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HR物料同步，前端展示位置修复 (#135)
* 更新Bioyond工作站配置，添加新的物料类型映射和载架定义，优化物料查询逻辑 * 添加Bioyond实验配置文件，定义物料类型映射和设备配置 * 更新bioyond_warehouse_reagent_stack方法，修正试剂堆栈尺寸和布局描述 * 更新Bioyond实验配置，修正物料类型映射，优化设备配置 * 更新Bioyond资源同步逻辑，优化物料入库流程，增强错误处理和日志记录 * 更新Bioyond资源，添加配液站和反应站专用载架，优化仓库工厂函数的排序方式 * 更新Bioyond资源，添加配液站和反应站相关载架，优化试剂瓶和样品瓶配置 * 更新Bioyond实验配置，修正试剂瓶载架ID，确保与设备匹配 * 更新Bioyond资源，移除反应站单烧杯载架，添加反应站单烧瓶载架分类 * Refactor Bioyond resource synchronization and update bottle carrier definitions - Removed traceback printing in error handling for Bioyond synchronization. - Enhanced logging for existing Bioyond material ID usage during synchronization. - Added new bottle carrier definitions for single flask and updated existing ones. - Refactored dispensing station and reaction station bottle definitions for clarity and consistency. - Improved resource mapping and error handling in graphio for Bioyond resource conversion. - Introduced layout parameter in warehouse factory for better warehouse configuration. * 更新Bioyond仓库工厂，添加排序方式支持，优化坐标计算逻辑 * 更新Bioyond载架和甲板配置，调整样品板尺寸和仓库坐标 * 更新Bioyond资源同步，增强占用位置日志信息，修正坐标转换逻辑 * 更新Bioyond反应站和分配站配置，调整材料类型映射和ID，移除不必要的项 * support name change during materials change * fix json dumps * correct tip * 优化调度器API路径，更新相关方法描述 * 更新 BIOYOND 载架相关文档，调整 API 以支持自带试剂瓶的载架类型，修复资源获取时的子物料处理逻辑 * 实现资源删除时的同步处理，优化出库操作逻辑 * 修复 ItemizedCarrier 中的可见性逻辑 * 保存 Bioyond 原始信息到 unilabos_extra，以便出库时查询 * 根据 resource.capacity 判断是试剂瓶（载架）还是多瓶载架，走不同的奔曜转换 * Fix bioyond bottle_carriers ordering * 优化 Bioyond 物料同步逻辑，增强坐标解析和位置更新处理 * disable slave connect websocket * correct remove_resource stats * change uuid logger to trace level * enable slave mode * refactor(bioyond): 统一资源命名并优化物料同步逻辑 - 将DispensingStation和ReactionStation资源统一为PolymerStation命名 - 优化物料同步逻辑，支持耗材类型(typeMode=0)的查询 - 添加物料默认参数配置功能 - 调整仓库坐标布局 - 清理废弃资源定义 * feat(warehouses): 为仓库函数添加col_offset和layout参数 * refactor: 更新实验配置中的物料类型映射命名 将DispensingStation和ReactionStation的物料类型映射统一更名为PolymerStation，保持命名一致性 * fix: 更新实验配置中的载体名称从6VialCarrier到6StockCarrier * feat(bioyond): 实现物料创建与入库分离逻辑 将物料同步流程拆分为两个独立阶段：transfer阶段只创建物料，add阶段执行入库 简化状态检查接口，仅返回连接状态 * fix(reaction_station): 修正液体进料烧杯体积单位并增强返回结果 将液体进料烧杯的体积单位从μL改为g以匹配实际使用场景 在返回结果中添加merged_workflow和order_params字段，提供更完整的工作流信息 * feat(dispensing_station): 在任务创建返回结果中添加order_params信息 在create_order方法返回结果中增加order_params字段，以便调用方获取完整的任务参数 * fix(dispensing_station): 修改90%物料分配逻辑从分成3份改为直接使用 原逻辑将主称固体平均分成3份作为90%物料，现改为直接使用main_portion * feat(bioyond): 添加任务编码和任务ID的输出，支持批量任务创建后的状态监控 * refactor(registry): 简化设备配置中的任务结果处理逻辑 将多个单独的任务编码和ID字段合并为统一的return_info字段 更新相关描述以反映新的数据结构 * feat(工作站): 添加HTTP报送服务和任务完成状态跟踪 - 在graphio.py中添加API必需字段 - 实现工作站HTTP服务启动和停止逻辑 - 添加任务完成状态跟踪字典和等待方法 - 重写任务完成报送处理方法记录状态 - 支持批量任务完成等待和报告获取 * refactor(dispensing_station): 移除wait_for_order_completion_and_get_report功能 该功能已被wait_for_multiple_orders_and_get_reports替代，简化代码结构 * fix: 更新任务报告API错误 * fix(workstation_http_service): 修复状态查询中device_id获取逻辑 处理状态查询时安全获取device_id，避免因属性不存在导致的异常 * fix(bioyond_studio): 改进物料入库失败时的错误处理和日志记录 在物料入库API调用失败时，添加更详细的错误信息打印 同时修正station.py中对空响应和失败情况的判断逻辑 * refactor(bioyond): 优化瓶架载体的分配逻辑和注释说明 重构瓶架载体的分配逻辑，使用嵌套循环替代硬编码索引分配 添加更详细的坐标映射说明，明确PLR与Bioyond坐标的对应关系 * fix(bioyond_rpc): 修复物料入库成功时无data字段返回空的问题 当API返回成功但无data字段时，返回包含success标识的字典而非空字典 --------- Co-authored-by: Xuwznln <18435084+Xuwznln@users.noreply.github.com> Co-authored-by: Junhan Chang <changjh@dp.tech>
This commit is contained in:
ZiWei
Xuwznln
171
test/experiments/ICCAS506.json
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171
test/experiments/ICCAS506.json
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@@ -0,0 +1,171 @@
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{
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"nodes": [
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{
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"id": "dispensing_station_bioyond",
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"name": "dispensing_station_bioyond",
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"children": [
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"Bioyond_Dispensing_Deck"
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],
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"parent": null,
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"type": "device",
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"class": "bioyond_dispensing_station",
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"config": {
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"config": {
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"api_key": "DE9BDDA0",
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"api_host": "http://192.168.1.200:44400",
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"material_type_mappings": {
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"BIOYOND_PolymerStation_1FlaskCarrier": [
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"烧杯",
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"3a14196b-24f2-ca49-9081-0cab8021bf1a"
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],
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"BIOYOND_PolymerStation_1BottleCarrier": [
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"试剂瓶",
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"3a14196b-8bcf-a460-4f74-23f21ca79e72"
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],
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"BIOYOND_PolymerStation_6StockCarrier": [
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"分装板",
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"3a14196e-5dfe-6e21-0c79-fe2036d052c4"
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],
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"BIOYOND_PolymerStation_Liquid_Vial": [
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"10%分装小瓶",
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"3a14196c-76be-2279-4e22-7310d69aed68"
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],
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"BIOYOND_PolymerStation_Solid_Vial": [
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"90%分装小瓶",
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"3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
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],
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"BIOYOND_PolymerStation_8StockCarrier": [
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"样品板",
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"3a14196e-b7a0-a5da-1931-35f3000281e9"
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],
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"BIOYOND_PolymerStation_Solid_Stock": [
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"样品瓶",
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"3a14196a-cf7d-8aea-48d8-b9662c7dba94"
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]
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}
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},
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"deck": {
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"data": {
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"_resource_child_name": "Bioyond_Dispensing_Deck",
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"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerPreparationStation_Deck"
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}
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},
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"protocol_type": []
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},
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"data": {}
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},
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{
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"id": "Bioyond_Dispensing_Deck",
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"name": "Bioyond_Dispensing_Deck",
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"sample_id": null,
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"children": [],
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"parent": "dispensing_station_bioyond",
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"type": "deck",
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"class": "BIOYOND_PolymerPreparationStation_Deck",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "BIOYOND_PolymerPreparationStation_Deck",
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"setup": true,
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"rotation": {
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"x": 0,
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"y": 0,
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"z": 0,
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"type": "Rotation"
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}
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},
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"data": {}
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},
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{
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"id": "reaction_station_bioyond",
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"name": "reaction_station_bioyond",
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"parent": null,
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"children": [
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"Bioyond_Deck"
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],
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"type": "device",
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"class": "reaction_station.bioyond",
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"config": {
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"config": {
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"api_key": "DE9BDDA0",
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"api_host": "http://192.168.1.200:44402",
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"workflow_mappings": {
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"reactor_taken_out": "3a16081e-4788-ca37-eff4-ceed8d7019d1",
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"reactor_taken_in": "3a160df6-76b3-0957-9eb0-cb496d5721c6",
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"Solid_feeding_vials": "3a160877-87e7-7699-7bc6-ec72b05eb5e6",
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"Liquid_feeding_vials(non-titration)": "3a167d99-6158-c6f0-15b5-eb030f7d8e47",
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"Liquid_feeding_solvents": "3a160824-0665-01ed-285a-51ef817a9046",
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"Liquid_feeding(titration)": "3a16082a-96ac-0449-446a-4ed39f3365b6",
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"liquid_feeding_beaker": "3a16087e-124f-8ddb-8ec1-c2dff09ca784",
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"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
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},
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"material_type_mappings": {
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"BIOYOND_PolymerStation_Reactor": [
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"反应器",
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"3a14233b-902d-0d7b-4533-3f60f1c41c1b"
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],
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"BIOYOND_PolymerStation_1BottleCarrier": [
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"试剂瓶",
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"3a14233b-56e3-6c53-a8ab-fcaac163a9ba"
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],
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"BIOYOND_PolymerStation_1FlaskCarrier": [
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"烧杯",
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"3a14233b-f0a9-ba84-eaa9-0d4718b361b6"
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],
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"BIOYOND_PolymerStation_6StockCarrier": [
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"样品板",
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"3a142339-80de-8f25-6093-1b1b1b6c322e"
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],
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"BIOYOND_PolymerStation_Solid_Vial": [
|
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"90%分装小瓶",
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"3a14233a-26e1-28f8-af6a-60ca06ba0165"
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],
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"BIOYOND_PolymerStation_Liquid_Vial": [
|
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"10%分装小瓶",
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"3a14233a-84a3-088d-6676-7cb4acd57c64"
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],
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"BIOYOND_PolymerStation_TipBox": [
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"枪头盒",
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"3a143890-9d51-60ac-6d6f-6edb43c12041"
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]
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}
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},
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"deck": {
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"data": {
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"_resource_child_name": "Bioyond_Deck",
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"_resource_type": "unilabos.resources.bioyond.decks:BIOYOND_PolymerReactionStation_Deck"
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}
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},
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"protocol_type": []
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},
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"data": {}
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},
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{
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"id": "Bioyond_Deck",
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"name": "Bioyond_Deck",
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"children": [],
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"parent": "reaction_station_bioyond",
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"type": "deck",
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"class": "BIOYOND_PolymerReactionStation_Deck",
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"position": {
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"x": 0,
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"y": 0,
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"z": 0
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},
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"config": {
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"type": "BIOYOND_PolymerReactionStation_Deck",
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"setup": true,
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"rotation": {
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"x": 0,
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"y": 0,
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"z": 0,
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"type": "Rotation"
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}
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},
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"data": {}
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}
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]
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}
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@@ -12,7 +12,37 @@
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"config": {
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"config": {
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"api_key": "DE9BDDA0",
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"api_host": "http://192.168.1.200:44388"
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"api_host": "http://192.168.1.200:44388",
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"material_type_mappings": {
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"BIOYOND_PolymerStation_1FlaskCarrier": [
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"烧杯",
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"3a14196b-24f2-ca49-9081-0cab8021bf1a"
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],
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"BIOYOND_PolymerStation_1BottleCarrier": [
|
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"试剂瓶",
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"3a14196b-8bcf-a460-4f74-23f21ca79e72"
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],
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"BIOYOND_PolymerStation_6StockCarrier": [
|
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"分装板",
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"3a14196e-5dfe-6e21-0c79-fe2036d052c4"
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],
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"BIOYOND_PolymerStation_Liquid_Vial": [
|
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"10%分装小瓶",
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"3a14196c-76be-2279-4e22-7310d69aed68"
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],
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"BIOYOND_PolymerStation_Solid_Vial": [
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"90%分装小瓶",
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"3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
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],
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"BIOYOND_PolymerStation_8StockCarrier": [
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"样品板",
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"3a14196e-b7a0-a5da-1931-35f3000281e9"
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],
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"BIOYOND_PolymerStation_Solid_Stock": [
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"样品瓶",
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"3a14196a-cf7d-8aea-48d8-b9662c7dba94"
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]
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}
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},
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"deck": {
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"data": {
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@@ -50,4 +80,4 @@
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"data": {}
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}
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]
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}
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}
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@@ -24,41 +24,33 @@
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"Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a"
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},
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"material_type_mappings": {
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"烧杯": [
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"BIOYOND_PolymerStation_1FlaskCarrier",
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"3a14196b-24f2-ca49-9081-0cab8021bf1a"
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"BIOYOND_PolymerStation_Reactor": [
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"反应器",
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"3a14233b-902d-0d7b-4533-3f60f1c41c1b"
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],
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"试剂瓶": [
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"BIOYOND_PolymerStation_1BottleCarrier",
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""
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"BIOYOND_PolymerStation_1BottleCarrier": [
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"试剂瓶",
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"3a14233b-56e3-6c53-a8ab-fcaac163a9ba"
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],
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"样品板": [
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"BIOYOND_PolymerStation_6StockCarrier",
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"3a14196e-b7a0-a5da-1931-35f3000281e9"
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"BIOYOND_PolymerStation_1FlaskCarrier": [
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"烧杯",
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"3a14233b-f0a9-ba84-eaa9-0d4718b361b6"
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],
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"分装板": [
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"BIOYOND_PolymerStation_6VialCarrier",
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"3a14196e-5dfe-6e21-0c79-fe2036d052c4"
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"BIOYOND_PolymerStation_6StockCarrier": [
|
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"样品板",
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"3a142339-80de-8f25-6093-1b1b1b6c322e"
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],
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"样品瓶": [
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"BIOYOND_PolymerStation_Solid_Stock",
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"3a14196a-cf7d-8aea-48d8-b9662c7dba94"
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"BIOYOND_PolymerStation_Solid_Vial": [
|
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"90%分装小瓶",
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"3a14233a-26e1-28f8-af6a-60ca06ba0165"
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],
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"90%分装小瓶": [
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"BIOYOND_PolymerStation_Solid_Vial",
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"3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"
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"BIOYOND_PolymerStation_Liquid_Vial": [
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"10%分装小瓶",
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"3a14233a-84a3-088d-6676-7cb4acd57c64"
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],
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"10%分装小瓶": [
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"BIOYOND_PolymerStation_Liquid_Vial",
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"3a14196c-76be-2279-4e22-7310d69aed68"
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],
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"枪头盒": [
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"BIOYOND_PolymerStation_TipBox",
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""
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],
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"反应器": [
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"BIOYOND_PolymerStation_Reactor",
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""
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"BIOYOND_PolymerStation_TipBox": [
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"枪头盒",
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"3a143890-9d51-60ac-6d6f-6edb43c12041"
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]
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}
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},
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@@ -97,4 +89,4 @@
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"data": {}
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}
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]
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}
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}
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@@ -212,8 +212,14 @@ class BioyondV1RPC(BaseRequest):
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})
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if not response or response['code'] != 1:
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if response:
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error_msg = response.get('message', '未知错误')
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print(f"[ERROR] 物料入库失败: code={response.get('code')}, message={error_msg}")
|
||||
else:
|
||||
print(f"[ERROR] 物料入库失败: API 无响应")
|
||||
return {}
|
||||
return response.get("data", {})
|
||||
# 入库成功时，即使没有 data 字段，也返回成功标识
|
||||
return response.get("data") or {"success": True}
|
||||
|
||||
def delete_material(self, material_id: str) -> dict:
|
||||
"""
|
||||
@@ -501,7 +507,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
return {}
|
||||
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/order/order-report',
|
||||
url=f'{self.host}/api/lims/order/project-order-report',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -678,7 +684,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
def scheduler_pause(self) -> int:
|
||||
"""描述：暂停调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-pause',
|
||||
url=f'{self.host}/api/lims/scheduler/pause',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -689,8 +695,9 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("code", 0)
|
||||
|
||||
def scheduler_continue(self) -> int:
|
||||
"""描述：继续调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-continue',
|
||||
url=f'{self.host}/api/lims/scheduler/continue',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -703,7 +710,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
def scheduler_stop(self) -> int:
|
||||
"""描述：停止调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-stop',
|
||||
url=f'{self.host}/api/lims/scheduler/stop',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -714,9 +721,9 @@ class BioyondV1RPC(BaseRequest):
|
||||
return response.get("code", 0)
|
||||
|
||||
def scheduler_reset(self) -> int:
|
||||
"""描述：重置调度器"""
|
||||
"""描述：复位调度器"""
|
||||
response = self.post(
|
||||
url=f'{self.host}/api/lims/scheduler/scheduler-reset',
|
||||
url=f'{self.host}/api/lims/scheduler/reset',
|
||||
params={
|
||||
"apiKey": self.api_key,
|
||||
"requestTime": self.get_current_time_iso8601(),
|
||||
@@ -734,7 +741,7 @@ class BioyondV1RPC(BaseRequest):
|
||||
print("正在加载材料列表缓存...")
|
||||
|
||||
# 加载所有类型的材料：耗材(0)、样品(1)、试剂(2)
|
||||
material_types = [1, 2]
|
||||
material_types = [0, 1, 2]
|
||||
|
||||
for type_mode in material_types:
|
||||
print(f"正在加载类型 {type_mode} 的材料...")
|
||||
@@ -788,4 +795,4 @@ class BioyondV1RPC(BaseRequest):
|
||||
|
||||
def get_available_materials(self):
|
||||
"""获取所有可用的材料名称列表"""
|
||||
return list(self.material_cache.keys())
|
||||
return list(self.material_cache.keys())
|
||||
|
||||
@@ -1,5 +1,7 @@
|
||||
from datetime import datetime
|
||||
import json
|
||||
import time
|
||||
from typing import Optional, Dict, Any
|
||||
|
||||
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondException
|
||||
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
|
||||
@@ -23,6 +25,9 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
# self._logger = SimpleLogger()
|
||||
# self.is_running = False
|
||||
|
||||
# 用于跟踪任务完成状态的字典: {orderCode: {status, order_id, timestamp}}
|
||||
self.order_completion_status = {}
|
||||
|
||||
# 90%10%小瓶投料任务创建方法
|
||||
def create_90_10_vial_feeding_task(self,
|
||||
order_name: str = None,
|
||||
@@ -270,7 +275,45 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
# 7. 调用create_order方法创建任务
|
||||
result = self.hardware_interface.create_order(json_str)
|
||||
self.hardware_interface._logger.info(f"创建90%10%小瓶投料任务结果: {result}")
|
||||
return json.dumps({"suc": True})
|
||||
|
||||
# 8. 解析结果获取order_id
|
||||
order_id = None
|
||||
if isinstance(result, str):
|
||||
# result 格式: "{'3a1d895c-4d39-d504-1398-18f5a40bac1e': [{'id': '...', ...}]}"
|
||||
# 第一个键就是order_id (UUID)
|
||||
try:
|
||||
# 尝试解析字符串为字典
|
||||
import ast
|
||||
result_dict = ast.literal_eval(result)
|
||||
# 获取第一个键作为order_id
|
||||
if result_dict and isinstance(result_dict, dict):
|
||||
first_key = list(result_dict.keys())[0]
|
||||
order_id = first_key
|
||||
self.hardware_interface._logger.info(f"✓ 成功提取order_id: {order_id}")
|
||||
else:
|
||||
self.hardware_interface._logger.warning(f"result_dict格式异常: {result_dict}")
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(f"✗ 无法从结果中提取order_id: {e}, result类型={type(result)}")
|
||||
elif isinstance(result, dict):
|
||||
# 如果已经是字典
|
||||
if result:
|
||||
first_key = list(result.keys())[0]
|
||||
order_id = first_key
|
||||
self.hardware_interface._logger.info(f"✓ 成功提取order_id(dict): {order_id}")
|
||||
|
||||
if not order_id:
|
||||
self.hardware_interface._logger.warning(
|
||||
f"⚠ 未能提取order_id，result={result[:100] if isinstance(result, str) else result}"
|
||||
)
|
||||
|
||||
# 返回成功结果和构建的JSON数据
|
||||
return json.dumps({
|
||||
"suc": True,
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"result": result,
|
||||
"order_params": order_data
|
||||
})
|
||||
|
||||
except BioyondException:
|
||||
# 重新抛出BioyondException
|
||||
@@ -398,7 +441,37 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
result = self.hardware_interface.create_order(json_str)
|
||||
self.hardware_interface._logger.info(f"创建二胺溶液配置任务结果: {result}")
|
||||
|
||||
return json.dumps({"suc": True})
|
||||
# 8. 解析结果获取order_id
|
||||
order_id = None
|
||||
if isinstance(result, str):
|
||||
try:
|
||||
import ast
|
||||
result_dict = ast.literal_eval(result)
|
||||
if result_dict and isinstance(result_dict, dict):
|
||||
first_key = list(result_dict.keys())[0]
|
||||
order_id = first_key
|
||||
self.hardware_interface._logger.info(f"✓ 成功提取order_id: {order_id}")
|
||||
else:
|
||||
self.hardware_interface._logger.warning(f"result_dict格式异常: {result_dict}")
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(f"✗ 无法从结果中提取order_id: {e}")
|
||||
elif isinstance(result, dict):
|
||||
if result:
|
||||
first_key = list(result.keys())[0]
|
||||
order_id = first_key
|
||||
self.hardware_interface._logger.info(f"✓ 成功提取order_id(dict): {order_id}")
|
||||
|
||||
if not order_id:
|
||||
self.hardware_interface._logger.warning(f"⚠ 未能提取order_id")
|
||||
|
||||
# 返回成功结果和构建的JSON数据
|
||||
return json.dumps({
|
||||
"suc": True,
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"result": result,
|
||||
"order_params": order_data
|
||||
})
|
||||
|
||||
except BioyondException:
|
||||
# 重新抛出BioyondException
|
||||
@@ -499,15 +572,24 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
hold_m_name=hold_m_name
|
||||
)
|
||||
|
||||
# 解析返回结果以获取order_code和order_id
|
||||
result_data = json.loads(result) if isinstance(result, str) else result
|
||||
order_code = result_data.get("order_code")
|
||||
order_id = result_data.get("order_id")
|
||||
order_params = result_data.get("order_params", {})
|
||||
|
||||
results.append({
|
||||
"index": idx + 1,
|
||||
"name": name,
|
||||
"success": True,
|
||||
"hold_m_name": hold_m_name
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"hold_m_name": hold_m_name,
|
||||
"order_params": order_params
|
||||
})
|
||||
success_count += 1
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功创建二胺溶液配置任务: {name}"
|
||||
f"成功创建二胺溶液配置任务: {name}, order_code={order_code}, order_id={order_id}"
|
||||
)
|
||||
|
||||
except BioyondException as e:
|
||||
@@ -533,11 +615,17 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
f"创建第 {idx + 1} 个任务时发生未知错误: {str(e)}"
|
||||
)
|
||||
|
||||
# 提取所有成功任务的order_code和order_id
|
||||
order_codes = [r["order_code"] for r in results if r["success"]]
|
||||
order_ids = [r["order_id"] for r in results if r["success"]]
|
||||
|
||||
# 返回汇总结果
|
||||
summary = {
|
||||
"total": len(solutions),
|
||||
"success": success_count,
|
||||
"failed": failed_count,
|
||||
"order_codes": order_codes,
|
||||
"order_ids": order_ids,
|
||||
"details": results
|
||||
}
|
||||
|
||||
@@ -546,8 +634,13 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
f"成功={success_count}, 失败={failed_count}"
|
||||
)
|
||||
|
||||
# 返回JSON字符串格式
|
||||
return json.dumps(summary, ensure_ascii=False)
|
||||
# 构建返回结果
|
||||
summary["return_info"] = {
|
||||
"order_codes": order_codes,
|
||||
"order_ids": order_ids,
|
||||
}
|
||||
|
||||
return summary
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
@@ -613,22 +706,15 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
if not all([name, main_portion is not None, titration_portion is not None, titration_solvent is not None]):
|
||||
raise BioyondException("titration 数据缺少必要参数")
|
||||
|
||||
# 将main_portion平均分成3份作为90%物料（3个小瓶）
|
||||
portion_90 = main_portion / 3
|
||||
|
||||
# 调用单个任务创建方法
|
||||
result = self.create_90_10_vial_feeding_task(
|
||||
order_name=f"90%10%小瓶投料-{name}",
|
||||
speed=speed,
|
||||
temperature=temperature,
|
||||
delay_time=delay_time,
|
||||
# 90%物料 - 主称固体平均分成3份
|
||||
# 90%物料 - 主称固体直接使用main_portion
|
||||
percent_90_1_assign_material_name=name,
|
||||
percent_90_1_target_weigh=str(round(portion_90, 6)),
|
||||
percent_90_2_assign_material_name=name,
|
||||
percent_90_2_target_weigh=str(round(portion_90, 6)),
|
||||
percent_90_3_assign_material_name=name,
|
||||
percent_90_3_target_weigh=str(round(portion_90, 6)),
|
||||
percent_90_1_target_weigh=str(round(main_portion, 6)),
|
||||
# 10%物料 - 滴定固体 + 滴定溶剂（只使用第1个10%小瓶）
|
||||
percent_10_1_assign_material_name=name,
|
||||
percent_10_1_target_weigh=str(round(titration_portion, 6)),
|
||||
@@ -637,29 +723,54 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
hold_m_name=hold_m_name
|
||||
)
|
||||
|
||||
summary = {
|
||||
# 解析返回结果以获取order_code和order_id
|
||||
result_data = json.loads(result) if isinstance(result, str) else result
|
||||
order_code = result_data.get("order_code")
|
||||
order_id = result_data.get("order_id")
|
||||
order_params = result_data.get("order_params", {})
|
||||
|
||||
# 构建详细信息（保持原有结构）
|
||||
detail = {
|
||||
"index": 1,
|
||||
"name": name,
|
||||
"success": True,
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"hold_m_name": hold_m_name,
|
||||
"material_name": name,
|
||||
"90_vials": {
|
||||
"count": 3,
|
||||
"weight_per_vial": round(portion_90, 6),
|
||||
"count": 1,
|
||||
"weight_per_vial": round(main_portion, 6),
|
||||
"total_weight": round(main_portion, 6)
|
||||
},
|
||||
"10_vials": {
|
||||
"count": 1,
|
||||
"solid_weight": round(titration_portion, 6),
|
||||
"liquid_volume": round(titration_solvent, 6)
|
||||
}
|
||||
},
|
||||
"order_params": order_params
|
||||
}
|
||||
|
||||
# 构建批量结果格式（与diamine_solution_tasks保持一致）
|
||||
summary = {
|
||||
"total": 1,
|
||||
"success": 1,
|
||||
"failed": 0,
|
||||
"order_codes": [order_code],
|
||||
"order_ids": [order_id],
|
||||
"details": [detail]
|
||||
}
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功创建90%10%小瓶投料任务: {hold_m_name}, "
|
||||
f"90%物料={portion_90:.6f}g×3, 10%物料={titration_portion:.6f}g+{titration_solvent:.6f}mL"
|
||||
f"成功创建90%10%小瓶投料任务: {name}, order_code={order_code}, order_id={order_id}"
|
||||
)
|
||||
|
||||
# 返回JSON字符串格式
|
||||
return json.dumps(summary, ensure_ascii=False)
|
||||
# 构建返回结果
|
||||
summary["return_info"] = {
|
||||
"order_codes": [order_code],
|
||||
"order_ids": [order_id],
|
||||
}
|
||||
|
||||
return summary
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
@@ -669,6 +780,279 @@ class BioyondDispensingStation(BioyondWorkstation):
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
|
||||
|
||||
def wait_for_multiple_orders_and_get_reports(self,
|
||||
batch_create_result: str = None,
|
||||
timeout: int = 7200,
|
||||
check_interval: int = 10) -> Dict[str, Any]:
|
||||
"""
|
||||
同时等待多个任务完成并获取实验报告
|
||||
|
||||
参数说明:
|
||||
- batch_create_result: 批量创建任务的返回结果JSON字符串，包含order_codes和order_ids数组
|
||||
- timeout: 超时时间（秒），默认7200秒（2小时）
|
||||
- check_interval: 检查间隔（秒），默认10秒
|
||||
|
||||
返回: 包含所有任务状态和报告的字典
|
||||
{
|
||||
"total": 2,
|
||||
"completed": 2,
|
||||
"timeout": 0,
|
||||
"elapsed_time": 120.5,
|
||||
"reports": [
|
||||
{
|
||||
"order_code": "task_vial_1",
|
||||
"order_id": "uuid1",
|
||||
"status": "completed",
|
||||
"completion_status": 30,
|
||||
"report": {...}
|
||||
},
|
||||
...
|
||||
]
|
||||
}
|
||||
|
||||
异常:
|
||||
- BioyondException: 所有任务都超时或发生错误
|
||||
"""
|
||||
try:
|
||||
# 参数类型转换
|
||||
timeout = int(timeout) if timeout else 7200
|
||||
check_interval = int(check_interval) if check_interval else 10
|
||||
|
||||
# 验证batch_create_result参数
|
||||
if not batch_create_result or batch_create_result == "":
|
||||
raise BioyondException("batch_create_result参数为空，请确保从batch_create节点正确连接handle")
|
||||
|
||||
# 解析batch_create_result JSON对象
|
||||
try:
|
||||
# 清理可能存在的截断标记 [...]
|
||||
if isinstance(batch_create_result, str) and '[...]' in batch_create_result:
|
||||
batch_create_result = batch_create_result.replace('[...]', '[]')
|
||||
|
||||
result_obj = json.loads(batch_create_result) if isinstance(batch_create_result, str) else batch_create_result
|
||||
|
||||
# 兼容外层包装格式 {error, suc, return_value}
|
||||
if isinstance(result_obj, dict) and "return_value" in result_obj:
|
||||
inner = result_obj.get("return_value")
|
||||
if isinstance(inner, str):
|
||||
result_obj = json.loads(inner)
|
||||
elif isinstance(inner, dict):
|
||||
result_obj = inner
|
||||
|
||||
# 从summary对象中提取order_codes和order_ids
|
||||
order_codes = result_obj.get("order_codes", [])
|
||||
order_ids = result_obj.get("order_ids", [])
|
||||
|
||||
except json.JSONDecodeError as e:
|
||||
raise BioyondException(f"解析batch_create_result失败: {e}")
|
||||
except Exception as e:
|
||||
raise BioyondException(f"处理batch_create_result时出错: {e}")
|
||||
|
||||
# 验证提取的数据
|
||||
if not order_codes:
|
||||
raise BioyondException("batch_create_result中未找到order_codes字段或为空")
|
||||
if not order_ids:
|
||||
raise BioyondException("batch_create_result中未找到order_ids字段或为空")
|
||||
|
||||
# 确保order_codes和order_ids是列表类型
|
||||
if not isinstance(order_codes, list):
|
||||
order_codes = [order_codes] if order_codes else []
|
||||
if not isinstance(order_ids, list):
|
||||
order_ids = [order_ids] if order_ids else []
|
||||
|
||||
codes_list = order_codes
|
||||
ids_list = order_ids
|
||||
|
||||
if len(codes_list) != len(ids_list):
|
||||
raise BioyondException(
|
||||
f"order_codes数量({len(codes_list)})与order_ids数量({len(ids_list)})不匹配"
|
||||
)
|
||||
|
||||
if not codes_list or not ids_list:
|
||||
raise BioyondException("order_codes和order_ids不能为空")
|
||||
|
||||
# 初始化跟踪变量
|
||||
total = len(codes_list)
|
||||
pending_orders = {code: {"order_id": ids_list[i], "completed": False}
|
||||
for i, code in enumerate(codes_list)}
|
||||
reports = []
|
||||
|
||||
start_time = time.time()
|
||||
self.hardware_interface._logger.info(
|
||||
f"开始等待 {total} 个任务完成: {', '.join(codes_list)}"
|
||||
)
|
||||
|
||||
# 轮询检查任务状态
|
||||
while pending_orders:
|
||||
elapsed_time = time.time() - start_time
|
||||
|
||||
# 检查超时
|
||||
if elapsed_time > timeout:
|
||||
# 收集超时任务
|
||||
timeout_orders = list(pending_orders.keys())
|
||||
self.hardware_interface._logger.error(
|
||||
f"等待任务完成超时，剩余未完成任务: {', '.join(timeout_orders)}"
|
||||
)
|
||||
|
||||
# 为超时任务添加记录
|
||||
for order_code in timeout_orders:
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": pending_orders[order_code]["order_id"],
|
||||
"status": "timeout",
|
||||
"completion_status": None,
|
||||
"report": None,
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
|
||||
break
|
||||
|
||||
# 检查每个待完成的任务
|
||||
completed_in_this_round = []
|
||||
for order_code in list(pending_orders.keys()):
|
||||
order_id = pending_orders[order_code]["order_id"]
|
||||
|
||||
# 检查任务是否完成
|
||||
if order_code in self.order_completion_status:
|
||||
completion_info = self.order_completion_status[order_code]
|
||||
self.hardware_interface._logger.info(
|
||||
f"检测到任务 {order_code} 已完成，状态: {completion_info.get('status')}"
|
||||
)
|
||||
|
||||
# 获取实验报告
|
||||
try:
|
||||
report_query = json.dumps({"order_id": order_id})
|
||||
report = self.hardware_interface.order_report(report_query)
|
||||
|
||||
if not report:
|
||||
self.hardware_interface._logger.warning(
|
||||
f"任务 {order_code} 已完成但无法获取报告"
|
||||
)
|
||||
report = {"error": "无法获取报告"}
|
||||
else:
|
||||
self.hardware_interface._logger.info(
|
||||
f"成功获取任务 {order_code} 的实验报告"
|
||||
)
|
||||
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"status": "completed",
|
||||
"completion_status": completion_info.get('status'),
|
||||
"report": report,
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
|
||||
# 标记为已完成
|
||||
completed_in_this_round.append(order_code)
|
||||
|
||||
# 清理完成状态记录
|
||||
del self.order_completion_status[order_code]
|
||||
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(
|
||||
f"查询任务 {order_code} 报告失败: {str(e)}"
|
||||
)
|
||||
reports.append({
|
||||
"order_code": order_code,
|
||||
"order_id": order_id,
|
||||
"status": "error",
|
||||
"completion_status": completion_info.get('status'),
|
||||
"report": None,
|
||||
"error": str(e),
|
||||
"elapsed_time": elapsed_time
|
||||
})
|
||||
completed_in_this_round.append(order_code)
|
||||
|
||||
# 从待完成列表中移除已完成的任务
|
||||
for order_code in completed_in_this_round:
|
||||
del pending_orders[order_code]
|
||||
|
||||
# 如果还有待完成的任务，等待后继续
|
||||
if pending_orders:
|
||||
time.sleep(check_interval)
|
||||
|
||||
# 每分钟记录一次等待状态
|
||||
new_elapsed_time = time.time() - start_time
|
||||
if int(new_elapsed_time) % 60 == 0 and new_elapsed_time > 0:
|
||||
self.hardware_interface._logger.info(
|
||||
f"批量等待任务中... 已完成 {len(reports)}/{total}, "
|
||||
f"待完成: {', '.join(pending_orders.keys())}, "
|
||||
f"已等待 {int(new_elapsed_time/60)} 分钟"
|
||||
)
|
||||
|
||||
# 统计结果
|
||||
completed_count = sum(1 for r in reports if r['status'] == 'completed')
|
||||
timeout_count = sum(1 for r in reports if r['status'] == 'timeout')
|
||||
error_count = sum(1 for r in reports if r['status'] == 'error')
|
||||
|
||||
final_elapsed_time = time.time() - start_time
|
||||
|
||||
summary = {
|
||||
"total": total,
|
||||
"completed": completed_count,
|
||||
"timeout": timeout_count,
|
||||
"error": error_count,
|
||||
"elapsed_time": round(final_elapsed_time, 2),
|
||||
"reports": reports
|
||||
}
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"批量等待任务完成: 总数={total}, 成功={completed_count}, "
|
||||
f"超时={timeout_count}, 错误={error_count}, 耗时={final_elapsed_time:.1f}秒"
|
||||
)
|
||||
|
||||
# 返回字典格式，在顶层包含统计信息
|
||||
return {
|
||||
"return_info": json.dumps(summary, ensure_ascii=False)
|
||||
}
|
||||
|
||||
except BioyondException:
|
||||
raise
|
||||
except Exception as e:
|
||||
error_msg = f"批量等待任务完成时发生未预期的错误: {str(e)}"
|
||||
self.hardware_interface._logger.error(error_msg)
|
||||
raise BioyondException(error_msg)
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials) -> Dict[str, Any]:
|
||||
"""
|
||||
重写父类方法，处理任务完成报送并记录到 order_completion_status
|
||||
|
||||
Args:
|
||||
report_request: WorkstationReportRequest 对象，包含任务完成信息
|
||||
used_materials: 物料使用记录列表
|
||||
|
||||
Returns:
|
||||
Dict[str, Any]: 处理结果
|
||||
"""
|
||||
try:
|
||||
# 调用父类方法
|
||||
result = super().process_order_finish_report(report_request, used_materials)
|
||||
|
||||
# 记录任务完成状态
|
||||
data = report_request.data
|
||||
order_code = data.get('orderCode')
|
||||
|
||||
if order_code:
|
||||
self.order_completion_status[order_code] = {
|
||||
'status': data.get('status'),
|
||||
'order_name': data.get('orderName'),
|
||||
'timestamp': datetime.now().isoformat(),
|
||||
'start_time': data.get('startTime'),
|
||||
'end_time': data.get('endTime')
|
||||
}
|
||||
|
||||
self.hardware_interface._logger.info(
|
||||
f"已记录任务完成状态: {order_code}, status={data.get('status')}"
|
||||
)
|
||||
|
||||
return result
|
||||
|
||||
except Exception as e:
|
||||
self.hardware_interface._logger.error(f"处理任务完成报送失败: {e}")
|
||||
return {"processed": False, "error": str(e)}
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
bioyond = BioyondDispensingStation(config={
|
||||
"api_key": "DE9BDDA0",
|
||||
@@ -1089,4 +1473,3 @@ if __name__ == "__main__":
|
||||
|
||||
# id = "3a1bce3c-4f31-c8f3-5525-f3b273bc34dc"
|
||||
# bioyond.sample_waste_removal(id)
|
||||
|
||||
|
||||
@@ -345,7 +345,7 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
|
||||
def liquid_feeding_beaker(
|
||||
self,
|
||||
volume: str = "35000",
|
||||
volume: str = "350",
|
||||
assign_material_name: str = "BAPP",
|
||||
time: str = "0",
|
||||
torque_variation: int = 1,
|
||||
@@ -355,7 +355,7 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
"""液体进料烧杯
|
||||
|
||||
Args:
|
||||
volume: 分液量(μL)
|
||||
volume: 分液质量(g)
|
||||
assign_material_name: 物料名称(试剂瓶位)
|
||||
time: 观察时间(分钟)
|
||||
torque_variation: 是否观察(int类型, 1=否, 2=是)
|
||||
@@ -580,7 +580,14 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
# print(f"\n✅ 任务创建成功: {result}")
|
||||
# print(f"\n✅ 任务创建成功")
|
||||
print(f"{'='*60}\n")
|
||||
return json.dumps({"success": True, "result": result})
|
||||
|
||||
# 返回结果，包含合并后的工作流数据和订单参数
|
||||
return json.dumps({
|
||||
"success": True,
|
||||
"result": result,
|
||||
"merged_workflow": merged_workflow,
|
||||
"order_params": order_params
|
||||
})
|
||||
|
||||
def _build_workflows_with_parameters(self, workflows_result: list) -> list:
|
||||
"""
|
||||
@@ -780,4 +787,4 @@ class BioyondReactionStation(BioyondWorkstation):
|
||||
except Exception as e:
|
||||
print(f" ❌ 工作流ID验证失败: {e}")
|
||||
print(f" 💡 将重新合并工作流")
|
||||
return False
|
||||
return False
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@@ -4,7 +4,7 @@ Workstation HTTP Service Module
|
||||
|
||||
统一的工作站报送接收服务，基于LIMS协议规范：
|
||||
1. 步骤完成报送 - POST /report/step_finish
|
||||
2. 通量完成报送 - POST /report/sample_finish
|
||||
2. 通量完成报送 - POST /report/sample_finish
|
||||
3. 任务完成报送 - POST /report/order_finish
|
||||
4. 批量更新报送 - POST /report/batch_update
|
||||
5. 物料变更报送 - POST /report/material_change
|
||||
@@ -54,18 +54,18 @@ class HttpResponse:
|
||||
|
||||
class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
"""工作站HTTP请求处理器"""
|
||||
|
||||
|
||||
def __init__(self, workstation_instance, *args, **kwargs):
|
||||
self.workstation = workstation_instance
|
||||
super().__init__(*args, **kwargs)
|
||||
|
||||
|
||||
def do_POST(self):
|
||||
"""处理POST请求 - 统一的工作站报送接口"""
|
||||
try:
|
||||
# 解析请求路径
|
||||
parsed_path = urlparse(self.path)
|
||||
endpoint = parsed_path.path
|
||||
|
||||
|
||||
# 读取请求体
|
||||
content_length = int(self.headers.get('Content-Length', 0))
|
||||
if content_length > 0:
|
||||
@@ -73,9 +73,9 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
request_data = json.loads(post_data.decode('utf-8'))
|
||||
else:
|
||||
request_data = {}
|
||||
|
||||
|
||||
logger.info(f"收到工作站报送: {endpoint} - {request_data.get('token', 'unknown')}")
|
||||
|
||||
|
||||
# 统一的报送端点路由（基于LIMS协议规范）
|
||||
if endpoint == '/report/step_finish':
|
||||
response = self._handle_step_finish_report(request_data)
|
||||
@@ -102,18 +102,18 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"不支持的报送端点: {endpoint}",
|
||||
data={"supported_endpoints": [
|
||||
"/report/step_finish",
|
||||
"/report/sample_finish",
|
||||
"/report/step_finish",
|
||||
"/report/sample_finish",
|
||||
"/report/order_finish",
|
||||
"/report/batch_update",
|
||||
"/report/material_change",
|
||||
"/report/error_handling"
|
||||
]}
|
||||
)
|
||||
|
||||
|
||||
# 发送响应
|
||||
self._send_response(response)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理工作站报送失败: {e}\\n{traceback.format_exc()}")
|
||||
error_response = HttpResponse(
|
||||
@@ -121,13 +121,13 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
message=f"请求处理失败: {str(e)}"
|
||||
)
|
||||
self._send_response(error_response)
|
||||
|
||||
|
||||
def do_GET(self):
|
||||
"""处理GET请求 - 健康检查和状态查询"""
|
||||
try:
|
||||
parsed_path = urlparse(self.path)
|
||||
endpoint = parsed_path.path
|
||||
|
||||
|
||||
if endpoint == '/status':
|
||||
response = self._handle_status_check()
|
||||
elif endpoint == '/health':
|
||||
@@ -138,9 +138,9 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
message=f"不支持的查询端点: {endpoint}",
|
||||
data={"supported_endpoints": ["/status", "/health"]}
|
||||
)
|
||||
|
||||
|
||||
self._send_response(response)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"GET请求处理失败: {e}")
|
||||
error_response = HttpResponse(
|
||||
@@ -148,7 +148,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
message=f"GET请求处理失败: {str(e)}"
|
||||
)
|
||||
self._send_response(error_response)
|
||||
|
||||
|
||||
def do_OPTIONS(self):
|
||||
"""处理OPTIONS请求 - CORS预检请求"""
|
||||
try:
|
||||
@@ -159,12 +159,12 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
self.send_header('Access-Control-Allow-Headers', 'Content-Type, Authorization')
|
||||
self.send_header('Access-Control-Max-Age', '86400')
|
||||
self.end_headers()
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"OPTIONS请求处理失败: {e}")
|
||||
self.send_response(500)
|
||||
self.end_headers()
|
||||
|
||||
|
||||
def _handle_step_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理步骤完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
@@ -175,7 +175,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 验证data字段内容
|
||||
data = request_data['data']
|
||||
data_required_fields = ['orderCode', 'orderName', 'stepName', 'stepId', 'sampleId', 'startTime', 'endTime']
|
||||
@@ -184,31 +184,31 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 创建统一请求对象
|
||||
report_request = WorkstationReportRequest(
|
||||
token=request_data['token'],
|
||||
request_time=request_data['request_time'],
|
||||
data=data
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站处理方法
|
||||
result = self.workstation.process_step_finish_report(report_request)
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"步骤完成报送已处理: {data['stepName']} ({data['orderCode']})",
|
||||
acknowledgment_id=f"STEP_{int(time.time() * 1000)}_{data['stepId']}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理步骤完成报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"步骤完成报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_sample_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理通量完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
@@ -219,7 +219,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 验证data字段内容
|
||||
data = request_data['data']
|
||||
data_required_fields = ['orderCode', 'orderName', 'sampleId', 'startTime', 'endTime', 'status']
|
||||
@@ -228,37 +228,37 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 创建统一请求对象
|
||||
report_request = WorkstationReportRequest(
|
||||
token=request_data['token'],
|
||||
request_time=request_data['request_time'],
|
||||
data=data
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站处理方法
|
||||
result = self.workstation.process_sample_finish_report(report_request)
|
||||
|
||||
|
||||
status_names = {
|
||||
"0": "待生产", "2": "进样", "10": "开始",
|
||||
"0": "待生产", "2": "进样", "10": "开始",
|
||||
"20": "完成", "-2": "异常停止", "-3": "人工停止"
|
||||
}
|
||||
status_desc = status_names.get(str(data['status']), f"状态{data['status']}")
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"通量完成报送已处理: {data['sampleId']} ({data['orderCode']}) - {status_desc}",
|
||||
acknowledgment_id=f"SAMPLE_{int(time.time() * 1000)}_{data['sampleId']}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理通量完成报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"通量完成报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_order_finish_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理任务完成报送（统一LIMS协议规范）"""
|
||||
try:
|
||||
@@ -269,7 +269,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 验证data字段内容
|
||||
data = request_data['data']
|
||||
data_required_fields = ['orderCode', 'orderName', 'startTime', 'endTime', 'status']
|
||||
@@ -278,7 +278,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"data字段缺少必要内容: {', '.join(data_missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 处理物料使用记录
|
||||
used_materials = []
|
||||
if 'usedMaterials' in data:
|
||||
@@ -290,41 +290,41 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
usedQuantity=material_data.get('usedQuantity', 0.0)
|
||||
)
|
||||
used_materials.append(material)
|
||||
|
||||
|
||||
# 创建统一请求对象
|
||||
report_request = WorkstationReportRequest(
|
||||
token=request_data['token'],
|
||||
request_time=request_data['request_time'],
|
||||
data=data
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站处理方法
|
||||
result = self.workstation.process_order_finish_report(report_request, used_materials)
|
||||
|
||||
|
||||
status_names = {"30": "完成", "-11": "异常停止", "-12": "人工停止"}
|
||||
status_desc = status_names.get(str(data['status']), f"状态{data['status']}")
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"任务完成报送已处理: {data['orderName']} ({data['orderCode']}) - {status_desc}",
|
||||
acknowledgment_id=f"ORDER_{int(time.time() * 1000)}_{data['orderCode']}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理任务完成报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"任务完成报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_batch_update_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理批量报送"""
|
||||
try:
|
||||
step_updates = request_data.get('step_updates', [])
|
||||
sample_updates = request_data.get('sample_updates', [])
|
||||
order_updates = request_data.get('order_updates', [])
|
||||
|
||||
|
||||
results = {
|
||||
'step_results': [],
|
||||
'sample_results': [],
|
||||
@@ -332,7 +332,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
'total_processed': 0,
|
||||
'total_failed': 0
|
||||
}
|
||||
|
||||
|
||||
# 处理批量步骤更新
|
||||
for step_data in step_updates:
|
||||
try:
|
||||
@@ -347,7 +347,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
except Exception as e:
|
||||
results['step_results'].append(HttpResponse(success=False, message=str(e)))
|
||||
results['total_failed'] += 1
|
||||
|
||||
|
||||
# 处理批量通量更新
|
||||
for sample_data in sample_updates:
|
||||
try:
|
||||
@@ -362,7 +362,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
except Exception as e:
|
||||
results['sample_results'].append(HttpResponse(success=False, message=str(e)))
|
||||
results['total_failed'] += 1
|
||||
|
||||
|
||||
# 处理批量任务更新
|
||||
for order_data in order_updates:
|
||||
try:
|
||||
@@ -377,21 +377,21 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
except Exception as e:
|
||||
results['order_results'].append(HttpResponse(success=False, message=str(e)))
|
||||
results['total_failed'] += 1
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=results['total_failed'] == 0,
|
||||
message=f"批量报送处理完成: {results['total_processed']} 成功, {results['total_failed']} 失败",
|
||||
acknowledgment_id=f"BATCH_{int(time.time() * 1000)}",
|
||||
data=results
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理批量报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"批量报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_material_change_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理物料变更报送"""
|
||||
try:
|
||||
@@ -417,24 +417,24 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.process_material_change_report(request_data)
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"物料变更报送已处理: {request_data['resource_id']} ({request_data['change_type']})",
|
||||
acknowledgment_id=f"MATERIAL_{int(time.time() * 1000)}_{request_data['resource_id']}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理物料变更报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"物料变更报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_error_handling_report(self, request_data: Dict[str, Any]) -> HttpResponse:
|
||||
"""处理错误处理报送"""
|
||||
try:
|
||||
@@ -446,13 +446,13 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message="奔曜格式缺少text字段"
|
||||
)
|
||||
|
||||
|
||||
error_data = request_data["text"]
|
||||
logger.info(f"收到奔曜错误处理报送: {error_data}")
|
||||
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.handle_external_error(error_data)
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"错误处理报送已收到: 任务{error_data.get('task', 'unknown')}, 错误代码{error_data.get('code', 'unknown')}",
|
||||
@@ -467,38 +467,45 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"缺少必要字段: {', '.join(missing_fields)}"
|
||||
)
|
||||
|
||||
|
||||
# 调用工作站的处理方法
|
||||
result = self.workstation.handle_external_error(request_data)
|
||||
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message=f"错误处理报送已处理: {request_data['error_type']} - {request_data['error_message']}",
|
||||
acknowledgment_id=f"ERROR_{int(time.time() * 1000)}_{request_data.get('action_id', 'unknown')}",
|
||||
data=result
|
||||
)
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"处理错误处理报送失败: {e}")
|
||||
return HttpResponse(
|
||||
success=False,
|
||||
message=f"错误处理报送处理失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _handle_status_check(self) -> HttpResponse:
|
||||
"""处理状态查询"""
|
||||
try:
|
||||
# 安全地获取 device_id
|
||||
device_id = "unknown"
|
||||
if hasattr(self.workstation, 'device_id'):
|
||||
device_id = self.workstation.device_id
|
||||
elif hasattr(self.workstation, '_ros_node') and hasattr(self.workstation._ros_node, 'device_id'):
|
||||
device_id = self.workstation._ros_node.device_id
|
||||
|
||||
return HttpResponse(
|
||||
success=True,
|
||||
message="工作站报送服务正常运行",
|
||||
data={
|
||||
"workstation_id": self.workstation.device_id,
|
||||
"workstation_id": device_id,
|
||||
"service_type": "unified_reporting_service",
|
||||
"uptime": time.time() - getattr(self.workstation, '_start_time', time.time()),
|
||||
"reports_received": getattr(self.workstation, '_reports_received_count', 0),
|
||||
"supported_endpoints": [
|
||||
"POST /report/step_finish",
|
||||
"POST /report/sample_finish",
|
||||
"POST /report/sample_finish",
|
||||
"POST /report/order_finish",
|
||||
"POST /report/batch_update",
|
||||
"POST /report/material_change",
|
||||
@@ -514,28 +521,28 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
success=False,
|
||||
message=f"状态查询失败: {str(e)}"
|
||||
)
|
||||
|
||||
|
||||
def _send_response(self, response: HttpResponse):
|
||||
"""发送响应"""
|
||||
try:
|
||||
# 设置响应状态码
|
||||
status_code = 200 if response.success else 400
|
||||
self.send_response(status_code)
|
||||
|
||||
|
||||
# 设置响应头
|
||||
self.send_header('Content-Type', 'application/json; charset=utf-8')
|
||||
self.send_header('Access-Control-Allow-Origin', '*')
|
||||
self.send_header('Access-Control-Allow-Methods', 'GET, POST, OPTIONS')
|
||||
self.send_header('Access-Control-Allow-Headers', 'Content-Type')
|
||||
self.end_headers()
|
||||
|
||||
|
||||
# 发送响应体
|
||||
response_json = json.dumps(asdict(response), ensure_ascii=False, indent=2)
|
||||
self.wfile.write(response_json.encode('utf-8'))
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"发送响应失败: {e}")
|
||||
|
||||
|
||||
def log_message(self, format, *args):
|
||||
"""重写日志方法"""
|
||||
logger.debug(f"HTTP请求: {format % args}")
|
||||
@@ -543,7 +550,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
|
||||
|
||||
class WorkstationHTTPService:
|
||||
"""工作站HTTP服务"""
|
||||
|
||||
|
||||
def __init__(self, workstation_instance, host: str = "127.0.0.1", port: int = 8080):
|
||||
self.workstation = workstation_instance
|
||||
self.host = host
|
||||
@@ -551,31 +558,38 @@ class WorkstationHTTPService:
|
||||
self.server = None
|
||||
self.server_thread = None
|
||||
self.running = False
|
||||
|
||||
|
||||
# 初始化统计信息
|
||||
self.workstation._start_time = time.time()
|
||||
self.workstation._reports_received_count = 0
|
||||
|
||||
|
||||
def start(self):
|
||||
"""启动HTTP服务"""
|
||||
try:
|
||||
# 创建处理器工厂函数
|
||||
def handler_factory(*args, **kwargs):
|
||||
return WorkstationHTTPHandler(self.workstation, *args, **kwargs)
|
||||
|
||||
|
||||
# 创建HTTP服务器
|
||||
self.server = HTTPServer((self.host, self.port), handler_factory)
|
||||
|
||||
|
||||
# 安全地获取 device_id 用于线程命名
|
||||
device_id = "unknown"
|
||||
if hasattr(self.workstation, 'device_id'):
|
||||
device_id = self.workstation.device_id
|
||||
elif hasattr(self.workstation, '_ros_node') and hasattr(self.workstation._ros_node, 'device_id'):
|
||||
device_id = self.workstation._ros_node.device_id
|
||||
|
||||
# 在单独线程中运行服务器
|
||||
self.server_thread = threading.Thread(
|
||||
target=self._run_server,
|
||||
daemon=True,
|
||||
name=f"WorkstationHTTP-{self.workstation.device_id}"
|
||||
name=f"WorkstationHTTP-{device_id}"
|
||||
)
|
||||
|
||||
|
||||
self.running = True
|
||||
self.server_thread.start()
|
||||
|
||||
|
||||
logger.info(f"工作站HTTP报送服务已启动: http://{self.host}:{self.port}")
|
||||
logger.info("统一的报送端点 (基于LIMS协议规范):")
|
||||
logger.info(" - POST /report/step_finish # 步骤完成报送")
|
||||
@@ -592,33 +606,33 @@ class WorkstationHTTPService:
|
||||
logger.info("服务端点:")
|
||||
logger.info(" - GET /status # 服务状态查询")
|
||||
logger.info(" - GET /health # 健康检查")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"启动HTTP服务失败: {e}")
|
||||
raise
|
||||
|
||||
|
||||
def stop(self):
|
||||
"""停止HTTP服务"""
|
||||
try:
|
||||
if self.running and self.server:
|
||||
logger.info("正在停止工作站HTTP报送服务...")
|
||||
self.running = False
|
||||
|
||||
|
||||
# 停止serve_forever循环
|
||||
self.server.shutdown()
|
||||
|
||||
|
||||
# 等待服务器线程结束
|
||||
if self.server_thread and self.server_thread.is_alive():
|
||||
self.server_thread.join(timeout=5.0)
|
||||
|
||||
|
||||
# 关闭服务器套接字
|
||||
self.server.server_close()
|
||||
|
||||
|
||||
logger.info("工作站HTTP报送服务已停止")
|
||||
|
||||
|
||||
except Exception as e:
|
||||
logger.error(f"停止HTTP服务失败: {e}")
|
||||
|
||||
|
||||
def _run_server(self):
|
||||
"""运行HTTP服务器"""
|
||||
try:
|
||||
@@ -629,12 +643,12 @@ class WorkstationHTTPService:
|
||||
logger.error(f"HTTP服务运行错误: {e}")
|
||||
finally:
|
||||
logger.info("HTTP服务器线程已退出")
|
||||
|
||||
|
||||
@property
|
||||
def is_running(self) -> bool:
|
||||
"""检查服务是否正在运行"""
|
||||
return self.running and self.server_thread and self.server_thread.is_alive()
|
||||
|
||||
|
||||
@property
|
||||
def service_url(self) -> str:
|
||||
"""获取服务URL"""
|
||||
@@ -648,7 +662,7 @@ class MaterialChangeReport:
|
||||
pass
|
||||
|
||||
|
||||
@dataclass
|
||||
@dataclass
|
||||
class TaskExecutionReport:
|
||||
"""已废弃：任务执行报送，请使用统一的WorkstationReportRequest"""
|
||||
pass
|
||||
@@ -670,38 +684,38 @@ if __name__ == "__main__":
|
||||
# 简单测试HTTP服务
|
||||
class BioyondWorkstation:
|
||||
device_id = "WS-001"
|
||||
|
||||
|
||||
def process_step_finish_report(self, report_request):
|
||||
return {"processed": True}
|
||||
|
||||
|
||||
def process_sample_finish_report(self, report_request):
|
||||
return {"processed": True}
|
||||
|
||||
|
||||
def process_order_finish_report(self, report_request, used_materials):
|
||||
return {"processed": True}
|
||||
|
||||
|
||||
def process_material_change_report(self, report_data):
|
||||
return {"processed": True}
|
||||
|
||||
|
||||
def handle_external_error(self, error_data):
|
||||
return {"handled": True}
|
||||
|
||||
workstation = DummyWorkstation()
|
||||
|
||||
workstation = BioyondWorkstation()
|
||||
http_service = WorkstationHTTPService(workstation)
|
||||
|
||||
|
||||
try:
|
||||
http_service.start()
|
||||
print(f"测试服务器已启动: {http_service.service_url}")
|
||||
print("按 Ctrl+C 停止服务器")
|
||||
print("服务将持续运行，等待接收HTTP请求...")
|
||||
|
||||
|
||||
# 保持服务器运行 - 使用更好的等待机制
|
||||
try:
|
||||
while http_service.is_running:
|
||||
time.sleep(1)
|
||||
except KeyboardInterrupt:
|
||||
print("\n接收到停止信号...")
|
||||
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n正在停止服务器...")
|
||||
http_service.stop()
|
||||
|
||||
@@ -29,10 +29,17 @@ bioyond_dispensing_station:
|
||||
handler_key: titration
|
||||
io_type: source
|
||||
label: Titration Data From Calculation Node
|
||||
output:
|
||||
- data_key: return_info
|
||||
data_source: executor
|
||||
data_type: string
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: sink
|
||||
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
|
||||
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。
|
||||
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。返回的return_info中包含order_codes和order_ids列表。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
@@ -72,6 +79,7 @@ bioyond_dispensing_station:
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
@@ -104,10 +112,17 @@ bioyond_dispensing_station:
|
||||
handler_key: solutions
|
||||
io_type: source
|
||||
label: Solution Data From Python
|
||||
output:
|
||||
- data_key: return_info
|
||||
data_source: executor
|
||||
data_type: string
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: sink
|
||||
label: Complete Batch Create Result JSON (contains order_codes and order_ids)
|
||||
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。
|
||||
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。返回的return_info中包含order_codes和order_ids列表。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
@@ -145,7 +160,7 @@ bioyond_dispensing_station:
|
||||
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
|
||||
description: 批量任务创建结果汇总JSON字符串，包含total(总数)、success(成功数)、failed(失败数)、order_codes(任务编码数组)、order_ids(任务ID数组)、details(每个任务的详细信息)
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
@@ -382,6 +397,74 @@ bioyond_dispensing_station:
|
||||
title: DispenStationSolnPrep
|
||||
type: object
|
||||
type: DispenStationSolnPrep
|
||||
wait_for_multiple_orders_and_get_reports:
|
||||
feedback: {}
|
||||
goal:
|
||||
batch_create_result: batch_create_result
|
||||
check_interval: check_interval
|
||||
timeout: timeout
|
||||
goal_default:
|
||||
batch_create_result: ''
|
||||
check_interval: '10'
|
||||
timeout: '7200'
|
||||
handles:
|
||||
input:
|
||||
- data_key: batch_create_result
|
||||
data_source: handle
|
||||
data_type: string
|
||||
handler_key: BATCH_CREATE_RESULT
|
||||
io_type: source
|
||||
label: Batch Task Creation Result From Previous Step
|
||||
output:
|
||||
- data_key: return_info
|
||||
data_source: handle
|
||||
data_type: string
|
||||
handler_key: batch_reports_result
|
||||
io_type: sink
|
||||
label: Batch Order Completion Reports
|
||||
result:
|
||||
return_info: return_info
|
||||
schema:
|
||||
description: 同时等待多个任务完成并获取所有实验报告。从上游batch_create任务接收包含order_codes和order_ids的结果对象，并行监控所有任务状态并返回每个任务的报告。
|
||||
properties:
|
||||
feedback:
|
||||
properties: {}
|
||||
required: []
|
||||
title: WaitForMultipleOrdersAndGetReports_Feedback
|
||||
type: object
|
||||
goal:
|
||||
properties:
|
||||
batch_create_result:
|
||||
description: 批量创建任务的返回结果对象，包含order_codes和order_ids数组。从上游batch_create节点通过handle传递
|
||||
type: string
|
||||
check_interval:
|
||||
default: '10'
|
||||
description: 检查任务状态的时间间隔（秒），默认每10秒检查一次所有待完成任务
|
||||
type: string
|
||||
timeout:
|
||||
default: '7200'
|
||||
description: 等待超时时间（秒），默认7200秒（2小时）。超过此时间未完成的任务将标记为timeout
|
||||
type: string
|
||||
required:
|
||||
- batch_create_result
|
||||
title: WaitForMultipleOrdersAndGetReports_Goal
|
||||
type: object
|
||||
result:
|
||||
properties:
|
||||
return_info:
|
||||
description: 'JSON格式的批量任务完成信息，包含: total(总数), completed(成功数), timeout(超时数),
|
||||
error(错误数), elapsed_time(总耗时), reports(报告数组，每个元素包含order_code,
|
||||
order_id, status, completion_status, report, elapsed_time)'
|
||||
type: string
|
||||
required:
|
||||
- return_info
|
||||
title: WaitForMultipleOrdersAndGetReports_Result
|
||||
type: object
|
||||
required:
|
||||
- goal
|
||||
title: WaitForMultipleOrdersAndGetReports
|
||||
type: object
|
||||
type: UniLabJsonCommand
|
||||
module: unilabos.devices.workstation.bioyond_studio.dispensing_station:BioyondDispensingStation
|
||||
status_types: {}
|
||||
type: python
|
||||
|
||||
@@ -34,13 +34,13 @@ BIOYOND_PolymerStation_6StockCarrier:
|
||||
init_param_schema: {}
|
||||
registry_type: resource
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_6VialCarrier:
|
||||
BIOYOND_PolymerStation_8StockCarrier:
|
||||
category:
|
||||
- bottle_carriers
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_6VialCarrier
|
||||
module: unilabos.resources.bioyond.bottle_carriers:BIOYOND_PolymerStation_8StockCarrier
|
||||
type: pylabrobot
|
||||
description: BIOYOND_PolymerStation_6VialCarrier
|
||||
description: BIOYOND_PolymerStation_8StockCarrier (2x4布局，8个位置)
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
|
||||
@@ -1,24 +1,3 @@
|
||||
BIOYOND_PolymerStation_Liquid_Vial:
|
||||
category:
|
||||
- bottles
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Reactor:
|
||||
category:
|
||||
- bottles
|
||||
- reactors
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Reagent_Bottle:
|
||||
category:
|
||||
- bottles
|
||||
@@ -49,6 +28,16 @@ BIOYOND_PolymerStation_Solid_Vial:
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Liquid_Vial:
|
||||
category:
|
||||
- bottles
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Liquid_Vial
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Solution_Beaker:
|
||||
category:
|
||||
- bottles
|
||||
@@ -70,3 +59,26 @@ BIOYOND_PolymerStation_TipBox:
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Reactor:
|
||||
category:
|
||||
- bottles
|
||||
- reactors
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor
|
||||
type: pylabrobot
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
BIOYOND_PolymerStation_Flask:
|
||||
category:
|
||||
- bottles
|
||||
- flasks
|
||||
class:
|
||||
module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Flask
|
||||
type: pylabrobot
|
||||
description: 聚合站-烧杯容器
|
||||
handles: []
|
||||
icon: ''
|
||||
init_param_schema: {}
|
||||
version: 1.0.0
|
||||
|
||||
@@ -1,16 +1,242 @@
|
||||
from pylabrobot.resources import create_homogeneous_resources, Coordinate, ResourceHolder, create_ordered_items_2d
|
||||
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
from unilabos.resources.itemized_carrier import BottleCarrier
|
||||
from unilabos.resources.bioyond.bottles import (
|
||||
BIOYOND_PolymerStation_Solid_Stock,
|
||||
BIOYOND_PolymerStation_Solid_Vial,
|
||||
BIOYOND_PolymerStation_Liquid_Vial,
|
||||
BIOYOND_PolymerStation_Solution_Beaker,
|
||||
BIOYOND_PolymerStation_Reagent_Bottle
|
||||
BIOYOND_PolymerStation_Reagent_Bottle,
|
||||
BIOYOND_PolymerStation_Flask,
|
||||
)
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask，小瓶-Vial
|
||||
# 命名约定：试剂瓶-Bottle，烧杯-Beaker，烧瓶-Flask,小瓶-Vial
|
||||
|
||||
|
||||
# ============================================================================
|
||||
# 聚合站（PolymerStation）载体定义（统一入口）
|
||||
# ============================================================================
|
||||
|
||||
def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier:
|
||||
"""聚合站-6孔样品板 - 2x3布局
|
||||
|
||||
参数:
|
||||
- name: 载架名称前缀
|
||||
|
||||
说明:
|
||||
- 统一站点命名为 PolymerStation，使用 PolymerStation 的 Vial 资源类
|
||||
- A行（PLR y=0，对应 Bioyond 位置A01~A03）使用 Liquid_Vial（10% 分装小瓶）
|
||||
- B行（PLR y=1，对应 Bioyond 位置B01~B03）使用 Solid_Vial（90% 分装小瓶）
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="BIOYOND_PolymerStation_6StockCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
|
||||
# 布局说明：
|
||||
# - num_items_x=3, num_items_y=2 表示 3列×2行
|
||||
# - create_ordered_items_2d 按先y后x的顺序创建(列优先)
|
||||
# - 索引顺序: 0=A1(x=0,y=0), 1=B1(x=0,y=1), 2=A2(x=1,y=0), 3=B2(x=1,y=1), 4=A3(x=2,y=0), 5=B3(x=2,y=1)
|
||||
#
|
||||
# Bioyond坐标映射: PLR(x,y) → Bioyond(y+1,x+1)
|
||||
# - A行(PLR y=0) → Bioyond x=1 → 10%分装小瓶
|
||||
# - B行(PLR y=1) → Bioyond x=2 → 90%分装小瓶
|
||||
|
||||
ordering = ["A1", "B1", "A2", "B2", "A3", "B3"]
|
||||
for col in range(3): # 3列
|
||||
for row in range(2): # 2行
|
||||
idx = col * 2 + row # 计算索引: 列优先顺序
|
||||
if row == 0: # A行 (PLR y=0 → Bioyond x=1)
|
||||
carrier[idx] = BIOYOND_PolymerStation_Liquid_Vial(f"{ordering[idx]}")
|
||||
else: # B行 (PLR y=1 → Bioyond x=2)
|
||||
carrier[idx] = BIOYOND_PolymerStation_Solid_Vial(f"{ordering[idx]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_8StockCarrier(name: str) -> BottleCarrier:
|
||||
"""聚合站-8孔样品板 - 2x4布局
|
||||
|
||||
参数:
|
||||
- name: 载架名称前缀
|
||||
|
||||
说明:
|
||||
- 统一站点命名为 PolymerStation，使用 PolymerStation 的 Solid_Stock 资源类
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 128.0
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 30.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (4 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=4,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="BIOYOND_PolymerStation_8StockCarrier",
|
||||
)
|
||||
carrier.num_items_x = 4
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "B1", "A2", "B2", "A3", "B3", "A4", "B4"]
|
||||
for i in range(8):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""聚合站-单试剂瓶载架
|
||||
|
||||
参数:
|
||||
- name: 载架名称前缀
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯/试剂瓶占位尺寸（使用圆形占位）
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="BIOYOND_PolymerStation_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
# 统一后缀采用 "flask_1" 命名（可按需调整）
|
||||
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
|
||||
"""聚合站-单烧杯载架
|
||||
|
||||
说明:
|
||||
- 使用 BIOYOND_PolymerStation_Flask 资源类
|
||||
- 载架命名与 model 统一为 PolymerStation
|
||||
"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Flask(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
# ============================================================================
|
||||
# 其他载体定义
|
||||
# ============================================================================
|
||||
|
||||
def BIOYOND_Electrolyte_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
@@ -96,181 +322,3 @@ def BIOYOND_Electrolyte_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Solution_Beaker(f"{name}_beaker_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_6StockCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 20.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="BIOYOND_PolymerStation_6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
for i in range(6):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Stock(f"{name}_vial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_6VialCarrier(name: str) -> BottleCarrier:
|
||||
"""6瓶载架 - 2x3布局"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 50.0
|
||||
|
||||
# 瓶位尺寸
|
||||
bottle_diameter = 30.0
|
||||
bottle_spacing_x = 42.0 # X方向间距
|
||||
bottle_spacing_y = 35.0 # Y方向间距
|
||||
|
||||
# 计算起始位置 (居中排列)
|
||||
start_x = (carrier_size_x - (3 - 1) * bottle_spacing_x - bottle_diameter) / 2
|
||||
start_y = (carrier_size_y - (2 - 1) * bottle_spacing_y - bottle_diameter) / 2
|
||||
|
||||
sites = create_ordered_items_2d(
|
||||
klass=ResourceHolder,
|
||||
num_items_x=3,
|
||||
num_items_y=2,
|
||||
dx=start_x,
|
||||
dy=start_y,
|
||||
dz=5.0,
|
||||
item_dx=bottle_spacing_x,
|
||||
item_dy=bottle_spacing_y,
|
||||
|
||||
size_x=bottle_diameter,
|
||||
size_y=bottle_diameter,
|
||||
size_z=carrier_size_z,
|
||||
)
|
||||
for k, v in sites.items():
|
||||
v.name = f"{name}_{v.name}"
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=sites,
|
||||
model="BIOYOND_PolymerStation_6VialCarrier",
|
||||
)
|
||||
carrier.num_items_x = 3
|
||||
carrier.num_items_y = 2
|
||||
carrier.num_items_z = 1
|
||||
ordering = ["A1", "A2", "A3", "B1", "B2", "B3"] # 自定义顺序
|
||||
for i in range(3):
|
||||
carrier[i] = BIOYOND_PolymerStation_Solid_Vial(f"{name}_solidvial_{ordering[i]}")
|
||||
for i in range(3, 6):
|
||||
carrier[i] = BIOYOND_PolymerStation_Liquid_Vial(f"{name}_liquidvial_{ordering[i]}")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_1BottleCarrier(name: str) -> BottleCarrier:
|
||||
"""1瓶载架 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 60.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="BIOYOND_PolymerStation_1BottleCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_flask_1")
|
||||
return carrier
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_1FlaskCarrier(name: str) -> BottleCarrier:
|
||||
"""1瓶载架 - 单个中央位置"""
|
||||
|
||||
# 载架尺寸 (mm)
|
||||
carrier_size_x = 127.8
|
||||
carrier_size_y = 85.5
|
||||
carrier_size_z = 20.0
|
||||
|
||||
# 烧杯尺寸
|
||||
beaker_diameter = 70.0
|
||||
|
||||
# 计算中央位置
|
||||
center_x = (carrier_size_x - beaker_diameter) / 2
|
||||
center_y = (carrier_size_y - beaker_diameter) / 2
|
||||
center_z = 5.0
|
||||
|
||||
carrier = BottleCarrier(
|
||||
name=name,
|
||||
size_x=carrier_size_x,
|
||||
size_y=carrier_size_y,
|
||||
size_z=carrier_size_z,
|
||||
sites=create_homogeneous_resources(
|
||||
klass=ResourceHolder,
|
||||
locations=[Coordinate(center_x, center_y, center_z)],
|
||||
resource_size_x=beaker_diameter,
|
||||
resource_size_y=beaker_diameter,
|
||||
name_prefix=name,
|
||||
),
|
||||
model="BIOYOND_PolymerStation_1FlaskCarrier",
|
||||
)
|
||||
carrier.num_items_x = 1
|
||||
carrier.num_items_y = 1
|
||||
carrier.num_items_z = 1
|
||||
carrier[0] = BIOYOND_PolymerStation_Reagent_Bottle(f"{name}_bottle_1")
|
||||
return carrier
|
||||
|
||||
@@ -1,5 +1,4 @@
|
||||
from unilabos.resources.itemized_carrier import Bottle, BottleCarrier
|
||||
# 工厂函数
|
||||
from unilabos.resources.itemized_carrier import Bottle
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Solid_Stock(
|
||||
@@ -176,3 +175,21 @@ def BIOYOND_PolymerStation_TipBox(
|
||||
)
|
||||
|
||||
return tip_box
|
||||
|
||||
|
||||
def BIOYOND_PolymerStation_Flask(
|
||||
name: str,
|
||||
diameter: float = 60.0,
|
||||
height: float = 70.0,
|
||||
max_volume: float = 200000.0, # 200mL
|
||||
barcode: str = None,
|
||||
) -> Bottle:
|
||||
"""聚合站-烧杯（统一 Flask 资源到 PolymerStation）"""
|
||||
return Bottle(
|
||||
name=name,
|
||||
diameter=diameter,
|
||||
height=height,
|
||||
max_volume=max_volume,
|
||||
barcode=barcode,
|
||||
model="BIOYOND_PolymerStation_Flask",
|
||||
)
|
||||
|
||||
@@ -5,6 +5,7 @@ from unilabos.resources.bioyond.warehouses import (
|
||||
bioyond_warehouse_1x4x4,
|
||||
bioyond_warehouse_1x4x4_right, # 新增：右侧仓库 (A05～D08)
|
||||
bioyond_warehouse_1x4x2,
|
||||
bioyond_warehouse_reagent_stack, # 新增：试剂堆栈 (A1-B4)
|
||||
bioyond_warehouse_liquid_and_lid_handling,
|
||||
bioyond_warehouse_1x2x2,
|
||||
bioyond_warehouse_1x3x3,
|
||||
@@ -48,9 +49,9 @@ class BIOYOND_PolymerReactionStation_Deck(Deck):
|
||||
self.warehouse_locations = {
|
||||
"堆栈1左": Coordinate(0.0, 430.0, 0.0), # 左侧位置
|
||||
"堆栈1右": Coordinate(2500.0, 430.0, 0.0), # 右侧位置
|
||||
"站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0),
|
||||
"移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0),
|
||||
"站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0), # TODO: 根据实际位置调整坐标
|
||||
"站内试剂存放堆栈": Coordinate(640.0, 480.0, 0.0),
|
||||
"移液站内10%分装液体准备仓库": Coordinate(1200.0, 600.0, 0.0),
|
||||
"站内Tip盒堆栈": Coordinate(300.0, 150.0, 0.0),
|
||||
}
|
||||
self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90)
|
||||
|
||||
@@ -73,18 +74,21 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck):
|
||||
self.setup()
|
||||
|
||||
def setup(self) -> None:
|
||||
# 添加仓库
|
||||
# 添加仓库 - 配液站的3个堆栈，使用Bioyond系统中的实际名称
|
||||
# 样品类型（typeMode=1）：烧杯、试剂瓶、分装板 → 试剂堆栈、溶液堆栈
|
||||
# 试剂类型（typeMode=2）：样品板 → 粉末堆栈
|
||||
self.warehouses = {
|
||||
"io_warehouse_left": bioyond_warehouse_1x4x4("io_warehouse_left"),
|
||||
"io_warehouse_right": bioyond_warehouse_1x4x4("io_warehouse_right"),
|
||||
"solutions": bioyond_warehouse_1x4x2("warehouse_solutions"),
|
||||
"liquid_and_lid_handling": bioyond_warehouse_liquid_and_lid_handling("warehouse_liquid_and_lid_handling"),
|
||||
# 试剂类型 - 样品板
|
||||
"粉末堆栈": bioyond_warehouse_1x4x4("粉末堆栈"), # 4行×4列 (A01-D04)
|
||||
|
||||
# 样品类型 - 烧杯、试剂瓶、分装板
|
||||
"试剂堆栈": bioyond_warehouse_reagent_stack("试剂堆栈"), # 2行×4列 (A01-B04)
|
||||
"溶液堆栈": bioyond_warehouse_1x4x4("溶液堆栈"), # 4行×4列 (A01-D04)
|
||||
}
|
||||
self.warehouse_locations = {
|
||||
"io_warehouse_left": Coordinate(0.0, 650.0, 0.0),
|
||||
"io_warehouse_right": Coordinate(2550.0, 650.0, 0.0),
|
||||
"solutions": Coordinate(1915.0, 900.0, 0.0),
|
||||
"liquid_and_lid_handling": Coordinate(1330.0, 490.0, 0.0),
|
||||
"粉末堆栈": Coordinate(0.0, 450.0, 0.0),
|
||||
"试剂堆栈": Coordinate(1850.0, 200.0, 0.0),
|
||||
"溶液堆栈": Coordinate(2500.0, 450.0, 0.0),
|
||||
}
|
||||
|
||||
for warehouse_name, warehouse in self.warehouses.items():
|
||||
|
||||
@@ -2,12 +2,19 @@ from unilabos.resources.warehouse import WareHouse, warehouse_factory
|
||||
|
||||
|
||||
def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)"""
|
||||
"""创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)
|
||||
|
||||
使用行优先排序，前端展示为:
|
||||
A01 | A02 | A03 | A04
|
||||
B01 | B02 | B03 | B04
|
||||
C01 | C02 | C03 | C04
|
||||
D01 | D02 | D03 | D04
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=1,
|
||||
num_items_y=4,
|
||||
num_items_z=4,
|
||||
num_items_x=4, # 4列
|
||||
num_items_y=4, # 4行
|
||||
num_items_z=1,
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
@@ -16,6 +23,7 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse:
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
col_offset=0, # 从01开始: A01, A02, A03, A04
|
||||
layout="row-major", # ⭐ 改为行优先排序
|
||||
)
|
||||
|
||||
|
||||
@@ -34,6 +42,7 @@ def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse:
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
col_offset=4, # 从05开始: A05, A06, A07, A08
|
||||
layout="row-major", # ⭐ 改为行优先排序
|
||||
)
|
||||
|
||||
|
||||
@@ -54,7 +63,31 @@ def bioyond_warehouse_1x4x2(name: str) -> WareHouse:
|
||||
category="warehouse",
|
||||
removed_positions=None
|
||||
)
|
||||
# 定义benyond的堆栈
|
||||
|
||||
def bioyond_warehouse_reagent_stack(name: str) -> WareHouse:
|
||||
"""创建BioYond 试剂堆栈 2x4x1 (2行×4列: A01-A04, B01-B04)
|
||||
|
||||
使用行优先排序，前端展示为:
|
||||
A01 | A02 | A03 | A04
|
||||
B01 | B02 | B03 | B04
|
||||
"""
|
||||
return warehouse_factory(
|
||||
name=name,
|
||||
num_items_x=4, # 4列 (01-04)
|
||||
num_items_y=2, # 2行 (A-B)
|
||||
num_items_z=1, # 1层
|
||||
dx=10.0,
|
||||
dy=10.0,
|
||||
dz=10.0,
|
||||
item_dx=147.0,
|
||||
item_dy=106.0,
|
||||
item_dz=130.0,
|
||||
category="warehouse",
|
||||
col_offset=0, # 从01开始
|
||||
layout="row-major", # ⭐ 使用行优先排序: A01,A02,A03,A04, B01,B02,B03,B04
|
||||
)
|
||||
|
||||
# 定义bioyond的堆栈
|
||||
def bioyond_warehouse_1x2x2(name: str) -> WareHouse:
|
||||
"""创建BioYond 4x1x4仓库"""
|
||||
return warehouse_factory(
|
||||
@@ -228,6 +261,8 @@ def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse:
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
col_offset=0,
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
|
||||
@@ -245,4 +280,6 @@ def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse:
|
||||
item_dy=96.0,
|
||||
item_dz=120.0,
|
||||
category="warehouse",
|
||||
)
|
||||
col_offset=0,
|
||||
layout="row-major",
|
||||
)
|
||||
|
||||
@@ -11,7 +11,7 @@ from unilabos_msgs.msg import Resource
|
||||
|
||||
from unilabos.config.config import BasicConfig
|
||||
from unilabos.resources.container import RegularContainer
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier
|
||||
from unilabos.resources.itemized_carrier import ItemizedCarrier, BottleCarrier
|
||||
from unilabos.ros.msgs.message_converter import convert_to_ros_msg
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
ResourceDictInstance,
|
||||
@@ -228,7 +228,7 @@ def handle_communications(G: nx.Graph):
|
||||
if G.nodes[device_comm].get("class") == "serial":
|
||||
G.nodes[device]["config"]["port"] = device_comm
|
||||
elif G.nodes[device_comm].get("class") == "io_device":
|
||||
print(f'!!! Modify {device}\'s io_device_port to {edata["port"][device_comm]}')
|
||||
logger.warning(f'Modify {device}\'s io_device_port to {edata["port"][device_comm]}')
|
||||
G.nodes[device]["config"]["io_device_port"] = int(edata["port"][device_comm])
|
||||
|
||||
|
||||
@@ -586,7 +586,7 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
|
||||
if source in replace_info:
|
||||
return replace_info[source]
|
||||
else:
|
||||
print("转换pylabrobot的时候，出现未知类型", source)
|
||||
logger.warning(f"转换pylabrobot的时候，出现未知类型: {source}")
|
||||
return source
|
||||
|
||||
def resource_plr_to_ulab_inner(d: dict, all_states: dict, child=True) -> dict:
|
||||
@@ -621,7 +621,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
|
||||
Args:
|
||||
bioyond_materials: bioyond 系统的物料查询结果列表
|
||||
type_mapping: 物料类型映射字典，格式 {bioyond_type: [plr_class_name, class_uuid]}
|
||||
type_mapping: 物料类型映射字典，格式 {model: (显示名称, UUID)} 或 {显示名称: (model, UUID)}
|
||||
location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}
|
||||
|
||||
Returns:
|
||||
@@ -629,13 +629,41 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
"""
|
||||
plr_materials = []
|
||||
|
||||
# 创建反向映射: {显示名称: (model, UUID)} -> 用于从 Bioyond typeName 查找 model
|
||||
# 如果 type_mapping 的 key 已经是显示名称,则直接使用;否则创建反向映射
|
||||
reverse_type_mapping = {}
|
||||
for key, value in type_mapping.items():
|
||||
# value 可能是 tuple 或 list: (显示名称, UUID) 或 [显示名称, UUID]
|
||||
display_name = value[0] if isinstance(value, (tuple, list)) and len(value) >= 1 else None
|
||||
if display_name:
|
||||
# 反向映射: {显示名称: (原始key作为model, UUID)}
|
||||
resource_uuid = value[1] if len(value) >= 2 else ""
|
||||
# 如果已存在该显示名称,跳过(保留第一个遇到的映射)
|
||||
if display_name not in reverse_type_mapping:
|
||||
reverse_type_mapping[display_name] = (key, resource_uuid)
|
||||
|
||||
logger.debug(f"[反向映射表] 共 {len(reverse_type_mapping)} 个条目: {list(reverse_type_mapping.keys())}")
|
||||
|
||||
|
||||
# 用于跟踪同名物料的计数器
|
||||
name_counter = {}
|
||||
|
||||
for material in bioyond_materials:
|
||||
className = (
|
||||
type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
|
||||
)
|
||||
# 从反向映射中查找: typeName(显示名称) -> (model, UUID)
|
||||
type_info = reverse_type_mapping.get(material.get("typeName"))
|
||||
className = type_info[0] if type_info else "RegularContainer"
|
||||
|
||||
# 为同名物料添加唯一后缀
|
||||
base_name = material["name"]
|
||||
if base_name in name_counter:
|
||||
name_counter[base_name] += 1
|
||||
unique_name = f"{base_name}_{name_counter[base_name]}"
|
||||
else:
|
||||
name_counter[base_name] = 1
|
||||
unique_name = base_name
|
||||
|
||||
plr_material_result = initialize_resource(
|
||||
{"name": material["name"], "class": className}, resource_type=ResourcePLR
|
||||
{"name": unique_name, "class": className}, resource_type=ResourcePLR
|
||||
)
|
||||
|
||||
# initialize_resource 可能返回列表或单个对象
|
||||
@@ -649,32 +677,77 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
|
||||
# 确保 plr_material 是 ResourcePLR 实例
|
||||
if not isinstance(plr_material, ResourcePLR):
|
||||
logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
|
||||
logger.warning(f"物料 {unique_name} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}")
|
||||
continue
|
||||
|
||||
plr_material.code = material.get("code", "") and material.get("barCode", "") or ""
|
||||
plr_material.unilabos_uuid = str(uuid.uuid4())
|
||||
|
||||
# ⭐ 保存 Bioyond 原始信息到 unilabos_extra（用于出库时查询）
|
||||
plr_material.unilabos_extra = {
|
||||
"material_bioyond_id": material.get("id"), # Bioyond 物料 UUID
|
||||
"material_bioyond_name": material.get("name"), # Bioyond 原始名称（如 "MDA"）
|
||||
"material_bioyond_type": material.get("typeName"), # Bioyond 物料类型名称
|
||||
}
|
||||
|
||||
logger.debug(f"[转换物料] {material['name']} (ID:{material['id']}) → {unique_name} (类型:{className})")
|
||||
|
||||
# 处理子物料（detail）
|
||||
if material.get("detail") and len(material["detail"]) > 0:
|
||||
for bottle in reversed(plr_material.children):
|
||||
plr_material.unassign_child_resource(bottle)
|
||||
child_ids = []
|
||||
|
||||
# 确定detail物料的默认类型
|
||||
# 样品板的detail通常是样品瓶
|
||||
default_detail_type = "样品瓶" if "样品板" in material.get("typeName", "") else None
|
||||
|
||||
for detail in material["detail"]:
|
||||
number = (
|
||||
(detail.get("z", 0) - 1) * plr_material.num_items_x * plr_material.num_items_y
|
||||
+ (detail.get("y", 0) - 1) * plr_material.num_items_y
|
||||
+ (detail.get("x", 0) - 1)
|
||||
)
|
||||
typeName = detail.get("typeName", detail.get("name", ""))
|
||||
if typeName in type_mapping:
|
||||
|
||||
# 检查索引是否超出范围
|
||||
max_index = plr_material.num_items_x * plr_material.num_items_y - 1
|
||||
if number < 0 or number > max_index:
|
||||
logger.warning(
|
||||
f" └─ [子物料警告] {detail['name']} 的坐标 (x={detail.get('x')}, y={detail.get('y')}, z={detail.get('z')}) "
|
||||
f"计算出索引 {number} 超出载架范围 [0-{max_index}] (布局: {plr_material.num_items_x}×{plr_material.num_items_y})，跳过"
|
||||
)
|
||||
continue
|
||||
|
||||
# detail可能没有typeName，尝试从name推断，或使用默认类型
|
||||
typeName = detail.get("typeName")
|
||||
|
||||
# 如果没有typeName，尝试根据父物料类型和位置推断
|
||||
if not typeName:
|
||||
if "分装板" in material.get("typeName", ""):
|
||||
# 分装板: 根据行(x)判断类型
|
||||
# 第一行(x=1)是10%分装小瓶，第二行(x=2)是90%分装小瓶
|
||||
x_pos = detail.get("x", 0)
|
||||
y_pos = detail.get("y", 0)
|
||||
# logger.debug(f" └─ [推断类型] {detail['name']} 坐标(x={x_pos}, y={y_pos})")
|
||||
if x_pos == 1:
|
||||
typeName = "10%分装小瓶"
|
||||
elif x_pos == 2:
|
||||
typeName = "90%分装小瓶"
|
||||
# logger.debug(f" └─ [推断结果] {detail['name']} → {typeName}")
|
||||
else:
|
||||
typeName = default_detail_type
|
||||
|
||||
if typeName and typeName in reverse_type_mapping:
|
||||
bottle = plr_material[number] = initialize_resource(
|
||||
{"name": f'{detail["name"]}_{number}', "class": type_mapping[typeName][0]}, resource_type=ResourcePLR
|
||||
{"name": f'{detail["name"]}_{number}', "class": reverse_type_mapping[typeName][0]}, resource_type=ResourcePLR
|
||||
)
|
||||
bottle.tracker.liquids = [
|
||||
(detail["name"], float(detail.get("quantity", 0)) if detail.get("quantity") else 0)
|
||||
]
|
||||
bottle.code = detail.get("code", "")
|
||||
logger.debug(f" └─ [子物料] {detail['name']} → {plr_material.name}[{number}] (类型:{typeName})")
|
||||
else:
|
||||
logger.warning(f" └─ [子物料警告] {detail['name']} 的类型 '{typeName}' 不在mapping中，跳过")
|
||||
else:
|
||||
# 只对有 capacity 属性的容器（液体容器）处理液体追踪
|
||||
if hasattr(plr_material, 'capacity'):
|
||||
@@ -686,8 +759,13 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
plr_materials.append(plr_material)
|
||||
|
||||
if deck and hasattr(deck, "warehouses"):
|
||||
for loc in material.get("locations", []):
|
||||
locations = material.get("locations", [])
|
||||
if not locations:
|
||||
logger.debug(f"[物料位置] {unique_name} 没有location信息，跳过warehouse放置")
|
||||
|
||||
for loc in locations:
|
||||
wh_name = loc.get("whName")
|
||||
logger.debug(f"[物料位置] {unique_name} 尝试放置到 warehouse: {wh_name} (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')}, z={loc.get('z')})")
|
||||
|
||||
# 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右"
|
||||
# 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧
|
||||
@@ -703,6 +781,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
|
||||
if hasattr(deck, "warehouses") and wh_name in deck.warehouses:
|
||||
warehouse = deck.warehouses[wh_name]
|
||||
logger.debug(f"[Warehouse匹配] 找到warehouse: {wh_name} (容量: {warehouse.capacity}, 行×列: {warehouse.num_items_x}×{warehouse.num_items_y})")
|
||||
|
||||
# Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1)
|
||||
# PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ...
|
||||
@@ -721,78 +800,301 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st
|
||||
idx = y - 1
|
||||
logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}")
|
||||
else:
|
||||
# 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致)
|
||||
# warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ...
|
||||
# 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols)
|
||||
# 多行warehouse: 根据 layout 使用不同的索引计算
|
||||
row_idx = x - 1 # x表示行: 转为0-based
|
||||
col_idx = y - 1 # y表示列: 转为0-based
|
||||
layer_idx = z - 1 # 转为0-based
|
||||
idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
|
||||
logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
|
||||
|
||||
# 检查 warehouse 的排序方式属性
|
||||
ordering_layout = getattr(warehouse, 'ordering_layout', 'col-major')
|
||||
logger.debug(f"🔍 Warehouse {wh_name} layout检测: hasattr={hasattr(warehouse, 'ordering_layout')}, ordering_layout值='{ordering_layout}', warehouse类型={type(warehouse).__name__}")
|
||||
|
||||
if ordering_layout == "row-major":
|
||||
# 行优先: A01,A02,A03,A04, B01,B02,B03,B04 (所有Bioyond堆栈)
|
||||
# 索引计算: idx = (row) * num_cols + (col) + (layer) * (rows * cols)
|
||||
idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + row_idx * warehouse.num_items_x + col_idx
|
||||
logger.debug(f"行优先warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
|
||||
else:
|
||||
# 列优先 (后备): A01,B01,C01,D01, A02,B02,C02,D02
|
||||
# 索引计算: idx = (col) * num_rows + (row) + (layer) * (rows * cols)
|
||||
idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx
|
||||
logger.debug(f"列优先warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}")
|
||||
|
||||
if 0 <= idx < warehouse.capacity:
|
||||
if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder):
|
||||
warehouse[idx] = plr_material
|
||||
logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
|
||||
logger.debug(f"✅ 物料 {unique_name} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})")
|
||||
else:
|
||||
logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
|
||||
logger.warning(f"❌ 物料 {unique_name} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}")
|
||||
else:
|
||||
if wh_name:
|
||||
logger.warning(f"❌ 物料 {unique_name} 的warehouse '{wh_name}' 在deck中不存在。可用warehouses: {list(deck.warehouses.keys()) if hasattr(deck, 'warehouses') else '无'}")
|
||||
|
||||
return plr_materials
|
||||
|
||||
|
||||
def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
|
||||
def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}, material_params: dict = {}) -> list[dict]:
|
||||
"""
|
||||
将 PyLabRobot 资源转换为 Bioyond 格式
|
||||
|
||||
Args:
|
||||
plr_resources: PyLabRobot 资源列表
|
||||
type_mapping: 物料类型映射字典
|
||||
warehouse_mapping: 仓库映射字典
|
||||
material_params: 物料默认参数字典 (格式: {物料名称: {参数字典}})
|
||||
|
||||
Returns:
|
||||
Bioyond 格式的物料列表
|
||||
"""
|
||||
bioyond_materials = []
|
||||
|
||||
# 定义不需要发送 details 的载架类型
|
||||
# 说明：这些载架上自带试剂瓶或烧杯，作为整体物料上传即可，不需要在 details 中重复上传子物料
|
||||
CARRIERS_WITHOUT_DETAILS = {
|
||||
"BIOYOND_PolymerStation_1BottleCarrier", # 聚合站-单试剂瓶载架
|
||||
"BIOYOND_PolymerStation_1FlaskCarrier", # 聚合站-单烧杯载架
|
||||
}
|
||||
|
||||
for resource in plr_resources:
|
||||
if hasattr(resource, "capacity") and resource.capacity > 1:
|
||||
if isinstance(resource, BottleCarrier) and resource.capacity > 1:
|
||||
# 获取 BottleCarrier 的类型映射
|
||||
type_info = type_mapping.get(resource.model)
|
||||
if not type_info:
|
||||
logger.error(f"❌ [PLR→Bioyond] BottleCarrier 资源 '{resource.name}' 的 model '{resource.model}' 不在 type_mapping 中")
|
||||
logger.debug(f"[PLR→Bioyond] 可用的 type_mapping 键: {list(type_mapping.keys())}")
|
||||
raise ValueError(f"资源 model '{resource.model}' 未在 MATERIAL_TYPE_MAPPINGS 中配置")
|
||||
|
||||
material = {
|
||||
"typeId": type_mapping.get(resource.model)[1],
|
||||
"typeId": type_info[1],
|
||||
"code": "",
|
||||
"barCode": "",
|
||||
"name": resource.name,
|
||||
"unit": "个",
|
||||
"quantity": 1,
|
||||
"details": [],
|
||||
"Parameters": "{}"
|
||||
}
|
||||
for bottle in resource.children:
|
||||
if isinstance(resource, ItemizedCarrier):
|
||||
site = resource.get_child_identifier(bottle)
|
||||
else:
|
||||
site = {"x": bottle.location.x - 1, "y": bottle.location.y - 1}
|
||||
detail_item = {
|
||||
"typeId": type_mapping.get(bottle.model)[1],
|
||||
"name": bottle.name,
|
||||
"code": bottle.code if hasattr(bottle, "code") else "",
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"x": site["x"] + 1,
|
||||
"y": site["y"] + 1,
|
||||
"molecular": 1,
|
||||
"Parameters": json.dumps({"molecular": 1})
|
||||
}
|
||||
material["details"].append(detail_item)
|
||||
else:
|
||||
bottle = resource[0] if resource.capacity > 0 else resource
|
||||
material = {
|
||||
"typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
|
||||
"name": resource.name if hasattr(resource, "name") else "",
|
||||
"unit": "个", # 修复：Bioyond API 要求 unit 字段不能为空
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"Parameters": "{}"
|
||||
"Parameters": "{}" # API 实际要求的字段（必需）
|
||||
}
|
||||
|
||||
if resource.parent is not None and isinstance(resource.parent, ItemizedCarrier):
|
||||
# 如果是自带试剂瓶的载架类型，不处理子物料（details留空）
|
||||
if resource.model in CARRIERS_WITHOUT_DETAILS:
|
||||
logger.info(f"[PLR→Bioyond] 载架 '{resource.name}' (model: {resource.model}) 自带试剂瓶，不添加 details")
|
||||
else:
|
||||
# 处理其他载架类型的子物料
|
||||
for bottle in resource.children:
|
||||
if isinstance(resource, ItemizedCarrier):
|
||||
# ⭐ 优化：直接使用 get_child_identifier 获取真实的子物料坐标
|
||||
# 这个方法会遍历 resource.children 找到 bottle 对象的实际位置
|
||||
site = resource.get_child_identifier(bottle)
|
||||
|
||||
# 🔧 如果 get_child_identifier 失败或返回无效坐标 (0,0)
|
||||
# 这通常发生在子物料名称使用纯数字后缀时（如 "BTDA_0", "BTDA_4"）
|
||||
if not site or (site.get("x") == 0 and site.get("y") == 0):
|
||||
# 方法1: 尝试从名称中提取标识符并解析
|
||||
bottle_identifier = None
|
||||
if "_" in bottle.name:
|
||||
bottle_identifier = bottle.name.split("_")[-1]
|
||||
|
||||
# 只有非纯数字标识符才尝试解析（如 "A1", "B2"）
|
||||
if bottle_identifier and not bottle_identifier.isdigit():
|
||||
try:
|
||||
x_idx, y_idx, z_idx = resource._parse_identifier_to_indices(bottle_identifier, 0)
|
||||
site = {"x": x_idx, "y": y_idx, "z": z_idx, "identifier": bottle_identifier}
|
||||
logger.debug(f" 🔧 [坐标修正-方法1] 从名称 {bottle.name} 解析标识符 {bottle_identifier} → ({x_idx}, {y_idx})")
|
||||
except Exception as e:
|
||||
logger.warning(f" ⚠️ [坐标解析] 标识符 {bottle_identifier} 解析失败: {e}")
|
||||
|
||||
# 方法2: 如果方法1失败，使用线性索引反推坐标
|
||||
if not site or (site.get("x") == 0 and site.get("y") == 0):
|
||||
# 找到bottle在children中的索引位置
|
||||
try:
|
||||
# 遍历所有槽位找到bottle的实际位置
|
||||
for idx in range(resource.num_items_x * resource.num_items_y):
|
||||
if resource[idx] is bottle:
|
||||
# 根据载架布局计算行列坐标
|
||||
# ItemizedCarrier 默认是列优先布局 (A1,B1,C1,D1, A2,B2,C2,D2...)
|
||||
col_idx = idx // resource.num_items_y # 列索引 (0-based)
|
||||
row_idx = idx % resource.num_items_y # 行索引 (0-based)
|
||||
site = {"x": col_idx, "y": row_idx, "z": 0, "identifier": str(idx)}
|
||||
logger.debug(f" 🔧 [坐标修正-方法2] {bottle.name} 在索引 {idx} → 列={col_idx}, 行={row_idx}")
|
||||
break
|
||||
except Exception as e:
|
||||
logger.error(f" ❌ [坐标计算失败] {bottle.name}: {e}")
|
||||
# 最后的兜底：使用 (0,0)
|
||||
site = {"x": 0, "y": 0, "z": 0, "identifier": ""}
|
||||
else:
|
||||
site = {"x": bottle.location.x - 1, "y": bottle.location.y - 1, "identifier": ""}
|
||||
|
||||
# 获取子物料的类型映射
|
||||
bottle_type_info = type_mapping.get(bottle.model)
|
||||
if not bottle_type_info:
|
||||
logger.error(f"❌ [PLR→Bioyond] 子物料 '{bottle.name}' 的 model '{bottle.model}' 不在 type_mapping 中")
|
||||
raise ValueError(f"子物料 model '{bottle.model}' 未在 MATERIAL_TYPE_MAPPINGS 中配置")
|
||||
|
||||
# ⚠️ 坐标系转换说明:
|
||||
# _parse_identifier_to_indices 返回: x=列索引, y=行索引 (0-based)
|
||||
# Bioyond 系统要求: x=行号, y=列号 (1-based)
|
||||
# 因此需要交换 x 和 y!
|
||||
bioyond_x = site["y"] + 1 # 行索引 → Bioyond的x (行号)
|
||||
bioyond_y = site["x"] + 1 # 列索引 → Bioyond的y (列号)
|
||||
|
||||
# 🐛 调试日志
|
||||
logger.debug(f"🔍 [PLR→Bioyond] detail转换: {bottle.name} → PLR(x={site['x']},y={site['y']},id={site.get('identifier','?')}) → Bioyond(x={bioyond_x},y={bioyond_y})")
|
||||
|
||||
# 🔥 提取物料名称：从 tracker.liquids 中获取第一个液体的名称（去除PLR系统添加的后缀）
|
||||
# tracker.liquids 格式: [(物料名称, 数量), ...]
|
||||
material_name = bottle_type_info[0] # 默认使用类型名称（如"样品瓶"）
|
||||
if hasattr(bottle, "tracker") and bottle.tracker.liquids:
|
||||
# 如果有液体，使用液体的名称
|
||||
first_liquid_name = bottle.tracker.liquids[0][0]
|
||||
# 去除PLR系统为了唯一性添加的后缀（如 "_0", "_1" 等）
|
||||
if "_" in first_liquid_name and first_liquid_name.split("_")[-1].isdigit():
|
||||
material_name = "_".join(first_liquid_name.split("_")[:-1])
|
||||
else:
|
||||
material_name = first_liquid_name
|
||||
logger.debug(f" 💧 [物料名称] {bottle.name} 液体: {first_liquid_name} → 转换为: {material_name}")
|
||||
else:
|
||||
logger.debug(f" 📭 [物料名称] {bottle.name} 无液体，使用类型名: {material_name}")
|
||||
|
||||
detail_item = {
|
||||
"typeId": bottle_type_info[1],
|
||||
"code": bottle.code if hasattr(bottle, "code") else "",
|
||||
"name": material_name, # 使用物料名称（如"9090"），而不是类型名称（"样品瓶"）
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"x": bioyond_x,
|
||||
"y": bioyond_y,
|
||||
"z": 1,
|
||||
"unit": "微升",
|
||||
"Parameters": "{}" # API 实际要求的字段（必需）
|
||||
}
|
||||
material["details"].append(detail_item)
|
||||
else:
|
||||
# 单个瓶子(非载架)类型的资源
|
||||
bottle = resource[0] if hasattr(resource, "capacity") and resource.capacity > 0 else resource
|
||||
|
||||
# 根据 resource.model 从 type_mapping 获取正确的 typeId
|
||||
type_info = type_mapping.get(resource.model)
|
||||
if type_info:
|
||||
type_id = type_info[1]
|
||||
else:
|
||||
# 如果找不到映射，记录警告并使用默认值
|
||||
logger.warning(f"[PLR→Bioyond] 资源 {resource.name} 的 model '{resource.model}' 不在 type_mapping 中，使用默认烧杯类型")
|
||||
type_id = "3a14196b-24f2-ca49-9081-0cab8021bf1a" # 默认使用烧杯类型
|
||||
|
||||
# 🔥 提取物料名称：优先使用液体名称，否则使用资源名称
|
||||
material_name = resource.name if hasattr(resource, "name") else ""
|
||||
if hasattr(bottle, "tracker") and bottle.tracker.liquids:
|
||||
# 如果有液体，使用液体的名称
|
||||
first_liquid_name = bottle.tracker.liquids[0][0]
|
||||
# 去除PLR系统为了唯一性添加的后缀（如 "_0", "_1" 等）
|
||||
if "_" in first_liquid_name and first_liquid_name.split("_")[-1].isdigit():
|
||||
material_name = "_".join(first_liquid_name.split("_")[:-1])
|
||||
else:
|
||||
material_name = first_liquid_name
|
||||
logger.debug(f" 💧 [单瓶物料] {resource.name} 液体: {first_liquid_name} → 转换为: {material_name}")
|
||||
else:
|
||||
logger.debug(f" 📭 [单瓶物料] {resource.name} 无液体，使用资源名: {material_name}")
|
||||
|
||||
# 🎯 处理物料默认参数和单位
|
||||
# 检查是否有该物料名称的默认参数配置
|
||||
default_unit = "个" # 默认单位
|
||||
material_parameters = {}
|
||||
|
||||
if material_name in material_params:
|
||||
params_config = material_params[material_name].copy()
|
||||
|
||||
# 提取 unit 字段（如果有）
|
||||
if "unit" in params_config:
|
||||
default_unit = params_config.pop("unit") # 从参数中移除，放到外层
|
||||
|
||||
# 剩余的字段放入 Parameters
|
||||
material_parameters = params_config
|
||||
logger.debug(f" 🔧 [物料参数] 为 {material_name} 应用配置: unit={default_unit}, parameters={material_parameters}")
|
||||
|
||||
# 转换为 JSON 字符串
|
||||
parameters_json = json.dumps(material_parameters) if material_parameters else "{}"
|
||||
|
||||
material = {
|
||||
"typeId": type_id,
|
||||
"code": "",
|
||||
"barCode": "",
|
||||
"name": material_name, # 使用物料名称而不是资源名称
|
||||
"unit": default_unit, # 使用配置的单位或默认单位
|
||||
"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
|
||||
"Parameters": parameters_json # API 实际要求的字段（必需）
|
||||
}
|
||||
|
||||
# ⭐ 处理 locations 信息
|
||||
# 优先级: update_resource_site (位置更新请求) > 当前 parent 位置
|
||||
extra_info = getattr(resource, "unilabos_extra", {})
|
||||
update_site = extra_info.get("update_resource_site")
|
||||
|
||||
if update_site:
|
||||
# 情况1: 有明确的位置更新请求 (如从 A02 移动到 A03)
|
||||
# 需要从 warehouse_mapping 中查找目标库位的 UUID
|
||||
logger.debug(f"🔄 [PLR→Bioyond] 检测到位置更新请求: {resource.name} → {update_site}")
|
||||
|
||||
# 遍历所有仓库查找目标库位
|
||||
target_warehouse_name = None
|
||||
target_location_uuid = None
|
||||
|
||||
for warehouse_name, warehouse_info in warehouse_mapping.items():
|
||||
site_uuids = warehouse_info.get("site_uuids", {})
|
||||
if update_site in site_uuids:
|
||||
target_warehouse_name = warehouse_name
|
||||
target_location_uuid = site_uuids[update_site]
|
||||
break
|
||||
|
||||
if target_warehouse_name and target_location_uuid:
|
||||
# 从库位代码解析坐标 (如 "A03" -> x=1, y=3)
|
||||
# A=1, B=2, C=3, D=4...
|
||||
# 01=1, 02=2, 03=3...
|
||||
try:
|
||||
row_letter = update_site[0] # 'A', 'B', 'C', 'D'
|
||||
col_number = int(update_site[1:]) # '01', '02', '03'...
|
||||
bioyond_x = ord(row_letter) - ord('A') + 1 # A→1, B→2, C→3, D→4
|
||||
bioyond_y = col_number # 01→1, 02→2, 03→3
|
||||
|
||||
material["locations"] = [
|
||||
{
|
||||
"id": target_location_uuid,
|
||||
"whid": warehouse_mapping[target_warehouse_name].get("uuid", ""),
|
||||
"whName": target_warehouse_name,
|
||||
"x": bioyond_x,
|
||||
"y": bioyond_y,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
]
|
||||
logger.debug(f"✅ [PLR→Bioyond] 位置更新: {resource.name} → {target_warehouse_name}/{update_site} (x={bioyond_x}, y={bioyond_y})")
|
||||
except Exception as e:
|
||||
logger.error(f"❌ [PLR→Bioyond] 解析库位代码失败: {update_site}, 错误: {e}")
|
||||
else:
|
||||
logger.warning(f"⚠️ [PLR→Bioyond] 未找到库位 {update_site} 的配置")
|
||||
|
||||
elif resource.parent is not None and isinstance(resource.parent, ItemizedCarrier):
|
||||
# 情况2: 使用当前 parent 位置
|
||||
site_in_parent = resource.parent.get_child_identifier(resource)
|
||||
|
||||
# ⚠️ 坐标系转换说明:
|
||||
# get_child_identifier 返回: x_idx=列索引, y_idx=行索引 (0-based)
|
||||
# Bioyond 系统要求: x=行号, y=列号 (1-based)
|
||||
# 因此需要交换 x 和 y!
|
||||
bioyond_x = site_in_parent["y"] + 1 # 行索引 → Bioyond的x (行号)
|
||||
bioyond_y = site_in_parent["x"] + 1 # 列索引 → Bioyond的y (列号)
|
||||
|
||||
material["locations"] = [
|
||||
{
|
||||
"id": warehouse_mapping[resource.parent.name]["site_uuids"][site_in_parent["identifier"]],
|
||||
"whid": warehouse_mapping[resource.parent.name]["uuid"],
|
||||
"whName": resource.parent.name,
|
||||
"x": site_in_parent["z"] + 1,
|
||||
"y": site_in_parent["y"] + 1,
|
||||
"x": bioyond_x,
|
||||
"y": bioyond_y,
|
||||
"z": 1,
|
||||
"quantity": 0
|
||||
}
|
||||
],
|
||||
]
|
||||
logger.debug(f"🔄 [PLR→Bioyond] 坐标转换: {resource.name} 在 {resource.parent.name}[{site_in_parent['identifier']}] → UniLab(列={site_in_parent['x']},行={site_in_parent['y']}) → Bioyond(x={bioyond_x},y={bioyond_y})")
|
||||
|
||||
print(f"material_data: {material}")
|
||||
bioyond_materials.append(material)
|
||||
return bioyond_materials
|
||||
|
||||
|
||||
@@ -146,7 +146,7 @@ class ItemizedCarrier(ResourcePLR):
|
||||
if site_location == location:
|
||||
idx = i
|
||||
break
|
||||
|
||||
|
||||
if not reassign and self.sites[idx] is not None:
|
||||
raise ValueError(f"a site with index {idx} already exists")
|
||||
super().assign_child_resource(resource, location=location, reassign=reassign)
|
||||
@@ -172,18 +172,18 @@ class ItemizedCarrier(ResourcePLR):
|
||||
|
||||
def get_child_identifier(self, child: ResourcePLR):
|
||||
"""Get the identifier information for a given child resource.
|
||||
|
||||
|
||||
Args:
|
||||
child: The Resource object to find the identifier for
|
||||
|
||||
|
||||
Returns:
|
||||
dict: A dictionary containing:
|
||||
- identifier: The string identifier (e.g. "A1", "B2")
|
||||
- idx: The integer index in the sites list
|
||||
- x: The x index (column index, 0-based)
|
||||
- y: The y index (row index, 0-based)
|
||||
- y: The y index (row index, 0-based)
|
||||
- z: The z index (layer index, 0-based)
|
||||
|
||||
|
||||
Raises:
|
||||
ValueError: If the child resource is not found in this carrier
|
||||
"""
|
||||
@@ -192,10 +192,10 @@ class ItemizedCarrier(ResourcePLR):
|
||||
if resource is child:
|
||||
# Get the identifier from ordering keys
|
||||
identifier = list(self._ordering.keys())[idx]
|
||||
|
||||
|
||||
# Parse identifier to get x, y, z indices
|
||||
x_idx, y_idx, z_idx = self._parse_identifier_to_indices(identifier, idx)
|
||||
|
||||
|
||||
return {
|
||||
"identifier": identifier,
|
||||
"idx": idx,
|
||||
@@ -203,17 +203,17 @@ class ItemizedCarrier(ResourcePLR):
|
||||
"y": y_idx,
|
||||
"z": z_idx
|
||||
}
|
||||
|
||||
|
||||
# If not found, raise an error
|
||||
raise ValueError(f"Resource {child} is not assigned to this carrier")
|
||||
|
||||
def _parse_identifier_to_indices(self, identifier: str, idx: int) -> Tuple[int, int, int]:
|
||||
"""Parse identifier string to get x, y, z indices.
|
||||
|
||||
|
||||
Args:
|
||||
identifier: String identifier like "A1", "B2", etc.
|
||||
idx: Linear index as fallback for calculation
|
||||
|
||||
|
||||
Returns:
|
||||
Tuple of (x_idx, y_idx, z_idx)
|
||||
"""
|
||||
@@ -225,31 +225,31 @@ class ItemizedCarrier(ResourcePLR):
|
||||
y_idx = remaining // self.num_items_x
|
||||
x_idx = remaining % self.num_items_x
|
||||
return x_idx, y_idx, z_idx
|
||||
|
||||
|
||||
# Fallback: parse from Excel-style identifier
|
||||
if isinstance(identifier, str) and len(identifier) >= 2:
|
||||
# Extract row (letter) and column (number)
|
||||
row_letters = ""
|
||||
col_numbers = ""
|
||||
|
||||
|
||||
for char in identifier:
|
||||
if char.isalpha():
|
||||
row_letters += char
|
||||
elif char.isdigit():
|
||||
col_numbers += char
|
||||
|
||||
|
||||
if row_letters and col_numbers:
|
||||
# Convert letter(s) to row index (A=0, B=1, etc.)
|
||||
y_idx = 0
|
||||
for char in row_letters:
|
||||
y_idx = y_idx * 26 + (ord(char.upper()) - ord('A'))
|
||||
|
||||
|
||||
# Convert number to column index (1-based to 0-based)
|
||||
x_idx = int(col_numbers) - 1
|
||||
z_idx = 0 # Default layer
|
||||
|
||||
|
||||
return x_idx, y_idx, z_idx
|
||||
|
||||
|
||||
# If all else fails, assume linear arrangement
|
||||
return idx, 0, 0
|
||||
|
||||
@@ -413,8 +413,8 @@ class ItemizedCarrier(ResourcePLR):
|
||||
"sites": [{
|
||||
"label": str(identifier),
|
||||
"visible": False if identifier in self.invisible_slots else True,
|
||||
"occupied_by": self[identifier].name
|
||||
if isinstance(self[identifier], ResourcePLR) and not isinstance(self[identifier], ResourceHolder) else
|
||||
"occupied_by": self[identifier].name
|
||||
if isinstance(self[identifier], ResourcePLR) and not isinstance(self[identifier], ResourceHolder) else
|
||||
self[identifier] if isinstance(self[identifier], str) else None,
|
||||
"position": {"x": location.x, "y": location.y, "z": location.z},
|
||||
"size": self.child_size[identifier],
|
||||
|
||||
@@ -23,16 +23,26 @@ def warehouse_factory(
|
||||
empty: bool = False,
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
col_offset: int = 0, # 新增：列起始偏移量，用于生成A05-D08等命名
|
||||
col_offset: int = 0, # 列起始偏移量，用于生成A05-D08等命名
|
||||
layout: str = "col-major", # 新增：排序方式，"col-major"=列优先，"row-major"=行优先
|
||||
):
|
||||
# 创建16个板架位 (4层 x 4位置)
|
||||
# 创建位置坐标
|
||||
locations = []
|
||||
for layer in range(num_items_z): # 4层
|
||||
for row in range(num_items_y): # 4行
|
||||
for col in range(num_items_x): # 1列 (每层4x1=4个位置)
|
||||
|
||||
for layer in range(num_items_z): # 层
|
||||
for row in range(num_items_y): # 行
|
||||
for col in range(num_items_x): # 列
|
||||
# 计算位置
|
||||
x = dx + col * item_dx
|
||||
y = dy + (num_items_y - row - 1) * item_dy
|
||||
|
||||
# 根据 layout 决定 y 坐标计算
|
||||
if layout == "row-major":
|
||||
# 行优先：row=0(A行) 应该显示在上方，需要较小的 y 值
|
||||
y = dy + row * item_dy
|
||||
else:
|
||||
# 列优先：保持原逻辑（row=0 对应较大的 y）
|
||||
y = dy + (num_items_y - row - 1) * item_dy
|
||||
|
||||
z = dz + (num_items_z - layer - 1) * item_dz
|
||||
locations.append(Coordinate(x, y, z))
|
||||
if removed_positions:
|
||||
@@ -45,9 +55,17 @@ def warehouse_factory(
|
||||
name_prefix=name,
|
||||
)
|
||||
len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z)
|
||||
# 应用列偏移量，支持A05-D08等命名
|
||||
# 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ...
|
||||
keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
|
||||
|
||||
# 根据 layout 参数生成不同的排序方式
|
||||
# 注意：物理位置的 y 坐标是倒序的 (row=0 时 y 最大，对应前端显示的顶部)
|
||||
if layout == "row-major":
|
||||
# 行优先顺序: A01,A02,A03,A04, B01,B02,B03,B04
|
||||
# locations[0] 对应 row=0, y最大（前端顶部）→ 应该是 A01
|
||||
keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for j in range(len_y) for i in range(len_x)]
|
||||
else:
|
||||
# 列优先顺序: A01,B01,C01,D01, A02,B02,C02,D02
|
||||
keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)]
|
||||
|
||||
sites = {i: site for i, site in zip(keys, _sites.values())}
|
||||
|
||||
return WareHouse(
|
||||
@@ -58,6 +76,7 @@ def warehouse_factory(
|
||||
num_items_x = num_items_x,
|
||||
num_items_y = num_items_y,
|
||||
num_items_z = num_items_z,
|
||||
ordering_layout=layout, # 传递排序方式到 ordering_layout
|
||||
# ordered_items=ordered_items,
|
||||
# ordering=ordering,
|
||||
sites=sites,
|
||||
@@ -81,8 +100,9 @@ class WareHouse(ItemizedCarrier):
|
||||
sites: Optional[Dict[Union[int, str], Optional[ResourcePLR]]] = None,
|
||||
category: str = "warehouse",
|
||||
model: Optional[str] = None,
|
||||
ordering_layout: str = "col-major",
|
||||
**kwargs
|
||||
):
|
||||
|
||||
super().__init__(
|
||||
name=name,
|
||||
size_x=size_x,
|
||||
@@ -99,6 +119,16 @@ class WareHouse(ItemizedCarrier):
|
||||
model=model,
|
||||
)
|
||||
|
||||
# 保存排序方式，供graphio.py的坐标映射使用
|
||||
# 使用独立属性避免与父类的layout冲突
|
||||
self.ordering_layout = ordering_layout
|
||||
|
||||
def serialize(self) -> dict:
|
||||
"""序列化时保存 ordering_layout 属性"""
|
||||
data = super().serialize()
|
||||
data['ordering_layout'] = self.ordering_layout
|
||||
return data
|
||||
|
||||
def get_site_by_layer_position(self, row: int, col: int, layer: int) -> ResourceHolder:
|
||||
if not (0 <= layer < 4 and 0 <= row < 4 and 0 <= col < 1):
|
||||
raise ValueError("无效的位置: layer={}, row={}, col={}".format(layer, row, col))
|
||||
|
||||
@@ -5,7 +5,6 @@ import json
|
||||
import threading
|
||||
import time
|
||||
import traceback
|
||||
import uuid
|
||||
from typing import get_type_hints, TypeVar, Generic, Dict, Any, Type, TypedDict, Optional, List, TYPE_CHECKING, Union
|
||||
|
||||
from concurrent.futures import ThreadPoolExecutor
|
||||
@@ -39,7 +38,6 @@ from unilabos.ros.msgs.message_converter import (
|
||||
)
|
||||
from unilabos_msgs.srv import (
|
||||
ResourceAdd,
|
||||
ResourceGet,
|
||||
ResourceDelete,
|
||||
ResourceUpdate,
|
||||
ResourceList,
|
||||
@@ -49,7 +47,8 @@ from unilabos_msgs.msg import Resource # type: ignore
|
||||
|
||||
from unilabos.ros.nodes.resource_tracker import (
|
||||
DeviceNodeResourceTracker,
|
||||
ResourceTreeSet, ResourceTreeInstance,
|
||||
ResourceTreeSet,
|
||||
ResourceTreeInstance,
|
||||
)
|
||||
from unilabos.ros.x.rclpyx import get_event_loop
|
||||
from unilabos.ros.utils.driver_creator import WorkstationNodeCreator, PyLabRobotCreator, DeviceClassCreator
|
||||
@@ -340,10 +339,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self._resource_clients: Dict[str, Client] = {
|
||||
"resource_add": self.create_client(ResourceAdd, "/resources/add", callback_group=self.callback_group),
|
||||
"resource_get": self.create_client(SerialCommand, "/resources/get", callback_group=self.callback_group),
|
||||
"resource_delete": self.create_client(ResourceDelete, "/resources/delete", callback_group=self.callback_group),
|
||||
"resource_update": self.create_client(ResourceUpdate, "/resources/update", callback_group=self.callback_group),
|
||||
"resource_delete": self.create_client(
|
||||
ResourceDelete, "/resources/delete", callback_group=self.callback_group
|
||||
),
|
||||
"resource_update": self.create_client(
|
||||
ResourceUpdate, "/resources/update", callback_group=self.callback_group
|
||||
),
|
||||
"resource_list": self.create_client(ResourceList, "/resources/list", callback_group=self.callback_group),
|
||||
"c2s_update_resource_tree": self.create_client(SerialCommand, "/c2s_update_resource_tree", callback_group=self.callback_group),
|
||||
"c2s_update_resource_tree": self.create_client(
|
||||
SerialCommand, "/c2s_update_resource_tree", callback_group=self.callback_group
|
||||
),
|
||||
}
|
||||
|
||||
def re_register_device(req, res):
|
||||
@@ -583,7 +588,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
self.lab_logger().error(traceback.format_exc())
|
||||
self.lab_logger().debug(f"资源更新结果: {response}")
|
||||
|
||||
def transfer_to_new_resource(self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]):
|
||||
def transfer_to_new_resource(
|
||||
self, plr_resource: "ResourcePLR", tree: ResourceTreeInstance, additional_add_params: Dict[str, Any]
|
||||
):
|
||||
parent_uuid = tree.root_node.res_content.parent_uuid
|
||||
if parent_uuid:
|
||||
parent_resource: ResourcePLR = self.resource_tracker.uuid_to_resources.get(parent_uuid)
|
||||
@@ -610,16 +617,26 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
old_parent = plr_resource.parent
|
||||
if old_parent is not None:
|
||||
# plr并不支持同一个deck的加载和卸载
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求从{old_parent}卸载"
|
||||
)
|
||||
self.lab_logger().warning(f"物料{plr_resource}请求从{old_parent}卸载")
|
||||
old_parent.unassign_child_resource(plr_resource)
|
||||
self.lab_logger().warning(
|
||||
f"物料{plr_resource}请求挂载到{parent_resource}，额外参数：{additional_params}"
|
||||
)
|
||||
parent_resource.assign_child_resource(
|
||||
plr_resource, location=None, **additional_params
|
||||
)
|
||||
|
||||
# ⭐ assign 之前，需要从 resources 列表中移除
|
||||
# 因为资源将不再是顶级资源，而是成为 parent_resource 的子资源
|
||||
# 如果不移除，figure_resource 会找到两次：一次在 resources，一次在 parent 的 children
|
||||
resource_id = id(plr_resource)
|
||||
for i, r in enumerate(self.resource_tracker.resources):
|
||||
if id(r) == resource_id:
|
||||
self.resource_tracker.resources.pop(i)
|
||||
self.lab_logger().debug(
|
||||
f"从顶级资源列表中移除 {plr_resource.name}（即将成为 {parent_resource.name} 的子资源）"
|
||||
)
|
||||
break
|
||||
|
||||
parent_resource.assign_child_resource(plr_resource, location=None, **additional_params)
|
||||
|
||||
func = getattr(self.driver_instance, "resource_tree_transfer", None)
|
||||
if callable(func):
|
||||
# 分别是 物料的原来父节点，当前物料的状态，物料的新父节点（此时物料已经重新assign了）
|
||||
@@ -1080,7 +1097,13 @@ class BaseROS2DeviceNode(Node, Generic[T]):
|
||||
queried_resources = []
|
||||
for resource_data in resource_inputs:
|
||||
r = SerialCommand.Request()
|
||||
r.command = json.dumps({"id": resource_data["id"], "uuid": resource_data.get("uuid", None), "with_children": True})
|
||||
r.command = json.dumps(
|
||||
{
|
||||
"id": resource_data["id"],
|
||||
"uuid": resource_data.get("uuid", None),
|
||||
"with_children": True,
|
||||
}
|
||||
)
|
||||
# 发送请求并等待响应
|
||||
response: SerialCommand_Response = await self._resource_clients[
|
||||
"resource_get"
|
||||
|
||||
Reference in New Issue
Block a user