From d0884cdbd8f85aa166dd754589c9dace686cd57f Mon Sep 17 00:00:00 2001 From: ZiWei <131428629+ZiWei09@users.noreply.github.com> Date: Wed, 29 Oct 2025 12:10:05 +0800 Subject: [PATCH] bioyond_HR (#133) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * feat: Enhance Bioyond synchronization and resource management - Implemented synchronization for all material types (consumables, samples, reagents) from Bioyond, logging detailed information for each type. - Improved error handling and logging during synchronization processes. - Added functionality to save Bioyond material IDs in UniLab resources for future updates. - Enhanced the `sync_to_external` method to handle material movements correctly, including querying and creating materials in Bioyond. - Updated warehouse configurations to support new storage types and improved layout for better resource management. - Introduced new resource types such as reactors and tip boxes, with detailed specifications. - Modified warehouse factory to support column offsets for naming conventions (e.g., A05-D08). - Improved resource tracking by merging extra attributes instead of overwriting them. - Added a new method for updating resources in Bioyond, ensuring better synchronization of resource changes. * feat: 添加TipBox和Reactor的配置到bottles.yaml * fix: 修复液体投料方法中的volume参数处理逻辑 --- .../experiments/reaction_station_bioyond.json | 48 +++++++--- .../workstation/bioyond_studio/bioyond_rpc.py | 39 ++++++-- .../registry/resources/bioyond/bottles.yaml | 22 +++++ unilabos/resources/bioyond/bottles.py | 86 ++++++++++++++++++ unilabos/resources/bioyond/decks.py | 44 ++++++--- unilabos/resources/bioyond/warehouses.py | 89 ++++++++++++++++++- unilabos/resources/graphio.py | 88 +++++++++++++++--- unilabos/resources/warehouse.py | 7 +- unilabos/ros/nodes/resource_tracker.py | 10 ++- 9 files changed, 388 insertions(+), 45 deletions(-) diff --git a/test/experiments/reaction_station_bioyond.json b/test/experiments/reaction_station_bioyond.json index 013855ed..20b6ef0b 100644 --- a/test/experiments/reaction_station_bioyond.json +++ b/test/experiments/reaction_station_bioyond.json @@ -24,13 +24,42 @@ "Drip_back": "3a162cf9-6aac-565a-ddd7-682ba1796a4a" }, "material_type_mappings": { - "烧杯": ["BIOYOND_PolymerStation_1FlaskCarrier", "3a14196b-24f2-ca49-9081-0cab8021bf1a"], - "试剂瓶": ["BIOYOND_PolymerStation_1BottleCarrier", ""], - "样品板": ["BIOYOND_PolymerStation_6StockCarrier", "3a14196e-b7a0-a5da-1931-35f3000281e9"], - "分装板": ["BIOYOND_PolymerStation_6VialCarrier", "3a14196e-5dfe-6e21-0c79-fe2036d052c4"], - "样品瓶": ["BIOYOND_PolymerStation_Solid_Stock", "3a14196a-cf7d-8aea-48d8-b9662c7dba94"], - "90%分装小瓶": ["BIOYOND_PolymerStation_Solid_Vial", "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea"], - "10%分装小瓶": ["BIOYOND_PolymerStation_Liquid_Vial", "3a14196c-76be-2279-4e22-7310d69aed68"] + "烧杯": [ + "BIOYOND_PolymerStation_1FlaskCarrier", + "3a14196b-24f2-ca49-9081-0cab8021bf1a" + ], + "试剂瓶": [ + "BIOYOND_PolymerStation_1BottleCarrier", + "" + ], + "样品板": [ + "BIOYOND_PolymerStation_6StockCarrier", + "3a14196e-b7a0-a5da-1931-35f3000281e9" + ], + "分装板": [ + "BIOYOND_PolymerStation_6VialCarrier", + "3a14196e-5dfe-6e21-0c79-fe2036d052c4" + ], + "样品瓶": [ + "BIOYOND_PolymerStation_Solid_Stock", + "3a14196a-cf7d-8aea-48d8-b9662c7dba94" + ], + "90%分装小瓶": [ + "BIOYOND_PolymerStation_Solid_Vial", + "3a14196c-cdcf-088d-dc7d-5cf38f0ad9ea" + ], + "10%分装小瓶": [ + "BIOYOND_PolymerStation_Liquid_Vial", + "3a14196c-76be-2279-4e22-7310d69aed68" + ], + "枪头盒": [ + "BIOYOND_PolymerStation_TipBox", + "" + ], + "反应器": [ + "BIOYOND_PolymerStation_Reactor", + "" + ] } }, "deck": { @@ -46,8 +75,7 @@ { "id": "Bioyond_Deck", "name": "Bioyond_Deck", - "children": [ - ], + "children": [], "parent": "reaction_station_bioyond", "type": "deck", "class": "BIOYOND_PolymerReactionStation_Deck", @@ -69,4 +97,4 @@ "data": {} } ] -} +} \ No newline at end of file diff --git a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py index 45d0cadb..78a00eb4 100644 --- a/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py +++ b/unilabos/devices/workstation/bioyond_studio/bioyond_rpc.py @@ -233,7 +233,7 @@ class BioyondV1RPC(BaseRequest): return response.get("data", {}) def material_outbound(self, material_id: str, location_name: str, quantity: int) -> dict: - """指定库位出库物料""" + """指定库位出库物料（通过库位名称）""" location_id = LOCATION_MAPPING.get(location_name, location_name) params = { @@ -251,7 +251,36 @@ class BioyondV1RPC(BaseRequest): }) if not response or response['code'] != 1: - return {} + return None + return response + + def material_outbound_by_id(self, material_id: str, location_id: str, quantity: int) -> dict: + """指定库位出库物料（直接使用location_id） + + Args: + material_id: 物料ID + location_id: 库位ID（不是库位名称，是UUID） + quantity: 数量 + + Returns: + dict: API响应，失败返回None + """ + params = { + "materialId": material_id, + "locationId": location_id, + "quantity": quantity + } + + response = self.post( + url=f'{self.host}/api/lims/storage/outbound', + params={ + "apiKey": self.api_key, + "requestTime": self.get_current_time_iso8601(), + "data": params + }) + + if not response or response['code'] != 1: + return None return response # ==================== 工作流查询相关接口 ==================== @@ -703,10 +732,10 @@ class BioyondV1RPC(BaseRequest): """预加载材料列表到缓存中""" try: print("正在加载材料列表缓存...") - + # 加载所有类型的材料：耗材(0)、样品(1)、试剂(2) material_types = [1, 2] - + for type_mode in material_types: print(f"正在加载类型 {type_mode} 的材料...") stock_query = f'{{"typeMode": {type_mode}, "includeDetail": true}}' @@ -723,7 +752,7 @@ class BioyondV1RPC(BaseRequest): material_id = material.get("id") if material_name and material_id: self.material_cache[material_name] = material_id - + # 处理样品板等容器中的detail材料 detail_materials = material.get("detail", []) for detail_material in detail_materials: diff --git a/unilabos/registry/resources/bioyond/bottles.yaml b/unilabos/registry/resources/bioyond/bottles.yaml index 55da6908..b3438ccf 100644 --- a/unilabos/registry/resources/bioyond/bottles.yaml +++ b/unilabos/registry/resources/bioyond/bottles.yaml @@ -48,3 +48,25 @@ BIOYOND_PolymerStation_Solution_Beaker: icon: '' init_param_schema: {} version: 1.0.0 +BIOYOND_PolymerStation_TipBox: + category: + - bottles + - tip_boxes + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_TipBox + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 +BIOYOND_PolymerStation_Reactor: + category: + - bottles + - reactors + class: + module: unilabos.resources.bioyond.bottles:BIOYOND_PolymerStation_Reactor + type: pylabrobot + handles: [] + icon: '' + init_param_schema: {} + version: 1.0.0 diff --git a/unilabos/resources/bioyond/bottles.py b/unilabos/resources/bioyond/bottles.py index 7d241a73..c509e883 100644 --- a/unilabos/resources/bioyond/bottles.py +++ b/unilabos/resources/bioyond/bottles.py @@ -90,3 +90,89 @@ def BIOYOND_PolymerStation_Reagent_Bottle( barcode=barcode, model="BIOYOND_PolymerStation_Reagent_Bottle", ) + + +def BIOYOND_PolymerStation_Reactor( + name: str, + diameter: float = 30.0, + height: float = 80.0, + max_volume: float = 50000.0, # 50mL + barcode: str = None, +) -> Bottle: + """创建反应器""" + return Bottle( + name=name, + diameter=diameter, + height=height, + max_volume=max_volume, + barcode=barcode, + model="BIOYOND_PolymerStation_Reactor", + ) + + +def BIOYOND_PolymerStation_TipBox( + name: str, + size_x: float = 127.76, # 枪头盒宽度 + size_y: float = 85.48, # 枪头盒长度 + size_z: float = 100.0, # 枪头盒高度 + barcode: str = None, +): + """创建4×6枪头盒 (24个枪头) + + Args: + name: 枪头盒名称 + size_x: 枪头盒宽度 (mm) + size_y: 枪头盒长度 (mm) + size_z: 枪头盒高度 (mm) + barcode: 条形码 + + Returns: + TipBoxCarrier: 包含24个枪头孔位的枪头盒 + """ + from pylabrobot.resources import Container, Coordinate + + # 创建枪头盒容器 + tip_box = Container( + name=name, + size_x=size_x, + size_y=size_y, + size_z=size_z, + category="tip_rack", + model="BIOYOND_PolymerStation_TipBox_4x6", + ) + + # 设置自定义属性 + tip_box.barcode = barcode + tip_box.tip_count = 24 # 4行×6列 + tip_box.num_items_x = 6 # 6列 + tip_box.num_items_y = 4 # 4行 + + # 创建24个枪头孔位 (4行×6列) + # 假设孔位间距为 9mm + tip_spacing_x = 9.0 # 列间距 + tip_spacing_y = 9.0 # 行间距 + start_x = 14.38 # 第一个孔位的x偏移 + start_y = 11.24 # 第一个孔位的y偏移 + + for row in range(4): # A, B, C, D + for col in range(6): # 1-6 + spot_name = f"{chr(65 + row)}{col + 1}" # A1, A2, ..., D6 + x = start_x + col * tip_spacing_x + y = start_y + row * tip_spacing_y + + # 创建枪头孔位容器 + tip_spot = Container( + name=spot_name, + size_x=8.0, # 单个枪头孔位大小 + size_y=8.0, + size_z=size_z - 10.0, # 略低于盒子高度 + category="tip_spot", + ) + + # 添加到枪头盒 + tip_box.assign_child_resource( + tip_spot, + location=Coordinate(x=x, y=y, z=0) + ) + + return tip_box diff --git a/unilabos/resources/bioyond/decks.py b/unilabos/resources/bioyond/decks.py index fa242c3d..187f17e8 100644 --- a/unilabos/resources/bioyond/decks.py +++ b/unilabos/resources/bioyond/decks.py @@ -1,12 +1,27 @@ from os import name from pylabrobot.resources import Deck, Coordinate, Rotation -from unilabos.resources.bioyond.warehouses import bioyond_warehouse_1x4x4, bioyond_warehouse_1x4x2, bioyond_warehouse_liquid_and_lid_handling, bioyond_warehouse_1x2x2, bioyond_warehouse_1x3x3, bioyond_warehouse_10x1x1, bioyond_warehouse_3x3x1, bioyond_warehouse_3x3x1_2, bioyond_warehouse_5x1x1 +from unilabos.resources.bioyond.warehouses import ( + bioyond_warehouse_1x4x4, + bioyond_warehouse_1x4x4_right, # 新增：右侧仓库 (A05～D08) + bioyond_warehouse_1x4x2, + bioyond_warehouse_liquid_and_lid_handling, + bioyond_warehouse_1x2x2, + bioyond_warehouse_1x3x3, + bioyond_warehouse_10x1x1, + bioyond_warehouse_3x3x1, + bioyond_warehouse_3x3x1_2, + bioyond_warehouse_5x1x1, + bioyond_warehouse_1x8x4, + bioyond_warehouse_reagent_storage, + bioyond_warehouse_liquid_preparation, + bioyond_warehouse_tipbox_storage, # 新增：Tip盒堆栈 +) class BIOYOND_PolymerReactionStation_Deck(Deck): def __init__( - self, + self, name: str = "PolymerReactionStation_Deck", size_x: float = 2700.0, size_y: float = 1080.0, @@ -20,15 +35,22 @@ class BIOYOND_PolymerReactionStation_Deck(Deck): def setup(self) -> None: # 添加仓库 + # 说明: 堆栈1物理上分为左右两部分 + # - 堆栈1左: A01～D04 (4行×4列, 位于反应站左侧) + # - 堆栈1右: A05～D08 (4行×4列, 位于反应站右侧) self.warehouses = { - "堆栈1": bioyond_warehouse_1x4x4("堆栈1"), - "堆栈2": bioyond_warehouse_1x4x4("堆栈2"), - "站内试剂存放堆栈": bioyond_warehouse_liquid_and_lid_handling("站内试剂存放堆栈"), + "堆栈1左": bioyond_warehouse_1x4x4("堆栈1左"), # 左侧堆栈: A01～D04 + "堆栈1右": bioyond_warehouse_1x4x4_right("堆栈1右"), # 右侧堆栈: A05～D08 + "站内试剂存放堆栈": bioyond_warehouse_reagent_storage("站内试剂存放堆栈"), # A01～A02 + "移液站内10%分装液体准备仓库": bioyond_warehouse_liquid_preparation("移液站内10%分装液体准备仓库"), # A01～B04 + "站内Tip盒堆栈": bioyond_warehouse_tipbox_storage("站内Tip盒堆栈"), # A01～B03, 存放枪头盒 } self.warehouse_locations = { - "堆栈1": Coordinate(0.0, 430.0, 0.0), - "堆栈2": Coordinate(2550.0, 430.0, 0.0), - "站内试剂存放堆栈": Coordinate(800.0, 475.0, 0.0), + "堆栈1左": Coordinate(0.0, 430.0, 0.0), # 左侧位置 + "堆栈1右": Coordinate(2500.0, 430.0, 0.0), # 右侧位置 + "站内试剂存放堆栈": Coordinate(1100.0, 475.0, 0.0), + "移液站内10%分装液体准备仓库": Coordinate(1500.0, 300.0, 0.0), + "站内Tip盒堆栈": Coordinate(1800.0, 300.0, 0.0), # TODO: 根据实际位置调整坐标 } self.warehouses["站内试剂存放堆栈"].rotation = Rotation(z=90) @@ -38,7 +60,7 @@ class BIOYOND_PolymerReactionStation_Deck(Deck): class BIOYOND_PolymerPreparationStation_Deck(Deck): def __init__( - self, + self, name: str = "PolymerPreparationStation_Deck", size_x: float = 2700.0, size_y: float = 1080.0, @@ -70,7 +92,7 @@ class BIOYOND_PolymerPreparationStation_Deck(Deck): class BIOYOND_YB_Deck(Deck): def __init__( - self, + self, name: str = "YB_Deck", size_x: float = 4150, size_y: float = 1400.0, @@ -114,7 +136,7 @@ class BIOYOND_YB_Deck(Deck): for warehouse_name, warehouse in self.warehouses.items(): self.assign_child_resource(warehouse, location=self.warehouse_locations[warehouse_name]) - + def YB_Deck(name: str) -> Deck: by=BIOYOND_YB_Deck(name=name) by.setup() diff --git a/unilabos/resources/bioyond/warehouses.py b/unilabos/resources/bioyond/warehouses.py index a4bd46c4..66697be6 100644 --- a/unilabos/resources/bioyond/warehouses.py +++ b/unilabos/resources/bioyond/warehouses.py @@ -2,7 +2,7 @@ from unilabos.resources.warehouse import WareHouse, warehouse_factory def bioyond_warehouse_1x4x4(name: str) -> WareHouse: - """创建BioYond 4x1x4仓库""" + """创建BioYond 4x4x1仓库 (左侧堆栈: A01～D04)""" return warehouse_factory( name=name, num_items_x=4, @@ -15,6 +15,25 @@ def bioyond_warehouse_1x4x4(name: str) -> WareHouse: item_dy=106.0, item_dz=130.0, category="warehouse", + col_offset=0, # 从01开始: A01, A02, A03, A04 + ) + + +def bioyond_warehouse_1x4x4_right(name: str) -> WareHouse: + """创建BioYond 4x4x1仓库 (右侧堆栈: A05～D08)""" + return warehouse_factory( + name=name, + num_items_x=4, + num_items_y=4, + num_items_z=1, + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=147.0, + item_dy=106.0, + item_dz=130.0, + category="warehouse", + col_offset=4, # 从05开始: A05, A06, A07, A08 ) @@ -158,4 +177,72 @@ def bioyond_warehouse_liquid_and_lid_handling(name: str) -> WareHouse: item_dz=120.0, category="warehouse", removed_positions=None + ) + + +def bioyond_warehouse_1x8x4(name: str) -> WareHouse: + """创建BioYond 8x4x1反应站堆栈（A01～D08）""" + return warehouse_factory( + name=name, + num_items_x=8, # 8列（01-08） + num_items_y=4, # 4行（A-D） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=147.0, + item_dy=106.0, + item_dz=130.0, + category="warehouse", + ) + + +def bioyond_warehouse_reagent_storage(name: str) -> WareHouse: + """创建BioYond站内试剂存放堆栈（A01～A02, 1行×2列）""" + return warehouse_factory( + name=name, + num_items_x=2, # 2列（01-02） + num_items_y=1, # 1行（A） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + + +def bioyond_warehouse_liquid_preparation(name: str) -> WareHouse: + """创建BioYond移液站内10%分装液体准备仓库（A01～B04）""" + return warehouse_factory( + name=name, + num_items_x=4, # 4列（01-04） + num_items_y=2, # 2行（A-B） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", + ) + + +def bioyond_warehouse_tipbox_storage(name: str) -> WareHouse: + """创建BioYond站内Tip盒堆栈（A01～B03），用于存放枪头盒""" + return warehouse_factory( + name=name, + num_items_x=3, # 3列（01-03） + num_items_y=2, # 2行（A-B） + num_items_z=1, # 1层 + dx=10.0, + dy=10.0, + dz=10.0, + item_dx=137.0, + item_dy=96.0, + item_dz=120.0, + category="warehouse", ) \ No newline at end of file diff --git a/unilabos/resources/graphio.py b/unilabos/resources/graphio.py index b6cec380..28edcae4 100644 --- a/unilabos/resources/graphio.py +++ b/unilabos/resources/graphio.py @@ -580,6 +580,8 @@ def resource_plr_to_ulab(resource_plr: "ResourcePLR", parent_name: str = None, w "trash": "trash", "deck": "deck", "tip_rack": "tip_rack", + "warehouse": "warehouse", + "container": "container", } if source in replace_info: return replace_info[source] @@ -632,9 +634,24 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st type_mapping.get(material.get("typeName"), ("RegularContainer", ""))[0] if type_mapping else "RegularContainer" ) - plr_material: ResourcePLR = initialize_resource( + plr_material_result = initialize_resource( {"name": material["name"], "class": className}, resource_type=ResourcePLR ) + + # initialize_resource 可能返回列表或单个对象 + if isinstance(plr_material_result, list): + if len(plr_material_result) == 0: + logger.warning(f"物料 {material['name']} 初始化失败，跳过") + continue + plr_material = plr_material_result[0] + else: + plr_material = plr_material_result + + # 确保 plr_material 是 ResourcePLR 实例 + if not isinstance(plr_material, ResourcePLR): + logger.warning(f"物料 {material['name']} 不是有效的 ResourcePLR 实例，类型: {type(plr_material)}") + continue + plr_material.code = material.get("code", "") and material.get("barCode", "") or "" plr_material.unilabos_uuid = str(uuid.uuid4()) @@ -659,25 +676,66 @@ def resource_bioyond_to_plr(bioyond_materials: list[dict], type_mapping: Dict[st ] bottle.code = detail.get("code", "") else: - bottle = plr_material[0] if plr_material.capacity > 0 else plr_material - bottle.tracker.liquids = [ - (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0) - ] + # 只对有 capacity 属性的容器（液体容器）处理液体追踪 + if hasattr(plr_material, 'capacity'): + bottle = plr_material[0] if plr_material.capacity > 0 else plr_material + bottle.tracker.liquids = [ + (material["name"], float(material.get("quantity", 0)) if material.get("quantity") else 0) + ] plr_materials.append(plr_material) if deck and hasattr(deck, "warehouses"): for loc in material.get("locations", []): - if hasattr(deck, "warehouses") and loc.get("whName") in deck.warehouses: - warehouse = deck.warehouses[loc["whName"]] - idx = ( - (loc.get("y", 0) - 1) * warehouse.num_items_x * warehouse.num_items_y - + (loc.get("x", 0) - 1) * warehouse.num_items_x - + (loc.get("z", 0) - 1) - ) + wh_name = loc.get("whName") + + # 特殊处理: Bioyond的"堆栈1"需要映射到"堆栈1左"或"堆栈1右" + # 根据列号(x)判断: 1-4映射到左侧, 5-8映射到右侧 + if wh_name == "堆栈1": + x_val = loc.get("x", 1) + if 1 <= x_val <= 4: + wh_name = "堆栈1左" + elif 5 <= x_val <= 8: + wh_name = "堆栈1右" + else: + logger.warning(f"物料 {material['name']} 的列号 x={x_val} 超出范围，无法映射到堆栈1左或堆栈1右") + continue + + if hasattr(deck, "warehouses") and wh_name in deck.warehouses: + warehouse = deck.warehouses[wh_name] + + # Bioyond坐标映射 (重要！): x→行(1=A,2=B...), y→列(1=01,2=02...), z→层(通常=1) + # PyLabRobot warehouse是列优先存储: A01,B01,C01,D01, A02,B02,C02,D02, ... + x = loc.get("x", 1) # 行号 (1-based: 1=A, 2=B, 3=C, 4=D) + y = loc.get("y", 1) # 列号 (1-based: 1=01, 2=02, 3=03...) + z = loc.get("z", 1) # 层号 (1-based, 通常为1) + + # 如果是右侧堆栈，需要调整列号 (5→1, 6→2, 7→3, 8→4) + if wh_name == "堆栈1右": + y = y - 4 # 将5-8映射到1-4 + + # 特殊处理：对于1行×N列的横向warehouse（如站内试剂存放堆栈） + # Bioyond的y坐标表示线性位置序号，而不是列号 + if warehouse.num_items_y == 1: + # 1行warehouse: 直接用y作为线性索引 + idx = y - 1 + logger.debug(f"1行warehouse {wh_name}: y={y} → idx={idx}") + else: + # 多行warehouse: 使用列优先索引 (与Bioyond坐标系统一致) + # warehouse keys顺序: A01,B01,C01,D01, A02,B02,C02,D02, ... + # 索引计算: idx = (col-1) * num_rows + (row-1) + (layer-1) * (rows * cols) + row_idx = x - 1 # x表示行: 转为0-based + col_idx = y - 1 # y表示列: 转为0-based + layer_idx = z - 1 # 转为0-based + idx = layer_idx * (warehouse.num_items_x * warehouse.num_items_y) + col_idx * warehouse.num_items_y + row_idx + logger.debug(f"多行warehouse {wh_name}: x={x}(行),y={y}(列) → row={row_idx},col={col_idx} → idx={idx}") + if 0 <= idx < warehouse.capacity: if warehouse[idx] is None or isinstance(warehouse[idx], ResourceHolder): warehouse[idx] = plr_material + logger.debug(f"✅ 物料 {material['name']} 放置到 {wh_name}[{idx}] (Bioyond坐标: x={loc.get('x')}, y={loc.get('y')})") + else: + logger.warning(f"物料 {material['name']} 的索引 {idx} 超出仓库 {wh_name} 容量 {warehouse.capacity}") return plr_materials @@ -714,8 +772,8 @@ def resource_plr_to_bioyond(plr_resources: list[ResourcePLR], type_mapping: dict bottle = resource[0] if resource.capacity > 0 else resource material = { "typeId": "3a14196b-24f2-ca49-9081-0cab8021bf1a", - "name": resource.get("name", ""), - "unit": "", + "name": resource.name if hasattr(resource, "name") else "", + "unit": "个", # 修复：Bioyond API 要求 unit 字段不能为空 "quantity": sum(qty for _, qty in bottle.tracker.liquids) if hasattr(bottle, "tracker") else 0, "Parameters": "{}" } @@ -759,6 +817,8 @@ def initialize_resource(resource_config: dict, resource_type: Any = None) -> Uni elif type(resource_class_config) == str: # Allow special resource class names to be used if resource_class_config not in lab_registry.resource_type_registry: + logger.warning(f"❌ 类 {resource_class_config} 不在 registry 中，返回原始配置") + logger.debug(f" 可用的类: {list(lab_registry.resource_type_registry.keys())[:10]}...") return [resource_config] # If the resource class is a string, look up the class in the # resource_type_registry and import it diff --git a/unilabos/resources/warehouse.py b/unilabos/resources/warehouse.py index c665b7fa..198971d0 100644 --- a/unilabos/resources/warehouse.py +++ b/unilabos/resources/warehouse.py @@ -23,6 +23,7 @@ def warehouse_factory( empty: bool = False, category: str = "warehouse", model: Optional[str] = None, + col_offset: int = 0, # 新增：列起始偏移量，用于生成A05-D08等命名 ): # 创建16个板架位 (4层 x 4位置) locations = [] @@ -44,9 +45,11 @@ def warehouse_factory( name_prefix=name, ) len_x, len_y = (num_items_x, num_items_y) if num_items_z == 1 else (num_items_y, num_items_z) if num_items_x == 1 else (num_items_x, num_items_z) - keys = [f"{LETTERS[j]}{i + 1}" for i in range(len_x) for j in range(len_y)] + # 应用列偏移量，支持A05-D08等命名 + # 使用列优先顺序生成keys (与Bioyond坐标系统一致): A01,B01,C01,D01, A02,B02,C02,D02, ... + keys = [f"{LETTERS[j]}{i + 1 + col_offset:02d}" for i in range(len_x) for j in range(len_y)] sites = {i: site for i, site in zip(keys, _sites.values())} - + return WareHouse( name=name, size_x=dx + item_dx * num_items_x, diff --git a/unilabos/ros/nodes/resource_tracker.py b/unilabos/ros/nodes/resource_tracker.py index c958fe7b..020e966b 100644 --- a/unilabos/ros/nodes/resource_tracker.py +++ b/unilabos/ros/nodes/resource_tracker.py @@ -848,9 +848,15 @@ class DeviceNodeResourceTracker(object): extra: extra字典值 """ if isinstance(resource, dict): - resource["extra"] = extra + # ⭐ 修复：合并extra而不是覆盖 + current_extra = resource.get("extra", {}) + current_extra.update(extra) + resource["extra"] = current_extra else: - setattr(resource, "unilabos_extra", extra) + # ⭐ 修复：合并unilabos_extra而不是覆盖 + current_extra = getattr(resource, "unilabos_extra", {}) + current_extra.update(extra) + setattr(resource, "unilabos_extra", current_extra) def _traverse_and_process(self, resource, process_func) -> int: """