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add plr_to_bioyond, and refactor bioyond stations
This commit is contained in:
Junhan Chang
@@ -2,12 +2,13 @@ import importlib
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import inspect
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import json
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import traceback
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from typing import Union, Any, Dict, List
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from typing import Union, Any, Dict, List, Tuple
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import networkx as nx
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from pylabrobot.resources import ResourceHolder
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from unilabos_msgs.msg import Resource
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from unilabos.resources.container import RegularContainer
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from unilabos.resources.itemized_carrier import ItemizedCarrier
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from unilabos.ros.msgs.message_converter import convert_to_ros_msg
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from unilabos.ros.nodes.resource_tracker import (
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ResourceDictInstance,
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@@ -576,13 +577,13 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w
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return r
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def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict = {}, deck: Any = None) -> list[dict]:
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def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[str, Tuple[str, str]] = {}, deck: Any = None) -> list[dict]:
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"""
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将 bioyond 物料格式转换为 ulab 物料格式
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Args:
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bioyond_materials: bioyond 系统的物料查询结果列表
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type_mapping: 物料类型映射字典，格式 {bioyond_type: plr_class_name}
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type_mapping: 物料类型映射字典，格式 {bioyond_type: [plr_class_name, class_uuid]}
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location_id_mapping: 库位 ID 到名称的映射字典，格式 {location_id: location_name}
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Returns:
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@@ -592,7 +593,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
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for material in bioyond_materials:
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className = (
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type_mapping.get(material.get("typeName"), "RegularContainer") if type_mapping else "RegularContainer"
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type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer"
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)
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plr_material: ResourcePLR = initialize_resource(
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@@ -614,7 +615,7 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
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# plr_material.unassign_child_resource(bottle)
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plr_material.sites[number] = None
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plr_material[number] = initialize_resource(
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{"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]]}, resource_type=ResourcePLR
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{"name": f'{detail["name"]}_{number}', "class": type_mapping[detail["name"]][0]}, resource_type=ResourcePLR
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)
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else:
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bottle.tracker.liquids = [
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@@ -645,32 +646,59 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: dict =
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return plr_materials
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def resource_plr_to_bioyond(plr_materials: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
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def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict = {}, warehouse_mapping: dict = {}) -> list[dict]:
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bioyond_materials = []
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for plr_material in plr_materials:
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material = {
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"name": plr_material.name,
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"typeName": plr_material.__class__.__name__,
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"code": plr_material.code,
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"quantity": 0,
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"detail": [],
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"locations": [],
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}
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if hasattr(plr_material, "capacity") and plr_material.capacity > 1:
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for idx in range(plr_material.capacity):
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bottle = plr_material[idx]
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detail = {
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"x": (idx // (plr_material.num_items_x * plr_material.num_items_y)) + 1,
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"y": ((idx % (plr_material.num_items_x * plr_material.num_items_y)) // plr_material.num_items_x) + 1,
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"z": (idx % plr_material.num_items_x) + 1,
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for resource in plr_resources:
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if hasattr(resource, "capacity") and resource.capacity > 1:
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material = {
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"typeId": type_mapping.get(resource.model)[1],
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"name": resource.name,
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"unit": "个",
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"quantity": 1,
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"details": [],
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"Parameters": "{}"
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}
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for bottle in resource.children:
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if isinstance(resource, ItemizedCarrier):
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site = resource.get_child_identifier(bottle)
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else:
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site = {"x": bottle.location.x - 1, "y": bottle.location.y - 1}
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detail_item = {
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"typeId": type_mapping.get(bottle.model)[1],
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"name": bottle.name,
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"code": bottle.code if hasattr(bottle, "code") else "",
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"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
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"x": site["x"] + 1,
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"y": site["y"] + 1,
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"molecular": 1,
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"Parameters": json.dumps({"molecular": 1})
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}
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material["detail"].append(detail)
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material["quantity"] = 1.0
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material["details"].append(detail_item)
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else:
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bottle = plr_material[0] if plr_material.capacity > 0 else plr_material
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material["quantity"] = sum(qty for _, qty in bottle.tracker.liquids) if hasattr(plr_material, "tracker") else 0
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bottle = resource[0] if resource.capacity > 0 else resource
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material = {
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"typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a",
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"name": resource.get("name", ""),
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"unit": "",
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"quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0,
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"Parameters": "{}"
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}
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if resource.parent is not None and isinstance(resource.parent, ItemizedCarrier):
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site_in_parent = resource.parent.get_child_identifier(resource)
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material["locations"] = [
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{
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"id": warehouse_mapping[resource.parent.name]["site_uuids"][site_in_parent["identifier"]],
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"whid": warehouse_mapping[resource.parent.name]["uuid"],
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"whName": resource.parent.name,
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"x": site_in_parent["z"] + 1,
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"y": site_in_parent["y"] + 1,
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"z": 1,
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"quantity": 0
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}
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],
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print(f"material_data: {material}")
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bioyond_materials.append(material)
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return bioyond_materials
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