":
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if __name__ == "__main__":
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from pylabrobot.resources import Resource
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# modbus_client = TCPClient(addr="172.21.32.20", port="502")
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Coin_Cell = CoinCellAssemblyWorkstation(Resource("1", 1, 1, 1), debug_mode=True)
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# # modbus_client.client.connect()
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# nodes = BaseClient.load_csv(os.path.join(os.path.dirname(__file__), 'coin_cell_assembly_a.csv'))
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# client = modbus_client.register_node_list(nodes)
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# # print("modbus_client", modbus_client)
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# while True:
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# time.sleep(1)
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# cmd_feedback, read_err = modbus_client.use_node('COIL_SYS_AUTO_CMD').read(1)
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# print("modbus_client", cmd_feedback)
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Coin_Cell = CoinCellAssemblyWorkstation()
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print(Coin_Cell.deck)
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#Coin_Cell.func_pack_device_init()
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#Coin_Cell.func_pack_device_init()
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#Coin_Cell.func_pack_device_auto()
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#Coin_Cell.func_pack_device_auto()
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#Coin_Cell.func_pack_device_start()
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#Coin_Cell.func_pack_device_start()
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@@ -1121,7 +1130,7 @@ if __name__ == "__main__":
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#print("success")
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#print("success")
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#创建一个物料台面
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#创建一个物料台面
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deck = create_a_coin_cell_deck()
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# deck = create_a_coin_cell_deck()
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#deck = create_a_full_coin_cell_deck()
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#deck = create_a_full_coin_cell_deck()
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@@ -1169,4 +1178,6 @@ if __name__ == "__main__":
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#print(resources)
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#print(resources)
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http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
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http_client.remote_addr = "https://uni-lab.test.bohrium.com/api/v1"
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http_client.resource_add(resources)
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http_client.resource_add(resources)
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@@ -43,3 +43,21 @@ REG_DATA_ELECTROLYTE_USE_NUM,INT16,,,,hold_register,10000,
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UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
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UNILAB_SEND_FINISHED_CMD,BOOL,,,,coil,8730,
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UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
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UNILAB_RECE_FINISHED_CMD,BOOL,,,,coil,8530,
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REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
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REG_DATA_ASSEMBLY_TYPE,INT16,,,,hold_register,10018,ASSEMBLY_TYPE7or8
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COIL_ALUMINUM_FOIL,BOOL,,ʹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,,coil,8340,
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REG_MSG_NE_PLATE_MATRIX,INT16,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ,,hold_register,440,
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REG_MSG_SEPARATOR_PLATE_MATRIX,INT16,,<EFBFBD><EFBFBD>Ĥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ,,hold_register,450,
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REG_MSG_TIP_BOX_MATRIX,INT16,,<EFBFBD><EFBFBD>Һǹͷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ,,hold_register,480,
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REG_MSG_NE_PLATE_NUM,INT16,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>,,hold_register,443,
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REG_MSG_SEPARATOR_PLATE_NUM,INT16,,<EFBFBD><EFBFBD>Ĥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>,,hold_register,453,
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REG_MSG_PRESS_MODE,BOOL,,ѹ<EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD>false:ѹ<><D1B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<C4A3><CABD>True:<3A><><EFBFBD><EFBFBD>ģʽ<C4A3><CABD>,,coil,8360,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѹ<EFBFBD><EFBFBD>ģʽ
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,,,,,,,
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,BOOL,,<EFBFBD>Ӿ<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>false:ʹ<>ã<EFBFBD>true:<3A><><EFBFBD>ԣ<EFBFBD>,,coil,8300,<EFBFBD>Ӿ<EFBFBD><EFBFBD><EFBFBD>λ
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,BOOL,,<EFBFBD><EFBFBD><EFBFBD>죨false:ʹ<>ã<EFBFBD>true:<3A><><EFBFBD>ԣ<EFBFBD>,,coil,8310,<EFBFBD>Ӿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD><EFBFBD><EFBFBD>֣<EFBFBD>false:ʹ<>ã<EFBFBD>true:<3A><><EFBFBD>ԣ<EFBFBD>,,coil,8320,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>_<EFBFBD>Ҳ֣<EFBFBD>false:ʹ<>ã<EFBFBD>true:<3A><><EFBFBD>ԣ<EFBFBD>,,coil,8420,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD>
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,BOOL,,<EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD>֪<EFBFBD><EFBFBD>false:ʹ<>ã<EFBFBD>true:<3A><><EFBFBD>ԣ<EFBFBD>,,coil,8350,<EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD>֪
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,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ<EFBFBD><EFBFBD>false:<3A><><EFBFBD>ε<EFBFBD>Һ<EFBFBD><D2BA>true:<3A><><EFBFBD>ε<EFBFBD>Һ<EFBFBD><D2BA>,,coil,8370,<EFBFBD><EFBFBD>Һģʽ
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,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD>أ<EFBFBD>false:ʹ<>ã<EFBFBD>true:<3A><><EFBFBD>ԣ<EFBFBD>,,coil,8380,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD>װ<EFBFBD><EFBFBD>ʽ<EFBFBD><EFBFBD>false:<3A><>װ<EFBFBD><D7B0>true:<3A><>װ<EFBFBD><D7B0>,,coil,8390,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ
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,BOOL,,ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ࣨfalse:ʹ<>ã<EFBFBD>true:<3A><><EFBFBD>ԣ<EFBFBD>,,coil,8400,ѹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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,BOOL,,<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̰<EFBFBD><EFBFBD>̷<EFBFBD>ʽ<EFBFBD><EFBFBD>false:ˮƽ<CBAE><C6BD><EFBFBD>̣<EFBFBD>true:<3A>ѵ<EFBFBD><D1B5><EFBFBD><EFBFBD>̣<EFBFBD>,,coil,8410,<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƭ<EFBFBD><EFBFBD><EFBFBD>̷<EFBFBD>ʽ
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@@ -1,489 +0,0 @@
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"""
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工作站基类
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Workstation Base Class - 简化版
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基于PLR Deck的简化工作站架构
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专注于核心物料系统和工作流管理
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"""
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import collections
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import time
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from typing import Dict, Any, List, Optional, Union
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from abc import ABC, abstractmethod
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from dataclasses import dataclass
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from enum import Enum
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from pylabrobot.resources import Deck, Plate, Resource as PLRResource
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from pylabrobot.resources.coordinate import Coordinate
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from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
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from unilabos.utils.log import logger
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class WorkflowStatus(Enum):
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"""工作流状态"""
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IDLE = "idle"
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INITIALIZING = "initializing"
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RUNNING = "running"
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PAUSED = "paused"
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STOPPING = "stopping"
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STOPPED = "stopped"
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ERROR = "error"
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COMPLETED = "completed"
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@dataclass
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class WorkflowInfo:
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"""工作流信息"""
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name: str
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description: str
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estimated_duration: float # 预估持续时间（秒）
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required_materials: List[str] # 所需物料类型
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output_product: str # 输出产品类型
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parameters_schema: Dict[str, Any] # 参数架构
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class WorkStationContainer(Plate):
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"""
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WorkStation 专用 Container 类，继承自 Plate和TipRack
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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
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"""
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def __init__(
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self,
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name: str,
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size_x: float,
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size_y: float,
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size_z: float,
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category: str,
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ordering: collections.OrderedDict,
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model: Optional[str] = None,
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):
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"""
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这里的初始化入参要和plr的保持一致
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"""
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super().__init__(name, size_x, size_y, size_z, category=category, ordering=ordering, model=model)
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self._unilabos_state = {} # 必须有此行，自己的类描述的是物料的
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def load_state(self, state: Dict[str, Any]) -> None:
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"""从给定的状态加载工作台信息。"""
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super().load_state(state)
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self._unilabos_state = state
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def serialize_state(self) -> Dict[str, Dict[str, Any]]:
|
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data = super().serialize_state()
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data.update(
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self._unilabos_state
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) # 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）
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return data
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def get_workstation_plate_resource(name: str) -> PLRResource: # 要给定一个返回plr的方法
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"""
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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
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|
||||||
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
|
|
||||||
@@ -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
|
|
||||||
@@ -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
|
|
||||||
@@ -4,48 +4,6 @@ reaction_station.bioyond:
|
|||||||
- reaction_station_bioyond
|
- reaction_station_bioyond
|
||||||
class:
|
class:
|
||||||
action_value_mappings:
|
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:
|
auto-post_init:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal: {}
|
goal: {}
|
||||||
@@ -104,6 +62,48 @@ reaction_station.bioyond:
|
|||||||
title: drip_back参数
|
title: drip_back参数
|
||||||
type: object
|
type: object
|
||||||
type: UniLabJsonCommand
|
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:
|
liquid_feeding_beaker:
|
||||||
feedback: {}
|
feedback: {}
|
||||||
goal:
|
goal:
|
||||||
|
|||||||
Reference in New Issue
Block a user