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1020_YB奔耀仿真机同步对齐dev_unilab可控

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待修改unilab的http服务
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lixinyu1011
2025-10-20 12:48:19 +08:00
parent 9f7c3f02f9
commit d2352cc514
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unilabos/devices/workstation/bioyond_studio/bioyond_cell/2025092701.xlsx Normal file
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# -*- coding: utf-8 -*-
from cgi import print_arguments
from doctest import debug
from typing import Dict, Any, List, Optional
import requests
from pathlib import Path
import pandas as pd
import time
from datetime import datetime, timedelta
import re
import threading
from urllib3 import response
from unilabos.devices.workstation.workstation_base import WorkstationBase
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
from unilabos.utils.log import logger
from pylabrobot.resources.deck import Deck
def _iso_local_now_ms() -> str:
# 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
dt = datetime.now()
# print(dt)
return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z"
class BioyondCellWorkstation(WorkstationBase):
"""
集成 Bioyond LIMS 的工作站示例，
覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) →
运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) →
查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
"""
def __init__(
self,
bioyond_config: Optional[Dict[str, Any]] = None,
station_resource: Optional[Dict[str, Any]] = None,
*args, **kwargs,
):
self.bioyond_config = bioyond_config or {
"base_url": "http://172.16.11.219:44388",
"api_key": "8A819E5C",
"timeout": 30,
"report_token": "CHANGE_ME_TOKEN",
"HTTP_host": "192.168.1.104",
"HTTP_port": 8080,
"debug_mode": False
} # report_token ：unilab自己的令牌report_token（0928未启用）
self.debug_mode = self.bioyond_config["debug_mode"]
self.http_service_started = False
super().__init__(station_resource=station_resource, *args, **kwargs)
logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
# 实例化并在后台线程启动 HTTP 报送服务
self.order_status = {} # 记录任务完成情况，用于接受bioyond post信息和反馈信息，尤其用于硬件查询和物料信息变化
try:
logger.info("准备开始unilab_HTTP后台线程")
t = threading.Thread(target=self._start_http_service, daemon=True, name="unilab_http")
t.start()
except Exception as e:
logger.error(f"unilab-HTTP后台线程启动失败: {e}")
def _start_http_service(self, host: Optional[str] = None, port: Optional[int] = None) -> None:
host = host or self.bioyond_config.get("HTTP_host", "")
port = port or self.bioyond_config.get("HTTP_port", )
logger.info("准备开始unilab_HTTP服务")
try:
self.service = WorkstationHTTPService(self, host=host, port=port)
logger.info("WorkstationHTTPService 实例化完成")
self.service.start()
self.http_service_started = True
logger.info(f"WorkstationHTTPService成功启动: {host}:{port}")
#一直挂着，直到进程退出
while True:
time.sleep(1)
except Exception as e:
self.http_service_started = False # 调试用
logger.error(f"启动WorkstationHTTPService失败: {e}", exc_info=True)
# -------------------- 基础HTTP封装 --------------------
def _url(self, path: str) -> str:
return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}"
def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]:
"""LIMS API：大多数接口用 {apiKey/requestTime,data} 包装"""
payload = {
"apiKey": self.bioyond_config["api_key"],
"requestTime": _iso_local_now_ms()
}
if data is not None:
payload["data"] = data
if self.debug_mode:
# 模拟返回，不发真实请求
logger.info(f"[DEBUG] POST {path} with payload={payload}")
return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
try:
response = requests.post(
self._url(path),
json=payload,
timeout=self.bioyond_config.get("timeout", 30),
headers={"Content-Type": "application/json"}
) # 拼接网址+post bioyond接口
response.raise_for_status()
return response.json()
except Exception as e:
logger.info(f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}")
logger.error(f"POST {path} 失败: {e}")
return {"error": str(e)}
# -------------------- 单点接口封装 --------------------
# 2.17 入库物料（单个）
def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]:
return self._post_lims("/api/lims/storage/inbound", {
"materialId": material_id,
"locationId": location_id
})
# 2.18 批量入库（多个）
def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]:
"""
items = [{"materialId": "...", "locationId": "..."}, ...]
"""
return self._post_lims("/api/lims/storage/batch-inbound", items)
def auto_feeding4to3(
self,
# ★ 修改点：默认模板路径
xlsx_path: Optional[str] = "unilabos/devices/workstation/bioyond_cell/样品导入模板.xlsx",
# ---------------- WH4 - 加样头面 (Z=1, 12个点位) ----------------
WH4_x1_y1_z1_1_materialName: str = "", WH4_x1_y1_z1_1_quantity: float = 0.0,
WH4_x2_y1_z1_2_materialName: str = "", WH4_x2_y1_z1_2_quantity: float = 0.0,
WH4_x3_y1_z1_3_materialName: str = "", WH4_x3_y1_z1_3_quantity: float = 0.0,
WH4_x4_y1_z1_4_materialName: str = "", WH4_x4_y1_z1_4_quantity: float = 0.0,
WH4_x5_y1_z1_5_materialName: str = "", WH4_x5_y1_z1_5_quantity: float = 0.0,
WH4_x1_y2_z1_6_materialName: str = "", WH4_x1_y2_z1_6_quantity: float = 0.0,
WH4_x2_y2_z1_7_materialName: str = "", WH4_x2_y2_z1_7_quantity: float = 0.0,
WH4_x3_y2_z1_8_materialName: str = "", WH4_x3_y2_z1_8_quantity: float = 0.0,
WH4_x4_y2_z1_9_materialName: str = "", WH4_x4_y2_z1_9_quantity: float = 0.0,
WH4_x5_y2_z1_10_materialName: str = "", WH4_x5_y2_z1_10_quantity: float = 0.0,
WH4_x1_y3_z1_11_materialName: str = "", WH4_x1_y3_z1_11_quantity: float = 0.0,
WH4_x2_y3_z1_12_materialName: str = "", WH4_x2_y3_z1_12_quantity: float = 0.0,
# ---------------- WH4 - 原液瓶面 (Z=2, 9个点位) ----------------
WH4_x1_y1_z2_1_materialName: str = "", WH4_x1_y1_z2_1_quantity: float = 0.0, WH4_x1_y1_z2_1_materialType: str = "", WH4_x1_y1_z2_1_targetWH: str = "",
WH4_x2_y1_z2_2_materialName: str = "", WH4_x2_y1_z2_2_quantity: float = 0.0, WH4_x2_y1_z2_2_materialType: str = "", WH4_x2_y1_z2_2_targetWH: str = "",
WH4_x3_y1_z2_3_materialName: str = "", WH4_x3_y1_z2_3_quantity: float = 0.0, WH4_x3_y1_z2_3_materialType: str = "", WH4_x3_y1_z2_3_targetWH: str = "",
WH4_x1_y2_z2_4_materialName: str = "", WH4_x1_y2_z2_4_quantity: float = 0.0, WH4_x1_y2_z2_4_materialType: str = "", WH4_x1_y2_z2_4_targetWH: str = "",
WH4_x2_y2_z2_5_materialName: str = "", WH4_x2_y2_z2_5_quantity: float = 0.0, WH4_x2_y2_z2_5_materialType: str = "", WH4_x2_y2_z2_5_targetWH: str = "",
WH4_x3_y2_z2_6_materialName: str = "", WH4_x3_y2_z2_6_quantity: float = 0.0, WH4_x3_y2_z2_6_materialType: str = "", WH4_x3_y2_z2_6_targetWH: str = "",
WH4_x1_y3_z2_7_materialName: str = "", WH4_x1_y3_z2_7_quantity: float = 0.0, WH4_x1_y3_z2_7_materialType: str = "", WH4_x1_y3_z2_7_targetWH: str = "",
WH4_x2_y3_z2_8_materialName: str = "", WH4_x2_y3_z2_8_quantity: float = 0.0, WH4_x2_y3_z2_8_materialType: str = "", WH4_x2_y3_z2_8_targetWH: str = "",
WH4_x3_y3_z2_9_materialName: str = "", WH4_x3_y3_z2_9_quantity: float = 0.0, WH4_x3_y3_z2_9_materialType: str = "", WH4_x3_y3_z2_9_targetWH: str = "",
# ---------------- WH3 - 人工堆栈 (Z=3, 15个点位) ----------------
WH3_x1_y1_z3_1_materialType: str = "", WH3_x1_y1_z3_1_materialId: str = "", WH3_x1_y1_z3_1_quantity: float = 0,
WH3_x2_y1_z3_2_materialType: str = "", WH3_x2_y1_z3_2_materialId: str = "", WH3_x2_y1_z3_2_quantity: float = 0,
WH3_x3_y1_z3_3_materialType: str = "", WH3_x3_y1_z3_3_materialId: str = "", WH3_x3_y1_z3_3_quantity: float = 0,
WH3_x1_y2_z3_4_materialType: str = "", WH3_x1_y2_z3_4_materialId: str = "", WH3_x1_y2_z3_4_quantity: float = 0,
WH3_x2_y2_z3_5_materialType: str = "", WH3_x2_y2_z3_5_materialId: str = "", WH3_x2_y2_z3_5_quantity: float = 0,
WH3_x3_y2_z3_6_materialType: str = "", WH3_x3_y2_z3_6_materialId: str = "", WH3_x3_y2_z3_6_quantity: float = 0,
WH3_x1_y3_z3_7_materialType: str = "", WH3_x1_y3_z3_7_materialId: str = "", WH3_x1_y3_z3_7_quantity: float = 0,
WH3_x2_y3_z3_8_materialType: str = "", WH3_x2_y3_z3_8_materialId: str = "", WH3_x2_y3_z3_8_quantity: float = 0,
WH3_x3_y3_z3_9_materialType: str = "", WH3_x3_y3_z3_9_materialId: str = "", WH3_x3_y3_z3_9_quantity: float = 0,
WH3_x1_y4_z3_10_materialType: str = "", WH3_x1_y4_z3_10_materialId: str = "", WH3_x1_y4_z3_10_quantity: float = 0,
WH3_x2_y4_z3_11_materialType: str = "", WH3_x2_y4_z3_11_materialId: str = "", WH3_x2_y4_z3_11_quantity: float = 0,
WH3_x3_y4_z3_12_materialType: str = "", WH3_x3_y4_z3_12_materialId: str = "", WH3_x3_y4_z3_12_quantity: float = 0,
WH3_x1_y5_z3_13_materialType: str = "", WH3_x1_y5_z3_13_materialId: str = "", WH3_x1_y5_z3_13_quantity: float = 0,
WH3_x2_y5_z3_14_materialType: str = "", WH3_x2_y5_z3_14_materialId: str = "", WH3_x2_y5_z3_14_quantity: float = 0,
WH3_x3_y5_z3_15_materialType: str = "", WH3_x3_y5_z3_15_materialId: str = "", WH3_x3_y5_z3_15_quantity: float = 0,
):
"""
自动化上料（支持两种模式）
- Excel 路径存在 → 从 Excel 模板解析
- Excel 路径不存在 → 使用手动参数
"""
items: List[Dict[str, Any]] = []
# ---------- 模式 1: Excel 导入 ----------
if xlsx_path:
path = Path(xlsx_path)
if path.exists(): # ★ 修改点：路径存在才加载
try:
df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
except Exception as e:
raise RuntimeError(f"读取 Excel 失败：{e}")
# 四号手套箱加样头面
for _, row in df.iloc[1:13, 2:7].iterrows():
if pd.notna(row[5]):
items.append({
"sourceWHName": "WH4",
"posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
"materialName": str(row[5]).strip(),
"quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
})
# 四号手套箱原液瓶面
for _, row in df.iloc[14:23, 2:9].iterrows():
if pd.notna(row[5]):
items.append({
"sourceWHName": "WH4",
"posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
"materialName": str(row[5]).strip(),
"quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
"materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
"targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
})
# 三号手套箱人工堆栈
for _, row in df.iloc[25:40, 2:7].iterrows():
if pd.notna(row[5]) or pd.notna(row[6]):
items.append({
"sourceWHName": "WH3",
"posX": int(row[2]), "posY": int(row[3]), "posZ": int(row[4]),
"materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
"materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
"quantity": 1
})
else:
logger.warning(f"未找到 Excel 文件 {xlsx_path}，自动切换到手动参数模式。")
# ---------- 模式 2: 手动填写 ----------
if not items:
params = locals()
for name, value in params.items():
if name.startswith("WH4") and "materialName" in name and value:
idx = name.split("_")
items.append({
"sourceWHName": "WH4",
"posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]),
"materialName": value,
"quantity": float(params.get(name.replace("materialName", "quantity"), 0.0))
})
elif name.startswith("WH4") and "materialType" in name and (value or params.get(name.replace("materialType", "materialName"), "")):
idx = name.split("_")
items.append({
"sourceWHName": "WH4",
"posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]),
"materialName": params.get(name.replace("materialType", "materialName"), ""),
"quantity": float(params.get(name.replace("materialType", "quantity"), 0.0)),
"materialType": value,
"targetWH": params.get(name.replace("materialType", "targetWH"), ""),
})
elif name.startswith("WH3") and "materialType" in name and (value or params.get(name.replace("materialType", "materialId"), "")):
idx = name.split("_")
items.append({
"sourceWHName": "WH3",
"posX": int(idx[1][1:]), "posY": int(idx[2][1:]), "posZ": int(idx[3][1:]),
"materialType": value,
"materialId": params.get(name.replace("materialType", "materialId"), ""),
"quantity": int(params.get(name.replace("materialType", "quantity"), 1)),
})
if not items:
logger.warning("没有有效的上料条目，已跳过提交。")
return {"code": 0, "message": "no valid items", "data": []}
return self._post_lims("/api/lims/order/auto-feeding4to3", items)
# 3.30 自动化上料(老版本)
def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
"""
根据固定模板解析 Excel：
- 四号手套箱加样头面 (2-13行, 3-7列)
- 四号手套箱原液瓶面 (15-23行, 3-9列)
- 三号手套箱人工堆栈 (26-40行, 3-7列)
"""
path = Path(xlsx_path)
if not path.exists():
raise FileNotFoundError(f"未找到 Excel 文件：{path}")
try:
df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
except Exception as e:
raise RuntimeError(f"读取 Excel 失败：{e}")
items: List[Dict[str, Any]] = []
# 四号手套箱 - 加样头面（2-13行, 3-7列）
for _, row in df.iloc[1:13, 2:7].iterrows():
item = {
"sourceWHName": "四号手套箱堆栈",
"posX": int(row[2]),
"posY": int(row[3]),
"posZ": int(row[4]),
"materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
"quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
}
if item["materialName"]:
items.append(item)
# 四号手套箱 - 原液瓶面（15-23行, 3-9列）
for _, row in df.iloc[14:23, 2:9].iterrows():
item = {
"sourceWHName": "四号手套箱堆栈",
"posX": int(row[2]),
"posY": int(row[3]),
"posZ": int(row[4]),
"materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
"quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
"materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
"targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
}
if item["materialName"]:
items.append(item)
# 三号手套箱人工堆栈（26-40行, 3-7列）
for _, row in df.iloc[25:40, 2:7].iterrows():
item = {
"sourceWHName": "三号手套箱人工堆栈",
"posX": int(row[2]),
"posY": int(row[3]),
"posZ": int(row[4]),
"materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
"materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
"quantity": 1 # 默认数量1
}
if item["materialId"] or item["materialType"]:
items.append(item)
return self._post_lims("/api/lims/order/auto-feeding4to3", items)
def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
"""
3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
"""
path = Path(xlsx_path)
if not path.exists():
raise FileNotFoundError(f"未找到 Excel 文件：{path}")
try:
df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
except Exception as e:
raise RuntimeError(f"读取 Excel 失败：{e}")
def pick(names: List[str]) -> Optional[str]:
for n in names:
if n in df.columns:
return n
return None
c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"])
c_wh = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"])
c_qty = pick(["数量", "quantity"])
c_x = pick(["x", "X", "posX", "坐标X"])
c_y = pick(["y", "Y", "posY", "坐标Y"])
c_z = pick(["z", "Z", "posZ", "坐标Z"])
required = [c_loc, c_wh, c_qty, c_x, c_y, c_z]
if any(c is None for c in required):
raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。")
def as_int(v, d=0):
try:
if pd.isna(v): return d
return int(v)
except Exception:
try:
return int(float(v))
except Exception:
return d
def as_float(v, d=0.0):
try:
if pd.isna(v): return d
return float(v)
except Exception:
return d
def as_str(v, d=""):
if v is None or (isinstance(v, float) and pd.isna(v)): return d
s = str(v).strip()
return s if s else d
items: List[Dict[str, Any]] = []
for _, row in df.iterrows():
items.append({
"locationId": as_str(row[c_loc]),
"warehouseId": as_str(row[c_wh]),
"quantity": as_float(row[c_qty]),
"x": as_int(row[c_x]),
"y": as_int(row[c_y]),
"z": as_int(row[c_z]),
})
return self._post_lims("/api/lims/storage/auto-batch-out-bound", items)
# 2.14 新建实验
def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
"""
从 Excel 解析并创建实验（2.14）
约定：
- batchId = Excel 文件名（不含扩展名）
- 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列）
- totalMass 自动计算为所有物料质量之和
- createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
"""
path = Path(xlsx_path)
if not path.exists():
raise FileNotFoundError(f"未找到 Excel 文件：{path}")
try:
df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
except Exception as e:
raise RuntimeError(f"读取 Excel 失败：{e}")
# 列名容错：返回可选列名，找不到则返回 None
def _pick(col_names: List[str]) -> Optional[str]:
for c in col_names:
if c in df.columns:
return c
return None
col_order_name = _pick(["配方ID", "orderName", "订单编号"])
col_create_time = _pick(["创建日期", "createTime"])
col_bottle_type = _pick(["配液瓶类型", "bottleType"])
col_mix_time = _pick(["混匀时间(s)", "mixTime"])
col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"])
col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
# 物料列：所有以 (g) 结尾
material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
if not material_cols:
raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
batch_id = path.stem
def _to_ymd_slash(v) -> str:
# 统一为 "YYYY/M/D"；为空或解析失败则用当前日期
if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "":
ts = datetime.now()
else:
try:
ts = pd.to_datetime(v)
except Exception:
ts = datetime.now()
return f"{ts.year}/{ts.month}/{ts.day}"
def _as_int(val, default=0) -> int:
try:
if pd.isna(val):
return default
return int(val)
except Exception:
return default
def _as_str(val, default="") -> str:
if val is None or (isinstance(val, float) and pd.isna(val)):
return default
s = str(val).strip()
return s if s else default
orders: List[Dict[str, Any]] = []
for idx, row in df.iterrows():
mats: List[Dict[str, Any]] = []
total_mass = 0.0
for mcol in material_cols:
val = row.get(mcol, None)
if val is None or (isinstance(val, float) and pd.isna(val)):
continue
try:
mass = float(val)
except Exception:
continue
if mass > 0:
mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
total_mass += mass
order_data = {
"batchId": batch_id,
"orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}",
"createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
"bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
"mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
"loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
"pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
"conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
"conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
"materialInfos": mats,
"totalMass": round(total_mass, 4) # 自动汇总
}
orders.append(order_data)
# print(orders)
while True:
time.sleep(5)
response = self._post_lims("/api/lims/order/orders", orders)
if response.get("data", []):
break
logger.info(f"等待配液实验创建完成")
# self.order_status[response["data"]["orderCode"]] = "running"
# while True:
# time.sleep(5)
# if self.order_status.get(response["data"]["orderCode"], None) == "finished":
# logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运")
# break
# logger.info(f"等待配液实验完成")
# self.transfer_3_to_2_to_1()
# self.wait_for_transfer_task()
# logger.info(f"3-2-1 转运完成，返回结果")
# return r321
return response
# 2.7 启动调度
def scheduler_start(self) -> Dict[str, Any]:
return self._post_lims("/api/lims/scheduler/start")
# 3.10 停止调度
def scheduler_stop(self) -> Dict[str, Any]:
"""
停止调度 (3.10)
请求体只包含 apiKey 和 requestTime
"""
return self._post_lims("/api/lims/scheduler/stop")
# 2.9 继续调度
# 2.9 继续调度
def scheduler_continue(self) -> Dict[str, Any]:
"""
继续调度 (2.9)
请求体只包含 apiKey 和 requestTime
"""
return self._post_lims("/api/lims/scheduler/continue")
# 2.24 物料变更推送
def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
"""
material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等）
"""
return self._post_report_raw("/report/material_change", material_obj)
# 2.32 3-2-1 物料转运
def transfer_3_to_2_to_1(self,
# source_wh_id: Optional[str] = None,
source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]:
payload: Dict[str, Any] = {
"sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z
}
if source_wh_id:
payload["sourceWHID"] = source_wh_id
return self._post_lims("/api/lims/order/transfer-task3To2To1", payload)
# 3.35 1→2 物料转运
def transfer_1_to_2(self) -> Dict[str, Any]:
"""
1→2 物料转运
URL: /api/lims/order/transfer-task1To2
只需要 apiKey 和 requestTime
"""
return self._post_lims("/api/lims/order/transfer-task1To2")
# 2.5 批量查询实验报告(post过滤关键字查询)
def order_list_v2(self,
timeType: str = "",
beginTime: str = "",
endTime: str = "",
status: str = "", # 60表示正在运行,80表示完成，90表示失败
filter: str = "",
skipCount: int = 0,
pageCount: int = 1, # 显示多少页数据
sorting: str = "") -> Dict[str, Any]:
"""
批量查询实验报告的详细信息 (2.5)
URL: /api/lims/order/order-list
参数默认值和接口文档保持一致
"""
data: Dict[str, Any] = {
"timeType": timeType,
"beginTime": beginTime,
"endTime": endTime,
"status": status,
"filter": filter,
"skipCount": skipCount,
"pageCount": pageCount,
"sorting": sorting
}
return self._post_lims("/api/lims/order/order-list", data)
# 一直post执行bioyond接口查询任务状态
def wait_for_transfer_task(self, timeout: int = 3000, interval: int = 5, filter_text: Optional[str] = None) -> bool:
"""
轮询查询物料转移任务是否成功完成 (status=80)
- timeout: 最大等待秒数 (默认600秒)
- interval: 轮询间隔秒数 (默认3秒)
返回 True 表示找到并成功完成，False 表示超时未找到
"""
now = datetime.now()
beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ")
endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ")
print(beginTime, endTime)
deadline = time.time() + timeout
while time.time() < deadline:
result = self.order_list_v2(
timeType="",
beginTime=beginTime,
endTime=endTime,
status="",
filter=filter_text,
skipCount=0,
pageCount=1,
sorting=""
)
print(result)
items = result.get("data", {}).get("items", [])
for item in items:
name = item.get("name", "")
status = item.get("status")
# 改成用 filter_text 判断
if (not filter_text or filter_text in name) and status == 80:
logger.info(f"硬件转移动作完成: {name}, status={status}")
return True
logger.info(f"等待中: {name}, status={status}")
time.sleep(interval)
logger.warning("超时未找到成功的物料转移任务")
return False
# --------------------------------
if __name__ == "__main__":
ws = BioyondCellWorkstation()
ws.scheduler_stop()
# re=ws.scheduler_start()
print(re)
# logger.info("调度启动完成")
# ws.scheduler_continue()
# 3.30 上料：读取模板 Excel 自动解析并 POST
# r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板.xlsx")
# ws.wait_for_transfer_task(filter_text="物料转移任务")
# logger.info("4号箱向3号箱转运物料转移任务已完成")
# ws.scheduler_start()
# print(r1["payload"]["data"]) # 调试模式下可直接看到要发的 JSON items
# # 新建实验
# response = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092701.xlsx")
# logger.info(response)
# data_list = response.get("data", [])
# order_name = data_list[0].get("orderName", "")
# ws.wait_for_transfer_task(filter_text=order_name)
# ws.wait_for_transfer_task(filter_text='DP20250927001')
# logger.info("3号站内实验完成")
# # ws.scheduler_start()
# # print(res)
# ws.transfer_3_to_2_to_1()
# ws.wait_for_transfer_task(filter_text="物料转移任务")
# logger.info("3号站向2号站向1号站转移任务完成")
# r321 = self.wait_for_transfer_task()
#1号站启动
# ws.transfer_1_to_2()
# ws.wait_for_transfer_task(filter_text="物料转移任务")
# logger.info("1号站向2号站转移任务完成")
# logger.info("全流程结束")
# 3.31 下料：同理
# r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx")
# print(r2["payload"]["data"])

374
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"""
Bioyond物料管理实现
Bioyond Material Management Implementation
基于Bioyond系统的物料管理，支持从Bioyond系统同步物料到UniLab工作站
"""
from typing import Dict, Any, List, Optional, Union
import json
import asyncio
from abc import ABC, abstractmethod
from pylabrobot.resources import (
Resource as PLRResource,
Container,
Deck,
Coordinate as PLRCoordinate,
)
from unilabos.ros.nodes.resource_tracker import DeviceNodeResourceTracker
from unilabos.utils.log import logger
from unilabos.resources.graphio import (
resource_plr_to_ulab,
resource_ulab_to_plr,
resource_bioyond_to_ulab,
resource_bioyond_container_to_ulab,
resource_ulab_to_bioyond
)
from .workstation_material_management import MaterialManagementBase
class BioyondMaterialManagement(MaterialManagementBase):
"""Bioyond物料管理类
实现从Bioyond系统同步物料到UniLab工作站的功能：
1. 从Bioyond系统获取物料数据
2. 转换为UniLab格式
3. 同步到PyLabRobot Deck
4. 支持双向同步
"""
def __init__(
self,
device_id: str,
deck_config: Dict[str, Any],
resource_tracker: DeviceNodeResourceTracker,
children_config: Dict[str, Dict[str, Any]] = None,
bioyond_config: Dict[str, Any] = None
):
self.bioyond_config = bioyond_config or {}
self.bioyond_api_client = None
self.sync_interval = self.bioyond_config.get("sync_interval", 30) # 同步间隔（秒）
# 初始化父类
super().__init__(device_id, deck_config, resource_tracker, children_config)
# 初始化Bioyond API客户端
self._initialize_bioyond_client()
# 启动同步任务
self._start_sync_task()
def _initialize_bioyond_client(self):
"""初始化Bioyond API客户端"""
try:
# 这里应该根据实际的Bioyond API实现
# 暂时使用模拟客户端
self.bioyond_api_client = BioyondAPIClient(self.bioyond_config)
logger.info(f"Bioyond API客户端初始化成功")
except Exception as e:
logger.error(f"Bioyond API客户端初始化失败: {e}")
self.bioyond_api_client = None
def _start_sync_task(self):
"""启动同步任务"""
if self.bioyond_api_client:
# 创建异步同步任务
asyncio.create_task(self._periodic_sync())
logger.info(f"Bioyond同步任务已启动，间隔: {self.sync_interval}秒")
async def _periodic_sync(self):
"""定期同步任务"""
while True:
try:
await self.sync_from_bioyond()
await asyncio.sleep(self.sync_interval)
except Exception as e:
logger.error(f"Bioyond同步任务出错: {e}")
await asyncio.sleep(self.sync_interval)
async def sync_from_bioyond(self) -> bool:
"""从Bioyond系统同步物料"""
try:
if not self.bioyond_api_client:
logger.warning("Bioyond API客户端未初始化")
return False
# 1. 从Bioyond获取物料数据
bioyond_data = await self.bioyond_api_client.get_materials()
if not bioyond_data:
logger.warning("从Bioyond获取物料数据为空")
return False
# 2. 转换为UniLab格式
if isinstance(bioyond_data, dict) and "data" in bioyond_data:
# 容器格式数据
unilab_resources = resource_bioyond_container_to_ulab(bioyond_data)
else:
# 物料列表格式数据
unilab_resources = resource_bioyond_to_ulab(bioyond_data)
# 3. 转换为PLR格式并分配到Deck
await self._assign_resources_to_deck(unilab_resources)
logger.info(f"从Bioyond同步了 {len(unilab_resources)} 个资源")
return True
except Exception as e:
logger.error(f"从Bioyond同步物料失败: {e}")
return False
async def sync_to_bioyond(self, plr_resource: PLRResource) -> bool:
"""将本地物料变更同步到Bioyond系统"""
try:
if not self.bioyond_api_client:
logger.warning("Bioyond API客户端未初始化")
return False
# 1. 转换为UniLab格式
unilab_resource = resource_plr_to_ulab(plr_resource)
# 2. 转换为Bioyond格式
bioyond_materials = resource_ulab_to_bioyond([unilab_resource])
# 3. 发送到Bioyond系统
success = await self.bioyond_api_client.update_materials(bioyond_materials)
if success:
logger.info(f"成功同步物料 {plr_resource.name} 到Bioyond")
else:
logger.warning(f"同步物料 {plr_resource.name} 到Bioyond失败")
return success
except Exception as e:
logger.error(f"同步物料到Bioyond失败: {e}")
return False
async def _assign_resources_to_deck(self, unilab_resources: List[Dict[str, Any]]):
"""将UniLab资源分配到Deck"""
try:
# 转换为PLR格式
from unilabos.resources.graphio import list_to_nested_dict
nested_resources = list_to_nested_dict(unilab_resources)
plr_resources = resource_ulab_to_plr(nested_resources)
# 分配资源到Deck
if hasattr(plr_resources, 'children'):
resources_to_assign = plr_resources.children
elif isinstance(plr_resources, list):
resources_to_assign = plr_resources
else:
resources_to_assign = [plr_resources]
for resource in resources_to_assign:
try:
# 获取资源位置
if hasattr(resource, 'location') and resource.location:
location = PLRCoordinate(resource.location.x, resource.location.y, resource.location.z)
else:
location = PLRCoordinate(0, 0, 0)
# 分配资源到Deck
self.plr_deck.assign_child_resource(resource, location)
# 注册到resource tracker
self.resource_tracker.add_resource(resource)
# 保存资源引用
self.plr_resources[resource.name] = resource
except Exception as e:
logger.error(f"分配资源 {resource.name} 到Deck失败: {e}")
logger.info(f"成功分配了 {len(resources_to_assign)} 个资源到Deck")
except Exception as e:
logger.error(f"分配资源到Deck失败: {e}")
def _create_resource_by_type(
self,
resource_id: str,
resource_type: str,
config: Dict[str, Any],
data: Dict[str, Any],
location: PLRCoordinate
) -> Optional[PLRResource]:
"""根据类型创建Bioyond相关资源"""
try:
# 这里可以根据需要实现特定的Bioyond资源类型
# 目前使用通用的容器类型
if resource_type in ["container", "plate", "well"]:
return self._create_generic_container(resource_id, resource_type, config, data, location)
else:
logger.warning(f"未知的Bioyond资源类型: {resource_type}")
return None
except Exception as e:
logger.error(f"创建Bioyond资源失败 {resource_id} ({resource_type}): {e}")
return None
def _create_generic_container(
self,
resource_id: str,
resource_type: str,
config: Dict[str, Any],
data: Dict[str, Any],
location: PLRCoordinate
) -> Optional[PLRResource]:
"""创建通用容器资源"""
try:
from pylabrobot.resources import Plate, Well
if resource_type == "plate":
return Plate(
name=resource_id,
size_x=config.get("size_x", 127.76),
size_y=config.get("size_y", 85.48),
size_z=config.get("size_z", 14.35),
location=location,
category="plate"
)
elif resource_type == "well":
return Well(
name=resource_id,
size_x=config.get("size_x", 9.0),
size_y=config.get("size_y", 9.0),
size_z=config.get("size_z", 10.0),
location=location,
category="well"
)
else:
return Container(
name=resource_id,
size_x=config.get("size_x", 50.0),
size_y=config.get("size_y", 50.0),
size_z=config.get("size_z", 10.0),
location=location,
category="container"
)
except Exception as e:
logger.error(f"创建通用容器失败 {resource_id}: {e}")
return None
def get_bioyond_materials(self) -> List[Dict[str, Any]]:
"""获取当前Bioyond物料列表"""
try:
# 将当前PLR资源转换为Bioyond格式
bioyond_materials = []
for resource in self.plr_resources.values():
unilab_resource = resource_plr_to_ulab(resource)
bioyond_materials.extend(resource_ulab_to_bioyond([unilab_resource]))
return bioyond_materials
except Exception as e:
logger.error(f"获取Bioyond物料列表失败: {e}")
return []
def update_material_from_bioyond(self, material_id: str, bioyond_data: Dict[str, Any]) -> bool:
"""从Bioyond数据更新指定物料"""
try:
# 查找现有物料
material = self.find_material_by_id(material_id)
if not material:
logger.warning(f"未找到物料: {material_id}")
return False
# 转换Bioyond数据为UniLab格式
unilab_resources = resource_bioyond_to_ulab([bioyond_data])
if not unilab_resources:
logger.warning(f"转换Bioyond数据失败: {material_id}")
return False
# 更新物料属性
unilab_resource = unilab_resources[0]
material.name = unilab_resource.get("name", material.name)
# 更新位置
position = unilab_resource.get("position", {})
if position:
material.location = PLRCoordinate(
position.get("x", 0),
position.get("y", 0),
position.get("z", 0)
)
logger.info(f"成功更新物料: {material_id}")
return True
except Exception as e:
logger.error(f"更新物料失败 {material_id}: {e}")
return False
class BioyondAPIClient:
"""Bioyond API客户端（模拟实现）
实际使用时需要根据Bioyond系统的API接口实现
"""
def __init__(self, config: Dict[str, Any]):
self.config = config
self.base_url = config.get("base_url", "http://localhost:8080")
self.api_key = config.get("api_key", "")
self.timeout = config.get("timeout", 30)
async def get_materials(self) -> Optional[Union[Dict[str, Any], List[Dict[str, Any]]]]:
"""从Bioyond系统获取物料数据"""
try:
# 这里应该实现实际的API调用
# 暂时返回模拟数据
logger.info("从Bioyond API获取物料数据")
# 模拟API调用延迟
await asyncio.sleep(0.1)
# 返回模拟数据（实际应该从API获取）
return {
"data": [],
"code": 1,
"message": "success",
"timestamp": 1234567890
}
except Exception as e:
logger.error(f"Bioyond API调用失败: {e}")
return None
async def update_materials(self, materials: List[Dict[str, Any]]) -> bool:
"""更新Bioyond系统中的物料数据"""
try:
# 这里应该实现实际的API调用
logger.info(f"更新Bioyond系统中的 {len(materials)} 个物料")
# 模拟API调用延迟
await asyncio.sleep(0.1)
# 模拟成功响应
return True
except Exception as e:
logger.error(f"更新Bioyond物料失败: {e}")
return False
async def get_material_by_id(self, material_id: str) -> Optional[Dict[str, Any]]:
"""根据ID获取单个物料"""
try:
# 这里应该实现实际的API调用
logger.info(f"从Bioyond API获取物料: {material_id}")
# 模拟API调用延迟
await asyncio.sleep(0.1)
# 返回模拟数据
return {
"id": material_id,
"name": f"material_{material_id}",
"type": "container",
"quantity": 1.0,
"unit": "个"
}
except Exception as e:
logger.error(f"获取Bioyond物料失败 {material_id}: {e}")
return None

715
unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_workstation copy.py Normal file
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# -*- coding: utf-8 -*-
from typing import Dict, Any, List, Optional
from datetime import datetime, timezone
import requests
from pathlib import Path
import pandas as pd
import time
from datetime import datetime, timezone, timedelta
import re
import threading
from unilabos.devices.workstation.workstation_base import WorkstationBase
from unilabos.devices.workstation.workstation_http_service import WorkstationHTTPService
from unilabos.utils.log import logger
from pylabrobot.resources.deck import Deck
def _iso_utc_now_ms() -> str:
# 文档要求：到毫秒 + Z，例如 2025-08-15T05:43:22.814Z
dt = datetime.now(timezone.utc)
return dt.strftime("%Y-%m-%dT%H:%M:%S.") + f"{int(dt.microsecond/1000):03d}Z"
class BioyondWorkstation(WorkstationBase):
"""
集成 Bioyond LIMS 的工作站示例，
覆盖：入库(2.17/2.18) → 新建实验(2.14) → 启动调度(2.7) →
运行中推送：物料变更(2.24)、步骤完成(2.21)、订单完成(2.23) →
查询实验(2.5/2.6) → 3-2-1 转运(2.32) → 样品/废料取出(2.28)
"""
def __init__(
self,
bioyond_config: Optional[Dict[str, Any]] = None,
station_resource: Optional[Dict[str, Any]] = None,
debug_mode: bool = False, # 增加调试模式开关
*args, **kwargs,
):
self.bioyond_config = bioyond_config or {
"base_url": "http://192.168.1.200:44386",
"api_key": "8A819E5C",
"timeout": 30,
"report_token": "CHANGE_ME_TOKEN"
}
self.http_service_started = False
self.debug_mode = debug_mode
super().__init__(deck=Deck, station_resource=station_resource, *args, **kwargs)
logger.info(f"Bioyond工作站初始化完成 (debug_mode={self.debug_mode})")
# 实例化并在后台线程启动 HTTP 报送服务
self.order_status = {}
try:
t = threading.Thread(target=self._start_http_service_bg, daemon=True, name="unilab_http")
t.start()
except Exception as e:
logger.error(f"unilab-server后台启动报送服务失败: {e}")
@property
def device_id(self) -> str:
try:
return getattr(self, "_ros_node").device_id # 兼容 ROS 场景
except Exception:
return "bioyond_workstation"
def _start_http_service_bg(self, host: str = "192.168.1.104", port: int = 8080) -> None:
logger.info("进入 _start_http_service_bg 函数")
try:
self.service = WorkstationHTTPService(self, host=host, port=port)
logger.info("WorkstationHTTPService 实例化完成")
self.service.start()
self.http_service_started = True
logger.info(f"unilab_HTTP 服务成功启动: {host}:{port}")
#一直挂着，直到进程退出
while True:
time.sleep(1)
except Exception as e:
self.http_service_started = False
logger.error(f"启动unilab_HTTP服务失败: {e}", exc_info=True)
# -------------------- 基础HTTP封装 --------------------
def _url(self, path: str) -> str:
return f"{self.bioyond_config['base_url'].rstrip('/')}/{path.lstrip('/')}"
def _post_lims(self, path: str, data: Optional[Any] = None) -> Dict[str, Any]:
"""LIMS API：大多数接口用 {apiKey/requestTime,data} 包装"""
payload = {
"apiKey": self.bioyond_config["api_key"],
"requestTime": _iso_utc_now_ms()
}
if data is not None:
payload["data"] = data
if self.debug_mode:
# 模拟返回，不发真实请求
logger.info(f"[DEBUG] POST {path} with payload={payload}")
return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
try:
r = requests.post(
self._url(path),
json=payload,
timeout=self.bioyond_config.get("timeout", 30),
headers={"Content-Type": "application/json"}
)
r.raise_for_status()
return r.json()
except Exception as e:
logger.error(f"POST {path} 失败: {e}")
return {"error": str(e)}
# --- 修正：_post_report / _post_report_raw 同样走 debug_mode ---
def _post_report(self, path: str, data: Dict[str, Any]) -> Dict[str, Any]:
payload = {
"token": self.bioyond_config.get("report_token", ""),
"request_time": _iso_utc_now_ms(),
"data": data
}
if self.debug_mode:
logger.info(f"[DEBUG] POST {path} with payload={payload}")
return {"debug": True, "url": self._url(path), "payload": payload, "status": "ok"}
try:
r = requests.post(self._url(path), json=payload,
timeout=self.bioyond_config.get("timeout", 30),
headers={"Content-Type": "application/json"})
r.raise_for_status()
return r.json()
except Exception as e:
logger.error(f"POST {path} 失败: {e}")
return {"error": str(e)}
def _post_report_raw(self, path: str, body: Dict[str, Any]) -> Dict[str, Any]:
if self.debug_mode:
logger.info(f"[DEBUG] POST {path} with body={body}")
return {"debug": True, "url": self._url(path), "payload": body, "status": "ok"}
try:
r = requests.post(self._url(path), json=body,
timeout=self.bioyond_config.get("timeout", 30),
headers={"Content-Type": "application/json"})
r.raise_for_status()
return r.json()
except Exception as e:
logger.error(f"POST {path} 失败: {e}")
return {"error": str(e)}
# -------------------- 单点接口封装 --------------------
# 2.17 入库物料（单个）
def storage_inbound(self, material_id: str, location_id: str) -> Dict[str, Any]:
return self._post_lims("/api/lims/storage/inbound", {
"materialId": material_id,
"locationId": location_id
})
# 2.18 批量入库（多个）
def storage_batch_inbound(self, items: List[Dict[str, str]]) -> Dict[str, Any]:
"""
items = [{"materialId": "...", "locationId": "..."}, ...]
"""
return self._post_lims("/api/lims/storage/batch-inbound", items)
# 3.30 自动化上料（Excel -> JSON -> POST /api/lims/order/auto-feeding4to3）
def auto_feeding4to3_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
"""
根据固定模板解析 Excel：
- 四号手套箱加样头面 (2-13行, 3-7列)
- 四号手套箱原液瓶面 (15-23行, 3-9列)
- 三号手套箱人工堆栈 (26-40行, 3-7列)
"""
path = Path(xlsx_path)
if not path.exists():
raise FileNotFoundError(f"未找到 Excel 文件：{path}")
try:
df = pd.read_excel(path, sheet_name=0, header=None, engine="openpyxl")
except Exception as e:
raise RuntimeError(f"读取 Excel 失败：{e}")
items: List[Dict[str, Any]] = []
# 四号手套箱 - 加样头面（2-13行, 3-7列）
for _, row in df.iloc[1:13, 2:7].iterrows():
item = {
"sourceWHName": "四号手套箱堆栈",
"posX": int(row[2]),
"posY": int(row[3]),
"posZ": int(row[4]),
"materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
"quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
}
if item["materialName"]:
items.append(item)
# 四号手套箱 - 原液瓶面（15-23行, 3-9列）
for _, row in df.iloc[14:23, 2:9].iterrows():
item = {
"sourceWHName": "四号手套箱堆栈",
"posX": int(row[2]),
"posY": int(row[3]),
"posZ": int(row[4]),
"materialName": str(row[5]).strip() if pd.notna(row[5]) else "",
"quantity": float(row[6]) if pd.notna(row[6]) else 0.0,
"materialType": str(row[7]).strip() if pd.notna(row[7]) else "",
"targetWH": str(row[8]).strip() if pd.notna(row[8]) else "",
}
if item["materialName"]:
items.append(item)
# 三号手套箱人工堆栈（26-40行, 3-7列）
for _, row in df.iloc[25:40, 2:7].iterrows():
item = {
"sourceWHName": "三号手套箱人工堆栈",
"posX": int(row[2]),
"posY": int(row[3]),
"posZ": int(row[4]),
"materialType": str(row[5]).strip() if pd.notna(row[5]) else "",
"materialId": str(row[6]).strip() if pd.notna(row[6]) else "",
"quantity": 1 # 默认数量1
}
if item["materialId"] or item["materialType"]:
items.append(item)
return self._post_lims("/api/lims/order/auto-feeding4to3", items)
def auto_batch_outbound_from_xlsx(self, xlsx_path: str) -> Dict[str, Any]:
"""
3.31 自动化下料（Excel -> JSON -> POST /api/lims/storage/auto-batch-out-bound）
"""
path = Path(xlsx_path)
if not path.exists():
raise FileNotFoundError(f"未找到 Excel 文件：{path}")
try:
df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
except Exception as e:
raise RuntimeError(f"读取 Excel 失败：{e}")
def pick(names: List[str]) -> Optional[str]:
for n in names:
if n in df.columns:
return n
return None
c_loc = pick(["locationId", "库位ID", "库位Id", "库位id"])
c_wh = pick(["warehouseId", "仓库ID", "仓库Id", "仓库id"])
c_qty = pick(["数量", "quantity"])
c_x = pick(["x", "X", "posX", "坐标X"])
c_y = pick(["y", "Y", "posY", "坐标Y"])
c_z = pick(["z", "Z", "posZ", "坐标Z"])
required = [c_loc, c_wh, c_qty, c_x, c_y, c_z]
if any(c is None for c in required):
raise KeyError("Excel 缺少必要列：locationId/warehouseId/数量/x/y/z（支持多别名，至少要能匹配到）。")
def as_int(v, d=0):
try:
if pd.isna(v): return d
return int(v)
except Exception:
try:
return int(float(v))
except Exception:
return d
def as_float(v, d=0.0):
try:
if pd.isna(v): return d
return float(v)
except Exception:
return d
def as_str(v, d=""):
if v is None or (isinstance(v, float) and pd.isna(v)): return d
s = str(v).strip()
return s if s else d
items: List[Dict[str, Any]] = []
for _, row in df.iterrows():
items.append({
"locationId": as_str(row[c_loc]),
"warehouseId": as_str(row[c_wh]),
"quantity": as_float(row[c_qty]),
"x": as_int(row[c_x]),
"y": as_int(row[c_y]),
"z": as_int(row[c_z]),
})
return self._post_lims("/api/lims/storage/auto-batch-out-bound", items)
# 2.14 新建实验
def create_orders(self, xlsx_path: str) -> Dict[str, Any]:
"""
从 Excel 解析并创建实验（2.14）
约定：
- batchId = Excel 文件名（不含扩展名）
- 物料列：所有以 "(g)" 结尾（不再读取“总质量(g)”列）
- totalMass 自动计算为所有物料质量之和
- createTime 缺失或为空时自动填充为当前日期（YYYY/M/D）
"""
path = Path(xlsx_path)
if not path.exists():
raise FileNotFoundError(f"未找到 Excel 文件：{path}")
try:
df = pd.read_excel(path, sheet_name=0, engine="openpyxl")
except Exception as e:
raise RuntimeError(f"读取 Excel 失败：{e}")
# 列名容错：返回可选列名，找不到则返回 None
def _pick(col_names: List[str]) -> Optional[str]:
for c in col_names:
if c in df.columns:
return c
return None
col_order_name = _pick(["配方ID", "orderName", "订单编号"])
col_create_time = _pick(["创建日期", "createTime"])
col_bottle_type = _pick(["配液瓶类型", "bottleType"])
col_mix_time = _pick(["混匀时间(s)", "mixTime"])
col_load = _pick(["扣电组装分液体积", "loadSheddingInfo"])
col_pouch = _pick(["软包组装分液体积", "pouchCellInfo"])
col_cond = _pick(["电导测试分液体积", "conductivityInfo"])
col_cond_cnt = _pick(["电导测试分液瓶数", "conductivityBottleCount"])
# 物料列：所有以 (g) 结尾
material_cols = [c for c in df.columns if isinstance(c, str) and c.endswith("(g)")]
if not material_cols:
raise KeyError("未发现任何以“(g)”结尾的物料列，请检查表头。")
batch_id = path.stem
def _to_ymd_slash(v) -> str:
# 统一为 "YYYY/M/D"；为空或解析失败则用当前日期
if v is None or (isinstance(v, float) and pd.isna(v)) or str(v).strip() == "":
ts = datetime.now()
else:
try:
ts = pd.to_datetime(v)
except Exception:
ts = datetime.now()
return f"{ts.year}/{ts.month}/{ts.day}"
def _as_int(val, default=0) -> int:
try:
if pd.isna(val):
return default
return int(val)
except Exception:
return default
def _as_str(val, default="") -> str:
if val is None or (isinstance(val, float) and pd.isna(val)):
return default
s = str(val).strip()
return s if s else default
orders: List[Dict[str, Any]] = []
for idx, row in df.iterrows():
mats: List[Dict[str, Any]] = []
total_mass = 0.0
for mcol in material_cols:
val = row.get(mcol, None)
if val is None or (isinstance(val, float) and pd.isna(val)):
continue
try:
mass = float(val)
except Exception:
continue
if mass > 0:
mats.append({"name": mcol.replace("(g)", ""), "mass": mass})
total_mass += mass
order_data = {
"batchId": batch_id,
"orderName": _as_str(row[col_order_name], default=f"{batch_id}_order_{idx+1}") if col_order_name else f"{batch_id}_order_{idx+1}",
"createTime": _to_ymd_slash(row[col_create_time]) if col_create_time else _to_ymd_slash(None),
"bottleType": _as_str(row[col_bottle_type], default="配液小瓶") if col_bottle_type else "配液小瓶",
"mixTime": _as_int(row[col_mix_time]) if col_mix_time else 0,
"loadSheddingInfo": _as_int(row[col_load]) if col_load else 0,
"pouchCellInfo": _as_int(row[col_pouch]) if col_pouch else 0,
"conductivityInfo": _as_int(row[col_cond]) if col_cond else 0,
"conductivityBottleCount": _as_int(row[col_cond_cnt]) if col_cond_cnt else 0,
"materialInfos": mats,
"totalMass": round(total_mass, 4) # 自动汇总
}
orders.append(order_data)
# print(orders)
response = self._post_lims("/api/lims/order/orders", orders)
self.order_status[response["data"]["orderCode"]] = "running"
while True:
time.sleep(5)
if self.order_status.get(response["data"]["orderCode"], None) == "finished":
logger.info(f"配液实验已完成 ，即将执行 3-2-1 转运")
break
logger.info(f"等待配液实验完成")
self.transfer_3_to_2_to_1()
r321 = self.wait_for_transfer_task()
logger.info(f"3-2-1 转运完成，返回结果")
return r321
# 2.7 启动调度
def scheduler_start(self) -> Dict[str, Any]:
return self._post_lims("/api/lims/scheduler/start")
# 3.10 停止调度
def scheduler_stop(self) -> Dict[str, Any]:
"""
停止调度 (3.10)
请求体只包含 apiKey 和 requestTime
"""
return self._post_lims("/api/lims/scheduler/stop")
# 2.9 继续调度
def scheduler_continue(self) -> Dict[str, Any]:
"""
继续调度 (2.9)
请求体只包含 apiKey 和 requestTime
"""
return self._post_lims("/api/lims/scheduler/continue")
# 2.24 物料变更推送
def report_material_change(self, material_obj: Dict[str, Any]) -> Dict[str, Any]:
"""
material_obj 按 2.24 的裸对象格式（包含 id/typeName/locations/detail 等）
"""
return self._post_report_raw("/report/material_change", material_obj)
# 2.21 步骤完成推送（BS → LIMS）
def report_step_finish(self,
order_code: str,
order_name: str,
step_name: str,
step_id: str,
sample_id: str,
start_time: str,
end_time: str,
execution_status: str = "completed") -> Dict[str, Any]:
data = {
"orderCode": order_code,
"orderName": order_name,
"stepName": step_name,
"stepId": step_id,
"sampleId": sample_id,
"startTime": start_time,
"endTime": end_time,
"executionStatus": execution_status
}
return self._post_report("/report/step_finish", data)
# 2.23 订单完成推送（BS → LIMS）
def report_order_finish(self,
order_code: str,
order_name: str,
start_time: str,
end_time: str,
status: str = "30", # 30 完成 / -11 异常停止 / -12 人工停止
workflow_status: str = "Finished",
completion_time: Optional[str] = None,
used_materials: Optional[List[Dict[str, Any]]] = None) -> Dict[str, Any]:
data = {
"orderCode": order_code,
"orderName": order_name,
"startTime": start_time,
"endTime": end_time,
"status": status,
"workflowStatus": workflow_status,
"completionTime": completion_time or end_time,
"usedMaterials": used_materials or []
}
return self._post_report("/report/order_finish", data)
# 2.5 批量查询实验报告（用于轮询是否完成）
def order_list(self,
status: Optional[str] = None,
begin_time: Optional[str] = None,
end_time: Optional[str] = None,
filter_text: Optional[str] = None,
skip: int = 0, page: int = 10) -> Dict[str, Any]:
data: Dict[str, Any] = {"skipCount": skip, "pageCount": page}
if status is not None: # 80 成功 / 90 失败 / 100 执行中
data["status"] = status
if begin_time:
data["timeType"] = "CreationTime"
data["beginTime"] = begin_time
if end_time:
data["endTime"] = end_time
if filter_text:
data["filter"] = filter_text
return self._post_lims("/api/lims/order/order-list", data)
# 2.6 实验报告查询（根据任务ID拿详情）
def order_report(self, order_id: str) -> Dict[str, Any]:
return self._post_lims("/api/lims/order/order-report", order_id)
# 2.32 3-2-1 物料转运
def transfer_3_to_2_to_1(self,
# source_wh_id: Optional[str] = None,
source_wh_id: Optional[str] = '3a19debc-84b4-0359-e2d4-b3beea49348b',
source_x: int = 1, source_y: int = 1, source_z: int = 1) -> Dict[str, Any]:
payload: Dict[str, Any] = {
"sourcePosX": source_x, "sourcePosY": source_y, "sourcePosZ": source_z
}
if source_wh_id:
payload["sourceWHID"] = source_wh_id
return self._post_lims("/api/lims/order/transfer-task3To2To1", payload)
# 2.28 样品/废料取出
def take_out(self,
order_id: str,
preintake_ids: Optional[List[str]] = None,
material_ids: Optional[List[str]] = None) -> Dict[str, Any]:
data = {
"orderId": order_id,
"preintakeIds": preintake_ids or [],
"materialIds": material_ids or []
}
return self._post_lims("/api/lims/order/take-out", data)
# --------（可选）占位方法：文档未定义的“1号站内部流程 / 1-2转运”--------
def start_station1_internal_flow(self, **kwargs) -> None:
logger.info("启动1号站内部流程（占位，按现场系统填充具体指令）")
# 3.x 1→2 物料转运
def transfer_1_to_2(self) -> Dict[str, Any]:
"""
1→2 物料转运
URL: /api/lims/order/transfer-task1To2
只需要 apiKey 和 requestTime
"""
return self._post_lims("/api/lims/order/transfer-task1To2")
# -------------------- 整体编排 --------------------
def run_full_workflow(self,
inbound_items: List[Dict[str, str]],
orders: List[Dict[str, Any]],
poll_filter_code: Optional[str] = None,
poll_timeout_s: int = 600,
poll_interval_s: int = 5,
transfer_source: Optional[Dict[str, Any]] = None,
takeout_order_id: Optional[str] = None) -> None:
"""
一键串联：
1) 入库 3-4 个物料 → 2) 新建实验 → 3) 启动调度
运行中（如需）：4) 物料变更推送 5) 步骤完成推送 6) 订单完成推送
完成后：查询实验（2.5/2.6）→ 7) 3-2-1 转运 → 8) 1号站内部流程
→ 9) 1-2 转运 → 10) 样品/废料取出
"""
# 1. 入库（多于1个就用批量接口 2.18）
if len(inbound_items) == 1:
r = self.storage_inbound(inbound_items[0]["materialId"], inbound_items[0]["locationId"])
logger.info(f"单个入库结果: {r}")
else:
r = self.storage_batch_inbound(inbound_items)
logger.info(f"批量入库结果: {r}")
# 2. 新建实验（2.14）
r = self.create_orders(orders)
logger.info(f"新建实验结果: {r}")
# 3. 启动调度（2.7）
r = self.scheduler_start()
logger.info(f"启动调度结果: {r}")
# —— 运行中各类推送（2.24 / 2.21 / 2.23），通常由实际任务驱动，这里提供调用方式 —— #
# self.report_material_change({...})
# self.report_step_finish(order_code="BSO...", order_name="配液分液", step_name="xxx", step_id="...", sample_id="...",
# start_time=_iso_utc_now_ms(), end_time=_iso_utc_now_ms(), execution_status="completed")
# self.report_order_finish(order_code="BSO...", order_name="配液分液", start_time="...", end_time=_iso_utc_now_ms())
# 完成后才能转运：用 2.5 批量查询配合 filter=任务编码 轮询到 status=80（成功）
if poll_filter_code:
import time
deadline = time.time() + poll_timeout_s
while time.time() < deadline:
res = self.order_list(status="80", filter_text=poll_filter_code, page=5)
if isinstance(res, dict) and res.get("data", {}).get("items"):
logger.info(f"实验 {poll_filter_code} 已完成：{res['data']['items'][0]}")
break
time.sleep(poll_interval_s)
else:
logger.warning(f"等待实验 {poll_filter_code} 完成超时（未到 status=80）")
# 7. 启动 3-2-1 转运（2.32）
if transfer_source:
r = self.transfer_3_to_2_to_1(
source_wh_id=transfer_source.get("sourceWHID"),
source_x=transfer_source.get("sourcePosX", 1),
source_y=transfer_source.get("sourcePosY", 1),
source_z=transfer_source.get("sourcePosZ", 1),
)
logger.info(f"3-2-1 转运结果: {r}")
# 8. 1号站内部流程（占位）
self.start_station1_internal_flow()
# 9. 1→2 转运（占位）
self.transfer_1_to_2()
# 10. 样品/废料取出（2.28）
if takeout_order_id:
r = self.take_out(order_id=takeout_order_id)
logger.info(f"样品/废料取出结果: {r}")
# 2.5 批量查询实验报告
def order_list_v2(self,
timeType: str = "string",
beginTime: str = "",
endTime: str = "",
status: str = "",
filter: str = "物料转移任务",
skipCount: int = 0,
pageCount: int = 1,
sorting: str = "") -> Dict[str, Any]:
"""
批量查询实验报告的详细信息 (2.5)
URL: /api/lims/order/order-list
参数默认值和接口文档保持一致
"""
data: Dict[str, Any] = {
"timeType": timeType,
"beginTime": beginTime,
"endTime": endTime,
"status": status,
"filter": filter,
"skipCount": skipCount,
"pageCount": pageCount,
"sorting": sorting
}
return self._post_lims("/api/lims/order/order-list", data)
def wait_for_transfer_task(self, timeout: int = 600, interval: int = 3) -> bool:
"""
轮询查询物料转移任务是否成功完成 (status=80)
- timeout: 最大等待秒数 (默认600秒)
- interval: 轮询间隔秒数 (默认3秒)
返回 True 表示找到并成功完成，False 表示超时未找到
"""
now = datetime.now()
beginTime = now.strftime("%Y-%m-%dT%H:%M:%SZ")
endTime = (now + timedelta(minutes=5)).strftime("%Y-%m-%dT%H:%M:%SZ")
print(beginTime, endTime)
deadline = time.time() + timeout
while time.time() < deadline:
result = self.order_list_v2(
timeType="string",
beginTime=beginTime,
endTime=endTime,
status="",
filter="物料转移任务",
skipCount=0,
pageCount=1,
sorting=""
)
print(result)
items = result.get("data", {}).get("items", [])
for item in items:
name = item.get("name", "")
status = item.get("status")
if name.startswith("物料转移任务") and status == 80:
logger.info(f"硬件转移动作完成: {name}")
return True
time.sleep(interval)
logger.warning("超时未找到成功的物料转移任务")
return False
# --------------------------------
if __name__ == "__main__":
ws = BioyondWorkstation()
# ws.scheduler_stop()
ws.scheduler_start()
logger.info("调度启动完成")
# ws.scheduler_continue()
# 3.30 上料：读取模板 Excel 自动解析并 POST
r1 = ws.auto_feeding4to3_from_xlsx(r"C:\ML\GitHub\Uni-Lab-OS\unilabos\devices\workstation\bioyond_cell\样品导入模板 (8).xlsx")
ws.wait_for_transfer_task()
logger.info("4号箱向3号箱转运物料转移任务已完成")
# ws.scheduler_start()
# print(r1["payload"]["data"]) # 调试模式下可直接看到要发的 JSON items
# 新建实验
res = ws.create_orders("C:/ML/GitHub/Uni-Lab-OS/unilabos/devices/workstation/bioyond_cell/2025092501.xlsx")
# ws.scheduler_start()
# print(res)
#1号站启动
ws.transfer_1_to_2()
ws.wait_for_transfer_task()
logger.info("1号站向2号站转移任务完成")
logger.info("全流程结束")
# 3.31 下料：同理
# r2 = ws.auto_batch_outbound_from_xlsx(r"C:/path/样品导入模板 (8).xlsx")
# print(r2["payload"]["data"])

22
unilabos/devices/workstation/coin_cell_assembly/new_cellconfig4.json → unilabos/devices/workstation/bioyond_studio/bioyond_cell/bioyond_yihua_YB.json
View File

@@ -1,8 +1,28 @@
{
"nodes": [
{
"id": "bioyond_cell_workstation",
"name": "配液分液工站",
"children": [
],
"parent": null,
"type": "device",
"class": "bioyond_cell",
"config": {
"protocol_type": [],
"station_resource": {},
"bioyond_config": {
"api_key": "8A819E5C",
"api_host": "http://192.168.1.200:44388",
"debug_mode": false
}
},
"data": {}
},
{
"id": "BatteryStation",
"name": "扣电工作站",
"name": "扣电组装工作站",
"children": [
"coin_cell_deck"
],

BIN
unilabos/devices/workstation/bioyond_studio/bioyond_cell/样品导入模板.xlsx Normal file
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0
unilabos/devices/workstation/coin_cell_assembly/__init__.py
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1289
unilabos/devices/workstation/coin_cell_assembly/button_battery_station.py
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1142
unilabos/devices/workstation/coin_cell_assembly/coin_cell_assembly.py
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