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修复to_plr_resources

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Xuwznln
2025-10-10 15:30:26 +08:00
parent 5610c28b67
commit a8f6527de9
2 changed files with 133 additions and 155 deletions
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278
unilabos/ros/nodes/resource_tracker.py
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@@ -6,8 +6,8 @@ from typing import List, Tuple, Any, Dict, Literal, Optional, cast, TYPE_CHECKIN
from unilabos.utils.log import logger
if TYPE_CHECKING:
# from unilabos.devices.workstation.workstation_base import WorkstationBase
from pylabrobot.resources import Resource as PLRResource, corning_6_wellplate_16point8ml_flat
from unilabos.devices.workstation.workstation_base import WorkstationBase
from pylabrobot.resources import Resource as PLRResource
class ResourceDictPositionSize(BaseModel):
@@ -372,49 +372,79 @@ class ResourceTreeSet(object):
- PLR 资源实例列表
- 每个资源对应的 name_to_uuid 映射字典列表
"""
from unilabos.resources.graphio import resource_ulab_to_plr
from pylabrobot.resources import Resource as PLRResource
from pylabrobot.utils.object_parsing import find_subclass
import inspect
# 类型映射
TYPE_MAP = {"plate": "plate", "well": "well", "container": "tip_spot", "deck": "deck", "tip_rack": "tip_rack"}
def collect_node_data(node: ResourceDictInstance, name_to_uuid: dict, all_states: dict):
"""一次遍历收集 name_to_uuid 和 all_states"""
name_to_uuid[node.res_content.name] = node.res_content.uuid
all_states[node.res_content.name] = node.res_content.data
for child in node.children:
collect_node_data(child, name_to_uuid, all_states)
def node_to_plr_dict(node: ResourceDictInstance, has_model: bool):
"""转换节点为 PLR 字典格式"""
res = node.res_content
plr_type = TYPE_MAP.get(res.type, "tip_spot")
if res.type not in TYPE_MAP:
logger.warning(f"未知类型 {res.type}，使用默认类型 tip_spot")
d = {
"name": res.name,
"type": plr_type,
"size_x": res.config.get("size_x", 0),
"size_y": res.config.get("size_y", 0),
"size_z": res.config.get("size_z", 0),
"location": {
"x": res.position.position.x,
"y": res.position.position.y,
"z": res.position.position.z,
"type": "Coordinate",
},
"rotation": {"x": 0, "y": 0, "z": 0, "type": "Rotation"},
"category": plr_type,
"children": [node_to_plr_dict(child, has_model) for child in node.children],
"parent_name": res.parent_name,
**res.config,
}
if has_model:
d["model"] = res.config.get("model", None)
return d
plr_resources = []
name_to_uuid_maps = []
def build_name_to_uuid_map(node: ResourceDictInstance, result: Dict[str, str]):
"""递归构建 name 到 uuid 的映射"""
result[node.res_content.name] = node.res_content.uuid
for child in node.children:
build_name_to_uuid_map(child, result)
tracker = DeviceNodeResourceTracker()
for tree in self.trees:
# 构建 name_to_uuid 映射
name_to_uuid = {}
build_name_to_uuid_map(tree.root_node, name_to_uuid)
name_to_uuid: Dict[str, str] = {}
all_states: Dict[str, Any] = {}
collect_node_data(tree.root_node, name_to_uuid, all_states)
# 使用 get_nested_dict 获取字典表示
resource_dict = tree.root_node.get_nested_dict()
# 判断是否包含 model（Deck 下没有 model）
plr_model = tree.root_node.res_content.type != "deck"
has_model = tree.root_node.res_content.type != "deck"
plr_dict = node_to_plr_dict(tree.root_node, has_model)
try:
# 使用 resource_ulab_to_plr 创建 PLR 资源实例
plr_resource = resource_ulab_to_plr(resource_dict, plr_model=plr_model)
sub_cls = find_subclass(plr_dict["type"], PLRResource)
if sub_cls is None:
raise ValueError(f"无法找到类型 {plr_dict['type']} 对应的 PLR 资源类")
# 设置 unilabos_uuid 属性到资源及其所有子节点
def set_uuid_recursive(plr_res: "PLRResource", node: ResourceDictInstance):
"""递归设置 PLR 资源的 unilabos_uuid 属性"""
setattr(plr_res, "unilabos_uuid", node.res_content.uuid)
# 匹配子节点（通过 name）
for plr_child in plr_res.children:
matching_node = next(
(child for child in node.children if child.res_content.name == plr_child.name),
None,
)
if matching_node:
set_uuid_recursive(plr_child, matching_node)
spec = inspect.signature(sub_cls)
if "category" not in spec.parameters:
plr_dict.pop("category", None)
set_uuid_recursive(plr_resource, tree.root_node)
plr_resource = sub_cls.deserialize(plr_dict, allow_marshal=True)
plr_resource.load_all_state(all_states)
# 使用 DeviceNodeResourceTracker 设置 UUID
tracker.loop_set_uuid(plr_resource, name_to_uuid)
plr_resources.append(plr_resource)
name_to_uuid_maps.append(name_to_uuid)
except Exception as e:
logger.error(f"转换 PLR 资源失败: {e}")
import traceback
@@ -685,9 +715,7 @@ class DeviceNodeResourceTracker(object):
res_list = []
for r in self.resources:
if isinstance(query_resource, dict):
res_list.extend(
self.loop_find_resource(r, object, identifier_key, query_resource[identifier_key])
)
res_list.extend(self.loop_find_resource(r, object, identifier_key, query_resource[identifier_key]))
else:
res_list.extend(
self.loop_find_resource(
@@ -735,134 +763,84 @@ class DeviceNodeResourceTracker(object):
if __name__ == "__main__":
import sys
import os
from pylabrobot.resources import corning_6_wellplate_16point8ml_flat
a = corning_6_wellplate_16point8ml_flat("a").serialize()
# 尝试导入 pylabrobot，如果失败则尝试从本地 pylabrobot_repo 导入
try:
from pylabrobot.resources import Resource, Coordinate
except ImportError:
# 尝试添加本地 pylabrobot_repo 路径
# __file__ is unilabos/ros/nodes/resource_tracker.py
# We need to go up 4 levels to get to project root
current_dir = os.path.dirname(os.path.dirname(os.path.dirname(os.path.dirname(os.path.abspath(__file__)))))
pylabrobot_path = os.path.join(current_dir, "pylabrobot_repo")
if os.path.exists(pylabrobot_path):
sys.path.insert(0, pylabrobot_path)
try:
from pylabrobot.resources import Resource, Coordinate
except ImportError:
print("pylabrobot 未安装，且无法从本地 pylabrobot_repo 导入")
print("如需运行测试，请先安装: pip install pylabrobot")
exit(0)
else:
print("pylabrobot 未安装，跳过测试")
print("如需运行测试，请先安装: pip install pylabrobot")
exit(0)
# 测试 from_plr_resources 和 to_plr_resources 的往返转换
print("=" * 60)
print("测试 PLR 资源转换往返")
print("=" * 60)
# 创建一个简单的测试资源
def create_test_resource(name: str):
"""创建一个简单的测试用资源"""
# 创建父资源
parent = Resource(name=name, size_x=100.0, size_y=100.0, size_z=50.0, category="container")
# 1. 创建一个 PLR 资源并设置 UUID
original_plate = corning_6_wellplate_16point8ml_flat("test_plate")
# 添加一些子资源
for i in range(3):
child = Resource(name=f"{name}_child_{i}", size_x=20.0, size_y=20.0, size_z=10.0, category="container")
child.location = Coordinate(x=i * 30, y=0, z=0)
parent.assign_child_resource(child, location=child.location)
# 使用 DeviceNodeResourceTracker 设置 UUID
tracker = DeviceNodeResourceTracker()
name_to_uuid = {}
return parent
# 递归生成 name_to_uuid 映射
def build_uuid_map(resource):
name_to_uuid[resource.name] = str(uuid.uuid4())
for child in resource.children:
build_uuid_map(child)
print("=" * 80)
print("测试 1: 基本序列化和反序列化")
print("=" * 80)
build_uuid_map(original_plate)
# 创建原始 PLR 资源
original_resource = create_test_resource("test_resource")
print(f"\n1. 创建原始 PLR 资源: {original_resource.name}")
print(f" 子节点数量: {len(original_resource.children)}")
# 使用 tracker 的 loop_set_uuid 方法设置 UUID
tracker.loop_set_uuid(original_plate, name_to_uuid)
# 手动设置 unilabos_uuid（模拟实际使用场景）
def set_test_uuid(res: "PLRResource", prefix="uuid"):
"""递归设置测试用的 uuid"""
import uuid as uuid_module
print(f"\n1. 原始 PLR 资源: {original_plate.name}")
print(f" - UUID: {getattr(original_plate, 'unilabos_uuid', 'N/A')}")
print(f" - 子节点数量: {len(original_plate.children)}")
if original_plate.children:
print(f" - 第一个子节点: {original_plate.children[0].name}")
print(f" - 第一个子节点 UUID: {getattr(original_plate.children[0], 'unilabos_uuid', 'N/A')}")
setattr(res, "unilabos_uuid", f"{prefix}-{uuid_module.uuid4()}")
for i, child in enumerate(res.children):
set_test_uuid(child, f"{prefix}-{i}")
# 2. 将 PLR 资源转换为 ResourceTreeSet
resource_tree_set = ResourceTreeSet.from_plr_resources([original_plate])
print(f"\n2. 转换为 ResourceTreeSet:")
print(f" - 树的数量: {len(resource_tree_set.trees)}")
print(f" - 根节点: {resource_tree_set.root_nodes[0].res_content.name}")
print(f" - 所有节点数量: {len(resource_tree_set.all_nodes)}")
set_test_uuid(original_resource, "root")
print(f" 根节点 UUID: {getattr(original_resource, 'unilabos_uuid', 'None')}")
# 转换为 ResourceTreeSet (from_plr_resources)
print("\n2. 使用 from_plr_resources 转换为 ResourceTreeSet")
resource_tree_set = ResourceTreeSet.from_plr_resources([original_resource])
print(f" 树的数量: {len(resource_tree_set.trees)}")
print(f" 根节点名称: {resource_tree_set.root_nodes[0].res_content.name}")
print(f" 根节点 UUID: {resource_tree_set.root_nodes[0].res_content.uuid}")
print(f" 总节点数: {len(resource_tree_set.all_nodes)}")
# 转换回 PLR 资源 (to_plr_resources)
print("\n3. 使用 to_plr_resources 转换回 PLR 资源")
try:
# 3. 将 ResourceTreeSet 转换回 PLR 资源
plr_resources, name_to_uuid_maps = resource_tree_set.to_plr_resources()
except ModuleNotFoundError as e:
print(f" ❌ 缺少依赖模块: {e}")
print(" 提示: to_plr_resources 方法实现完成，但需要安装额外的依赖（如 networkx）")
print("\n测试部分完成！from_plr_resources 已验证正常工作。")
exit(0)
print(f" PLR 资源数量: {len(plr_resources)}")
print(f" name_to_uuid 映射数量: {len(name_to_uuid_maps)}")
converted_plate = plr_resources[0]
print(f"\n3. 转换回 PLR 资源: {converted_plate.name}")
print(f" - 子节点数量: {len(converted_plate.children)}")
if converted_plate.children:
print(f" - 第一个子节点: {converted_plate.children[0].name}")
restored_resource = plr_resources[0]
# 4. 验证 UUID 映射
name_to_uuid = name_to_uuid_maps[0]
print(f"\n4. UUID 映射:")
print(f" - 映射条目数: {len(name_to_uuid)}")
print(f" - 示例映射: {list(name_to_uuid.items())[:3]}")
print(f" 恢复的资源名称: {restored_resource.name}")
print(f" 恢复的资源子节点数: {len(restored_resource.children)}")
print(f" 恢复的资源 UUID: {getattr(restored_resource, 'unilabos_uuid', 'None')}")
print(f" name_to_uuid 映射条目数: {len(name_to_uuid)}")
# 5. 验证 unilabos_uuid 属性
print(f"\n5. 验证 unilabos_uuid 设置:")
if hasattr(converted_plate, "unilabos_uuid"):
print(f" - 根节点 UUID: {getattr(converted_plate, 'unilabos_uuid')}")
if converted_plate.children and hasattr(converted_plate.children[0], "unilabos_uuid"):
print(f" - 第一个子节点 UUID: {getattr(converted_plate.children[0], 'unilabos_uuid')}")
else:
print(" - 警告: unilabos_uuid 未设置")
# 验证 UUID 映射
print("\n4. 验证 UUID 映射")
original_uuid = getattr(original_resource, "unilabos_uuid", None)
restored_uuid = getattr(restored_resource, "unilabos_uuid", None)
print(f" 原始根节点 UUID: {original_uuid}")
print(f" 恢复后根节点 UUID: {restored_uuid}")
print(f" UUID 匹配: {original_uuid == restored_uuid}")
# 6. 验证 UUID 保持不变
print(f"\n6. 验证 UUID 在往返过程中保持不变:")
original_uuid = getattr(original_plate, "unilabos_uuid")
converted_uuid = getattr(converted_plate, "unilabos_uuid")
print(f" - 原始 UUID: {original_uuid}")
print(f" - 转换后 UUID: {converted_uuid}")
print(f" - UUID 保持不变: {original_uuid == converted_uuid}")
# 验证 name_to_uuid 映射完整性
def count_all_nodes(res: "PLRResource") -> int:
"""递归统计节点总数"""
return 1 + sum(count_all_nodes(child) for child in res.children)
# 7. 再次往返转换，验证稳定性
resource_tree_set_2 = ResourceTreeSet.from_plr_resources([converted_plate])
plr_resources_2, name_to_uuid_maps_2 = resource_tree_set_2.to_plr_resources()
print(f"\n7. 第二次往返转换:")
print(f" - 资源名称: {plr_resources_2[0].name}")
print(f" - 子节点数量: {len(plr_resources_2[0].children)}")
print(f" - UUID 依然保持: {getattr(plr_resources_2[0], 'unilabos_uuid') == original_uuid}")
original_node_count = count_all_nodes(original_resource)
restored_node_count = count_all_nodes(restored_resource)
mapping_count = len(name_to_uuid)
print(f"\n 原始资源节点总数: {original_node_count}")
print(f" 恢复资源节点总数: {restored_node_count}")
print(f" 映射字典条目数: {mapping_count}")
print(f" 节点数量匹配: {original_node_count == restored_node_count == mapping_count}")
# 验证子节点的 UUID
print("\n5. 验证子节点 UUID (前3个)")
for i, (original_child, restored_child) in enumerate(
zip(original_resource.children[:3], restored_resource.children[:3])
):
orig_uuid = getattr(original_child, "unilabos_uuid", None)
rest_uuid = getattr(restored_child, "unilabos_uuid", None)
print(f" 子节点 {i}: {original_child.name}")
print(f" 原始 UUID: {orig_uuid}")
print(f" 恢复 UUID: {rest_uuid}")
print(f" 匹配: {orig_uuid == rest_uuid}")
# 测试 name_to_uuid 映射的正确性
print("\n6. 验证 name_to_uuid 映射内容 (前5个)")
for i, (name, uuid_val) in enumerate(list(name_to_uuid.items())[:5]):
print(f" {name} -> {uuid_val}")
print("\n" + "=" * 80)
print("测试完成！")
print("=" * 80)
print("\n" + "=" * 60)
print("✅ 测试完成! 所有转换正常工作")
print("=" * 60)

8
unilabos/ros/utils/driver_creator.py
View File

@@ -150,7 +150,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
target_type = import_manager.get_class(type_path)
contain_model = not issubclass(target_type, Deck)
resource, target_type = self._process_resource_mapping(resource, target_type)
resource_instance: Resource = resource_ulab_to_plr(resource, contain_model)
resource_instance: Resource = resource_ulab_to_plr(resource, contain_model) # 带state
states[prefix_path] = resource_instance.serialize_all_state()
# 使用 prefix_path 作为 key 存储资源状态
if to_dict:
@@ -159,7 +159,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
return serialized
else:
self.resource_tracker.add_resource(resource_instance)
# 立即设置UUID
# 立即设置UUID，state已经在resource_ulab_to_plr中处理过了
if name_to_uuid:
self.resource_tracker.loop_set_uuid(resource_instance, name_to_uuid)
return resource_instance
@@ -244,7 +244,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
v[kk] = vv
self.device_instance.load_all_state(v)
self.resource_tracker.add_resource(self.device_instance)
self.post_create()
self.post_create() # 对应DeviceClassCreator进行调用
return self.device_instance # type: ignore
except Exception as e:
# 先静默继续，尝试另外一种创建方法
@@ -265,7 +265,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
data[param_name]["_resource_type"] = self.device_cls.__module__ + ":" + arg_value
logger.debug(f"自动补充 _resource_type: {data[param_name]['_resource_type']}")
processed_data = self._process_resource_references(data, to_dict=False, name_to_uuid=name_to_uuid)
self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data)
self.device_instance = super(PyLabRobotCreator, self).create_instance(processed_data) # 补全变量后直接调用，调用的自身的attach_resource
except Exception as e:
logger.error(f"PyLabRobot创建实例失败: {e}")
logger.error(f"PyLabRobot创建实例堆栈: {traceback.format_exc()}")