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Add set_liquid example.

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This commit is contained in:
Xuwznln
2026-01-12 22:24:01 +08:00
parent ec015e16cd
commit a66603ec1c
5 changed files with 30 additions and 13 deletions
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8
unilabos/registry/devices/liquid_handler.yaml
View File

@@ -9278,7 +9278,13 @@ liquid_handler.prcxi:
z: 0.0
sample_id: ''
type: ''
handles: {}
handles:
input:
- data_key: wells
data_source: handle
data_type: resource
handler_key: input_wells
label: InputWells
placeholder_keys:
wells: unilabos_resources
result: {}

4
unilabos/registry/registry.py
View File

@@ -127,14 +127,14 @@ class Registry:
"data_type": "resource",
"label": "Labware",
"data_source": "executor",
"data_key": "created_resource_tree",
"data_key": "created_resource_tree.@flatten",
},
{
"handler_key": "liquid_slots",
"data_type": "resource",
"label": "LiquidSlots",
"data_source": "executor",
"data_key": "liquid_input_resource_tree",
"data_key": "liquid_input_resource_tree.@flatten",
},
{
"handler_key": "materials",

6
unilabos/ros/msgs/message_converter.py
View File

@@ -159,10 +159,14 @@ _msg_converter: Dict[Type, Any] = {
else Pose()
),
config=json.dumps(x.get("config", {})),
data=json.dumps(x.get("data", {})),
data=json.dumps(obtain_data_with_uuid(x)),
),
}
def obtain_data_with_uuid(x: dict):
data = x.get("data", {})
data["unilabos_uuid"] = x.get("uuid", None)
return data
def json_or_yaml_loads(data: str) -> Any:
try:

21
unilabos/ros/nodes/base_device_node.py
View File

@@ -430,8 +430,10 @@ class BaseROS2DeviceNode(Node, Generic[T]):
})
tree_response: SerialCommand.Response = await client.call_async(request)
uuid_maps = json.loads(tree_response.response)
self.resource_tracker.loop_update_uuid(input_resources, uuid_maps)
rts: ResourceTreeSet = ResourceTreeSet.from_raw_dict_list(input_resources)
plr_instances = rts.to_plr_resources()
for plr_instance in plr_instances:
self.resource_tracker.loop_update_uuid(plr_instance, uuid_maps)
rts: ResourceTreeSet = ResourceTreeSet.from_plr_resources(plr_instances)
self.lab_logger().info(f"Resource tree added. UUID mapping: {len(uuid_maps)} nodes")
final_response = {
"created_resource_tree": rts.dump(),
@@ -461,7 +463,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
return res
try:
if len(rts.root_nodes) == 1 and parent_resource is not None:
plr_instance = rts.to_plr_resources()[0]
plr_instance = plr_instances[0]
if isinstance(plr_instance, Plate):
empty_liquid_info_in: List[Tuple[Optional[str], float]] = [(None, 0)] * plr_instance.num_items
if len(ADD_LIQUID_TYPE) == 1 and len(LIQUID_VOLUME) == 1 and len(LIQUID_INPUT_SLOT) > 1:
@@ -1281,9 +1283,14 @@ class BaseROS2DeviceNode(Node, Generic[T]):
# 批量查询资源
queried_resources = []
for resource_data in resource_inputs:
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
unilabos_uuid = resource_data.get("data", {}).get("unilabos_uuid")
if unilabos_uuid is None:
plr_resource = await self.get_resource_with_dir(
resource_id=resource_data["id"], with_children=True
)
else:
resource_tree = await self.get_resource([unilabos_uuid])
plr_resource = resource_tree.to_plr_resources()[0]
if "sample_id" in resource_data:
plr_resource.unilabos_extra["sample_uuid"] = resource_data["sample_id"]
queried_resources.append(plr_resource)
@@ -1423,7 +1430,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
for r in rs:
res = self.resource_tracker.parent_resource(r) # 获取 resource 对象
else:
res = self.resource_tracker.parent_resource(r)
res = self.resource_tracker.parent_resource(rs)
if id(res) not in seen:
seen.add(id(res))
unique_resources.append(res)

4
unilabos/ros/nodes/presets/host_node.py
View File

@@ -1244,7 +1244,7 @@ class HostNode(BaseROS2DeviceNode):
data = json.loads(request.command)
if "uuid" in data and data["uuid"] is not None:
http_req = http_client.resource_tree_get([data["uuid"]], data["with_children"])
elif "id" in data and data["id"].startswith("/"):
elif "id" in data:
http_req = http_client.resource_get(data["id"], data["with_children"])
else:
raise ValueError("没有使用正确的物料 id 或 uuid")
@@ -1463,7 +1463,7 @@ class HostNode(BaseROS2DeviceNode):
if resource is None:
resource = RegularContainer("test_resource传入None")
return {
"resources": ResourceTreeSet.from_plr_resources([resource, *resources]).dump(),
"resources": ResourceTreeSet.from_plr_resources([resource, *resources], known_newly_created=True).dump(),
"devices": [device, *devices],
}