add: prcxi res

fix: startup slow

unilabos/app/main.py

@@ -222,7 +222,7 @@ def main():
     print_unilab_banner(args_dict)
 
     # 注册表
-    build_registry(args_dict["registry_path"])
+    build_registry(args_dict["registry_path"], False, args_dict["upload_registry"])
     if args_dict["graph"] is None:
         request_startup_json = http_client.request_startup_json()
         if not request_startup_json:

unilabos/app/register.py

@@ -69,7 +69,7 @@ def main():
     args = parser.parse_args()
     load_config_from_file(args.config)
     # 构建注册表
-    build_registry(args.registry, args.complete_registry)
+    build_registry(args.registry, args.complete_registry, True)
     from unilabos.app.mq import mqtt_client
 
     # 连接mqtt

unilabos/devices/liquid_handling/prcxi/prcxi_res.py

@@ -0,0 +1,44 @@
+import collections
+
+from pylabrobot.resources import opentrons_96_tiprack_10ul
+from pylabrobot.resources.opentrons.plates import corning_96_wellplate_360ul_flat, nest_96_wellplate_2ml_deep
+
+from unilabos.devices.liquid_handling.prcxi.prcxi import PRCXI9300Container, PRCXI9300Trash
+
+
+def get_well_container(name: str) -> PRCXI9300Container:
+    well_containers = corning_96_wellplate_360ul_flat(name).serialize()
+    plate = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="plate",
+                               ordering=collections.OrderedDict())
+    plate_serialized = plate.serialize()
+    well_containers.update({k: v for k, v in plate_serialized.items() if k not in ["children"]})
+    new_plate: PRCXI9300Container = PRCXI9300Container.deserialize(well_containers)
+    return new_plate
+
+def get_tip_rack(name: str) -> PRCXI9300Container:
+    tip_racks = opentrons_96_tiprack_10ul("name").serialize()
+    tip_rack = PRCXI9300Container(name=name, size_x=50, size_y=50, size_z=10, category="tip_rack",
+                       ordering=collections.OrderedDict())
+    tip_rack_serialized = tip_rack.serialize()
+    tip_racks.update({k: v for k, v in tip_rack_serialized.items() if k not in ["children"]})
+    new_tip_rack: PRCXI9300Container = PRCXI9300Container.deserialize(tip_racks)
+    return new_tip_rack
+
+def prcxi_96_wellplate_360ul_flat(name: str):
+    return get_well_container(name)
+
+def prcxi_opentrons_96_tiprack_10ul(name: str):
+    return get_tip_rack(name)
+
+def prcxi_trash(name: str = None):
+    return PRCXI9300Trash(name="trash", size_x=50, size_y=50, size_z=10, category="trash")
+
+if __name__ == "__main__":
+    # Example usage
+    test_plate = prcxi_96_wellplate_360ul_flat("test_plate")
+    test_rack = prcxi_opentrons_96_tiprack_10ul("test_rack")
+    tash = prcxi_trash("trash")
+    print(test_plate)
+    print(test_rack)
+    print(tash)
+    # Output will be a dictionary representation of the PRCXI9300Container with well details

unilabos/registry/registry.py

@@ -53,7 +53,7 @@ class Registry:
         # 其他状态变量
         # self.is_host_mode = False  # 移至BasicConfig中
 
-    def setup(self, complete_registry=False):
+    def setup(self, complete_registry=False, upload_registry=False):
         # 检查是否已调用过setup
         if self._setup_called:
             logger.critical("[UniLab Registry] setup方法已被调用过，不允许多次调用")
@@ -160,14 +160,14 @@ class Registry:
             sys.path.append(str(sys_path))
             self.load_device_types(path, complete_registry)
             if BasicConfig.enable_resource_load:
-                self.load_resource_types(path, complete_registry)
+                self.load_resource_types(path, complete_registry, upload_registry)
             else:
                 logger.warning("跳过了资源注册表加载！")
         logger.info("[UniLab Registry] 注册表设置完成")
         # 标记setup已被调用
         self._setup_called = True
 
-    def load_resource_types(self, path: os.PathLike, complete_registry: bool):
+    def load_resource_types(self, path: os.PathLike, complete_registry: bool, upload_registry: bool):
         abs_path = Path(path).absolute()
         resource_path = abs_path / "resources"
         files = list(resource_path.glob("*/*.yaml"))
@@ -194,7 +194,12 @@ class Registry:
                         resource_info["handles"] = []
                     if "init_param_schema" not in resource_info:
                         resource_info["init_param_schema"] = {}
-                    if complete_registry:
+                    if "config_info" in resource_info:
+                        del resource_info["config_info"]
+                    if "file_path" in resource_info:
+                        del resource_info["file_path"]
+                    complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))
+                    if upload_registry:
                         class_info = resource_info.get("class", {})
                         if len(class_info) and "module" in class_info:
                             if class_info.get("type") == "pylabrobot":
@@ -205,7 +210,6 @@ class Registry:
                                     res_instance = res_class(res_class.__name__)
                                     res_ulr = tree_to_list([resource_plr_to_ulab(res_instance)])
                                     resource_info["config_info"] = res_ulr
-                    complete_data[resource_id] = copy.deepcopy(dict(sorted(resource_info.items())))  # 稍后dump到文件
                     resource_info["registry_type"] = "resource"
                     resource_info["file_path"] = str(file.absolute()).replace("\\", "/")
                 complete_data = dict(sorted(complete_data.items()))
@@ -629,7 +633,7 @@ class Registry:
 lab_registry = Registry()
 
 
-def build_registry(registry_paths=None, complete_registry=False):
+def build_registry(registry_paths=None, complete_registry=False, upload_registry=False):
     """
     构建或获取Registry单例实例
 
@@ -653,6 +657,6 @@ def build_registry(registry_paths=None, complete_registry=False):
                 lab_registry.registry_paths.append(path)
 
     # 初始化注册表
-    lab_registry.setup(complete_registry)
+    lab_registry.setup(complete_registry, upload_registry)
 
     return lab_registry

unilabos/registry/resources/common/resource_container.yaml

@@ -4,9 +4,7 @@ hplc_plate:
   class:
     module: unilabos.devices.resource_container.container:PlateContainer
     type: python
-  config_info: []
   description: HPLC板
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
   handles: []
   icon: ''
   init_param_schema: {}
@@ -28,9 +26,7 @@ plate_96_high:
   class:
     module: unilabos.devices.resource_container.container:PlateContainer
     type: python
-  config_info: []
   description: 96孔板
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
   handles: []
   icon: ''
   init_param_schema: {}
@@ -52,9 +48,7 @@ tiprack_96_high:
   class:
     module: unilabos.devices.resource_container.container:TipRackContainer
     type: python
-  config_info: []
   description: 96孔板
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/common/resource_container.yaml
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/opentrons/deck.yaml

@@ -4,9 +4,7 @@ OTDeck:
   class:
     module: pylabrobot.resources.opentrons.deck:OTDeck
     type: pylabrobot
-  config_info: []
   description: Opentrons deck
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
   handles: []
   icon: ''
   init_param_schema: {}
@@ -21,9 +19,7 @@ hplc_station:
   class:
     module: unilabos.devices.resource_container.container:DeckContainer
     type: python
-  config_info: []
   description: hplc_station deck
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/deck.yaml
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/opentrons/plate_adapters.yaml

@@ -4,34 +4,7 @@ Opentrons_96_adapter_Vb:
   class:
     module: pylabrobot.resources.opentrons.plate_adapters:Opentrons_96_adapter_Vb
     type: pylabrobot
-  config_info:
-  - children: []
-    class: ''
-    config:
-      barcode: null
-      category: plate_adapter
-      model: Opentrons_96_adapter_Vb
-      rotation:
-        type: Rotation
-        x: 0
-        y: 0
-        z: 0
-      size_x: 127.76
-      size_y: 85.48
-      size_z: 18.55
-      type: PlateAdapter
-    data: {}
-    id: Opentrons_96_adapter_Vb
-    name: Opentrons_96_adapter_Vb
-    parent: null
-    position:
-      x: 0
-      y: 0
-      z: 0
-    sample_id: null
-    type: container
   description: Opentrons 96 adapter Vb
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/opentrons/plate_adapters.yaml
   handles: []
   icon: ''
   init_param_schema: {}

unilabos/registry/resources/organic/container.yaml

@@ -4,9 +4,7 @@ container:
   class:
     module: unilabos.resources.container:RegularContainer
     type: unilabos
-  config_info: []
   description: regular organic container
-  file_path: C:/Users/10230/PycharmProjects/Uni-Lab-OS/unilabos/registry/resources/organic/container.yaml
   handles:
   - data_key: fluid_in
     data_source: handle

unilabos/registry/resources/prcxi/plates.yaml

@@ -0,0 +1,12 @@
+prcxi_96_wellplate_360ul_flat:
+  category:
+  - plates
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_96_wellplate_360ul_flat
+    type: pylabrobot
+  description: prcxi_96_wellplate_360ul_flat
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/prcxi/tip_racks.yaml

@@ -0,0 +1,12 @@
+prcxi_opentrons_96_tiprack_10ul:
+  category:
+  - tip_racks
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_opentrons_96_tiprack_10ul
+    type: pylabrobot
+  description: prcxi_opentrons_96_tiprack_10ul
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/registry/resources/prcxi/trash.yaml

@@ -0,0 +1,12 @@
+prcxi_trash:
+  category:
+  - trash
+  class:
+    module: unilabos.devices.liquid_handling.prcxi.prcxi_res:prcxi_trash
+    type: pylabrobot
+  description: prcxi_trash
+  handles: []
+  icon: ''
+  init_param_schema: {}
+  registry_type: resource
+  version: 1.0.0

unilabos/ros/nodes/presets/host_node.py

@@ -5,7 +5,7 @@ import threading
 import time
 import traceback
 import uuid
-from typing import Optional, Dict, Any, List, ClassVar, Set
+from typing import Optional, Dict, Any, List, ClassVar, Set, Union
 
 from action_msgs.msg import GoalStatus
 from geometry_msgs.msg import Point
@@ -352,7 +352,7 @@ class HostNode(BaseROS2DeviceNode):
 
     def create_resource_detailed(
         self,
-        resources: list["Resource"],
+        resources: list[Union[list["Resource"], "Resource"]],
         device_ids: list[str],
         bind_parent_ids: list[str],
         bind_locations: list[Point],
@@ -426,7 +426,9 @@ class HostNode(BaseROS2DeviceNode):
                 }
             })
         init_new_res = initialize_resource(res_creation_input)  # flatten的格式
-        resources = init_new_res  # initialize_resource已经返回list[dict]
+        if len(init_new_res) > 1:  # 一个物料，多个子节点
+            init_new_res = [init_new_res]
+        resources: List[Resource] | List[List[Resource]] = init_new_res  # initialize_resource已经返回list[dict]
         device_ids = [device_id]
         bind_parent_id = [parent]
         bind_location = [bind_locations]
@@ -823,7 +825,7 @@ class HostNode(BaseROS2DeviceNode):
         self.lab_logger().info(f"[Host Node-Resource] Add request completed, success: {success}")
         return response
 
-    def _resource_get_callback(self, request, response):
+    def _resource_get_callback(self, request: ResourceGet.Request, response: ResourceGet.Response):
         """
         获取资源回调