修正物料上传时间

改用biomek_test
增加ResultInfoEncoder
支持返回结果上传

test/experiments/biomek.json

@@ -0,0 +1,22 @@
+{
+    "nodes": [
+        {
+            "id": "BIOMEK",
+            "name": "BIOMEK",
+            "parent": null,
+            "type": "device",
+            "class": "liquid_handler.biomek",
+            "position": {
+                "x": 620.6111111111111,
+                "y": 171,
+                "z": 0
+            },
+            "config": {
+            },
+            "data": {},
+            "children": [
+            ]
+        }
+    ],
+    "links": []
+}

unilabos/app/mq.py

@@ -1,6 +1,7 @@
 import json
 import time
 import traceback
+from typing import Optional
 import uuid
 
 import paho.mqtt.client as mqtt
@@ -163,10 +164,12 @@ class MQTTClient:
         self.client.publish(address, json.dumps(status), qos=2)
         logger.critical(f"Device status published: address: {address}, {status}")
 
-    def publish_job_status(self, feedback_data: dict, job_id: str, status: str):
+    def publish_job_status(self, feedback_data: dict, job_id: str, status: str, return_info: Optional[dict] = None):
         if self.mqtt_disable:
             return
-        jobdata = {"job_id": job_id, "data": feedback_data, "status": status}
+        if return_info is None:
+            return_info = {}
+        jobdata = {"job_id": job_id, "data": feedback_data, "status": status, "return_info": return_info}
         self.client.publish(f"labs/{MQConfig.lab_id}/job/list/", json.dumps(jobdata), qos=2)
 
     def publish_registry(self, device_id: str, device_info: dict):

unilabos/app/web/client.py

@@ -30,18 +30,18 @@ class HTTPClient:
             self.auth = MQConfig.lab_id
         info(f"HTTPClient 初始化完成: remote_addr={self.remote_addr}")
 
-    def resource_add(self, resources: List[Dict[str, Any]]) -> requests.Response:
+    def resource_add(self, resources: List[Dict[str, Any]], database_process_later:bool) -> requests.Response:
         """
         添加资源
 
         Args:
             resources: 要添加的资源列表
-
+            database_process_later: 后台处理资源
         Returns:
             Response: API响应对象
         """
         response = requests.post(
-            f"{self.remote_addr}/lab/resource/",
+            f"{self.remote_addr}/lab/resource/?database_process_later={1 if database_process_later else 0}",
             json=resources,
             headers={"Authorization": f"lab {self.auth}"},
             timeout=5,

unilabos/devices/liquid_handling/biomek.py

@@ -693,9 +693,7 @@ if __name__ == "__main__":
     }
     '''
 
-
-
-labware_with_liquid = '''
+    labware_with_liquid = '''
         [    
             {
                 "id": "Tip Rack BC230 on TL1",
@@ -877,21 +875,19 @@ labware_with_liquid = '''
             }
         ]
         '''
+    # 创建Biomek液体处理器实例
+    handler = LiquidHandlerBiomek()
 
-
-
-handler = LiquidHandlerBiomek()
-
-handler.temp_protocol = {
+    handler.temp_protocol = {
         "meta": {},
         "labwares": [],
         "steps": []
-}
+    }
 
-input_steps = json.loads(steps_info)
-labwares = json.loads(labware_with_liquid)
+    input_steps = json.loads(steps_info)
+    labwares = json.loads(labware_with_liquid)
 
-for step in input_steps['steps']:
+    for step in input_steps['steps']:
         operation = step['operation']
         parameters = step['parameters']
 
@@ -911,6 +907,6 @@ for step in input_steps['steps']:
         elif operation == 'incubation':
             handler.incubation_biomek(time=parameters['time'])
 
-print(json.dumps(handler.temp_protocol, indent=4))
+    print(json.dumps(handler.temp_protocol, indent=4))
 
 

unilabos/registry/devices/liquid_handler.yaml

@@ -293,7 +293,7 @@ liquid_handler.biomek:
   description: Biomek液体处理器设备，基于pylabrobot控制
   icon: icon_yiyezhan.webp
   class:
-    module: unilabos.devices.liquid_handling.biomek:LiquidHandlerBiomek
+    module: unilabos.devices.liquid_handling.biomek_test:LiquidHandlerBiomek
     type: python
     status_types: {}
     action_value_mappings:

unilabos/ros/nodes/base_device_node.py

@@ -1,5 +1,4 @@
 import copy
-import functools
 import json
 import threading
 import time
@@ -20,16 +19,29 @@ from rclpy.service import Service
 from unilabos_msgs.action import SendCmd
 from unilabos_msgs.srv._serial_command import SerialCommand_Request, SerialCommand_Response
 
-from unilabos.resources.graphio import convert_resources_to_type, convert_resources_from_type, resource_ulab_to_plr, \
-    initialize_resources, list_to_nested_dict, dict_to_tree, resource_plr_to_ulab, tree_to_list
+from unilabos.resources.graphio import (
+    convert_resources_to_type,
+    convert_resources_from_type,
+    resource_ulab_to_plr,
+    initialize_resources,
+    dict_to_tree,
+    resource_plr_to_ulab,
+    tree_to_list,
+)
 from unilabos.ros.msgs.message_converter import (
     convert_to_ros_msg,
     convert_from_ros_msg,
     convert_from_ros_msg_with_mapping,
-    convert_to_ros_msg_with_mapping, ros_action_to_json_schema,
+    convert_to_ros_msg_with_mapping,
 )
-from unilabos_msgs.srv import ResourceAdd, ResourceGet, ResourceDelete, ResourceUpdate, ResourceList, \
-    SerialCommand  # type: ignore
+from unilabos_msgs.srv import (
+    ResourceAdd,
+    ResourceGet,
+    ResourceDelete,
+    ResourceUpdate,
+    ResourceList,
+    SerialCommand,
+)  # type: ignore
 from unilabos_msgs.msg import Resource  # type: ignore
 
 from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
@@ -37,7 +49,7 @@ from unilabos.ros.x.rclpyx import get_event_loop
 from unilabos.ros.utils.driver_creator import ProtocolNodeCreator, PyLabRobotCreator, DeviceClassCreator
 from unilabos.utils.async_util import run_async_func
 from unilabos.utils.log import info, debug, warning, error, critical, logger
-from unilabos.utils.type_check import get_type_class, TypeEncoder
+from unilabos.utils.type_check import get_type_class, TypeEncoder, serialize_result_info
 
 T = TypeVar("T")
 
@@ -292,7 +304,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 self.create_ros_action_server(action_name, action_value_mapping)
 
         # 创建线程池执行器
-        self._executor = ThreadPoolExecutor(max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}")
+        self._executor = ThreadPoolExecutor(
+            max_workers=max(len(action_value_mappings), 1), thread_name_prefix=f"ROSDevice{self.device_id}"
+        )
 
         # 创建资源管理客户端
         self._resource_clients: Dict[str, Client] = {
@@ -334,7 +348,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 other_calling_param["slot"] = slot
             # 本地拿到这个物料，可能需要先做初始化?
             if isinstance(resources, list):
-                if len(resources) == 1 and isinstance(resources[0], list) and not initialize_full:  # 取消，不存在的情况
+                if (
+                    len(resources) == 1 and isinstance(resources[0], list) and not initialize_full
+                ):  # 取消，不存在的情况
                     # 预先initialize过，以整组的形式传入
                     request.resources = [convert_to_ros_msg(Resource, resource_) for resource_ in resources[0]]
                 elif initialize_full:
@@ -373,6 +389,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 from pylabrobot.resources import Coordinate
                 from pylabrobot.resources import OTDeck
                 from pylabrobot.resources import Plate
+
                 contain_model = not isinstance(resource, Deck)
                 if isinstance(resource, ResourcePLR):
                     # resources.list()
@@ -380,25 +397,38 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     plr_instance = resource_ulab_to_plr(resources_tree[0], contain_model)
                     if isinstance(plr_instance, Plate):
                         empty_liquid_info_in = [(None, 0)] * plr_instance.num_items
-                        for liquid_type, liquid_volume, liquid_input_slot in zip(ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT):
+                        for liquid_type, liquid_volume, liquid_input_slot in zip(
+                            ADD_LIQUID_TYPE, LIQUID_VOLUME, LIQUID_INPUT_SLOT
+                        ):
                             empty_liquid_info_in[liquid_input_slot] = (liquid_type, liquid_volume)
                         plr_instance.set_well_liquids(empty_liquid_info_in)
                     if isinstance(resource, OTDeck) and "slot" in other_calling_param:
                         resource.assign_child_at_slot(plr_instance, **other_calling_param)
                     else:
                         _discard_slot = other_calling_param.pop("slot", -1)
-                        resource.assign_child_resource(plr_instance, Coordinate(location["x"], location["y"], location["z"]), **other_calling_param)
-                    request2.resources = [convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])]
+                        resource.assign_child_resource(
+                            plr_instance,
+                            Coordinate(location["x"], location["y"], location["z"]),
+                            **other_calling_param,
+                        )
+                    request2.resources = [
+                        convert_to_ros_msg(Resource, r) for r in tree_to_list([resource_plr_to_ulab(resource)])
+                    ]
                     rclient2.call(request2)
                 # 发送给ResourceMeshManager
                 action_client = ActionClient(
-                    self, SendCmd, "/devices/resource_mesh_manager/add_resource_mesh", callback_group=self.callback_group
+                    self,
+                    SendCmd,
+                    "/devices/resource_mesh_manager/add_resource_mesh",
+                    callback_group=self.callback_group,
                 )
                 goal = SendCmd.Goal()
-                goal.command = json.dumps({
+                goal.command = json.dumps(
+                    {
                         "resources": resources,
                         "bind_parent_id": bind_parent_id,
-                })
+                    }
+                )
                 future = action_client.send_goal_async(goal, goal_uuid=uuid.uuid4())
 
                 def done_cb(*args):
@@ -415,10 +445,16 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         # noinspection PyTypeChecker
         self._service_server: Dict[str, Service] = {
             "query_host_name": self.create_service(
-                SerialCommand, f"/srv{self.namespace}/query_host_name", query_host_name_cb, callback_group=self.callback_group
+                SerialCommand,
+                f"/srv{self.namespace}/query_host_name",
+                query_host_name_cb,
+                callback_group=self.callback_group,
             ),
             "append_resource": self.create_service(
-                SerialCommand, f"/srv{self.namespace}/append_resource", append_resource, callback_group=self.callback_group
+                SerialCommand,
+                f"/srv{self.namespace}/append_resource",
+                append_resource,
+                callback_group=self.callback_group,
             ),
         }
 
@@ -447,6 +483,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         registered_devices[self.device_id] = device_info
         from unilabos.config.config import BasicConfig
         from unilabos.ros.nodes.presets.host_node import HostNode
+
         if not BasicConfig.is_host_mode:
             sclient = self.create_client(SerialCommand, "/node_info_update")
             # 启动线程执行发送任务
@@ -454,7 +491,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                 target=self.send_slave_node_info,
                 args=(sclient,),
                 daemon=True,
-                name=f"ROSDevice{self.device_id}_send_slave_node_info"
+                name=f"ROSDevice{self.device_id}_send_slave_node_info",
             ).start()
         else:
             host_node = HostNode.get_instance(0)
@@ -465,12 +502,18 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         sclient.wait_for_service()
         request = SerialCommand.Request()
         from unilabos.config.config import BasicConfig
-        request.command = json.dumps({
+
+        request.command = json.dumps(
+            {
                 "SYNC_SLAVE_NODE_INFO": {
                     "machine_name": BasicConfig.machine_name,
                     "type": "slave",
-                "edge_device_id": self.device_id
-            }}, ensure_ascii=False, cls=TypeEncoder)
+                    "edge_device_id": self.device_id,
+                }
+            },
+            ensure_ascii=False,
+            cls=TypeEncoder,
+        )
 
         # 发送异步请求并等待结果
         future = sclient.call_async(request)
@@ -543,6 +586,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
         """创建动作执行回调函数"""
 
         async def execute_callback(goal_handle: ServerGoalHandle):
+            # 初始化结果信息变量
+            execution_error = ""
+            execution_success = False
+            action_return_value = None
+
             self.lab_logger().info(f"执行动作: {action_name}")
             goal = goal_handle.request
 
@@ -582,7 +630,11 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                                     current_resources.extend(response.resources)
                             else:
                                 r = ResourceGet.Request()
-                                r.id = action_kwargs[k]["id"] if v == "unilabos_msgs/Resource" else action_kwargs[k][0]["id"]
+                                r.id = (
+                                    action_kwargs[k]["id"]
+                                    if v == "unilabos_msgs/Resource"
+                                    else action_kwargs[k][0]["id"]
+                                )
                                 r.with_children = True
                                 response = await self._resource_clients["resource_get"].call_async(r)
                                 current_resources.extend(response.resources)
@@ -605,7 +657,17 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             if asyncio.iscoroutinefunction(ACTION):
                 try:
                     self.lab_logger().info(f"异步执行动作 {ACTION}")
-                    future = ROS2DeviceNode.run_async_func(ACTION, **action_kwargs)
+                    future = ROS2DeviceNode.run_async_func(ACTION, trace_error=False, **action_kwargs)
+
+                    def _handle_future_exception(fut):
+                        try:
+                            fut.result()
+                        except Exception as e:
+                            execution_error = traceback.format_exc()
+                            error(f"异步任务 {ACTION.__name__} 报错了")
+                            error(traceback.format_exc())
+
+                    future.add_done_callback(_handle_future_exception)
                 except Exception as e:
                     self.lab_logger().error(f"创建异步任务失败: {traceback.format_exc()}")
                     raise e
@@ -617,6 +679,7 @@ class BaseROS2DeviceNode(Node, Generic[T]):
                     try:
                         fut.result()
                     except Exception as e:
+                        execution_error = traceback.format_exc()
                         error(f"同步任务 {ACTION.__name__} 报错了")
                         error(traceback.format_exc())
 
@@ -693,7 +756,9 @@ class BaseROS2DeviceNode(Node, Generic[T]):
             goal_handle.succeed()
             self.lab_logger().info(f"设置动作成功: {action_name}")
 
-            result_values = {}
+            result_values = {
+                "return_value": serialize_result_info(execution_error, execution_success, action_return_value)
+            }
             for msg_name, attr_name in action_value_mapping["result"].items():
                 if hasattr(self.driver_instance, f"get_{attr_name}"):
                     result_values[msg_name] = getattr(self.driver_instance, f"get_{attr_name}")()
@@ -752,8 +817,8 @@ class ROS2DeviceNode:
         return cls._loop
 
     @classmethod
-    def run_async_func(cls, func, **kwargs):
-        return run_async_func(func, loop=cls._loop, **kwargs)
+    def run_async_func(cls, func, trace_error=True, **kwargs):
+        return run_async_func(func, loop=cls._loop, trace_error=trace_error, **kwargs)
 
     @property
     def driver_instance(self):
@@ -805,9 +870,11 @@ class ROS2DeviceNode:
         self.resource_tracker = DeviceNodeResourceTracker()
 
         # use_pylabrobot_creator 使用 cls的包路径检测
-        use_pylabrobot_creator = (driver_class.__module__.startswith("pylabrobot")
+        use_pylabrobot_creator = (
+            driver_class.__module__.startswith("pylabrobot")
             or driver_class.__name__ == "LiquidHandlerAbstract"
-                                  or driver_class.__name__ == "LiquidHandlerBiomek")
+            or driver_class.__name__ == "LiquidHandlerBiomek"
+        )
 
         # TODO: 要在创建之前预先请求服务器是否有当前id的物料，放到resource_tracker中，让pylabrobot进行创建
         # 创建设备类实例

unilabos/ros/nodes/presets/host_node.py

@@ -151,7 +151,7 @@ class HostNode(BaseROS2DeviceNode):
             mqtt_client.publish_registry(device_info["id"], device_info)
         for resource_info in lab_registry.obtain_registry_resource_info():
             mqtt_client.publish_registry(resource_info["id"], resource_info)
-
+        time.sleep(1) # 等待MQTT连接稳定
         # 首次发现网络中的设备
         self._discover_devices()
 
@@ -204,9 +204,11 @@ class HostNode(BaseROS2DeviceNode):
             for bridge in self.bridges:
                 if hasattr(bridge, "resource_add"):
                     resource_start_time = time.time()
-                    resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name))
+                    resource_add_res = bridge.resource_add(add_schema(resource_with_parent_name), True)
                     resource_end_time = time.time()
-                    self.lab_logger().info(f"[Host Node-Resource] Adding resources to bridge. {round(resource_start_time - resource_end_time, 5)} seconds")
+                    self.lab_logger().info(
+                        f"[Host Node-Resource] 物料上传 {round(resource_end_time - resource_start_time, 5) * 1000} ms"
+                    )
         except Exception as ex:
             self.lab_logger().error("[Host Node-Resource] 添加物料出错！")
             self.lab_logger().error(traceback.format_exc())
@@ -610,6 +612,8 @@ class HostNode(BaseROS2DeviceNode):
 
     def get_result_callback(self, action_id: str, uuid_str: Optional[str], future) -> None:
         """获取结果回调"""
+        import json
+
         result_msg = future.result().result
         result_data = convert_from_ros_msg(result_msg)
         self.lab_logger().info(f"[Host Node] Result for {action_id} ({uuid_str}): success")
@@ -618,7 +622,7 @@ class HostNode(BaseROS2DeviceNode):
         if uuid_str:
             for bridge in self.bridges:
                 if hasattr(bridge, "publish_job_status"):
-                    bridge.publish_job_status(result_data, uuid_str, "success")
+                    bridge.publish_job_status(result_data, uuid_str, "success", result_data)
 
     def cancel_goal(self, goal_uuid: str) -> None:
         """取消目标"""

unilabos/utils/async_util.py

@@ -5,7 +5,7 @@ from asyncio import get_event_loop
 from unilabos.utils.log import error
 
 
-def run_async_func(func, *, loop=None, **kwargs):
+def run_async_func(func, *, loop=None, trace_error=True, **kwargs):
     if loop is None:
         loop = get_event_loop()
 
@@ -17,5 +17,6 @@ def run_async_func(func, *, loop=None, **kwargs):
             error(traceback.format_exc())
 
     future = asyncio.run_coroutine_threadsafe(func(**kwargs), loop)
+    if trace_error:
         future.add_done_callback(_handle_future_exception)
     return future

unilabos/utils/type_check.py

@@ -1,4 +1,4 @@
-import collections
+import collections.abc
 import json
 from typing import get_origin, get_args
 
@@ -21,3 +21,46 @@ class TypeEncoder(json.JSONEncoder):
             return str(obj)[8:-2]
         return super().default(obj)
 
+
+class ResultInfoEncoder(json.JSONEncoder):
+    """专门用于处理任务执行结果信息的JSON编码器"""
+
+    def default(self, obj):
+        # 优先处理类型对象
+        if isinstance(obj, type):
+            return str(obj)[8:-2]
+
+        # 对于无法序列化的对象，统一转换为字符串
+        try:
+            # 尝试调用 __dict__ 或者其他序列化方法
+            if hasattr(obj, "__dict__"):
+                return obj.__dict__
+            elif hasattr(obj, "_asdict"):  # namedtuple
+                return obj._asdict()
+            elif hasattr(obj, "to_dict"):
+                return obj.to_dict()
+            elif hasattr(obj, "dict"):
+                return obj.dict()
+            else:
+                # 如果都不行，转换为字符串
+                return str(obj)
+        except Exception:
+            # 如果转换失败，直接返回字符串表示
+            return str(obj)
+
+
+def serialize_result_info(error: str, suc: bool, return_value=None) -> str:
+    """
+    序列化任务执行结果信息
+
+    Args:
+        error: 错误信息字符串
+        suc: 是否成功的布尔值
+        return_value: 返回值，可以是任何类型
+
+    Returns:
+        JSON字符串格式的结果信息
+    """
+    result_info = {"error": error, "suc": suc, "return_value": return_value}
+
+    return json.dumps(result_info, ensure_ascii=False, cls=ResultInfoEncoder)