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feat(workstation): 添加温度/粘度报送处理功能

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- 在反应站设备配置中添加温度/粘度相关状态类型
- 实现温度/粘度报送处理逻辑并添加ROS消息发布
- 扩展HTTP服务支持温度/粘度报送端点
- 添加HTTP请求日志记录功能
This commit is contained in:
ZiWei
2025-11-16 14:35:53 +08:00
parent 0136630700
commit db1b5a869f
4 changed files with 204 additions and 4 deletions
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102
unilabos/devices/workstation/bioyond_studio/reaction_station.py
View File

@@ -2,7 +2,10 @@ import json
import time
import requests
from typing import List, Dict, Any
from pathlib import Path
from datetime import datetime
from unilabos.devices.workstation.bioyond_studio.station import BioyondWorkstation
from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
from unilabos.devices.workstation.bioyond_studio.config import (
WORKFLOW_STEP_IDS,
WORKFLOW_TO_SECTION_MAP,
@@ -38,6 +41,17 @@ class BioyondReactionStation(BioyondWorkstation):
print(f"BioyondReactionStation初始化完成 - workflow_mappings: {self.workflow_mappings}")
print(f"workflow_mappings长度: {len(self.workflow_mappings)}")
self.in_temperature = 0.0
self.out_temperature = 0.0
self.pt100_temperature = 0.0
self.sensor_average_temperature = 0.0
self.target_temperature = 0.0
self.setting_temperature = 0.0
self.viscosity = 0.0
self.average_viscosity = 0.0
self.speed = 0.0
self.force = 0.0
# ==================== 工作流方法 ====================
def reactor_taken_out(self):
@@ -514,6 +528,94 @@ class BioyondReactionStation(BioyondWorkstation):
print(f"[DEBUG] 返回结果: {result}")
return result
def process_temperature_cutoff_report(self, report_request) -> Dict[str, Any]:
try:
data = report_request.data
def _f(v):
try:
return float(v)
except Exception:
return 0.0
self.target_temperature = _f(data.get("targetTemperature"))
self.setting_temperature = _f(data.get("settingTemperature"))
self.in_temperature = _f(data.get("inTemperature"))
self.out_temperature = _f(data.get("outTemperature"))
self.pt100_temperature = _f(data.get("pt100Temperature"))
self.sensor_average_temperature = _f(data.get("sensorAverageTemperature"))
self.speed = _f(data.get("speed"))
self.force = _f(data.get("force"))
self.viscosity = _f(data.get("viscosity"))
self.average_viscosity = _f(data.get("averageViscosity"))
try:
if hasattr(self, "_ros_node") and self._ros_node is not None:
props = [
"in_temperature","out_temperature","pt100_temperature","sensor_average_temperature",
"target_temperature","setting_temperature","viscosity","average_viscosity",
"speed","force"
]
for name in props:
pub = self._ros_node._property_publishers.get(name)
if pub:
pub.publish_property()
except Exception:
pass
event = {
"frameCode": data.get("frameCode"),
"generateTime": data.get("generateTime"),
"targetTemperature": data.get("targetTemperature"),
"settingTemperature": data.get("settingTemperature"),
"inTemperature": data.get("inTemperature"),
"outTemperature": data.get("outTemperature"),
"pt100Temperature": data.get("pt100Temperature"),
"sensorAverageTemperature": data.get("sensorAverageTemperature"),
"speed": data.get("speed"),
"force": data.get("force"),
"viscosity": data.get("viscosity"),
"averageViscosity": data.get("averageViscosity"),
"request_time": report_request.request_time,
"timestamp": datetime.now().isoformat(),
}
base_dir = Path(__file__).resolve().parents[3] / "unilabos_data"
base_dir.mkdir(parents=True, exist_ok=True)
out_file = base_dir / "temperature_cutoff_events.json"
try:
existing = json.loads(out_file.read_text(encoding="utf-8")) if out_file.exists() else []
if not isinstance(existing, list):
existing = []
except Exception:
existing = []
existing.append(event)
out_file.write_text(json.dumps(existing, ensure_ascii=False, indent=2), encoding="utf-8")
if hasattr(self, "_ros_node") and self._ros_node is not None:
ns = self._ros_node.namespace
topics = {
"targetTemperature": f"{ns}/metrics/temperature_cutoff/target_temperature",
"settingTemperature": f"{ns}/metrics/temperature_cutoff/setting_temperature",
"inTemperature": f"{ns}/metrics/temperature_cutoff/in_temperature",
"outTemperature": f"{ns}/metrics/temperature_cutoff/out_temperature",
"pt100Temperature": f"{ns}/metrics/temperature_cutoff/pt100_temperature",
"sensorAverageTemperature": f"{ns}/metrics/temperature_cutoff/sensor_average_temperature",
"speed": f"{ns}/metrics/temperature_cutoff/speed",
"force": f"{ns}/metrics/temperature_cutoff/force",
"viscosity": f"{ns}/metrics/temperature_cutoff/viscosity",
"averageViscosity": f"{ns}/metrics/temperature_cutoff/average_viscosity",
}
for k, t in topics.items():
v = data.get(k)
if v is not None:
pub = self._ros_node.create_publisher(Float64, t, 10)
pub.publish(convert_to_ros_msg(Float64, float(v)))
evt_pub = self._ros_node.create_publisher(String, f"{ns}/events/temperature_cutoff", 10)
evt_pub.publish(convert_to_ros_msg(String, json.dumps(event, ensure_ascii=False)))
return {"processed": True, "frame": data.get("frameCode")}
except Exception as e:
return {"processed": False, "error": str(e)}
def wait_for_multiple_orders_and_get_reports(self, batch_create_result: str = None, timeout: int = 7200, check_interval: int = 10) -> Dict[str, Any]:
try:
timeout = int(timeout) if timeout else 7200

7
unilabos/devices/workstation/bioyond_studio/station.py
View File

@@ -9,6 +9,7 @@ import traceback
from datetime import datetime
from typing import Dict, Any, List, Optional, Union
import json
from pathlib import Path
from unilabos.devices.workstation.workstation_base import WorkstationBase, ResourceSynchronizer
from unilabos.devices.workstation.bioyond_studio.bioyond_rpc import BioyondV1RPC
@@ -19,6 +20,7 @@ from unilabos.resources.graphio import resource_bioyond_to_plr, resource_plr_to_
from unilabos.ros.nodes.base_device_node import ROS2DeviceNode, BaseROS2DeviceNode
from unilabos.ros.nodes.presets.workstation import ROS2WorkstationNode
from unilabos.ros.msgs.message_converter import convert_to_ros_msg, Float64, String
from pylabrobot.resources.resource import Resource as ResourcePLR
from unilabos.devices.workstation.bioyond_studio.config import (
@@ -676,13 +678,13 @@ class BioyondWorkstation(WorkstationBase):
self._synced_resources = []
def transfer_resource_to_another(self, resource: List[ResourceSlot], mount_resource: List[ResourceSlot], sites: List[str], mount_device_id: DeviceSlot):
time.sleep(3)
ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
future = ROS2DeviceNode.run_async_func(self._ros_node.transfer_resource_to_another, True, **{
"plr_resources": resource,
"target_device_id": mount_device_id,
"target_resources": mount_resource,
"sites": sites,
})
return future
def _create_communication_module(self, config: Optional[Dict[str, Any]] = None) -> None:
"""创建Bioyond通信模块"""
@@ -1327,6 +1329,7 @@ class BioyondWorkstation(WorkstationBase):
logger.error(f"处理物料变更报送失败: {e}")
return {"processed": False, "error": str(e)}
def handle_external_error(self, error_data: Dict[str, Any]) -> Dict[str, Any]:
"""处理错误处理报送

89
unilabos/devices/workstation/workstation_http_service.py
View File

@@ -22,6 +22,7 @@ from http.server import BaseHTTPRequestHandler, HTTPServer
from urllib.parse import urlparse
from dataclasses import dataclass, asdict
from datetime import datetime
from pathlib import Path
from unilabos.utils.log import logger
@@ -76,6 +77,14 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
logger.info(f"收到工作站报送: {endpoint} - {request_data.get('token', 'unknown')}")
try:
payload_for_log = {"method": "POST", **request_data}
self._save_raw_request(endpoint, payload_for_log)
if hasattr(self.workstation, '_reports_received_count'):
self.workstation._reports_received_count += 1
except Exception:
pass
# 统一的报送端点路由（基于LIMS协议规范）
if endpoint == '/report/step_finish':
response = self._handle_step_finish_report(request_data)
@@ -90,6 +99,8 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
response = self._handle_material_change_report(request_data)
elif endpoint == '/report/error_handling':
response = self._handle_error_handling_report(request_data)
elif endpoint == '/report/temperature-cutoff':
response = self._handle_temperature_cutoff_report(request_data)
# 保留LIMS协议端点以兼容现有系统
elif endpoint == '/LIMS/step_finish':
response = self._handle_step_finish_report(request_data)
@@ -107,7 +118,8 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
"/report/order_finish",
"/report/batch_update",
"/report/material_change",
"/report/error_handling"
"/report/error_handling",
"/report/temperature-cutoff"
]}
)
@@ -128,6 +140,11 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
parsed_path = urlparse(self.path)
endpoint = parsed_path.path
try:
self._save_raw_request(endpoint, {"method": "GET"})
except Exception:
pass
if endpoint == '/status':
response = self._handle_status_check()
elif endpoint == '/health':
@@ -318,6 +335,50 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
message=f"任务完成报送处理失败: {str(e)}"
)
def _handle_temperature_cutoff_report(self, request_data: Dict[str, Any]) -> HttpResponse:
try:
required_fields = ['token', 'request_time', 'data']
if missing := [f for f in required_fields if f not in request_data]:
return HttpResponse(success=False, message=f"缺少必要字段: {', '.join(missing)}")
data = request_data['data']
metrics = [
'frameCode',
'generateTime',
'targetTemperature',
'settingTemperature',
'inTemperature',
'outTemperature',
'pt100Temperature',
'sensorAverageTemperature',
'speed',
'force',
'viscosity',
'averageViscosity'
]
if miss := [f for f in metrics if f not in data]:
return HttpResponse(success=False, message=f"data字段缺少必要内容: {', '.join(miss)}")
report_request = WorkstationReportRequest(
token=request_data['token'],
request_time=request_data['request_time'],
data=data
)
result = {}
if hasattr(self.workstation, 'process_temperature_cutoff_report'):
result = self.workstation.process_temperature_cutoff_report(report_request)
return HttpResponse(
success=True,
message=f"温度/粘度报送已处理: 帧{data['frameCode']}",
acknowledgment_id=f"TEMP_CUTOFF_{int(time.time()*1000)}_{data['frameCode']}",
data=result
)
except Exception as e:
logger.error(f"处理温度/粘度报送失败: {e}\n{traceback.format_exc()}")
return HttpResponse(success=False, message=f"温度/粘度报送处理失败: {str(e)}")
def _handle_batch_update_report(self, request_data: Dict[str, Any]) -> HttpResponse:
"""处理批量报送"""
try:
@@ -510,6 +571,7 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
"POST /report/batch_update",
"POST /report/material_change",
"POST /report/error_handling",
"POST /report/temperature-cutoff",
"GET /status",
"GET /health"
]
@@ -547,6 +609,22 @@ class WorkstationHTTPHandler(BaseHTTPRequestHandler):
"""重写日志方法"""
logger.debug(f"HTTP请求: {format % args}")
def _save_raw_request(self, endpoint: str, request_data: Dict[str, Any]) -> None:
try:
base_dir = Path(__file__).resolve().parents[3] / "unilabos_data" / "http_reports"
base_dir.mkdir(parents=True, exist_ok=True)
log_path = getattr(self.workstation, "_http_log_path", None)
log_file = Path(log_path) if log_path else (base_dir / f"http_{int(time.time()*1000)}.log")
payload = {
"endpoint": endpoint,
"received_at": datetime.now().isoformat(),
"body": request_data
}
with open(log_file, "a", encoding="utf-8") as f:
f.write(json.dumps(payload, ensure_ascii=False) + "\n")
except Exception:
pass
class WorkstationHTTPService:
"""工作站HTTP服务"""
@@ -572,6 +650,10 @@ class WorkstationHTTPService:
# 创建HTTP服务器
self.server = HTTPServer((self.host, self.port), handler_factory)
base_dir = Path(__file__).resolve().parents[3] / "unilabos_data" / "http_reports"
base_dir.mkdir(parents=True, exist_ok=True)
session_log = base_dir / f"http_{int(time.time()*1000)}.log"
setattr(self.workstation, "_http_log_path", str(session_log))
# 安全地获取 device_id 用于线程命名
device_id = "unknown"
@@ -599,6 +681,7 @@ class WorkstationHTTPService:
logger.info("扩展报送端点:")
logger.info(" - POST /report/material_change # 物料变更报送")
logger.info(" - POST /report/error_handling # 错误处理报送")
logger.info(" - POST /report/temperature-cutoff # 温度/粘度报送")
logger.info("兼容端点:")
logger.info(" - POST /LIMS/step_finish # 兼容LIMS步骤完成")
logger.info(" - POST /LIMS/preintake_finish # 兼容LIMS通量完成")
@@ -700,6 +783,9 @@ if __name__ == "__main__":
def handle_external_error(self, error_data):
return {"handled": True}
def process_temperature_cutoff_report(self, report_request):
return {"processed": True, "metrics": report_request.data}
workstation = BioyondWorkstation()
http_service = WorkstationHTTPService(workstation)
@@ -723,4 +809,3 @@ if __name__ == "__main__":
except Exception as e:
print(f"服务器运行错误: {e}")
http_service.stop()

10
unilabos/registry/devices/reaction_station_bioyond.yaml
View File

@@ -525,7 +525,17 @@ reaction_station.bioyond:
protocol_type: []
status_types:
all_workflows: dict
average_viscosity: float
bioyond_status: dict
force: float
in_temperature: float
out_temperature: float
pt100_temperature: float
sensor_average_temperature: float
setting_temperature: float
speed: float
target_temperature: float
viscosity: float
workstation_status: dict
type: python
config_info: []