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更新中析仪器，以及启动示例

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This commit is contained in:
Xuwznln
2025-07-06 18:39:40 +08:00
parent bef44b2293
commit ce8667f937
7 changed files with 1577 additions and 454 deletions
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7
unilabos/ros/nodes/base_device_node.py
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@@ -923,11 +923,18 @@ class ROS2DeviceNode:
driver_class.__module__.startswith("pylabrobot")
or driver_class.__name__ == "LiquidHandlerAbstract"
or driver_class.__name__ == "LiquidHandlerBiomek"
or driver_class.__name__ == "PRCXI9300Handler"
)
# 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
if use_pylabrobot_creator:
# 先对pylabrobot的子资源进行加载，不然subclass无法认出
# 在下方对于加载Deck等Resource要手动import
# noinspection PyUnresolvedReferences
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Deck
# noinspection PyUnresolvedReferences
from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container
self._driver_creator = PyLabRobotCreator(
driver_class, children=children, resource_tracker=self.resource_tracker
)

6
unilabos/ros/utils/driver_creator.py
View File

@@ -148,7 +148,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
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)
states[prefix_path] = resource_instance.serialize_all_state()
# 使用 prefix_path 作为 key 存储资源状态
if to_dict:
serialized = resource_instance.serialize()
@@ -199,7 +199,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
spect = inspect.signature(deserialize_method)
spec_args = spect.parameters
for param_name, param_value in data.copy().items():
if "_resource_child_name" in param_value and "_resource_type" not in param_value:
if isinstance(param_value, dict) and "_resource_child_name" in param_value and "_resource_type" not in param_value:
arg_value = spec_args[param_name].annotation
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']}")
@@ -230,7 +230,7 @@ class PyLabRobotCreator(DeviceClassCreator[T]):
spect = inspect.signature(self.device_cls.__init__)
spec_args = spect.parameters
for param_name, param_value in data.copy().items():
if "_resource_child_name" in param_value and "_resource_type" not in param_value:
if isinstance(param_value, dict) and "_resource_child_name" in param_value and "_resource_type" not in param_value:
arg_value = spec_args[param_name].annotation
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']}")